US 12,444,323 B1
Motion force feedback device and motion force feedback method
Shih-Fang Yang Mao, Hsinchu County (TW); and Cheng-Yen Tsai, Keelung (TW)
Assigned to Industrial Technology Research Institute, Hsinchu (TW)
Filed by Industrial Technology Research Institute, Hsinchu (TW)
Filed on Nov. 22, 2024, as Appl. No. 18/955,990.
Int. Cl. G09B 23/32 (2006.01); G01C 21/16 (2006.01)
CPC G09B 23/32 (2013.01) [G01C 21/165 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A motion force feedback device, comprising:
an inertial measurement unit (IMU), configured to measure a position and a direction of an object in a space, wherein the inertial measurement unit comprises at least one accelerometer and at least one gyroscope, the accelerometer is configured to measure linear acceleration, and the gyroscope is configured to measure angular velocity;
an air velocity sensing (AVS) unit, configured to measure a velocity change of the object relative to an ambient fluid and a relative moving velocity of the ambient fluid in at least one direction;
a vector force feedback unit, comprising a motor and a rotation mechanism coupled to the motor, wherein the vector force feedback unit is configured to dynamically adjust a magnitude and a direction of a centrifugal force to provide force feedback; and
a processor, coupled to the inertial measurement unit, the air velocity sensing unit, and the vector force feedback unit, wherein the processor is configured to calculate a measurement signal obtained from the inertial measurement unit and the air velocity sensing unit to generate a moving distance and a moving direction of the object in the space, and activate the vector force feedback unit to provide the force feedback according to a moving posture of the object and a contact force with the object.