论文提交

tactile/content/abstracten.tex

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+\section*{ABSTRACT}
+To solve the problems of missing haptic feedback, poor real-time performance and weak tactile realism in deformable object manipulation for virtual reality and remote operation, this paper presents the Design and Implementation of a real-time touch model and simulation system for deformable objects based on MuJoCo. MuJoCo is the foundation of the physics engine, and then WEART haptic gloves and VR devices are added to build a closed-loop system of vision-physical simulation-haptic feedback. It can be used to model the deformation and contact forces of objects accurately, obtain real-time contact force data, adjust force feedback adaptively, and dynamically change the texture haptics of soft bodies, cloth, sponges, etc. With the improvement of the damped-least-squares method, the inverse kinematics of the virtual hand in this paper have been optimised, a multi-threaded parallel architecture has been designed to ensure visual-haptic synchronisation and low latency, and then, based on factors such as task efficiency, operation accuracy, material recognition rate, user subjective experience, etc., comparisons will be conducted to verify the system. According to the experiments, the speed of task execution in the visuo-haptic fusion mode is about 30 per cent faster than that in the pure vision mode,and the end-to-end delay of the system is less than 15ms. It will lay a good foundation for building a stable, reasonable and continuous Haptic simulation environment of deformable objects. The system can provide an excellent experimental platform and technical support for virtual surgery training, and it is also possible to have the flexibility of object manipulation and remote haptic interaction, etc., so it has some theoretical significance and engineering application value.
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+\vspace{0.5cm}
+\noindent\textbf{Key words:} MuJoCo, Deformable Objects, Haptic Feedback, Real-time Simulation, Visuo-haptic Fusion

tactile/content/abstractzh.tex

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+\section*{内容摘要}
+虚拟现实和远程交互中，可变形物体操作常常缺少力触觉反馈，即时性不足、触感不真实等状况，本文创建出一个基于MuJoCo的可变形物体即时触摸建模和仿真系统。该系统把MuJoCo物理引擎作为核心部分，加上WEART触觉手套和VR设备，形成了视觉、物理仿真、触觉反馈相结合的一体化循环系统，实现了对软体、布料、海绵等常见可变形物体的高精度建模，实时计算接触力，自动调节力反馈和动态纹理触觉显示效果，本文使用改良阻尼最小二乘法改进虚拟手逆运动学求解过程，采用多线程并行框架保证视触同步、低时延运行，通过对比实验从任务效率、操作精准度、材质识别率、用户主观感受等几个方面对系统进行验证。实验结果表明，视触融合模式相比单纯的视觉模式任务完成时间提高了30\%以上，系统端到端延迟小于15ms，可以给可变形物体交互提供稳定的、真实的、流畅的触觉仿真环境，该系统可以为虚拟手术培训、柔性物体操作、远程触觉交互等领域的标准化实验平台和技术参考提供支持，具有一定的理论价值和工程应用意义。
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+\vspace{0.5cm}
+\noindent\textbf{关键词：} MuJoCo，可变形物体，触觉反馈，实时仿真，视触融合

tactile/content/acknowledgements.tex

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+% acknowledgements.tex
+\section*{致谢}
+
+时光流逝，大学本科阶段的学习与生活就要结束，回想这段充实又宝贵的过程，我收获了知识，也获得了成长，而且得到了师长、同窗以及家人细心的扶持和陪伴，在这里，我衷心地向所有给我帮助和关怀的人表示最诚真的感谢。
+
+我要向我的导师致以最高的敬意，从论文选题开始，一直到框架搭建、理论梳理，再到最后的撰写和修订阶段，导师都投入了很多心血。他治学严谨，学术底蕴深厚，而且指导时非常耐心细致，给我指引了研究方向，并不断充实和完善我的研究思路，导师不但在学术上给我专业的引导，还用自己务实负责、追求卓越的态度，让我真挚地感受到科研的意义所在，在这里，我由衷地感谢我的导师。
+
+要感谢学院所有的任课教师，大学时期，老师们具备扎实的专业知识、丰富的教学经验以及认真负责的教学态度，给我构筑了稳固的理论根基，并引领我渐渐迈进专业范畴，无论是课堂上细致的讲解还是课后耐心的回答，都令我收获良多，为当前毕业设计的如期完成形成了关键基础。
+
+感激那些一同学习、共同成长的同学们，在学习和生活方面，我们互相勉励，彼此扶持，一起应对挑战，分享快乐。课堂上的议论，实验时的合作，撰写论文时的交流，这些全都成了我大学时期温馨又宝贵的回忆，这段携手走过的岁月，既让我收获了知识，也让我收获了珍贵的友情。
+
+我最想感谢的是我的家人，他们是我最稳固的依靠，一直默默奉献，毫无保留地支撑着我的学业以及人生选择。不论遭遇怎样的艰难险阻和压力，家人总是给我最温馨的鼓舞，最笃定的信任，从而令我能专心致志地去完成学业，他们的领悟、宽容以及付出，便是我不断向前迈进的力量源泉和内心依恃。
+
+感激各位专家老师在百忙之中参与本论文的评审及答辩，非常感谢你们给出的珍贵意见和专业建议，这些使得本论文能够得到进一步的完善。