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Virtual Human-Machine Interaction Force Algorithm in Astronaut Virtual Training

In the astronauts' collaborative virtual training, it is necessary to map the astronauts' keyboard and mouse operations to the input force, that is, the virtual human-machine interaction force. This paper establishes a virtual force sensor, by analyzing the working principle of the real force sensor. Next, a robot simulation model and the physical engine are integrated into the virtual force sensor, its stability is analyzed and it is further optimized. The ultimate goal is to obtain virtual human-machine interaction force through a virtual force sensor. In collaborative training, the human-machine interaction forces of multiple astronauts can be coupled with each other, through the physical engine, as well as influence each other. The simulation results show that, the solution result of the virtual human-machine interaction force is similar to the real one, while it can be better applied to the astronaut collaborative virtual training.