US 12,105,883 B2
Force feedback control apparatus and control method for same
Keehoon Kim, Pohang-si (KR)
Assigned to POSTECH RESEARCH AND BUSINESS DEVELOPMENT FOUNDATION, Pohang-si (KR)
Filed by POSTECH RESEARCH AND BUSINESS DEVELOPMENT FOUNDATION, Pohang-si (KR)
Filed on May 18, 2023, as Appl. No. 18/320,096.
Claims priority of application No. 10-2022-0137771 (KR), filed on Oct. 24, 2022.
Prior Publication US 2024/0134458 A1, Apr. 25, 2024
Prior Publication US 2024/0231496 A9, Jul. 11, 2024
Int. Cl. G06F 3/01 (2006.01)
CPC G06F 3/016 (2013.01) 17 Claims
OG exemplary drawing
 
1. A force feedback control apparatus, comprising:
a plurality of cable driving modules comprising at least three modules, wherein each of the plurality of cable driving modules is configured to wind a portion of a cable around one side and adjust a tension of the cable pulled out;
a user interface device configured to be connected to an end of each of the cables pulled out from the plurality of cable driving modules; and
a controller for determining the number and positions of the plurality of cable driving modules based on a pull-out value from each of the plurality of cable driving modules when a position of the user interface device is moved by a user's manipulation,
wherein each of the plurality of cable driving modules comprises a first sensor unit configured to detect the pull-out value of the cable and a second sensor unit configured to detect a pull-out direction of the cable,
wherein the controller is configured to determine parameters based on the pull-out direction and a pull-out length of the cable based on values received from the first sensor unit and the second sensor unit, and
wherein each of the plurality of cable driving modules includes:
a first pulley configured to wind the cable;
a second pulley configured to change a direction of the cable pulled out from the first pulley;
a motor configured to rotate the first pulley;
a constant torque spring configured to apply a predetermined torque to the first pulley; and
a communication module configured to communicate with the controller.