JP2020009425A - 触覚効果の多レベル閉ループ制御のシステムと方法 - Google Patents
触覚効果の多レベル閉ループ制御のシステムと方法 Download PDFInfo
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- JP2020009425A JP2020009425A JP2019108362A JP2019108362A JP2020009425A JP 2020009425 A JP2020009425 A JP 2020009425A JP 2019108362 A JP2019108362 A JP 2019108362A JP 2019108362 A JP2019108362 A JP 2019108362A JP 2020009425 A JP2020009425 A JP 2020009425A
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- 230000000694 effects Effects 0.000 title claims abstract description 93
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- 238000012545 processing Methods 0.000 description 7
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- 230000004048 modification Effects 0.000 description 6
- 230000004044 response Effects 0.000 description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
- B06B1/0207—Driving circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40132—Haptic joystick with force feedback based on accelerometer included in joystick
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
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- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- User Interface Of Digital Computer (AREA)
- Telephone Function (AREA)
Abstract
Description
Claims (20)
- 方法であって、
触覚出力デバイスの出力を感知するべく構成されたセンサからセンサ信号を受信することと、
基準信号を受信することと、
前記センサ信号と前記基準信号との間の誤差を決定することと、
前記基準信号及び前記誤差に少なくとも部分的に基づいて触覚信号を生成することと、
前記触覚信号に基づいて触覚効果を出力するべく構成された触覚出力デバイスに前記触覚信号を送信することと
を含む、方法。 - 前記触覚信号を生成することは、前記基準信号に部分的に基づいて利得を修正することを含む、請求項1の方法。
- 前記触覚信号を生成することは、前記誤差に部分的に基づいてコントローラを選択することを含む、請求項1の方法。
- 前記コントローラは、比例微分コントローラ、比例積分微分コントローラ及びリードラグコントローラの少なくとも一つを含む、請求項3の方法。
- 前記触覚信号を決定することはさらに、前記誤差に部分的に基づいて利得を修正することを含む、請求項3の方法。
- 前記コントローラを選択することはさらに、前記基準信号に部分的に基づく、請求項3の方法。
- 前記センサ及び前記触覚出力デバイスは携帯型デバイスの中に包含される、請求項1の方法。
- 前記触覚出力デバイスは、線形共振アクチュエータ、圧電、又は偏心回転質量の一つを含む、請求項1の方法。
- 前記センサは、加速度計、ジャイロスコープ、光センサ、ホール効果センサの少なくとも一つを含む、請求項1の方法。
- 代替的に(a)前記基準信号及び前記誤差に少なくとも部分的に基づいて前記触覚信号を生成することと、(b)前記誤差に部分的に基づくことなしに前記触覚信号を生成することとをさらに含む、請求項1の方法。
- システムであって、
触覚効果を出力するべく構成された触覚出力デバイスと、
前記触覚出力デバイスの出力を感知してセンサ信号を生成するべく構成されたセンサと、
前記センサと通信するプロセッサと
を含み、
前記プロセッサは、
基準信号を受信することと、
前記センサ信号を受信することと、
前記基準信号及び前記センサ信号に少なくとも部分的に基づいて誤差を決定することと、
前記基準信号及び前記誤差に少なくとも部分的に基づいて触覚信号を生成することと、
前記触覚信号に基づいて触覚効果を出力するべく構成された触覚出力デバイスに前記触覚信号を送信することと
を行うべく構成される、システム。 - 前記プロセッサは、前記基準信号に部分的に基づいて利得を修正することにより前記触覚信号を生成するべく構成される、請求項11のシステム。
- 前記プロセッサは、前記誤差に部分的に基づいてコントローラを選択することにより前記触覚信号を生成するべく構成される、請求項11のシステム。
- 前記コントローラは、比例微分コントローラ、比例積分微分コントローラ及びリードラグコントローラの少なくとも一つを含む、請求項13のシステム。
- 前記プロセッサは、前記誤差に部分的に基づいて利得を修正することにより前記触覚信号を決定するべく構成される、請求項13のシステム。
- 前記プロセッサは、さらに前記基準信号に部分的に基づいて前記コントローラを選択するべく構成される、請求項13のシステム。
- 前記センサ及び前記触覚出力デバイスを包含する携帯型デバイスをさらに含む、請求項11のシステム。
- 前記触覚出力デバイスは、線形共振アクチュエータ、圧電、又は偏心回転質量の一つを含む、請求項11のシステム。
- 前記センサは、加速度計、ジャイロスコープ、光センサ、ホール効果センサの少なくとも一つを含む、請求項11のシステム。
- 非一時的コンピュータ可読媒体であって、
プロセッサにより実行されると前記プロセッサに、
触覚出力デバイスの出力を感知するべく構成されたセンサからセンサ信号を受信することと、
基準信号を受信することと、
前記センサ信号と前記基準信号との間の誤差を決定することと、
前記基準信号及び前記誤差に少なくとも部分的に基づいて触覚信号を生成することと、
前記触覚信号に基づいて触覚効果を出力するべく構成された触覚出力デバイスに前記触覚信号を送信することと
を行うべく構成されたコンピュータコードを含む、非一時的コンピュータ可読媒体。
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US16/010,131 US10579146B2 (en) | 2018-06-15 | 2018-06-15 | Systems and methods for multi-level closed loop control of haptic effects |
US16/010,131 | 2018-06-15 |
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US (2) | US10579146B2 (ja) |
EP (1) | EP3582082A1 (ja) |
JP (1) | JP2020009425A (ja) |
KR (1) | KR20190142228A (ja) |
CN (1) | CN110609612A (ja) |
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2018
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- 2019-06-11 JP JP2019108362A patent/JP2020009425A/ja active Pending
- 2019-06-12 KR KR1020190069306A patent/KR20190142228A/ko not_active Application Discontinuation
- 2019-06-14 EP EP19180364.2A patent/EP3582082A1/en not_active Withdrawn
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US11287889B2 (en) | 2022-03-29 |
US20190384393A1 (en) | 2019-12-19 |
KR20190142228A (ko) | 2019-12-26 |
US10579146B2 (en) | 2020-03-03 |
US20200159330A1 (en) | 2020-05-21 |
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