US 12,333,078 B2
Control apparatus, control method, and control system for force-sense device
Taha Moriyama, Tokyo (JP); and Yusuke Nakagawa, Tokyo (JP)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Appl. No. 18/550,291
Filed by SONY GROUP CORPORATION, Tokyo (JP)
PCT Filed Feb. 18, 2022, PCT No. PCT/JP2022/006708
§ 371(c)(1), (2) Date Sep. 13, 2023,
PCT Pub. No. WO2022/202021, PCT Pub. Date Sep. 29, 2022.
Claims priority of application No. 2021-048634 (JP), filed on Mar. 23, 2021.
Prior Publication US 2024/0184376 A1, Jun. 6, 2024
Int. Cl. G06F 3/01 (2006.01)
CPC G06F 3/016 (2013.01) [G06F 3/014 (2013.01)] 9 Claims
OG exemplary drawing
 
8. A method for controlling a force-sense device, the method comprising:
acquiring first position information regarding a surface of a virtual object and second position information regarding a fingertip;
controlling, based on the first position information and the second position information, a position of an acting portion that applies a force to the fingertip;
making a second force weaker than a first force, wherein
the first force is applied to the acting portion in a first direction away from the surface of the virtual object in a case where the fingertip is pushed in further farther beyond the surface of the virtual object,
the first direction is normal to the surface of the virtual object, and
the second force is applied in a second direction opposite to the first direction in a case where the fingertip is to be placed back from a position where the fingertip is pushed in farther beyond the surface of the virtual object;
fixing, in a case where a position of the surface of the virtual object and the position of the fingertip have a specific relation, the position of the acting portion such that the fingertip does not move;
cancelling the fixing in a case where the fingertip moves in the first direction;
controlling a first voltage of a motor that applies a force to the acting portion in the first direction;
controlling a second voltage of the motor that applies a force to the acting portion in the second direction, wherein
the acting portion is fixed to a manipulator; and
performing control to suppress the second voltage by a correction process to reduce the second voltage.