200417907 玖、發明說明 【發明所屬之技術領域】 不努明係為一種娱樂糸統用力營θ # 見口饋控制方法及其| 置，尤指一種配合遊戲、教育訓練等軟體進行， 覺回饋式控制的方法，使操作者在軟體 太 〒人般遲仃當下，能藉连 本發明模擬場地中實施操作，回傳物體盥ρ旦 〆、穷厅、相互力作斥 ，達到真實臨場效果。 ’ 【先前技術】 /早期虛擬實境的技術主要係針對人類的視覺或聽覺達 ^激而達到實境模擬效果，特別是電腦最容易以現成的 幕及音效卡、或味卜八’製作虛擬實境的效果，當然最普 及而低階者不外乎為電腦遊戲。 隨著科技日新月異， 置或相關軟體配備來說， 配合遊戲種類而推出的控 控，可隨著遊戲的情境變 生力道、振度不一的動作 中，增添實際臨場感。 以目前遊戲玩家所具備的硬體裝 已隨處可見回饋搖桿或操縱桿等 制為，该#控制器由玩家以手操 化模擬實際狀況，在控制器上產 ，如此，可使玩家更能融入遊戲 、則欢索得知，國内專利公報公告第28咖號「觸覺 饋裝置」發明專利案’係已揭示一種觸覺回饋裝置的結 ’其模擬的方法，配人笛— — 〇弟二圖所不，杈擬方程式為： il~M)Fe~M^-Kix~X〇)]^bv，tc 其中Μ :物體質量 桿；k :物體剛性；b : ;K :剛性；B :物體黏滯性； 黏滯性；F c :環境之反作力量 m :200417907 发明 Description of the invention [Technical field to which the invention belongs] It is not an entertainment system, and it is a force camp θ # See the feedback control method and its settings, especially a game, education and training software, feedback feedback type The control method enables the operator to implement the operation in the simulated field of the present invention while the software is too embarrassingly late, and returns the object to the room, the poor hall, and mutual repulsion to achieve the real presence effect. '[Previous technology] / Early virtual reality technology is mainly aimed at the visual or auditory stimulation of human beings to achieve the reality simulation effect, especially the computer is the easiest to use existing curtains and sound cards, or Weibu Ba' to create virtual The effect of reality is, of course, the most popular and the low-level ones are nothing more than computer games. With the rapid development of technology, related to the installation of software or related software, the controls introduced in accordance with the type of game can increase the actual presence of the game as the context of the game changes with dynamics and vibrations. Based on the hardware equipment currently available to gamers, such as feedback joysticks or joysticks, the #controller is simulated by the player by hand to simulate the actual situation and produced on the controller. In this way, the player can be more capable If you integrate into the game, you will know that the invention patent case No. 28 of the domestic patent gazette "tactile feedback device" has disclosed a knot of the tactile feedback device, and its simulation method is equipped with a person flute-〇 弟 二As shown in the figure, the pseudo-equation is: il ~ M) Fe ~ M ^ -Kix ~ X〇)] ^ bv, tc where M: object mass rod; k: object rigidity; b:; K: rigidity; B: object Viscosity; Viscosity; F c: Environmental reaction force m:
200417907 由上述方程式可瞭解，當摇捍位速值V及位置值3可 以準確地得到，由系統和 置值 兄之阻抗m、k、b、Μ、κ、B和 。十^所仔之Fe ’即可進行模擬。 =以可直接用^叫施傷+餐若7無法獲 替于之11 代替’若a無法獲得，則可用_t代200417907 It can be understood from the above equation that when the bit rate V and the position value 3 are accurately obtained, the impedances m, k, b, M, κ, B, and B of the system and the set values are obtained. Ten ^ sober Fe ′ can be simulated. = Can be used directly ^ called wounding + meal if 7 can not be replaced by 11 instead of ‘if a is not available, you can use _t generation
’之。事貫上’於實降糸紅+rK 力士 只1V、糸統之中，微分行為並不可行，若 心有適當的保護，會有# 胃h相危險，而為避免系統因微分 產生的不铋疋，必須加入補償雷跋^ p # 而、丄士认人 補1貝電路或採用替代感測器， 而足iL均只會增加開發成 們。义、+、士、丄、 U時降低大量生產的商業利 斤别述方法為典型的虛擬質量~彈蓝阻f & 行，但在實作上並不一定，或阻尼糸統，理論可 、这声盥“ ☆ 疋或者祝代價太高，其中在位置 速度與加速度的感測器加 ^ ^ μ 〜+就七過1〇4兀，而且還不 匕括馬達舁機構和驅動 > 制糸％田认电峪自貝，廷樣高造價的力感控 …、；3训練平台應相當不錯，但 型電腦遊戲之中勢必不环〜π 用瓦十饧的桌上 r势义不可旎，因為造價過高。 【發明内容】 為此’本發明的主要目 方n # w 0係鍉供一新的力覺回饋控制 方法與筑置，可供使用者在 蔴甘译从a a 、未用逆上使玩豕達到身 i其i兄的感s享受，並結合 教育訓練方面提供有系統更可以在 駕駛模擬器等；二航太與軍事領域的飛行 ' 於本發明模擬施力與回饋力的直實度高 ，有助於操作者對於微小 貝度回 知作提供環境變料示與現 教育的效果。 7女王後月匕保F早，更能達到 200417907 名人達上述目的使用之主要技術手段係令力覺回饋控制 哀置及其方法係先將真實世界裡中每一種物體的獨特外形 與物理特性加以精確量測並建模，再以一基本的模型描述 之，而建立一個虛擬環境的阻抗動態行為Te (藉由環境動 力學）；再設計-觸覺界面裝£，該觸覺界面t置描述有 使用者施力動作行為之阻抗描述（藉由手臂的動力學）^ 、力=補償單元K、馬達動態行為描述單元G及估測器，其 中力量補償器Κ乃針對不同使用者於使用時（人體動力學 Ρ不同）可㈣馬達進行微調與補償，而馬達動態行為描 ^式G係依據人體動力學統計數據而來，依據該資料設計 置；授頻寬而決定G，而估測器係取得馬達動態行 者的位:^ I出的位置數據’進而計算出對應環境及使用 力動，度、加速度等數據，再回饋輸入至使用者施 力動力描述單元及環境動力描述單元。 隼j上述可知’本發明分別對手臂動力學及環境動力學 準確地描述，產生正確的力者 兄軔刀予 ώ 田手I施力至系統時會先 擬出的力量相進行運算，待取㈣^道值，再與環境模 償器輸出的信號至系统的：S值後即透過力量補 ，達到系統動態回=置=器’進行適當力量回饋 ^ ^ ^ ^§本發明應用於搖桿上，可 糟由手臂與環境阻抗動作 操控的效果。 田々插控者更能體驗真實 本發明另一目的係趄 ，辟A卜、+'糾士興，、如王面性虛擬實境的效果，亦即 …見技制系統進-步搭配視覺和觸覺裝置， 200417907 亦即’視覺裝置藉由螢暮央矣 w實幂爪表現刼作者欲進行控制 人的視覺資訊，而觸贅梦罟目丨丨叮丄戍口0 於入六旦η八人 由操作直接操作搖桿機構 月1J ^ Dp 7 ’或猎由回饋力道來反映接觸力量，每 際將操控者的以各種残官：f 只 门认一 ㈣s置於虛擬的空間中，而感受到相 同於實際環境的接觸。 j相 【實施方式】 本1¾明係用以建立一雷玩姐幽4 ^ 玉玩娛桌糸統上虛擬物體接觸時 的力覺觸感模型（可内建於搖 觸日守 ㈣梦蓄μ μ 或其他配合電玩娛樂用的 二制波置中），猎由結合人 菩目κ古—m 蜗亍#之動怨仃為，以模擬出 取貼近真貫核境的回饋力 x , v 、 、進而達到觸覺上虛擬實現的 兄，，、，可進一步搭配視覺和觸覺褒置，如附件所示， 以多感官的刺激達到全面性 〃貝％虛擬。其中視贅梦罟 可藉由螢幕來表現择作去分、# , 見展置係 而觸心¥見知作者奴進仃控制機器人的視覺資訊， 八則可由操作直接操作搖桿機構輸人力量產生命 丫猎由回饋力道來反映接觸力量，以期將人的 於虛擬的空間中，而八#…4 ^ " 置 。 7感B感受到相同於實際環境的接觸 首先請參閱第一圖所示，係為本 方塊示意圖，其包含有： 見口饋哀置的 使用者施力動力描述單元（2 Ω 力學以#、+、1 1 2 〇 )，係利用人體動 外，還要倉““ 甶於手臂肌肉除了推動物體 卜二要動整個手臂的動作(y)，故人類手臂肌肉欲 :丄推—物體時’物體感受到的卿並不是人類手 #肌肉所施的力i，故需加 、 貝予部的物理動態行為描 90/ 述； 環+兄動力描述單元 述遊戲或模擬敕體内場物的物理性阻:利^ 連接至該施力動力描述單元（2 π / 、fe，其 端，以與輸入力道數佶f 0)的|際施力力道輸出 境施力後的力道.亦 回饋的計算，進而輸出-實 擁有的外型=:::，：慮真實世界的物體，除了各自 、黏性等，其可視為：旦4勿體也由其各自的剛性、彈性 ._ .^ 為貝里、弹黃與阻尼所組合的系統； 馬達動態行為描述單元（22 人體動力學統計數 ：i係依據 迴授2 據該統計數據諸計算出應有的位置 可由波得圖得之）進而決定欲設計 早凡κ，該馬達動能杆 _ 里補1貝 描述單元（2〇):=，（22^ 實 苗述單元（21)計算後的 亍％ 道進行計算，輸出馬達位置數據；如第二圖所 二係將本發明應用於搖桿（10)±，該 二斤 係由兩馬達（11，12)組成； 1〇) 估心（2 3 )，係連接至該馬達動態行為描述單 =22)的輸出端，以取得馬達位置數據進而估測= ，及使用者施力的位置、速度、加速度等值，爾後， =進-步輸人至使用者施力動力描述單元（2Q)及 兄動力描述單元（2 1 )。 、 又’為使本發明裝置因應不同使用者可能有不 狀況，故可於施力動力描述單元（2 〇 )及環境動力描 ：70 (21)合併計算的輸出端連接至-力量補償單元 _ 4) K’以針對不同使用者於使用日夺（人體動力學即不 同）對馬達進行微綱盘 ^ ^ U ^ 補彳員，亦即，依實境施力後的力道 ; Y放大的控制信號；其中力量與受力裝置位置的 :糸’乃疋補償器的值愈大，裝置反應速度愈快，惟系統 較不穩定。 、乂可去本發明觸覺實境模擬方法，以應用於搖 杯裝置說明之’其包含下列步驟： 、^力動作描述單元因供記載描述人體部位（如手 身或腳）的施力杆么 乂一 p 仃為，故先與實際施於回饋裝置的施力進 订運鼻，以得一力道馗 咏“ 极擬數值，該施力動作描述單元的計 异芩數由搖桿目前位置得知； 、 ：备桿配口遊戲的環境動力以環境動力描述單元 予以模擬輸出一目箭戸讲 數值進一牛再與上一步驟的力道模擬 数值進步计异得回饋數值； 3利用力$補償器調整該回饋數值的大小，再輸入 搖杯的位置控制态’令搖桿反應回饋的信號大小。 藉由上述步驟可知，本發明利用行為動力學調整實際 施力力道施於搖桿的數值， 環境場物所產生的動力”Γ仏動力學分別對遊戲 、、，、 0勤力作砰細描述後，與經調整的施力力 這進行運算取得1饋至搖桿的數值，藉由此控制方法， 能使操編感受相同於實際刀具切削真實黏土的施力， 或杈擬真貫的拍子拍球的反作用力，依不同的拍球方式， 會有不同的力道感覺。 200417907 以上為本發明方法的執行步驟， 機構的力量^與位置y的關係為對於輸入 之動態頻寬設計為系統動態頻寬之5〜ι〇 式可以簡化為2 α ^ 回所以其關係 …、人°其_ ’環境動力學描述單元為 力里補傷杰](與馬達動態行為^ … 施的力| “丁為祂述G、人類手臂肌肉所 里仙，人類最後實際施於 手臂移動的距離（亦即馬達之位移）。)力里fh，…類 以虛擬㈣來說明，上述環㈣力 切割的虛擬黏土環墳Γ卩且浐丨也人 平兀ie描述破 炒 兄（阻抗）’係令fe &黏土對刀 ，、、'、而在切削過程中所產生的阻抗力 _， 阻尼的結人，以、重私士 D上 ..了視為貝置、彈簧與 換成程，勝叫仙或經拉普拉斯轉 2+&以表不之，如此，即可令使用者觸覺介面裝 置（搖桿），以虛擬實境的方式切割黏土時，期 、 感受到刀具與虛擬黏土實際接觸 吏用者 觸“相同的感覺，亦即， 者透過刀具精確的感受到虛擬黏土的阻力及黏著力 在娛樂系統中，虛擬環境(或物體）的外 性都可由設計者自行創造、 勿里特 的觸覺界面裝置，4受卢擬〜^可错由虛擬實境 砍又虛擬级境（或物體）的存在。缺 :::!世界裡’每-種物體有其獨特的外形與物理：性 ’故本發明針對各種物_查 σ種物體建構—虛擬環境的動態行為Te， 相較於習知僅用單一參數進行環境模擬更形準 控者施力經系統中的動力行為修正後，與當下環境描述: 200417907 來的力道能進行比對後，回饋更直實 n的蜋i見阻力值。 為此，本兔明確實符合產業上利用性， 利新穎性、進步性料利要件，t依法具⑼/合主發明專 【圖式簡單說明】 f ° (一）圖式部分 第一圖：係本發明的一系統結構方塊圖。 第二圖：係本發明應用於搖桿的示意圖。 第三圖：係公告第職89號「觸覺回馈裝置」發明專利案 的第七圖。 附件·係本發明應用於遊戲軟體控制的操作 (二）元件代表符號 (1 0 )搖桿 (1 1 ) ( 1 2 )馬達 (2 0 )使用者施力動作描述單元 (21)環境動力描述單元 (2 2 )馬達動態行為描述單元 (2 3 )估測器 (2 4 )力量補償單元‘Of. It ’s consistent with the fact that in the real world, only one volt, + rK Lux is only 1V, the differential behavior is not feasible. If the heart is properly protected, there will be # stomach h phase danger, and in order to avoid the system caused by the differential Bismuth must be added to compensate for Lei ^ p #. However, it is necessary to compensate for the 1 circuit or to use an alternative sensor. The iL will only increase the number of developers. The method of reducing the commercial profit of mass production when it is righteous, positive, positive, negative, or negative is a typical virtual quality ~ elastic blue resistance f & line, but it is not necessarily in practice, or damping the system, the theory can be ”盥 祝 祝 or I wish the price is too high, in which the sensor of position speed and acceleration plus ^ ^ μ ~ + is more than 704, and does not include the motor 舁 mechanism and drive > system糸% 田 认 电 峪 自 贝, court-like high cost of force control ...,; 3 training platform should be quite good, but in computer games is bound to be ~ π watts on the table r is inevitable Alas, because the cost is too high. [Summary of the invention] To this end, the main purpose of the present invention n # w 0 is to provide a new force feedback control method and construction for users to translate from aa, Unused inverse to make the play to enjoy the feeling of his brother, and combined with education and training to provide a system can also be used in driving simulators, etc .; the two aerospace and military field flight. The straightness of the feedback force is high, which helps the operator to provide environmental changes for the feedback of tiny bees. The effect of education is shown. 7 The Queen's Moon and Daggers protect the F early, and can achieve 200417907. The main technical means used by the celebrities to achieve the above purpose is to force the feedback of feedback and control the sorrow and its method. First, every object in the real world The unique shape and physical characteristics of the device are accurately measured and modeled, and then described by a basic model, to establish a virtual environment's impedance dynamic behavior Te (by environmental dynamics); redesign-tactile interface installation, the The tactile interface t describes the impedance description of the user's force action behavior (by the dynamics of the arm) ^, force = compensation unit K, motor dynamic behavior description unit G, and estimator, where the force compensator K is for different When the user is using (different human body dynamics P), the motor can be fine-tuned and compensated. The dynamic behavior of the motor G is based on the statistical data of human body dynamics, and is designed based on the data; the bandwidth is determined by G , And the estimator obtains the position of the motor dynamic pedestrian: ^ I position data ', and then calculates the corresponding environment and the use of force, degree, acceleration and other data, and then returns the input To the user's force description unit and environmental force description unit. 上述 jIt can be seen from the above that the present invention accurately describes the arm dynamics and the environmental dynamics, respectively, to produce the correct force. The system will first calculate the phase of the force, wait for the value of ㈣ ^ channel, and then output the signal to the system with the signal of the environmental compensator: after the value of S, it will be compensated by the force to achieve the dynamic return of the system. Appropriate force feedback ^ ^ ^ ^ § The present invention is applied to a joystick, which can worsen the effect controlled by the action of the arm and the environmental impedance. The field inserter can better experience the real purpose of the present invention. Xie Shixing, the effect of the virtual reality of the king's face, that is, ... see the technical system further-with visual and haptic devices, 200417907, that is, 'visual device performance by firefly central w real power claws' author If you want to control the visual information of the person, you can't touch the nightmare 丨 丨 Dingkoukou 0 Yuren Liudan η Eight people directly operate the joystick mechanism by operation 1J ^ Dp 7 'or hunting force to reflect the contact force , Each time the controller ’s This kind of remnant: f only recognizes ㈣s in a virtual space, and feels the same contact as the actual environment. Phase j [Embodiment] The present invention is used to establish a model of force and touch when a virtual object touches the system on the Yuwan entertainment table (4). μ or other two-system wave centering for video game entertainment), hunting by combining people ’s eyes κ 古 —m 亍 # 之 动 仃 仃 to simulate the feedback force x, v, which is close to the true nuclear environment To achieve the virtual realization of tactile sensation, you can further match the visual and tactile settings, as shown in the appendix, to achieve comprehensive virtual reality with multi-sensory stimulation. Among them, the nightmare can be displayed on the screen to show the choice, #, see the exhibition system and touch the heart. \ See the author Nu Jin 仃 control the visual information of the robot. Eight can be operated by directly operating the joystick mechanism to lose power. The production of life is reflected by the force of feedback to reflect the contact force, in order to place people in the virtual space, and ## 4 ^ " 7 Sense B feels the same contact as the actual environment. First, please refer to the first figure, which is a schematic diagram of this block, which contains: See the user ’s force description unit (2 Ω mechanics #, +, 1 1 2 〇), in addition to the use of human movements, it is also necessary to "hold the arm muscles in addition to pushing the object. Bu Er wants to move the entire arm (y), so the human arm muscles want to: push the object-" The object felt by the object is not the force exerted by the human hand # muscle, so it is necessary to add the physical dynamic behavior of the Beiyu Department to describe 90 / description; the ring + brother dynamic description unit describes the game or simulates the physics of the body in the body Sexual resistance: Li ^ is connected to the force description unit (2 π /, fe, the end of which is equal to the input force number 佶 f 0). The force after the force is applied. The calculation of the feedback, Then output-real-owned appearance = :::, :: Considering real-world objects, in addition to their respective, viscous, etc., it can be regarded as: once the 4 body also has its own rigidity and elasticity. _. ^ Is Bailey , Elastic yellow and damping system; motor dynamic behavior description unit (22 human power Learning statistics: i is based on feedback 2. According to the statistical data, the expected position can be obtained from Bodetu) and then decides that if you want to design an early κ, the motor kinetic energy rod _ Li Bu 1 shell description unit (2〇 ): =, (22 ^ Calculate the 苗% channel after the calculation of the unit (21), and output the motor position data; as shown in the second series of the second figure, the invention is applied to the joystick (10) ±, the two pounds It consists of two motors (11, 12); 1) Estimation (2 3), connected to the output of the motor dynamic behavior description sheet = 22), to obtain motor position data to estimate =, and the user The position, speed, acceleration and other values of force application, and then, == input to the user's force description unit (2Q) and brother description unit (21). , And 'In order to make the device of the present invention respond to different users may have a situation, it can be connected to the output of the force calculation unit (200) and environmental dynamic description: 70 (21)-the power compensation unit_ 4) K 'to micro-scale the motor for different users during the use of the day (the human body dynamics are different) ^ ^ U ^ repairman, that is, the force after applying force according to the reality; Y zoom control Signal; of which the position of the force and the force-receiving device: 糸 '是 疋 The greater the value of the compensator, the faster the device responds, but the system is more unstable. Can I go to the haptic reality simulation method of the present invention and apply it to the description of the shaker device, which includes the following steps: Does the force action description unit describe the force rod for describing the body part (such as the hands or feet)?乂 a p 仃 is, so first order the nose with the actual force applied to the feedback device, in order to get a force 馗 "extremely quasi-numerical value, the number of different units of the force description unit is known from the current position of the joystick; : The environmental dynamics of the spare pole game are simulated and output by the environmental dynamics description unit. At one glance, the value is entered, and then the value is different from the previous step of the simulation value. The value is different. 3 Use the force $ compensator to adjust the feedback value. And then input the position control state of the rocker cup to make the signal of the rocker response and feedback. According to the above steps, the present invention uses behavioral dynamics to adjust the value of the actual force applied to the rocker. The dynamics of the "Γ 仏" dynamics, after a detailed description of the game, ,,, and 0, are calculated, and the adjusted force is calculated to obtain the value of 1 fed to the joystick. This control method can make the operator feel the same force as the actual tool cutting real clay, or the reaction force of the quasi-realistic racket racket. Depending on the racket method, there will be different force feelings. 200417907 The above are the execution steps of the method of the present invention. The relationship between the strength of the mechanism ^ and the position y is that the dynamic bandwidth of the input is designed as the system dynamic bandwidth of 5 ~ ι0. The formula can be simplified to 2 α ^ Back to the relationship ..., Human ° Its _ 'Environmental dynamics description unit is Lili Bujujie] (Dynamic behavior with motor ^… the force applied | "Ding Weishen G, the human arm muscles immortal, the last human actually applied to the arm to move The distance (that is, the displacement of the motor). The force fh, ... is described by a virtual ㈣. The virtual clay ring grave cut by the above-mentioned ㈣㈣ force is also described as the broken fried brother (impedance) ' The order of fe & clay knife ,,,,, and the resistance force generated during the cutting process _, the damping of the knot, and the heavy duty D. .. are regarded as the shell, the spring and the replacement process The victory is called Xian or 2 + & by Laplacian, so that the user can feel the tool when cutting the clay in a virtual reality way through the tactile interface device (rocker). The actual contact with the virtual clay, the user touches "the same feeling, that is, The user can accurately feel the resistance and adhesion of the virtual clay through the cutter. In the entertainment system, the external nature of the virtual environment (or object) can be created by the designer himself. The fault is cut by the virtual reality and the existence of the virtual level (or object). Miss :::! In the world, 'Each-type object has its unique shape and physics: sex'. Therefore, the present invention is directed to various types of objects, and the type of object construction—the dynamic behavior of the virtual environment Te. The simulation of the parameters is more accurate. After the force is corrected by the dynamic behavior in the system, it can be compared with the current environment description: 200417907, and the feedback can be more straightforward. See the resistance value. For this reason, this rabbit clearly meets the industrial applicability, which is conducive to novelty and advancement. It is based on the law / combined invention. [Schematic description] f ° (a) The first part of the schema: It is a block diagram of a system structure of the present invention. The second figure is a schematic diagram of the invention applied to a joystick. The third picture: It is the seventh picture of the “Tactile Feedback Device” Invention Patent No. 89 of the Announcement. Attachment · The operation (2) component representative symbols (1 0), joystick (1 1) (1 2), motor (2 0), user force action description unit (21), environmental dynamic description of the present invention applied to game software control Unit (2 2) Motor dynamic behavior description unit (2 3) Estimator (2 4) Force compensation unit