CN108635846B - Force feedback device and method - Google Patents
Force feedback device and method Download PDFInfo
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- CN108635846B CN108635846B CN201810652861.6A CN201810652861A CN108635846B CN 108635846 B CN108635846 B CN 108635846B CN 201810652861 A CN201810652861 A CN 201810652861A CN 108635846 B CN108635846 B CN 108635846B
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 239000010410 layer Substances 0.000 claims abstract description 79
- 239000002344 surface layer Substances 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 description 25
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/25—Output arrangements for video game devices
- A63F13/28—Output arrangements for video game devices responding to control signals received from the game device for affecting ambient conditions, e.g. for vibrating players' seats, activating scent dispensers or affecting temperature or light
- A63F13/285—Generating tactile feedback signals via the game input device, e.g. force feedback
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63J—DEVICES FOR THEATRES, CIRCUSES, OR THE LIKE; CONJURING APPLIANCES OR THE LIKE
- A63J25/00—Equipment specially adapted for cinemas
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/10—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals
- A63F2300/1037—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game characterized by input arrangements for converting player-generated signals into game device control signals being specially adapted for converting control signals received from the game device into a haptic signal, e.g. using force feedback
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Position Input By Displaying (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The invention relates to the technical field of force feedback, in particular to a force feedback device and a force feedback method, wherein the device comprises a central control module, and an execution module which consists of a first array layer consisting of a base layer and an electromagnetic force feedback unit, a middle layer and a second array layer consisting of a mechanical force feedback unit and a surface layer from bottom to top in sequence; the mechanical force feedback unit in the second array layer passes through the middle layer to be connected with the base layer; the central control module is electrically connected with the electromagnetic force feedback unit and the mechanical force feedback unit respectively. The invention simulates the force by distributing the forces with different magnitudes to the electromagnetic force feedback unit and the mechanical force feedback unit at the corresponding positions, thereby solving the technical problem that the existing force can only be simulated in a single type.
Description
Technical Field
The invention relates to the technical field of force feedback, in particular to a force feedback device and a force feedback method.
Background
The force feedback is a method for transmitting information through haptic stimulus, can be widely applied to film watching experience and virtual reality game experience, can be matched with pictures and sounds to create better immersion, can also be applied to information output of wearable equipment, and transmits different information to a wearer through force feedback of different preset modes. In the existing force feedback device scheme, if force feedback with larger stress is generated, a mechanical scheme or a pneumatic scheme is selected, but the corresponding force feedback device has overlarge volume, fewer force feedback units which can be arranged in unit area are fewer, and fine force feedback feeling cannot be restored; when the electromagnetic scheme or the vibration scheme with smaller volume is adopted, although the force feedback units can be arranged more carefully, the requirements of restoring fine and tiny force feedback feeling can be met, but the force generated by the electromagnetic scheme or the vibration scheme is smaller, and the force feedback feeling with larger stress cannot be restored.
Disclosure of Invention
The invention aims to provide a force feedback device and a force feedback method, which can simulate the force by distributing the forces with different magnitudes to an electromagnetic force feedback unit and a mechanical force feedback unit at corresponding positions, and solve the technical problem that the existing force simulation device can only simulate a single type of force.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
the force feedback device is characterized by comprising a central control module, and an execution module, wherein the execution module consists of a first array layer, a middle layer and a second array layer, and the first array layer consists of a base layer, an electromagnetic force feedback unit, the second array layer consists of a mechanical force feedback unit and a surface layer sequentially from bottom to top; the mechanical force feedback unit in the second array layer passes through the middle layer to be connected with the base layer; the central control module is electrically connected with the electromagnetic force feedback unit and the mechanical force feedback unit.
Further, the central control module is connected with the electromagnetic force feedback unit of the first array layer through a first transmission line arranged on the middle layer.
Further, the central control module is connected with the mechanical force feedback unit of the second array layer through a second transmission line arranged on the surface layer.
Further, the electromagnetic force feedback unit comprises an electromagnetic unit shell, wherein an electromagnet, an upper limit elastic component, a first push rod and a lower limit elastic component are sequentially arranged in the electromagnetic unit shell from top to bottom; a first conductive plug on the electromagnet passes through the electromagnetic unit shell and is connected with the middle layer; an upper limit elastic component is arranged between the electromagnet and the first push rod, a lower limit elastic component is arranged on the first push rod, and the lower end of the first push rod penetrates through the electromagnetic unit shell to be connected with the base.
Further, the upper limit elastic component and/or the lower limit elastic component are/is a spring.
Further, the mechanical force feedback unit comprises a mechanical unit shell, a stepping motor is arranged in the mechanical unit shell, the stepping motor drives a connecting rod mechanism to push a sliding block to slide along a track, and the track is connected with the mechanical unit shell; the top of the mechanical unit shell is provided with a second conductive plug connected with the motor and connected with the surface layer, and the lower end of the sliding block is provided with a second push rod which can penetrate through the middle layer and is connected with the base.
Further, the link mechanism comprises a first link rod one end of which is hinged with the stepping motor, and a second link rod the other end of which is hinged with the sliding block, and the first link rod and the second link rod are connected in a hinged mode.
Further, the central control module comprises a control module, and a wireless transceiver module and a power supply module which are respectively connected with the control module; the power supply module is connected with the mechanical force feedback unit through a second transmission line on the surface layer;
the wireless transceiver module is used for receiving touch information;
the control module is used for reading the position coordinates of the touch information, judging the type of the touch information according to the corresponding force value of the touch information, and calculating the actual position corresponding to the touch information and the corresponding force feedback value of the actual position according to the actual position of the electromagnetic force feedback unit or the mechanical force feedback unit;
the control module controls the electromagnetic force feedback unit through a first transmission line in the middle layer and the mechanical force feedback unit through a second transmission line in the surface layer.
A method of force feedback comprising the steps of:
receiving touch information carrying position coordinates and force values;
sequentially reading position coordinates in the touch information and judging the type of the touch information according to the force value;
according to the type of the touch information and combining the actual position of the electromagnetic force feedback unit or the mechanical force feedback unit, calculating the actual position corresponding to the touch information and the corresponding force feedback value thereof;
and sending corresponding force feedback values to the actual positions of the electromagnetic force feedback units or the mechanical force feedback units.
Further, the step of sequentially reading the position coordinates in the touch information and judging the type of the touch information according to the force value includes:
reading position coordinates in certain touch information;
judging the magnitude of a force value and a threshold value in the touch information, wherein the touch information with the force value larger than the threshold value is strong information, and the touch information with the force value smaller than the threshold value is weak information;
storing the touch information corresponding to the strong force information into a mechanical touch information module, and storing the touch information corresponding to the weak force information into an electromagnetic touch information module;
and sequentially reading the position coordinates in the touch sense information and performing the processing of the steps.
Further, the method of calculating the actual position corresponding to the tactile information is to calculate the actual position corresponding to the tactile information by a difference method.
Further, after the step of sending the corresponding force feedback value to the actual position of the electromagnetic force feedback unit or the mechanical force feedback unit, the method further includes:
the mechanical force feedback unit starts the stepping motor to drive the connecting rod mechanism to push the sliding block with the second push rod to slide up and down along the track according to the received force feedback value, and the second push rod performs corresponding pushing-out or withdrawing action under the action of the stepping motor.
Further, after the step of sending the corresponding force feedback value to the actual position of the electromagnetic force feedback unit or the mechanical force feedback unit, the method further includes:
the electromagnetic force feedback unit supplies power to the electromagnet according to the received force feedback value, a magnetic field around the electromagnet generates magnetic force on the first push rod, and the first push rod performs corresponding pushing-out or withdrawing action under the action of the magnetic force.
The invention has the following beneficial effects:
1. the invention can realize the accurate reduction of larger force feedback and fine and tiny force feedback by arranging the mechanical force feedback units and the electromagnetic force feedback units at intervals and unifying the control method.
2. The invention provides a force feedback method, which can automatically separate larger force feedback from fine and small force feedback through a corresponding algorithm, and respectively transmit corresponding trigger signals to a mechanical force feedback unit and an electromagnetic force feedback unit, so as to achieve the purpose of simultaneously simulating two different types of forces.
Drawings
FIG. 1 is a diagram of the wearing effect of the present invention;
FIG. 2 is a schematic diagram of the structure of the present invention;
FIG. 3 is a schematic cross-sectional view of an electromagnetic force feedback unit of the present invention;
FIG. 4 is a schematic structural diagram of an electromagnetic force feedback unit according to the present invention;
FIG. 5 is a schematic diagram of the mechanical force feedback unit of the invention;
FIG. 6 is a block diagram of a circuit configuration of the present invention;
fig. 7 is a flow chart of the processing of tactile information of the present invention.
Fig. 8 is a schematic diagram of a simulation scenario of the present invention.
In the figure: the device comprises a 1-central control module, a 2-first array layer, a 3-second array layer, a 4-base layer, a 5-middle layer, a 6-surface layer, a 21-electromagnet, a 22-upper limit elastic component, a 23-first push rod, a 24-lower limit elastic component, a 25-electromagnetic unit shell, a 26-first conductive plug, a 31-mechanical unit shell, a 32-stepping motor, a 33-first connecting rod, a 34-pin, a 35-second connecting rod, a 36-sliding block, a 37-second conductive plug, a 38-second push rod, a 41-central control module, a 42-executing module, a 43-control module, a 44-power supply module, a 45-wireless transceiver module, a 46-first transmission line, a 47-second transmission line, a 48-electromagnetic force feedback unit, a 49-mechanical force feedback unit, a 51-scene to be simulated and a 52-force feedback device.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments and accompanying drawings, and it should be noted that embodiments of the present invention and features of the embodiments may be combined without conflict, and the scope of the present invention is not limited thereto.
As shown in fig. 1 and 2, the present invention provides a force feedback device, which includes a central control module 1, and an execution module composed of a base layer 4, a first array layer 2 composed of electromagnetic force feedback units, an intermediate layer 5, a second array layer 3 composed of mechanical force feedback units, and a surface layer 6 in sequence from bottom to top. The base layer 4 may be in contact with the human body using a rubber base. The mechanical force feedback units in the second array layer 3 composed of the mechanical force feedback units penetrate through the middle layer 5 and are connected with the base layer 4. The intermediate layer 5 is used to fix the first array layer 2 on the one hand, and to provide a first transmission line for the first array layer 2 composed of electromagnetic force feedback units on the other hand, that is to say, a power transmission and data transmission path electrically connected with the central control module is provided on the intermediate layer 5. Correspondingly, the surface layer 6 fixes the second array layer 3 on the one hand, and provides a second transmission line for the second array layer 3 composed of the mechanical force feedback units on the other hand, that is, a power transmission and data transmission path electrically connected with the central control module is arranged on the surface layer 6. The power transmission and data transmission paths of the middle layer 5 and the surface layer 6 are connected with the central control module 1. The central control module 1 controls the action of the first array layer 2 formed by the electromagnetic force feedback units and the second array layer 3 formed by the mechanical force feedback units through the electric power transmission and data transmission channels of the middle layer 5 and the surface layer 6, thereby generating corresponding tactile feedback on a human body. The present invention can be made as a wearable device as shown in fig. 1.
As shown in fig. 3 and 4, the first array layer 2 is an array structure formed by a plurality of electromagnetic force feedback units. The electromagnetic force feedback unit comprises an electromagnetic unit shell 25, an electromagnet 21 and a first push rod 23, wherein an upper limit elastic part 22 is arranged between the electromagnet 21 and the first push rod 23, and a lower limit elastic part 24 is arranged on the first push rod 23. The first push rod 23 is made of a permanent magnetic material, such as a magnet or the like. One or both of the upper limit resilient member 22 and the lower limit resilient member 24 may be a spring. The electromagnetic unit housing 25 is a cylindrical housing. The electromagnet 21, the upper limit elastic member 22, the first push rod 23 and the lower limit elastic member 24 are disposed in the electromagnetic unit housing 25 in this order from top to bottom. The electromagnet 21 is connected with the electromagnetic unit shell 25, and the electromagnetic unit shell 25 is inserted into the jack at the corresponding position of the middle layer 5 through the first conductive plug 26 at the upper part of the electromagnet 21, so that the fixation of the electromagnetic unit shell is realized, and meanwhile, the electromagnetic unit shell 25 is connected with the central control module 1 through the plug and the jack through the first transmission line arranged on the middle layer. The central control module 1 transmits current with corresponding amplitude to the electromagnet 21 according to the magnitude of force feedback generated at the position, the electromagnet 21 converts an electric field into a magnetic field, suction force or repulsive force with corresponding magnitude is generated on the first push rod 23 made of permanent magnetic materials, the lower end of the first push rod 23 penetrates through the bottom surface of the electromagnetic unit shell 25 and is inserted on the base layer 4, and force feedback is generated on skin in direct contact at the position. That is, the electromagnetic force feedback unit supplies power to the electromagnet 21 according to the received force feedback value, the magnetic field around the electromagnet 21 generates magnetic force to the first push rod 23, and the first push rod 23 performs corresponding pushing or retracting action under the action of the magnetic force. The upper limit elastic member 22 and the lower limit elastic member 24 are used for limiting the maximum pressure or the maximum pulling force generated by the first push rod 23, and simultaneously, when the electromagnet 21 does not receive the current, the first push rod 23 is automatically restored to the initial position. The electromagnetic force feedback unit 48 is capable of restoring fine, threshold-less force feedback.
As shown in fig. 5, the second array layer 3 is an array structure composed of a plurality of mechanical force feedback units. The mechanical force feedback unit comprises a mechanical unit shell 31, a stepping motor 32, a connecting rod mechanism and a sliding block 36, wherein the mechanical unit shell 31 is a shell with a cavity inside, the stepping motor 32 is arranged in the cavity inside the mechanical unit shell 31, one end of the connecting rod mechanism is arranged on the stepping motor 32, and the other end of the connecting rod mechanism is connected with the sliding block 36. The housing is provided with a guide rail for the slider 36. The lower end of the slider 36 is provided with a second push rod 38 which can be connected to the base layer 4 through the intermediate layer 5. The mechanical unit shell 31 is inserted into the jack at the corresponding position of the surface layer 6 through the second conductive plug 37 at the upper part of the mechanical unit shell, so that the mechanical unit shell not only realizes self fixation, but also is connected with the central control module 1 through the plug and the jack through the second transmission line arranged on the surface layer 6, and the conductive plug realizes power supply and signal transmission to the mechanical force feedback unit. The central control module 1 transmits a corresponding rotation control signal to the stepping motor 32 according to the magnitude of the generated force feedback on the position, the stepping motor 32 rotates by a corresponding angle according to the force feedback value and simultaneously drives a link mechanism consisting of a first link 33, a pin 34 and a second link 35 to move, the link mechanism pushes a sliding block 36 to move up and down, a second push rod 38 arranged at the lower end of the sliding block 36 is inserted on the base layer 4, force feedback is generated on skin in direct contact on the position, and a mechanical force feedback unit can generate force feedback with a larger threshold value. Preferably, the stepping motor is hinged with the first connecting rod, the sliding block is hinged with the second connecting rod, and the first connecting rod and the second connecting rod are connected in a hinged mode.
As shown in fig. 6, the central control module 41 includes a power supply module 44, a control module 43 and a wireless transceiver module 45, which are sequentially connected, the power supply module 44 is connected to an electromagnetic force feedback unit 48 in the first array layer 2 via a first transmission line 46 of the middle layer 5, the power supply module 44 and the control module 43 are simultaneously connected to a mechanical force feedback unit 49 in the second array layer 3 via a second transmission line 47 of the surface layer 6, and the wireless transceiver module 45 is used for receiving touch information sent from the outside. The first transmission line 46, the electromagnetic force feedback unit 48, the second transmission line 47 and the mechanical force feedback unit 49 all belong to the execution module 42. The control module is configured to read the position coordinates of the touch information, determine the type of the touch information according to the corresponding force value, and calculate the actual position corresponding to the touch information and the corresponding force feedback value according to the actual position of the electromagnetic force feedback unit 48 or the mechanical force feedback unit 49; the control module controls the electromagnetic force feedback unit 48 via an electromagnetic transmission line in the middle layer and the mechanical force feedback unit 49 via a mechanical transmission line in the surface layer.
As shown in fig. 7, the central control module 1 receives corresponding touch information through the wireless transceiver module, wherein the touch information carries information of position coordinates and force values, sequentially reads the force value at a certain position in the touch information, and judges the type of the touch information according to the force value. Preferably, the specific judging method comprises the following steps: judging the magnitude of a force value and a threshold value in the touch information, wherein the touch information with the force value larger than the threshold value is strong information, and the touch information with the force value smaller than the threshold value is weak information; the strong force information is stored in the mechanical touch information module, and the weak force information is stored in the electromagnetic touch information module. After the type classification of the touch information is finished, the central control module 1 calculates the actual positions of the first array layer 2 and the second array layer 3 corresponding to the touch information and the corresponding force feedback values thereof by utilizing a difference method according to the distribution conditions of the touch information of different types and combining the actual positions of the first array layer 2 formed by the electromagnetic force feedback units and the second array layer 3 formed by the mechanical force feedback units. That is, the central control module calculates the actual positions corresponding to the first array layer 2 and the second array layer 3 in the execution module and the corresponding force feedback values according to the coordinate positions and the force values of the received touch information. The central control module 1 divides the force feedback value into two paths of signals according to the type of the touch information, and the signals are correspondingly transmitted to corresponding units in the first array layer 2 and the second array layer 3 through corresponding transmission lines in the middle layer 5 and the surface layer 6 respectively to trigger actions.
In practical application, after being processed in the central control module 1, the touch information is automatically divided into two paths of touch information, one path is the touch information of strong force information with larger force feedback, and the touch information is transmitted to the corresponding second array layer 3 through the surface layer 6 to control the stepping motor 32 to rotate so as to generate larger force feedback; the other path is the touch information of weak force information with smaller force feedback, the touch information is transmitted to the corresponding first array layer 2 through the middle layer 5, the electromagnet 21 converts an electric field into a magnetic field and then acts on the first push rod 23 to generate smaller force feedback, and therefore multi-resolution restoration of the force feedback is completed.
As shown in fig. 8, when a scenario of hitting a stick in a movie or a game occurs in a rainy day, the existing force feedback device cannot reproduce the hitting feeling of the stick with a larger force and the fine rain drop feeling at the same time, and after the device of the present invention is worn, the hitting feeling of the stick with a larger force can be restored by the corresponding mechanical force feedback units, for example, the scene 51 to be simulated and the force feedback device 52 in the figure, the mechanical force feedback unit 02 and the mechanical force feedback unit 04 in the force feedback device 52 can restore the hitting feeling of the stick, and the fine rain drop feeling can be restored by the corresponding electromagnetic force feedback unit 48 on the device, thereby realizing a more accurate force feedback effect.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The force feedback device is characterized by comprising a central control module, and an execution module, wherein the execution module consists of a first array layer, a middle layer and a second array layer, and the first array layer consists of a base layer, an electromagnetic force feedback unit, the second array layer consists of a mechanical force feedback unit and a surface layer sequentially from bottom to top; the mechanical force feedback unit in the second array layer passes through the middle layer to be connected with the base layer; the central control module is respectively and electrically connected with the electromagnetic force feedback unit and the mechanical force feedback unit,
the electromagnetic force feedback unit comprises an electromagnetic unit shell, wherein an electromagnet, an upper limit elastic component, a first push rod and a lower limit elastic component are sequentially arranged in the electromagnetic unit shell from top to bottom; a first conductive plug on the electromagnet passes through the electromagnetic unit shell and is connected with the middle layer; an upper limit elastic component is arranged between the electromagnet and the first push rod, a lower limit elastic component is arranged on the first push rod, the lower end of the first push rod passes through the electromagnetic unit shell and is connected with the base,
the mechanical force feedback unit comprises a mechanical unit shell, a stepping motor is arranged in the mechanical unit shell, the stepping motor drives a connecting rod mechanism to push a sliding block to slide along a track, and the track is connected with the mechanical unit shell; the top of the mechanical unit shell is provided with a second conductive plug connected with the motor and connected with the surface layer, and the lower end of the sliding block is provided with a second push rod which can penetrate through the middle layer and is connected with the base.
2. A force feedback device according to claim 1, wherein the upper and/or lower limit resilient members are springs.
3. A force feedback device according to claim 1, wherein the linkage comprises a first link having one end hinged to the stepper motor and a second link having the other end hinged to the slider, the first link and the second link being connected by means of a hinge.
4. A method of force feedback using a force feedback device as claimed in any one of claims 1-3, comprising the steps of:
receiving touch information carrying position coordinates and force values;
sequentially reading position coordinates in the touch information and judging the type of the touch information according to the force value;
according to the type of the touch information and combining the actual position of the electromagnetic force feedback unit or the mechanical force feedback unit, calculating the actual position corresponding to the touch information and the corresponding force feedback value thereof;
and sending corresponding force feedback values to the actual positions of the electromagnetic force feedback units or the mechanical force feedback units.
5. The force feedback method of claim 4, wherein the step of sequentially reading position coordinates in the tactile information and judging the type of the tactile information based on the force value comprises:
reading position coordinates in certain touch information;
judging the magnitude of a force value and a threshold value in the touch information, wherein the touch information with the force value larger than the threshold value is strong information, and the touch information with the force value smaller than the threshold value is weak information;
storing the touch information corresponding to the strong force information into a mechanical touch information module, and storing the touch information corresponding to the weak force information into an electromagnetic touch information module;
and sequentially reading the position coordinates in the touch sense information and performing the processing of the steps.
6. The method according to claim 4, wherein the method of calculating the actual position corresponding to the tactile information is to calculate the actual position corresponding to the tactile information using a difference method.
7. A method of force feedback according to claim 4, wherein after the step of sending the corresponding force feedback value to the actual position of the electromagnetic or mechanical force feedback unit, further comprises:
the mechanical force feedback unit starts the stepping motor to drive the connecting rod mechanism to push the sliding block with the second push rod to slide up and down along the track according to the received force feedback value, and the second push rod performs corresponding pushing-out or withdrawing action under the action of the stepping motor.
8. A method of force feedback according to claim 4, wherein after the step of sending the corresponding force feedback value to the actual position of the electromagnetic or mechanical force feedback unit, further comprises:
the electromagnetic force feedback unit supplies power to the electromagnet according to the received force feedback value, a magnetic field around the electromagnet generates magnetic force on the first push rod, and the first push rod performs corresponding pushing-out or withdrawing action under the action of the magnetic force.
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| CN201810652861.6A CN108635846B (en) | 2018-06-22 | 2018-06-22 | Force feedback device and method |
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| CN108635846B true CN108635846B (en) | 2023-10-27 |
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