关键词: 虚拟手, 运动学, 约束, 阀门, 旋转

Abstract: Virtual hand technology is an interactive way in virtual reality technology. It refers to the man-machine interaction mode that uses the gesture recognition technology to map human’s real hand to the virtual environment and interact with the virtual object. It?is?mainly used in virtual training, virtual surgery and virtual assembly and other fields. This paper studies the constrained objects in the virtual hand interaction and proposes a method based on kinematic constraints. This?paper?addresses?the?following?problems?in?virtual?hand?interaction：the posture of a virtual hand does not conform to reality and the operation is not controllable in the interaction of constrained objects. The experiment is designed to verify that this method can accomplish the task well and can be applied to the simulation platform such as virtual training and virtual assembly.

Key words: virtual hand, kinematic, constraint, valve, rotate