US 12,111,966 B2
Position/force control system, worn unit, control unit, position/force control method, and storage medium
Kouhei Ohnishi, Kanagawa (JP); and Takahiro Mizoguchi, Kanagawa (JP)
Assigned to KEIO UNIVERSITY, Tokyo (JP); and MOTION LIB, INC., Kanagawa (JP)
Appl. No. 17/802,933
Filed by KEIO UNIVERSITY, Tokyo (JP); and Motion Lib, Inc., Kawasaki (JP)
PCT Filed Feb. 27, 2021, PCT No. PCT/JP2021/007588
§ 371(c)(1), (2) Date Aug. 26, 2022,
PCT Pub. No. WO2021/172580, PCT Pub. Date Sep. 2, 2021.
Claims priority of application No. 2020-032447 (JP), filed on Feb. 27, 2020.
Prior Publication US 2023/0134614 A1, May 4, 2023
Int. Cl. G06F 3/01 (2006.01)
CPC G06F 3/016 (2013.01) [G06F 3/011 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A position/force control system, comprising:
a worn unit that is configured to be worn on a body of a user and to provide force tactile sensation by an actuator; and
a control unit that, based on data of a space in which a touching object exists, acquires data of a position in the space corresponding to the worn unit,
wherein the worn unit includes a controller that acquires the data of the position from the control unit, and controls driving of the actuator based on impedance, which is determined by rigidity, viscosity and inertia, and contour information of the touching object in the space, and the data of the position, thereby providing the force tactile sensation,
wherein the touching object is a virtual or remote touching object with which the user is not in direct touch.