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Force feedback member control method and system

  • US 6,847,852 B2
  • Filed: 11/14/2001
  • Issued: 01/25/2005
  • Est. Priority Date: 11/15/2000
  • Status: Expired due to Fees
First Claim
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1. A system for controlling the interaction of a first force feedback member with a second force feedback member, wherein the first force feedback member and the second force feedback member are communicably coupled, the system comprising:

  • a local model, wherein the local model is configured to calculate a set point associated with the first force feedback member from;

    a variable measured by the first force feedback member, variables intrinsic to the first force feedback member; and

    an estimate of the interaction with the second member, and of a state variable of the first force feedback member;

    a remote model communicably coupled to the local model, wherein the remote model is configured to estimate the state variables of the second member and to receive updated data from the second member; and

    a resynchronizer communicably coupled to the local model wherein the resynchronizer is configured to send a resynchronization message to the second member.

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