Modeling method of asymmetric plate spring virtual model capable of realizing flexible force tactile representation

The invention discloses a modeling method of an asymmetric plate spring virtual model capable of realizing flexible force tactile representation. The method is characterized in that when a virtual agent is detected to knock any point of the surface of a virtual flexible body, the inside of the local interactive region of the virtual agent and the virtual flexible body is filled with an asymmetric plate spring virtual model under the action of a given virtual contact pulling force; during the interactive process, output feedback is the signal of the haptic information which is calculated by adopting the asymmetric plate spring virtual model and is reflected in the real-time deformation simulation of the flexible body under the pulling force; and the superimposition of the sum of the deformation amounts of all the layers of asymmetric single plate springs is modeled as the surface deformation of the virtual flexible body. The modeling method is easy to calculate; the deformation calculation can be ensured to have higher accuracy; and simulation experiments shown that the virtual model can provide the real-time haptic feedback, have higher reality and have better stability and real-time in the deformation simulation process.