精度高且实时性好的柔性触觉变形模型是实现触觉再现系统的关键。提出了一种新的基于物理意义的平行菱形链连接触觉变形模型，系统中各个链结构单元相对位移的叠加对外等效为物体表面的变形，与之相连的弹簧弹性力的合力等效为物体表面的接触力。使用Delta 6-DOF手控器，建立了触觉再现实验系统，对柔性体的接触变形和实时虚拟触觉反馈进行仿真, 实验结果表明所提出的模型不仅计算简单，而且能够保证触觉接触力和形变计算具有较高精度，满足虚拟现实系统对精细作业和实时性的要求。

Softness haptic deformation model with high precision and fast speed is a key issue to the realization of haptic rendering system. A novel parallel rhombus-chain-connected haptic deformation model based on physics is proposed in this paper. The accumulation of relative displacements in every chain structure unit is equal to the object surface deformation, and the resultant force of springs is equal to the external force. Haptic display system is established using the hand controller of Delta 6-DOF, then contact deformation of soft objects and real-time virtual haptic feedback is simulated. Experiment results show that the proposed model not only has less calculation but also can ensure synchronously higher precision in calculating contact force and deformation, and is able to satisfy the requirement of virtual reality system for real time performance and accurate operation.