对虚拟手的稳定抓持理论进行了探讨，提出了一种改进的虚拟手抓取规则；以及研究了虚拟手操作的具体实现技术。
The grasping theory of virtual hand is studied, then an improved rule for grasping is proposed and also the realization technology of virtual hand operating.
这样的虚拟操作必须是手习惯的动作。
The virtual controls must mimic the physical objects that hands are used to manipulating.
应用结果显示，虚拟手可动态地呈现与人手基本一致的手势，能够比较逼真地实现了虚拟手抓取物体、释放物体等交互操作。
Result shows, virtual hand can dynamically display gesture as nearly consistent as human's hand and succeed in simulating interactive operations such as grasping and loosening the object etc.
通过位置跟踪器获取操作者手掌的位姿数据，采用数据分解和矩阵变换的方法将其映射为虚拟手掌在虚拟现实环境中的位姿，实现了对虚拟手的准确控制。
The gestures of real palm that obtained by position tracker are mapped to the gestures of virtual palm in the virtual reality environment by data mapping and transfer matrixes.
介绍遥现系统中3个最主要的组成部分：力反馈手控制器、虚拟现实装置和高级操作者界面。
This paper mainly reviews three most important elements in a telepresence system: a force-reflecting manual controller, a virtual reality unit and an advanced operator interface.
介绍遥现系统中3个最主要的组成部分：力反馈手控制器、虚拟现实装置和高级操作者界面。
This paper mainly reviews three most important elements in a telepresence system: a force-reflecting manual controller, a virtual reality unit and an advanced operator interface.
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