目的 虽然许多学者研发了多种虚拟手交互触力觉生成算法,但是如何评价虚拟手交互触力觉生成算法的真实性是一个富有挑战性的新问题,值得深入研究.方法 构建手指抓持力测量平台,设计3种抓持姿态下指尖静力抓持球体实验内容,测得各指尖作用力的实测值;通过虚拟手静力抓持力觉生成算法,求得这3种抓持姿态下各手指作用力的理论值;对实测值进行统计和分析,并与理论值进行对比和讨论;结果 日常抓持经验和实测值是完全相符的,实测值和理论值很接近且偏差均在可接受范围之内.单个手指作用力或多个手指合力的实测值与理论值的偏差均在1%6%.结论 本文实现了一种基于物理的实验方法,评价和分析了虚拟手静力抓持力觉生成算法的真实性,证实此算法可以逼真地生成虚拟手抓持力,可应用于具有力反馈的自然的虚拟手交互.

Objective This paper aims to measure the grasp force of human hand static-grasping objects and to evaluate the authenticity of the virtual fingers grasping haptic algorithm. Method A human hand grasp force measurement platform is built, and experimental contents are designed, which include three static-grasping postures to grasp a sphere object. Five testers are used in this experiment. The measured data are analyzed and compared with the calculated values of the virtual fingers grasping haptic algorithm, with the virtual hand grasp objects under the same static-grasping postures as the testers. The difference between the measured value and theoretical value of a single finger force or fingers result force lying in 1% 6%.Result Comparison results show that the measured data are close to the calculated values and coincide with human daily grasping experiences. Conclusion This paper obtains a physical evaluation method to validate the authenticity of the virtual fingers grasping haptic algorithm. This algorithm can generate realistic grasping force and can be applied in natural virtual hand interaction with force feedback.