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

• Current Assignee: Orange S.A.
• Original Assignee: Orange S.A.
• Inventors: Hennion, Bernard
• Primary Examiner(s): PATEL, RAMESH B
• Application Number:
  US09/992,583
• Publication Number:
  US 20020082724A1
• Time in Patent Office: 1,168 Days
• Field of Search: 700/28, 700/29, 700/30, 700/31, 700/45, 700/46, 700/65, 700/66, 700/44, 700/37, 709217-218, 709/219, 709/203, 709/204
• US Class Current: 700/45
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61B 8/00 Diagnosis using ultrasonic, sonic or infrasonic waves imaging of objects using sonar G01S15/00
• CPC Class Codes: A61B 8/565 involving data transmission via a network
• CPC Class Codes: A63B 21/28 Devices for two persons operating in opposition or in cooperation
• CPC Class Codes: A63B 2220/51 Force
• CPC Class Codes: A63B 2225/20 with means for remote communication, e.g. internet or the like
• CPC Class Codes: A63B 23/129 for arm wrestling
• CPC Class Codes: A63B 24/0084 Exercising apparatus with means for competitions, e.g. virtual races
• CPC Class Codes: A63F 2300/1037 being specially adapted for converting control signals received from the game device into a haptic signal, e.g. using force feedback
• CPC Class Codes: G06F 2203/013 Force feedback applied to a game
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06V 40/23 Recognition of whole body movements, e.g. for sport training

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.

Claims

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.

2. The system of claim 1, further comprising a phantom model, wherein the phantom model is communicably coupled to the resynchronizer, wherein the phantom model is configured to estimate state variables of the first force feedback member based on resynchronization signals received from the resynchronizer.

3. The system of claim 2, wherein the resynchronizer comprises a comparator, wherein the comparator compares the estimate of the state variables from the phantom model with the state variables from the local model, wherein the resynchronizer is configured to send a resynchronization message to the phantom model and to the second force feedback member when the comparator determines that the difference between the state variables from the phantom model and the state variables from the local model exceeds a predetermined value.

4. The system of claim 1, further comprising an extrapolator, wherein the extrapolator is configured to receive a resynchronization message from the second force feedback member for updating the remote model of the first system.

5. A system for controlling a first force feedback member and a second remote force feedback member, wherein each member is provided with a control system, each of the control systems comprising:

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

a variable measured by the force feedback member,

variables intrinsic to the force feedback member; and

an estimate of the interaction with the other force feedback member and of a state variable of the 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 other force feedback member and to receive updated data from the other force feedback member; and

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

6. A method of controlling a force feedback member able to interact with a second force feedback member, the method comprising:

using a local model to determine 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 force feedback member and of a state variable of the first force feedback member;

using a remote model to determine interactions and state variables of the second force feedback member;

using a remote model to receive updating data from the second force feedback member; and

generating a resynchronization message and sending it to the second force feedback member.

7. The method of claim 6, further comprising using a phantom model to estimate state variables of the first force feedback member based on resynchronization signals received from the resynchronizer.

8. The method of claim 7, wherein generating a resynchronization message comprises comparing the state variables from the phantom model with the state variables from the local model, wherein a resynchronization message is generated when the difference between the state variables from the phantom model and the state variables from the local model exceeds a predetermined value.

9. The method of claim 6, further comprising processing a resynchronization message from the second force feedback member with an extrapolator;

and updating the remote model of the first force feedback member based on the received resynchronization message from the second force feedback member.

10. A computer program including program code for executing the steps of a method of controlling a first force feedback member able to interact with a second force feedback member when said program runs on a computer, the method comprising:

using a local model to determine 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 force feedback member and of a state variable of the first force feedback member;

using a remote model to determine interactions and state variables of the second force feedback member;

using a remote model to receive updating data from the second force feedback member; and

generating a resynchronizatiOn message and sending it to the second force feedback member.

11. A medium capable of being read by a reader and storing program code means for executing the steps of a method of controlling a first force feedback member able to interact with a second force feedback member when the program runs on a computer, the method comprising:

using a local model to determine 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 force feedback member and of a state variable of the first force feedback member;

using a remote model to determine interactions and state variables of the second force feedback member;

using a remote model to receive updating data from the second force feedback member; and

generating a resynchronization message and sending it to the second force feedback member.