CN101214428A - Touch sensation force sensation feedback man machine push-and-pull system of virtual space - Google Patents
Touch sensation force sensation feedback man machine push-and-pull system of virtual space Download PDFInfo
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- CN101214428A CN101214428A CN 200810055892 CN200810055892A CN101214428A CN 101214428 A CN101214428 A CN 101214428A CN 200810055892 CN200810055892 CN 200810055892 CN 200810055892 A CN200810055892 A CN 200810055892A CN 101214428 A CN101214428 A CN 101214428A
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Abstract
The invention discloses a sense of touch and force feedback man-machine tug-of-war system in a virtual space, which includes a computer (1a), two sensors (304, 305) and a sense of touch and force feedback device (1b); the computer (1a) is a computer-based device for providing three-dimensional graphic scenes of virtual and realistic operation on a screen (1c); the computer (1a) is provided with a tug-of-war strategy software module for the sense of touch and force feedback device (1b) to interact with an A virtual man (1d) and a B virtual man (1e); the two sensors (304, 305) are respectively installed on the sense of touch and force feedback device (1b). With the sense of touch and force feedback device (1b) of the invention, the player can input movement and mechanism information into the computer (1a); the computer processes such information, and then feedbacks the processing result to the player in movement, mechanics and moment. The novel interaction method not only includes flow of information, but also includes flow of power, so that the signal channel of man-computer interaction is widened, and people can have more direct and natural understanding to the computer information.
Description
Technical field
The present invention relates to a kind of people of being used for and computer, person to person carry out tug-of-war by Internet resources haptic force feel reponse system, the man-machine tug-of-war platform of the present invention can be used in fields such as scientific popularization, Entertainment, strengthens the interest and the interactivity of people and computer exchange.
Background technology
In the daily life, the people instructs to computer (containing main frame and display or a notebook computer) input by keyboard and/or mouse, these instructions of Computer Processing feed back to the people in modes such as text, two dimensional image, 3-D graphic with result (observe intuitively, check by display) then.Only there be flowing of information between the exchange way of this any computer, do not have flowing of energy.
Summary of the invention
The sense of touch mechanics feedback man machine tug-of-war system that the purpose of this invention is to provide a kind of Virtual Space, this man-machine tug-of-war system feels that by computer, tug-of-war tactical software module and haptic force feedback device forms; The present invention feels feedback device by means of haptic force, and the people can be to computer input motion and force information, these information of Computer Processing, and the mode with motion, power and moment feeds back to the people with result then.Flowing of this new existing information of interactive mode has flowing of energy again, thereby makes the signalling channel of man-machine interaction broaden, make simultaneously the people to the understanding of computerized information directly perceived more and nature.
The touch sensation force sensation feedback man machine push-and-pull system of Virtual Space of the present invention includes computer, A power sensor, B power sensor and haptic force feel feedback device.Computer is a computer based device, is used for providing on screen the 3-D view scene of the operational circumstances of virtual and reality; Be equipped with in the computer that the present invention uses and be used for haptic force and feel the tug-of-war tactical software module of interaction between feedback device and A visual human, the B visual human.The touch sensation force sensation feedback man machine push-and-pull system of Virtual Space of the present invention can realize that the visual human carries out tug-of-war in people and the computer, and can realize doublely carrying out tug-of-war by internet or LAN in computer.
Haptic force feels that feedback device 1b includes transmission component 1, guide rail 2, draw ring assembly 3, thumb rings 4, A supporting seat 5, B supporting seat 6, base plate 7; A supporting seat 5, B supporting seat 6 are fixedly connected on the base plate 7, are connected with an end of guide rail 2 on the concave station 507 of A supporting seat 5, are connected with the other end of guide rail 2 in the groove 607 of B supporting seat 6, and are connected with cover plate 608 on the installed surface 606 of groove 607 upper ends; Draw ring assembly 3 is movably connected on the guide rail 2; The link 402 of thumb rings 4 is installed on the end face 506 of A supporting seat 5.
Transmission component 1 includes A transmission body 11, B transmission body 15, is with 16 synchronously, motor 12, shaft coupling 13, encoder 14; A transmission body 11 is installed in the cavity 501 of A supporting seat 5, and B transmission body 15 is installed in the cavity 601 of B supporting seat 6.Be socketed with A synchronous pulley 101 on the A axle 102 of described A transmission body 11, the two ends of A axle 102 are installed in respectively on A shaft-cup 103, the B shaft-cup 104, A shaft-cup 103 is fixed on the A circular hole 503 of A panel 502 of A supporting seat 5, and B shaft-cup 104 is fixed on the B circular hole 505 of B panel 504 of A supporting seat 5.Be socketed with B synchronous pulley 151 on the B axle 152 of described B transmission body 15, be socketed with B bevel gear 156 on the B synchronous pulley 151, the two ends of B axle 152 are installed in respectively on C shaft-cup 153, the D shaft-cup 154, C shaft-cup 153 is fixed on the A circular hole 602 of A panel 601 of B supporting seat 6, and D shaft-cup 154 is fixed on the B circular hole 604 of B panel 603 of B supporting seat 6; B bevel gear 156 and 155 engagements of A bevel gear, A bevel gear 155 is connected on the output shaft of motor 12.Synchronously on the B synchronous pulley 151 with the 16 A synchronous pulleys 101 that are socketed in A transmission body 11 and B transmission body 15.The casing of motor 12 is installed on the flange 611, is connected with A bevel gear 155 on the output shaft of motor 12; Be connected with shaft coupling 13 on the connecting axle of motor 12, be connected with encoder 14 on the shaft coupling 13.
Fluted 306 between the forefinger draw ring 302 of draw ring assembly 3 and the middle finger draw ring 301, A cover plate 303 is stamped in groove 306 tops; A power sensor 304 is installed on the B recess 32 1 of forefinger draw ring 302, and B cover plate 307 is stamped in A power sensor 304 tops; B power sensor 305 is installed on the A recess 311 of middle finger draw ring 30 1, and C cover plate 308 is stamped in B power sensor 305 tops.Thumb rings 4 is provided with the annulus 401 that passes for the staff thumb, and thumb rings 4 is fixedly mounted on the end face 506 of A supporting seat 5 by link 402.
There is cavity 501 at the center of A supporting seat 5, and C circular hole 503 is arranged on the A panel 502, and D circular hole 505 is arranged on the B panel 504, is connected with L Connection Block 511 on the C panel 509, and the top of A supporting seat 5 is the ladder step, and connecting hole 508 is arranged at the bottom of A supporting seat 5.
There is cavity 601 at the center of B supporting seat 6, E circular hole 603 is arranged on the A panel 602, F circular hole 605 is arranged on the B panel 604, be connected with connecting plate 622 on the C panel 609, be connected with flange 611 on the another side of connecting plate 622, the top of B supporting seat 6 is provided with installed surface 606, the center of installed surface 606 fluted 607, be connected with D cover plate 610 on the installed surface 606, connecting hole 608 is arranged at the bottom of B supporting seat 6.
The sense of touch mechanics feedback man machine tug-of-war system of Virtual Space of the present invention not only can the anthropomorphic dummy and the tug-of-war process of computer, also can simulate the process of tug-of-war between two people, promptly two people operate haptic force feel feedback device respectively, carry out tug-of-war by local network or internet, know from experience the strength that the other side sends.
Description of drawings
Fig. 1 is the structured flowchart of touch sensation force sensation feedback man machine push-and-pull system of the present invention.
Fig. 2 A is the initial scene schematic diagram of virtual tug-of-war of the screen display of computer.
Fig. 2 B is the ongoing scene schematic diagram of virtual tug-of-war of the screen display of computer.
Fig. 3 is the structure chart of tug-of-war of the present invention mechanism.
Fig. 4 is the structure chart of transmission component of the present invention.
Fig. 4 A is the structure chart of A transmission body of the present invention.
Fig. 4 B is the structure chart of B transmission body of the present invention.
Fig. 5 is the structure chart of draw ring assembly of the present invention.
Fig. 6 is the structure chart of thumb draw ring of the present invention.
Fig. 7 is the blast diagrammatic sketch of A supporting seat of the present invention.
Fig. 8 is the blast diagrammatic sketch of B supporting seat of the present invention.
Among the figure: 1a. computer 1b. haptic force feel feedback device 1c. screen
1d.A visual human 1e.B visual human 1. transmission component 11.A transmission body 12. motors
13. shaft coupling 14. encoder 15.B transmission body 16. are band 101.A synchronous pulley synchronously
102.A axle 103.A shaft-cup 104.A shaft-cup 151.B synchronous pulley 152.B axle
153.C shaft-cup 154.D shaft-cup 155.A bevel gear 156.B bevel gear 2. guide rails
3. draw ring assembly 301. middle finger draw ring 311.A recess 312.A circular holes 302. forefinger draw rings
321.B recess 322.B circular hole 303.A cover plate 304.A power sensor 305.B power sensor
306. groove 307.B cover plate 308.C cover plate 4. thumb rings 401. annulus
402. link 5.A supporting seat 501. cavity 502.A panel 503.C circular holes
504.B panel 505.D circular hole 506. end faces 507. concave stations 508. connecting holes
509.C panel 6.B supporting seat 601. cavity 602.A panel 603.E circular holes
604.B panel 605.F circular hole 606. end faces 607. grooves 608. connecting holes
609.C panel 610.D cover plate 611. flanges 6722. connecting plates 7. base plates
The specific embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
Referring to shown in Figure 1, the touch sensation force sensation feedback man machine push-and-pull system of Virtual Space of the present invention includes computer 1a, A power sensor 304, B power sensor 305 and haptic force feel feedback device 1b.Computer 1a is a computer based device, is used for providing on screen 1c the 3-D view scene of the operational circumstances of virtual and reality; Be equipped with among the computer 1a that the present invention uses and be used for interactive tug-of-war tactical software module between haptic force feel feedback device 1b and A visual human 1d, the B visual human 1e.The touch sensation force sensation feedback man machine push-and-pull system of Virtual Space of the present invention can realize that the visual human carries out tug-of-war among people and the computer 1a, and can realize doublely carrying out tug-of-war by internet or LAN in computer 1a.
Referring to shown in Figure 3, haptic force of the present invention feels that feedback device 1b includes transmission component 1, guide rail 2, draw ring assembly 3, thumb rings 4, A supporting seat 5, B supporting seat 6, base plate 7; A supporting seat 5, B supporting seat 6 are fixedly connected on the base plate 7, are connected with an end of guide rail 2 on the concave station 507 of A supporting seat 5, are connected with the other end of guide rail 2 in the groove 607 of B supporting seat 6, and are connected with cover plate 608 on the installed surface 606 of groove 607 upper ends; Draw ring assembly 3 is movably connected on the guide rail 2; The link 402 of thumb rings 4 is installed on the end face 506 of A supporting seat 5;
Shown in Fig. 4, Fig. 4 A, Fig. 4 B, transmission component 1 includes A transmission body 11, B transmission body 15, is with 16 synchronously, motor 12, shaft coupling 13, encoder 14; A transmission body 11 is installed in the cavity 501 of A supporting seat 5, and B transmission body 15 is installed in the cavity 601 of B supporting seat 6.
Be socketed with A synchronous pulley 101 on the A axle 102 of described A transmission body 11, the two ends of A axle 102 are installed in respectively on A shaft-cup 103, the B shaft-cup 104, A shaft-cup 103 is fixed on the A circular hole 503 of A panel 502 of A supporting seat 5, and B shaft-cup 104 is fixed on the B circular hole 505 of B panel 504 of A supporting seat 5.
Be socketed with B synchronous pulley 151 on the B axle 152 of described B transmission body 15, be socketed with B bevel gear 156 on the B synchronous pulley 151, the two ends of B axle 152 are installed in respectively on C shaft-cup 153, the D shaft-cup 154, C shaft-cup 153 is fixed on the A circular hole 602 of A panel 601 of B supporting seat 6, and D shaft-cup 154 is fixed on the B circular hole 604 of B panel 603 of B supporting seat 6; B bevel gear 156 and 155 engagements of A bevel gear, A bevel gear 155 is connected on the output shaft of motor 12.
Synchronously on the B synchronous pulley 151 with the 16 A synchronous pulleys 101 that are socketed in A transmission body 11 and B transmission body 15.
The casing of motor 12 is installed on the flange 611, is connected with A bevel gear 155 on the output shaft of motor 12; Be connected with shaft coupling 13 on the connecting axle of motor 12, be connected with encoder 14 on the shaft coupling 13.In the present invention, motor 12 is chosen direct current torque motor, and its power output is 20～200W.Encoder 14 is chosen incremental optical-electricity encoder.
Referring to shown in Figure 5, fluted 306 between the forefinger draw ring 302 of draw ring assembly 3 and the middle finger draw ring 301, groove 306 is used for passing for guide rail 2, and draw ring assembly 3 is slided on guide rail 2, and A cover plate 303 is stamped in groove 306 tops; A power sensor 304 is installed on the B recess 321 of forefinger draw ring 302, and B cover plate 307 is stamped in A power sensor 304 tops; B power sensor 305 is installed on the A recess 311 of middle finger draw ring 301, and C cover plate 308 is stamped in B power sensor 305 tops; When draw ring assembly 3 slides on guide rail 2, the forefinger of staff, middle finger are put into the B circular hole 322 of forefinger draw ring 302, the A circular hole 312 of middle finger draw ring 301 respectively, staff is applying under the situation of power, staff and two power sensors (A power sensor 304, B power sensors 305, in the present invention, two power sensors are chosen Honeywell one dimension FFS series pressure sensor) thus contact power output signal intuitively shows for the tug-of-war tactical software module that is stored among the computer 1a.
Referring to shown in Figure 6, thumb rings 4 is provided with the annulus 401 that passes for the staff thumb, and thumb rings 4 is fixedly mounted on the end face 506 of A supporting seat 5 by link 402.
Referring to shown in Figure 7, there is cavity 501 at the center of A supporting seat 5, and cavity 501 is used to place A transmission body 11; On the A panel 502 of A supporting seat 5 C circular hole 503 is arranged, A panel 502 is applicable to fixed installation A shaft-cup 103; On the B panel 504 of A supporting seat 5 D circular hole 505 is arranged, B panel 504 is applicable to fixed installation B shaft-cup 104; Be connected with L Connection Block 511 on the C panel 509 of A supporting seat 5; The top of A supporting seat 5 is the ladder step, and wherein end face 506 makes thumb rings 4 be connected with it by link 402 by the screw and the cooperation of screwed hole, and concave station 507 is used for an end of mounting guide rail 2; Connecting hole 508 is arranged at the bottom of A supporting seat 5, and connecting hole 508 is used for A supporting seat 5 fixing with base plate 7.
Referring to shown in Figure 8, there is cavity 601 at the center of B supporting seat 6, and cavity 601 is used to place B transmission body 15; On the A panel 602 of B supporting seat 6 E circular hole 603 is arranged, A panel 602 is applicable to fixed installation C shaft-cup 153; On the B panel 604 of B supporting seat 6 F circular hole 605 is arranged, B panel 604 is applicable to fixed installation D shaft-cup 154; Be connected with connecting plate 622 on the C panel 609 of B supporting seat 6, be connected with flange 611 on the another side of connecting plate 622, motor 12 is installed on the flange 611; The top of B supporting seat 6 is provided with installed surface 606, and the center of installed surface 606 is fluted 607, and groove 607 is used to place the other end of guide rail 2, is connected with D cover plate 610 on the installed surface 606; Connecting hole 608 is arranged at the bottom of B supporting seat 6, and connecting hole 608 is used for B supporting seat 6 fixing with base plate 7.
In the present invention, tug-of-war tactical software module includes parameter set unit, match display unit.Parameter set unit, match display unit all by in the computer in advance the software program of compiling by the interface provide comparatively intuitively, simple interface carries out.
One, parameter set unit
(1) job category:
The tug-of-war of virtual opponent in participant and the computer, promptly first type;
A plurality of participants carry out tug-of-war by the internet, promptly second type.
(2) adversary's classification:
If select first type, then need further to select adversary's classification, adversary's classification includes child, adult male, adult female, old man.
In the present invention, can carry out uncertain selection to adversary's classification according to the different operating type, its output intensity of force of different adversary's classifications and duration are inequality.
(3) tug-of-war strategy:
Adversary's tug-of-war policing type is set, comprises fulminant, endurance type, persistent form etc.;
(4) fixture:
Can be set the duration that match allows voluntarily by the participant;
(5) playing condition:
The participant can be provided with the environment of match voluntarily, comprises indoor, outdoor;
Two, match display unit
After by parameter set unit the tug-of-war system configuration being finished, occur the 3-D graphic scene on the screen 1c, show the real process of tug-of-war.Comprise user's oneself 3 D human body figure, adversary's 3 D human body figure, tug-of-war rope, count-down board, environment figure of match etc.;
Wherein the environment figure of adversary's 3 D human body figure and match reads from database and loads according to the result that is provided with of " parameter configuration " module.The different 3 D human body figures that for example will show child, adult male, adult female, old man.
During the games, along with the contention of both sides' strength, both sides' human posture, locus will change, and the variation of position and the relation between the strength satisfy Newton's law; The position of tug-of-war rope and both sides' locus take place to change synchronously; Count-down board will show the remaining time of this competition.
Monitoring and scoring
According to the power output characteristics of opposing teams, and the final position of tug-of-war rope and fixture, determine both sides' victory or defeat situation;
The playback of tug-of-war process:
Both sides' strength variation and human posture, spatial position change are recorded in real time in the computer in the tug-of-war process, and tug-of-war can be selected the Play button after finishing, and the graphic scene of the whole tug-of-war process of playback shows again.
The touch sensation force sensation feedback man machine push-and-pull system of Virtual Space of the present invention, the tactical software system that is based on high performance power feel feedback device hardware platform and contends based on the man-machine strength of artificial intelligence, not only can simulate tug-of-war, the strength under the two people contact situation closely such as can also simulate wrist wrestling, shake hands is contended process.
Claims (10)
1. the touch sensation force sensation feedback man machine push-and-pull system of a Virtual Space includes computer (1a), it is characterized in that: also include two sensors (304,305) and haptic force feel feedback device (1b); Described computer (1a) is a computer based device, is used for providing on screen (1c) the 3-D view scene of the operational circumstances of virtual and reality; Be equipped with in the described computer (1a) and be used for haptic force and feel the tug-of-war tactical software module of interaction between feedback device (1b) and A visual human (1d), the B visual human (1e); Two sensors (304,305) are installed in respectively on the haptic force feel feedback device (1b);
Haptic force feels that feedback device (1b) includes transmission component (1), guide rail (2), draw ring assembly (3), thumb rings (4), A supporting seat (5), B supporting seat (6), base plate (7); A supporting seat (5), B supporting seat (6) are fixedly connected on the base plate (7), be connected with an end of guide rail (2) on the concave station (507) of A supporting seat (5), be connected with the other end of guide rail (2) in the groove (607) of B supporting seat (6), and on the installed surface (606) of groove (607) upper end, be connected with cover plate (608); Draw ring assembly (3) is movably connected on the guide rail (2); The link (402) of thumb rings (4) is installed on the end face (506) of A supporting seat (5);
Transmission component (1) includes A transmission body (11), B transmission body (15), synchronous band (16), motor (12), shaft coupling (13), encoder (14); A transmission body (11) is installed in the cavity (501) of A supporting seat (5), and B transmission body (15) is installed in the cavity (601) of B supporting seat (6);
Be socketed with A synchronous pulley (101) on the A axle (102) of A transmission body (11), the two ends of A axle (102) are installed in respectively on A shaft-cup (103), the B shaft-cup (104), A shaft-cup (103) is fixed on the A circular hole (503) of A panel (502) of A supporting seat (5), and B shaft-cup (104) is fixed on the B circular hole (505) of B panel (504) of A supporting seat (5);
Be socketed with B synchronous pulley (151) on the B axle (152) of B transmission body (15), be socketed with B bevel gear (156) on the B synchronous pulley (151), the two ends of B axle (152) are installed in respectively on C shaft-cup (153), the D shaft-cup (154), C shaft-cup (153) is fixed on the A circular hole (602) of A panel (601) of B supporting seat (6), and D shaft-cup (154) is fixed on the B circular hole (604) of B panel (603) of B supporting seat (6);
Synchronously on the B synchronous pulley (151) of band (16) the A synchronous pulley (101) that is socketed in A transmission body (11) and B transmission body (15);
The casing of motor (12) is installed on the flange (611), is connected with A bevel gear (155) on the output shaft of motor (12); Be connected with shaft coupling (13) on the connecting axle of motor (12), be connected with encoder (14) on the shaft coupling (13);
Between the forefinger draw ring (302) of draw ring assembly (3) and the middle finger draw ring (301) fluted (306), A cover plate (303) is stamped in groove (306) top; On the B recess (321) of forefinger draw ring (302) A power sensor (304) is installed, B cover plate (307) is stamped in A power sensor (304) top; On the A recess (311) of middle finger draw ring (301) B power sensor (305) is installed, C cover plate (308) is stamped in B power sensor (305) top;
Thumb rings (4) is provided with the annulus (401) that passes for the staff thumb, and thumb rings (4) is fixedly mounted on the end face (506) of A supporting seat (5) by link (402);
There is cavity (501) at the center of A supporting seat (5), C circular hole (503) is arranged on the A panel (502), D circular hole (505) is arranged on the B panel (504), be connected with L Connection Block (511) on the C panel (509), the top of A supporting seat (5) is the ladder step, and connecting hole (508) is arranged at the bottom of A supporting seat (5);
There is cavity (601) at the center of B supporting seat (6), E circular hole (603) is arranged on the A panel (602), F circular hole (605) is arranged on the B panel (604), be connected with connecting plate (622) on the C panel (609), be connected with flange (611) on the another side of connecting plate (622), the top of B supporting seat (6) is provided with installed surface (606), the center of installed surface (606) fluted (607), be connected with D cover plate (610) on the installed surface (606), connecting hole (608) is arranged at the bottom of B supporting seat (6).
2. the touch sensation force sensation feedback man machine push-and-pull system of Virtual Space according to claim 1 is characterized in that: motor (12) employing impedance Control and two kinds of control modes of admittance control.
3. the touch sensation force sensation feedback man machine push-and-pull system of Virtual Space according to claim 1 is characterized in that: can realize that the visual human carries out tug-of-war in people and the computer (1a).
4. the touch sensation force sensation feedback man machine push-and-pull system of Virtual Space according to claim 1 is characterized in that: can realize doublely carrying out tug-of-war by internet or LAN in computer (1a).
5. the touch sensation force sensation feedback man machine push-and-pull system of Virtual Space according to claim 1, it is characterized in that: motor (12) power output is 20～200W.
6. the touch sensation force sensation feedback man machine push-and-pull system of Virtual Space according to claim 1, it is characterized in that: motor (12) is chosen direct current torque motor.
7. the touch sensation force sensation feedback man machine push-and-pull system of Virtual Space according to claim 1 is characterized in that: two sensors (304,305) are chosen Honeywell one dimension FFS series pressure sensor.
8. the touch sensation force sensation feedback man machine push-and-pull system of Virtual Space according to claim 1, it is characterized in that: encoder (14) is chosen incremental optical-electricity encoder.
9. the touch sensation force sensation feedback man machine push-and-pull system of Virtual Space according to claim 1 is characterized in that: tug-of-war tactical software module includes parameter set unit and match display unit.
10. the touch sensation force sensation feedback man machine push-and-pull system of Virtual Space according to claim 9, it is characterized in that: described parameter set unit includes job category, adversary's classification, tug-of-war strategy, fixture and playing condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810055892 CN101214428B (en) | 2008-01-11 | 2008-01-11 | Touch sensation force sensation feedback man machine push-and-pull system of virtual space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810055892 CN101214428B (en) | 2008-01-11 | 2008-01-11 | Touch sensation force sensation feedback man machine push-and-pull system of virtual space |
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| CN101214428A true CN101214428A (en) | 2008-07-09 |
| CN101214428B CN101214428B (en) | 2010-04-21 |
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| CN 200810055892 Expired - Fee Related CN101214428B (en) | 2008-01-11 | 2008-01-11 | Touch sensation force sensation feedback man machine push-and-pull system of virtual space |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101623554A (en) * | 2009-07-02 | 2010-01-13 | 北京邮电大学 | Protection device of Falcon force feedback equipment |
| CN102430244A (en) * | 2011-12-30 | 2012-05-02 | 领航数位国际股份有限公司 | Method for generating visual man-machine interaction by touching with finger |
| CN104606891A (en) * | 2015-02-11 | 2015-05-13 | 浙江海洋学院 | Network remote interaction tennis system |
| CN104722040A (en) * | 2015-04-10 | 2015-06-24 | 北京康邦科技股份有限公司 | Automatic tug-of-war machine and tug-of-war competition system |
| CN104950885A (en) * | 2015-06-10 | 2015-09-30 | 东南大学 | UAV (unmanned aerial vehicle) fleet bilateral remote control system and method thereof based on vision and force sense feedback |
| CN106823368A (en) * | 2015-12-04 | 2017-06-13 | 中国航空工业第六八研究所 | A kind of network long-range body-sensing acting device |
| CN111475025A (en) * | 2020-04-08 | 2020-07-31 | 腾讯科技（深圳）有限公司 | Tactile feedback equipment, electronic equipment and robot system |
| CN113856191A (en) * | 2020-06-30 | 2021-12-31 | 广州拓火科技有限公司 | Man-machine interactive game system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2030894U (en) * | 1987-09-27 | 1989-01-18 | 黄赞驹 | Sound and light controlled electronic toy simulating a tug-of-war |
| US6620043B1 (en) * | 2000-01-28 | 2003-09-16 | Disney Enterprises, Inc. | Virtual tug of war |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101623554A (en) * | 2009-07-02 | 2010-01-13 | 北京邮电大学 | Protection device of Falcon force feedback equipment |
| CN101623554B (en) * | 2009-07-02 | 2013-09-11 | 北京邮电大学 | Protection device of Falcon force feedback equipment |
| CN102430244A (en) * | 2011-12-30 | 2012-05-02 | 领航数位国际股份有限公司 | Method for generating visual man-machine interaction by touching with finger |
| CN102430244B (en) * | 2011-12-30 | 2014-11-05 | 领航数位国际股份有限公司 | Method for generating visual man-machine interaction by touching with finger |
| CN104606891A (en) * | 2015-02-11 | 2015-05-13 | 浙江海洋学院 | Network remote interaction tennis system |
| CN104722040A (en) * | 2015-04-10 | 2015-06-24 | 北京康邦科技股份有限公司 | Automatic tug-of-war machine and tug-of-war competition system |
| CN104950885A (en) * | 2015-06-10 | 2015-09-30 | 东南大学 | UAV (unmanned aerial vehicle) fleet bilateral remote control system and method thereof based on vision and force sense feedback |
| CN104950885B (en) * | 2015-06-10 | 2017-12-22 | 东南大学 | A kind of view-based access control model and power feel the UAV group's bilateral teleoperation control system and its method of feedback |
| CN106823368A (en) * | 2015-12-04 | 2017-06-13 | 中国航空工业第六八研究所 | A kind of network long-range body-sensing acting device |
| CN111475025A (en) * | 2020-04-08 | 2020-07-31 | 腾讯科技（深圳）有限公司 | Tactile feedback equipment, electronic equipment and robot system |
| WO2021203845A1 (en) * | 2020-04-08 | 2021-10-14 | 腾讯科技（深圳）有限公司 | Haptic feedback device, electronic device, and robot system |
| CN113856191A (en) * | 2020-06-30 | 2021-12-31 | 广州拓火科技有限公司 | Man-machine interactive game system |
| CN113856191B (en) * | 2020-06-30 | 2024-04-12 | 广州拓火科技有限公司 | Man-machine interactive game system |
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