Abstract: This paper presents a muscle control mechanism of virtual index finger based on the hand anatomy. With this mechanism, the joints of finger can be bent and extended through shrinking virtual finger muscles. However, the finger motions of traditional models, which do not think of the relationship between two fingers, are too independent to be realistic. This paper studies the movement relationship between two fingers and designs a constraint diagram. Compared with traditional approaches, this diagram can describe the motion space of single finger and the non-linear constraint relationship between two adjacent fingers. At the same time, it can describe the unreachable motion region. Experiments show that the motions of index finger can be simulated vividly by the new mechanism, and the constraint diagram helps constructing realistic motions.

Key words: virtual modeling, finger modeling, muscle control, motion constraint, non-linear

摘要： 基于生理解剖结构，建立了虚拟人食指肌肉控制机制，通过控制多条肌肉收缩，实现了单指多关节灵活运动。同时针对传统模型单指运动控制较为独立，缺乏约束而导致不够真实的情况，研究了运动中双指间促进和制约的关系，提出了运动约束关系图。该图能够同时描述单指及双指的运动空间及其非线性约束关系，并刻画出实际不可到达区域。实验表明，所建立的控制机制能较好地仿真出食指的灵活运动，利用约束关系图能够保证手部仿真运动符合生理特征，具有较好的真实感和自然性。

关键词: 虚拟建模, 手指建模, 肌肉控制, 运动约束, 非线性