Hapic device capable of transferring torque to the wrist

Abstract

An embodiment of the present invention relates to a haptic device capable of transmitting torque to the wrist, which can be worn simply, easily, and quickly in various places desired by the user due to its compact structure, and can enhance the user's immersion by generating torque in various directions on the wrist. To this end, an embodiment of the present invention provides a haptic device capable of transmitting torque to the wrist, comprising: a handle; a controller detachably fixed to the handle and capable of being grasped by the user; an arm band provided to surround the user's arm; a plurality of wires, each having one side and the other side connected in a one-to-one correspondence from a plurality of sides of the handle's rim to a plurality of sides of the arm band, and individually adjustable in length; a plurality of wire driving units provided on the arm band, which provide torque to the user's wrist by winding or unwinding the other sides of the plurality of wires respectively to adjust the length of each wire between the handle and the arm band; a spacing fixing band connecting one side of the handle and one side of the arm band so as to maintain a certain distance between the handle and the arm band; and a control unit that controls the operation of the plurality of wire driving units.

Description

Technology Field

[0001] An embodiment of the present invention relates to a haptic device capable of delivering torque to the wrist, which can be worn simply, easily, and quickly in various places desired by the user due to its compact structure, and can enhance the user's immersion by generating torque in various directions on the wrist. Background Technology

[0003] Typically, a haptic device is a device that contacts the user's body to input the user's movements into a computer and outputs appropriate force or tactile sensations to the user depending on the computer's situation.

[0004] Unlike general computer peripherals such as keyboards, mice, joysticks, monitors, and printers, which are equipped with an interface that operates in only one direction of input or output, haptic devices are equipped with a two-way interface that can perform both the role of an input device that transmits the user's body movements to the computer and the role of an output device that transmits appropriate force or tactile sensations to the user's body according to the computer's commands.

[0005] The feature of having such a bidirectional interface not only facilitates interaction with virtual environments implemented on a computer and remote control of robots connected to the computer, but also enables intuitive input and output for computer users, emerging as a new paradigm that replaces existing peripheral devices equipped with unidirectional interfaces.

[0006] In particular, among the haptic devices with the aforementioned bidirectional interface, there have been cases where haptic feedback is provided to the fingers. However, in such cases, there are no haptic devices that transmit torque to the wrist in addition to the fingers, and therefore, there is a need to develop a haptic device that transmits torque from various directions to the wrist, which is frequently used in daily life, so that the user can feel a greater sense of realism. Prior art literature

[0008] Korean Patent Publication No. 10-2468421 (Nov. 15, 2022) The problem to be solved

[0009] An embodiment of the present invention is intended to provide a haptic device capable of transmitting torque to the wrist, which can be worn simply, easily, and quickly in various places desired by the user with a compact structure.

[0010] In addition, the embodiment of the present invention is intended to provide a haptic device capable of delivering torque to the wrist, applicable to various metaverse and gaming industries, by generating torque in various directions on the wrist to enhance the user's immersion. means of solving the problem

[0012] According to one embodiment of the present invention, a haptic device capable of transmitting torque to a wrist is provided, comprising: a handle; a controller detachably fixed to the handle and capable of being grasped by a user; an arm band provided to surround the user's arm; a plurality of wires, each having one side and the other side connected in a one-to-one correspondence from a plurality of sides of the edge of the handle to a plurality of sides of the arm band and individually adjustable in length; a plurality of wire driving units provided on the arm band, which provide torque to the user's wrist by winding or unwinding the other sides of the plurality of wires respectively to adjust the length of each wire between the handle and the arm band; a spacing fixing band connecting one side of the handle and one side of the arm band so as to maintain a certain distance between the handle and the arm band; and a control unit that controls the operation of the plurality of wire driving units.

[0013] Here, the handle may be formed in the shape of a circular ring, and the lower and upper parts of the controller may be detachably coupled to the lower inner side and the upper inner side of the handle.

[0014] In addition, the lower part of the controller can be detachably connected to the lower inner side of the handle via a base, and the upper part of the controller can be detachably connected to the upper inner side of the handle using a Velcro method.

[0015] The haptic device capable of transmitting torque to the wrist according to the present embodiment may be configured to include a plurality of elastic solenoids, wherein one end of each wire is connected to the handle to fix one end of the wire or elastically support the unwinding of the wire.

[0016] Here, each elastic solenoid includes a helical torsion spring, and one end of the corresponding wire is connected to the helical torsion spring, so that when each elastic solenoid is operated, one end of the corresponding wire can be fixed through the restraint of the torsion spring, and when each elastic solenoid is not operated, the unwinding of one end of the corresponding wire can be elastically supported through the release of the restraint of the torsion spring.

[0017] In addition, the above-mentioned spacing fixing band may have a wire embedded therein for electrical connection between the plurality of elastic solenoids and the plurality of wire driving units.

[0018] At this time, the above-mentioned gap fixing band can be formed in the shape of a hollow bar containing a flexible material.

[0019] In addition, the above material may include a pneumatic artificial muscle.

[0020] In addition, the handle may have a wire embedded therein for an electrical connection between the plurality of elastic solenoids and the spacing fixing band.

[0021] Additionally, each of the above wire driving units may include a DC motor or a linear actuator that winds or unwinds the other end of the corresponding wire during operation.

[0023] According to another embodiment of the present invention, a method for controlling a haptic device capable of transmitting torque to a wrist, as described above, is provided, comprising: a step of checking whether torque is transmitted to a user's wrist; a step of calculating a torque to be transmitted to the wrist when torque transmission is confirmed; and a step of generating torque to the user's wrist by operating a plurality of wire driving units through a control unit according to the calculated torque to perform winding of a plurality of wires respectively.

[0024] Here, one end of each of the plurality of wires is connected to a plurality of elastic solenoids corresponding to the handle, and each elastic solenoid may include a helical torsion spring.

[0025] Accordingly, when the torque transmission is confirmed, the plurality of elastic solenoids can be actuated to fix one side of the plurality of wires through the restraint of the helical torsion spring, and when the torque is not transmitted, the plurality of elastic solenoids can be actuated to release the restraint of the helical torsion spring, thereby elastically supporting the unwinding of one side of the plurality of wires. Effects of the invention

[0027] According to an embodiment of the present invention, there is an advantage in that it can be worn simply, easily, and quickly in various places desired by the user due to its compact structure.

[0028] Furthermore, according to an embodiment of the present invention, torque can be generated in various directions on the wrist, and by enhancing the user's immersion, there is an advantage of being applicable to various metaverse and gaming industries. Brief explanation of the drawing

[0030] FIG. 1 is a schematic perspective view of a haptic device capable of transmitting torque to a wrist according to an embodiment of the present invention. FIG. 2 is an exploded perspective view schematically showing the detachable coupling structure of the handle and controller of FIG. 1. FIG. 3 is an exploded perspective view schematically showing an example of an elastic solenoid applied to FIG. 1. FIGS. 4a to 4c are configuration diagrams for explaining the operating mechanism of the elastic solenoid of FIG. 1, FIG. 4a is a drawing showing the user's wrist bent backward to the maximum extent. FIG. 4b is a drawing showing the state in which a user holds the controller under normal circumstances. FIG. 4c is a drawing showing the user's wrist bent forward as far as possible. FIG. 5 is a configuration diagram for explaining a mechanism that generates torque by winding a wire through the rotation of the DC motor of FIG. 1. Specific details for implementing the invention

[0031] Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. The following detailed description is provided to facilitate a comprehensive understanding of the methods, apparatuses, and / or systems described herein. However, this is merely illustrative and the disclosed embodiments are not limited thereto.

[0032] In describing the embodiments, detailed descriptions of related prior art are omitted if it is determined that such detailed descriptions could unnecessarily obscure the essence of the disclosed embodiments. Furthermore, terms described below are defined in consideration of their functions in the disclosed embodiments, and these may vary depending on the intent or practice of the user or operator. Therefore, such definitions should be based on the content throughout this specification. Terms used in the detailed description are intended merely to describe the embodiments and should not be limiting. Unless explicitly stated otherwise, expressions in the singular form include the meaning of the plural form. In this description, expressions such as "include" or "comprise" are intended to refer to certain characteristics, numbers, steps, actions, elements, parts thereof, or combinations thereof, and should not be interpreted to exclude the existence or possibility of one or more other characteristics, numbers, steps, actions, elements, parts thereof, or combinations thereof other than those described.

[0034] FIG. 1 is a schematic perspective view of a haptic device capable of transmitting torque to a wrist according to an embodiment of the present invention, FIG. 2 is an exploded perspective view schematically showing a separable coupling structure of a handle and a controller of FIG. 1, and FIG. 3 is an exploded perspective view schematically showing an example of an elastic solenoid applied to FIG. 1. FIG. 4a to FIG. 4c are configuration diagrams for explaining the operating mechanism of the elastic solenoid of FIG. 1, FIG. 4a is a diagram showing the state in which the user's wrist is bent backward as much as possible, FIG. 4b is a diagram showing the state in which the user normally holds the controller, and FIG. 4c is a diagram showing the state in which the user's wrist is bent forward as much as possible. FIG. 5 is a configuration diagram for explaining a mechanism for generating torque by winding a wire through the rotation of the DC motor of FIG. 1.

[0035] Referring to FIG. 1, a haptic device (100) capable of transmitting torque to a wrist according to an embodiment of the present invention comprises: a handle (110); a controller (120) detachably fixed to the handle (110) and capable of being grasped by a user; an arm band (130) provided to surround the user's arm; upper, lower, left, and right wires (141, 142, 143, 144) having one side and the other side connected in a one-to-one correspondence from the upper, lower, left, and right sides of the rim of the handle (110) to the upper, lower, left, and right sides of the arm band (130) and individually adjustable in length; and the other side of the upper, lower, left, and right wires (141, 142, 143, 144) provided on the arm band (130) to wind or unwind, respectively, thereby each between the handle (110) and the arm band (130). It may include upper, lower, left, and right wire drive units (151, 152, 153, 154) that generate torque on the user's wrist by adjusting the length of the wires (141, 142, 143, 144), a spacing fixing band (160) that connects one side of the handle (110) and one side of the arm band (130) so that a certain distance is maintained between the handle (110) and the arm band (130), and a control unit (170) that controls the operation of the upper, lower, left, and right wire drive units (151, 152, 153, 154).

[0036] Here, the handle (110) may be formed in the shape of a circular ring, may be formed in a hollow shape so that wires for electrical connection, etc., can be embedded inside, and may be formed in a structure in which a disc with a semicircular cross-section is separated and joined at the front and back.

[0037] And, referring further to FIG. 2, the lower and upper parts of the controller (120) can be detachably coupled to the lower inner and upper inner parts of the handle (110).

[0038] In detail, the lower part of the controller (120) can be detachably connected to the lower inner side of the handle (110) via a base (125), and the upper part of the controller (120) can be detachably connected to the upper inner side of the handle (110) using a Velcro method.

[0039] At this time, the lower part of the controller (120) can be seated in a seating groove (125a) formed corresponding to the upper surface of the base (125), and a fitting groove (125b) is formed on the lower surface of the base (125) and is mutually fitted with a fitting projection (120a) formed on the lower inner side of the handle (120), thereby allowing the base (125) to be fitted and fixed to the lower inner side of the handle (120).

[0040] Additionally, a Velcro tape with a soft or rough surface is provided on the upper inner side of the handle (110), and a Velcro tape with an opposite surface is provided on the upper side of the corresponding controller (120), so that the upper side of the controller (120) can be fixed to the upper inner side of the handle (110) by the Velcro tapes being mutually bonded.

[0041] The haptic device (100) capable of transmitting torque to the wrist in the present embodiment is preferably configured to include a plurality of elastic solenoids (181, 182, 183, 184) which are provided such that one end of each wire (141, 142, 143, 144) is connected to the handle (110) to fix one end of the wire (141, 142, 143, 144) or elastically support the unwinding of the wire (141, 142, 143, 144). At this time, each elastic solenoid (181, 182, 183, 184) may be embedded in the handle (110), but is not limited thereto.

[0042] In detail, referring further to FIG. 3, each elastic solenoid (181 or 182 or 183 or 184) may include a helical torsion spring (181a or 182a or 183a or 184a), and one end of a corresponding wire (141 or 142 or 143 or 144) may be connected to the helical torsion spring (181a or 182a or 183a or 184a), and thus, when each elastic solenoid (181 or 182 or 183 or 184) operates, one end of the corresponding wire (141 or 142 or 143 or 144) can be fixed through the restraint of the helical torsion spring (181a or 182a or 183a or 184a), and each elastic solenoid (181 or 182 or 183 When the above helical torsion spring (181a or 182a or 183a or 184a) is not operated, the unwinding of one side of the corresponding wire (141 or 142 or 143 or 144) can be elastically supported by releasing the restraint of the above helical torsion spring (181a or 182a or 183a or 184a).

[0043] For example, in cases where there is no need to transmit torque to the user's wrist normally, that is, in cases where there is no interaction, the user must be able to move their wrist without restriction. In this case, each elastic solenoid (181 or 182 or 183 or 184) is turned off, so that the corresponding helical torsion spring (181a or 182a or 183a or 184a) is not constrained, that is, the brake is released, and thus each wire (141 or 142 or 143 or 144) can be smoothly unwound or wound, allowing the user to move their wrist freely.

[0044] At this time, even if the user's wrist moves, each of the above wires (141 or 142 or 143 or 143) can continue to maintain taut tension by the restoring force of the corresponding helical torsion spring (181a or 182a or 183a or 184a).

[0045] And, when torque needs to be transmitted to the user's wrist, that is, when the user interacts, each elastic solenoid (181 or 182 or 183 or 184) is turned ON, and the corresponding helical torsion spring (181a or 182a or 183a or 184a) is constrained, that is, in a braked state, and one side of the corresponding wire (141 or 142 or 143 or 144) can be fixed to the handle (110), and at this time, when the plurality of wire driving units (151, 152, 153, 154) are driven to wind the other side of the plurality of wires (141, 142, 143, 144), torque can be immediately generated to the user's wrist.

[0046] Afterward, when the interaction with the user is completed, each elastic solenoid (181 or 182 or 183 or 184) is turned off, releasing the brake on the corresponding helical torsion spring (181a or 182a or 183a or 184a) so that it can operate normally, and the corresponding wire (141 or 142 or 143 or 144) becomes elastically windable or unwindable so that the user can move their wrist freely.

[0047] At this time, the specific structure and operating principle of each elastic solenoid (181, 182, 183, 184) applied in this embodiment may be based on the haptic module described in the paper "Cathy Fang, Yang Zhang, Matthew Dworman, Chris Harrison.: Wireality: Enabling Complex Tangible Geometries in Virtual Reality with Worn Multi-String Haptics, CHI 2020, April 25~30, 2020, Honolulu, HI, USA", so a detailed description thereof is omitted.

[0048] Meanwhile, referring further to FIGS. 4a to 4c, the relationship of the restoring force of the spiral torsion spring (181a) according to the user's wrist movement is explained as follows, using the upper elastic solenoid (181) provided on the upper side of the handle (110) among each elastic solenoid (181 or 182 or 183 or 184) as an example.

[0049] First, as shown in FIG. 4a, when the user bends their wrist backward as far as possible, the length of the upper wire (141) becomes the shortest. At this time, the spiral torsion spring (181a) of the upper elastic solenoid (181) connected to one end of the upper wire (141) is slightly loosened, so the upper wire (141) is taut and the restoring force of the spiral torsion spring (181a) is almost non-existent.

[0050] And, as shown in FIG. 4b, when the user naturally holds the controller (120) in normal circumstances, the length of the upper wire (141) becomes intermediate. At this time, the spiral torsion spring (181a) of the upper elastic solenoid (181), to which one end of the upper wire (141) is connected, is more loosened and has some restoring force. The upper wire (141) is taut and has tension, but does not significantly interfere with the user's wrist movement.

[0051] Additionally, as shown in FIG. 4c, when the user bends their wrist forward as far as possible, the length of the upper wire (141) becomes the longest, and at this time, the helical torsion spring (181a) of the upper elastic solenoid (181) connected to one end of the upper wire (141) is fully unwound, so that the restoring force acts most strongly on the upper wire (141). Situations like FIG. 4c are rare, and when an interaction occurs in such a state, the upper elastic solenoid (181) is turned off to brake the helical torsion spring (181a), thereby winding the upper wire (141) by driving the upper wire drive unit (151), which can immediately generate torque on the user's wrist.

[0052] Meanwhile, the above-mentioned gap fixing band (160) maintains a certain distance between the handle (110) and the arm band (130), so that there is no need for separate calibration even if the user changes, and accordingly, it can be applied to various users without calibration.

[0053] Here, the spacing fixing band (160) may contain wires, etc. for electrical connection between the plurality of elastic solenoids (181, 182, 183, 184) and the plurality of wire driving units (151, 152, 153, 154).

[0054] At this time, the handle (110) may contain wires, etc., that flow from the plurality of elastic solenoids (181, 182, 183, 184) to the spacing fixing band (160).

[0055] That is, wires connected to the plurality of elastic solenoids (181, 182, 183, 184) can be connected to the plurality of wire driving units (151, 152, 153, 154) through the interior of the handle (110) and the spacing fixing band (160).

[0056] And, the above-mentioned spacing fixing band (160) may be formed in the shape of a hollow bar that includes a flexible material and has a wire passing through it embedded inside.

[0057] At this time, the flexible material may be made of a pneumatic artificial muscle, and thus the gap fixing band (160) can maintain a constant distance between the handle (110) and the arm band (130) without the maximum length changing, and the flexible characteristics allow the user to freely bend their wrist.

[0058] Meanwhile, each of the above wire driving units (151, 152, 153, 154) may be configured to include a DC motor or a linear actuator that winds or unwinds the other side of the corresponding wire (141, 142, 143, 144) when operated.

[0059] For example, referring to FIG. 5, when a DC motor is applied to each of the wire drive units (151, 152, 153, 154), the mechanism for generating torque on the user's wrist through the rotation of the DC motor is described as follows.

[0060] First, the relationship between the speed and force of the above DC motor can be calculated experimentally, and the relationship between the speed and force of the DC motor calculated experimentally can be applied to the haptic device of this embodiment to control the torque.

[0061] Accordingly, according to the present embodiment, torque applied to the user's wrist can be controlled without a separate sensor, such as a torque sensor or a current sensor.

[0062] As an experiment, a motor is connected to a force sensor with a wire, and the change in force value is measured and analyzed while changing the speed of the motor.

[0063] And, the relationship between force and motor speed can be estimated.

[0064] That is, since torque (T) = tension (F) × radius (R), tension (F) = torque (T) / radius (R).

[0065] Therefore, the torque (T) can be controlled by controlling the speed of the motor, and since the radius (R) is fixed, this is equivalent to controlling the tension (F).

[0066] The principle by which the motor generates torque by applying this to the haptic device of the present embodiment is explained as follows. In particular, the case in which the haptic device of the present embodiment is applied to content involving shooting a gun is explained.

[0067] First, when the user initiates an interaction, that is, when firing a gun, the recoil force (force: F) of the gun is fixed according to the type of gun, and the motor is rotated to wind the wire, sufficient to generate the recoil force as torque on the user's wrist.

[0068] At this time, let F(max) be the maximum force that the motor can generate, F(motor) be the force that the motor must pull, and α be the difference in angle between the direction of the reaction force (F) and the direction in which the motor pulls the wire. Then, F(motor) × cos(α) = F. That is, F(motor) can be calculated as F = F / cos(α). Accordingly, once the magnitude of the required force, i.e., the reaction force (F), is determined, the motor is driven to pull with a force equal to the magnitude of F / cos(α) to wind the wire.

[0070] Next, the control method of a haptic device capable of transmitting torque to the wrist according to one embodiment of the present invention is described as follows with an example applied to content such as a shooting game.

[0071] First, the control unit (170) checks whether torque is transmitted to the user's wrist. That is, it checks whether the recoil force of the gun, such as when a user holding the controller (120) shoots a gun in the content, needs to be transmitted as torque to the user's wrist.

[0072] And, if the above torque transmission is required, the control unit (170) calculates the torque to be transmitted to the user's wrist in response to the recoil force of the gun.

[0073] Next, when the torque to be transmitted to the user's wrist is calculated, the control unit (170) can generate a torque corresponding to the recoil force of the gun on the user's wrist by operating a plurality of wire drive units (151, 152, 153, 154), i.e., motors, to correspond to the calculated torque and performing winding of a plurality of wires (141, 142, 143, 144).

[0074] At this time, when confirming the torque transmission, a plurality of elastic solenoids (181, 182, 183, 184) are turned ON to restrain, that is, brake, the helical torsion springs (181a, 182a, 183a, 184a), thereby fixing one side of the plurality of wires (141, 142, 143, 144) and winding the other side, so that the handle (110) and controller (120) are bent backward, and at the same time, wrist torque is generated that causes the user's wrist to bend backward.

[0075] If the above torque transmission is not required, the control unit (170) turns off the plurality of elastic solenoids (181, 182, 183, 184) to release the helical torsion springs (181a, 182a, 183a, 184a), that is, releases the brake, so that one side of the plurality of wires (141, 142, 143, 144) can be naturally and elastically unwound or wound according to the movement of the user's wrist.

[0077] Although representative embodiments of the present invention have been described in detail above, those skilled in the art will understand that various modifications can be made to the above-described embodiments without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined by the claims set forth below as well as equivalents thereof. Explanation of the symbols

[0079] 100: Haptic device capable of transmitting torque to the wrist 110 : Handle 120 : Controller 130 : Armband 141, 142, 143, 144: Up, Down, Left, Right wires 151, 152, 153, 154: Up / Down / Left / Right wire drive units 160 : Spacing fixing band 170 : Control unit 181, 182, 183, 184: Up / Down / Left / Right elastic solenoids

Claims

Claim 1 A haptic device capable of transmitting torque to a wrist, comprising: a handle; a controller detachably fixed to the handle and capable of being grasped by a user; an arm band provided to surround the user's arm; a plurality of wires, each having one side and the other side connected in a one-to-one correspondence from a plurality of sides of the handle's rim to a plurality of sides of the arm band and individually adjustable in length; a plurality of wire driving units provided on the arm band, providing torque to the user's wrist by winding or unwinding the other sides of the plurality of wires respectively to adjust the length of each wire between the handle and the arm band; a gap fixing band connecting one side of the handle and one side of the arm band so as to maintain a certain distance between the handle and the arm band; and a control unit for controlling the operation of the plurality of wire driving units. Claim 2 A haptic device capable of transmitting torque to the wrist, wherein, in claim 1, the handle is formed in the shape of a circular ring, and the lower and upper portions of the controller are detachably coupled to the lower inner portion and the upper inner portion of the handle. Claim 3 A haptic device capable of transmitting torque to the wrist according to claim 2, wherein the lower part of the controller is detachably coupled to the lower inner side of the handle via a support, and the upper part of the controller is detachably coupled to the upper inner side of the handle using a Velcro method. Claim 4 A haptic device capable of transmitting torque to a wrist according to claim 1, comprising a plurality of elastic solenoids configured such that one end of each wire is connected to the handle, and which fix one end of the wire or elastically support the unwinding of the wire. Claim 5 A haptic device capable of transmitting torque to a wrist, wherein, in claim 4, each elastic solenoid includes a helical torsion spring and one end of a corresponding wire is connected to the helical torsion spring, thereby fixing one end of the corresponding wire through the restraint of the torsion spring when each elastic solenoid is operated and elastically supporting the unwinding of one end of the corresponding wire through the release of the restraint of the torsion spring when each elastic solenoid is not operated. Claim 6 A haptic device capable of transmitting torque to the wrist, wherein, in claim 5, the spacing fixing band has a wire embedded therein for electrical connection between the plurality of elastic solenoids and the plurality of wire driving parts. Claim 7 A haptic device capable of transmitting torque to the wrist, wherein, in claim 6, the handle has a wire embedded for electrical connection between the plurality of elastic solenoids and the spacing fixing band. Claim 8 A haptic device capable of transmitting torque to a wrist, wherein each wire driving unit comprises a DC motor or a linear actuator that winds or unwinds the other end of the corresponding wire when operated. Claim 9 A haptic device capable of transmitting torque to the wrist, wherein the spacing fixing band is formed in the shape of a hollow bar comprising a flexible material. Claim 10 In claim 9, the material comprises a pneumatic artificial muscle, a haptic device capable of transmitting torque to the wrist. Claim 11 A method for controlling a haptic device capable of transmitting torque to a wrist according to claim 1, comprising: a step in which a control unit included in the haptic device checks whether torque is transmitted to a user's wrist; a step in which, upon checking the torque transmission, the control unit calculates a torque to be transmitted to the wrist; and a step in which, according to the calculated torque, a plurality of wire driving units are operated through the control unit to perform winding of a plurality of wires respectively, thereby generating torque to the user's wrist. Claim 12 A control method for a haptic device capable of transmitting torque to a wrist, wherein, in claim 11, one end of each of the plurality of wires is respectively connected to a plurality of elastic solenoids corresponding to a handle, and each elastic solenoid includes a helical torsion spring, wherein when torque transmission is confirmed, the control unit operates the plurality of elastic solenoids to fix one end of the plurality of wires through the restraint of the helical torsion spring, and when torque non-transmission is confirmed, the control unit does not operate the plurality of elastic solenoids to elastically support the unwinding of one end of the plurality of wires through the release of the restraint of the helical torsion spring.

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