Haptics transmission systems
First Claim
1. A method of activating a haptic output device of the kind responsive to signals defining directional force comprising receiving a series of signals defining a multiplicity of data packets, each packet defining a position measured at one location for transmission to the current location, determining from packet data the information defining a position to which a haptic output device is expected to move, storing historic positional data defining each of a multiplicity of positions to which the haptic output device has moved, deriving a model of the space in which directional forces are being applied at said one location and storing data defining said model, deriving from the historic positional data and the data defining the model an anticipated position and generating output signals defining force and direction to move the haptic output device towards said anticipated position and correcting for differences between the anticipated position and the transmitted position on receipt of subsequent positional data.
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Accused Products
Abstract
In order to overcome the problems arising from network latency in haptic transmission systems a local PC (23, 24) attempts to build a force/position model of a remote haptic device (22, 21) so that when packetised position data is received through the network 5 signals controlling the motors of the local haptic device (21, 22) may be adjusted to reflect a predicted position still to be received. By using a local data model of the remote environment, the prediction may take account of reaction forces from objects/textures being simulated locally.
16 Citations
10 Claims
- 1. A method of activating a haptic output device of the kind responsive to signals defining directional force comprising receiving a series of signals defining a multiplicity of data packets, each packet defining a position measured at one location for transmission to the current location, determining from packet data the information defining a position to which a haptic output device is expected to move, storing historic positional data defining each of a multiplicity of positions to which the haptic output device has moved, deriving a model of the space in which directional forces are being applied at said one location and storing data defining said model, deriving from the historic positional data and the data defining the model an anticipated position and generating output signals defining force and direction to move the haptic output device towards said anticipated position and correcting for differences between the anticipated position and the transmitted position on receipt of subsequent positional data.
- 7. An interactive haptic output terminal in combination with a bi-directional transmission arrangement, the terminal comprising at least a haptic output device and control means, said control means receiving signals from said haptic output device to determine a current position for said device, and to determine from signals received from said transmission arrangement a preferred current position for said haptic output device, said control mean determining an output force and direction required to move said haptic output device from the current position to the preferred position, storing historic positional data defining each of a multiplicity of positions to which the haptic output device has moved, deriving a model of the space in which directional forces are being applied and storing data defining said model, deriving from the historic positional data and the data defining the model an anticipated position and generating output signals defining force and direction to move the haptic output device towards said anticipated position and correcting for differences between the anticipated position and the transmitted position on receipt of subsequent positional data.
Specification