Volute spiral spring model supporting haptic feedback enhancement

The invention provides a volute spiral spring model supporting haptic feedback enhancement. The volute spiral spring model is formed by sequentially connecting a plurality of volute spiral springs in series. In the interaction process, the output feedback is signals which are worked out by adopting the volute spiral spring model and is responded on the haptic information of the real-time deformation simulation of flexible bodies under the pressure effect, and the superposition of the sum of the compression deformation quantity generated on all of the layers in the volute spiral spring model is equivalent to the deformation of the surfaces of the flexible bodies. The calculation methods of the compression deformation quantity of each layer of the volute spiral spring of the volute spiral spring model are identical, the calculation is simple, and the compression deformation calculation speed is accelerated. Different kinds of flexible bodies can be simulated through regulating the radius of the springs at the first layer, the pitch of the volute spiral springs, the diameter of volute spiral spring wires and the like, the application range is wide, and the volute spiral spring model can be applied to the fields of virtual surgical operation simulation, remote operation robot control, remote medical care and the like.