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

摘要： 虚拟手技术是虚拟现实技术中的一种交互方式，是指通过手势识别技术将人的真实手映射到虚拟环境中并与虚拟物体进行交互操作的人机交互方式。主要应用于虚拟训练、虚拟手术和虚拟装配等领域。对虚拟手交互的约束类对象进行了研究，提出了基于运动学的约束类物体操作方法，解决了阀门类有约束物体交互中虚拟手姿态不真实、操作不可控的问题。设计实验验证了基于运动学的方法能以符合实际操作的效果完成虚拟现实系统中的操作任务，可以应用到虚拟训练、虚拟装配等仿真平台。

关键词: 虚拟手, 运动学, 约束, 阀门, 旋转