System and method for controlling grasping virtual object in haptic controller with finger-unit unidirectional motion

摘要

The present invention relates to a system and method for controlling a virtual object gripping a haptic controller having a unidirectional movement of a finger. A method for controlling a virtual object gripping a haptic controller having a unidirectional movement of a finger according to the present invention includes the steps of detecting a contact of a user's finger to a finger contact portion of the haptic controller and acquiring a corresponding pressure value according to the contact of the finger. ; Linearly moving the linear driving unit of the haptic controller according to the pressure value data acquired through the input unit; Mapping the joint angle of the fingers of the virtual hand according to the displacement moved by the linear driving unit by the virtual hand mapping unit of the computer system; When a finger of the virtual hand is in contact with the virtual object, acquiring and storing location information of a point where the physical contact unit is touched; When a finger of the virtual hand contacts the virtual object, checking physical properties of the virtual object to which the finger is contacted by a physical property check unit; And changing the moving attribute of the linear driving unit according to the identified physical attribute by the linear driving attribute changing unit, and feeding back the changed attribute information and contact position information obtained by the physical contact unit to the input unit of the haptic controller.