虚拟现实技术是目前解决临场感遥控作业机器人系统中时延问题的有力手段。本文针对力觉虚拟现实的实现 ,提出一种新的力觉虚拟环境的建模方法 ,该方法引入虚拟物体的动力学特征 ,使得模型更具真实性 ,不仅可以生成交互时发生的弹性接触力 ,还可以生成操作过程中的惯性力以及接触过程中的摩擦力。实验表明了该方法的有效性。 Virtual reality technology is a powerful tool to solve the problem of delay in telepresence robot system. In this paper, aiming at the realization of force-perception virtual reality, a new modeling method of force-sense virtual environment is proposed. This method introduces the dynamic characteristics of virtual objects to make the model more realistic. It can not only generate the elastic contact force , You can also generate inertial forces during operation and friction during contact. Experiments show that the method is effective.