Force feedback member control method and system
First Claim
1. A control system for a force feedback member able to interact with another member, of the type with a time constant less than that associated with remote control, characterized in that it includes a local model for calculating a set point addressed to said force feedback member from a variable measured by said force feedback member, variables intrinsic to said force feedback member, an estimate of an external interaction with said force feedback member, and a state variable of said force feedback member, a remote model for estimating interactions and state variables of said other member with updating on receipt of data from another remote system, and resynchronizer means able to send a resynchronization message to said other system.
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Accused Products
Abstract
A method and a system for controlling a force feedback member able to interact with another member, including a local model for calculating a set point addressed to the force feedback member from a plurality of variables, and a remote model for estimating interactions and variables of the other member, with updating on receiving data from another remote system, and resynchronizer means able to send a resynchronization message to the other system.
17 Citations
11 Claims
- 1. A control system for a force feedback member able to interact with another member, of the type with a time constant less than that associated with remote control, characterized in that it includes a local model for calculating a set point addressed to said force feedback member from a variable measured by said force feedback member, variables intrinsic to said force feedback member, an estimate of an external interaction with said force feedback member, and a state variable of said force feedback member, a remote model for estimating interactions and state variables of said other member with updating on receipt of data from another remote system, and resynchronizer means able to send a resynchronization message to said other system.
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6. A method of controlling a force feedback member able to interact with another member, said method including:
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local modeling to obtain a set point sent to said force feedback member from a variable measured by said force feedback member, variables intrinsic to said force feedback member, an estimate of an external interaction with said force feedback member, and a state variable of said force feedback member;
remote modeling of the interactions and said state variables of said other member with updating on receiving data from another remote system;
generating a resynchronization message and sending it to said other system. - View Dependent Claims (7, 8, 9, 10, 11)
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Specification