Haptic device capable of transmitting torque to wrist

Abstract

An embodiment of the present invention relates to a haptic device which is capable of transmitting torque to the wrist, has a compact structure to be easily and rapidly worn in various places desired by a user, and can generate torque on the wrist from various directions so as to improve the immersive feeling of the user. To this end, the embodiment of the present invention provides the haptic device which is capable of transmitting torque to the wrist and comprises: a handle; a controller which is detachably fixed to the handle so that the user can grasp; an arm band provided to be wound around an arm of the user; a plurality of wires connected from multiple sides of the handle's boundary to corresponding multiple sides of the arm band in one-to-one correspondence and being individually adjustable in length; a plurality of wire drivers which are provided on the arm band so as to wind or unwind the sides of the plurality of wires and adjust the length of each wire between the handle and the arm band, thereby providing the torque to the wrist of the user; a gap adjusting band which connects one side of the handle to one side of the arm band so that a certain distance can be maintained between the handle and the arm band; and a controller controlling operations of the plurality of wire drivers.

Description

A haptic device capable of transmitting torque to the wrist

[0001] An embodiment of the present invention relates to a haptic device capable of transmitting torque to the wrist, which has a compact structure and can be simply, easily, and quickly worn by a user in various desired locations, and which can generate torque in various directions on the wrist to enhance the user's sense of immersion.

[0002]

[0003] Typically, a haptic device is a device that comes into contact with the user's body, inputs 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 typical computer peripherals such as keyboards, mice, joysticks, monitors, and printers that have interfaces that only function in one direction for input or output, haptic devices have a bidirectional interface that allows them to function as both an input device that transmits the user's body movements to the computer and 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 two-way interface not only facilitates interaction with virtual environments implemented on computers and remote control of robots connected to computers, but also enables intuitive input and output by computer users, and is emerging as a new paradigm that replaces peripheral devices with existing one-way interfaces.

[0006] In particular, among the haptic devices that perform the above-mentioned two-way interface, there have been cases where haptic feedback was provided to the fingers. However, in such cases, there has been no haptic device that transmits torque to the wrist in addition to the fingers. This necessitates the development of a haptic device that can transmit torque from various directions to the wrist, a device frequently used in real life, to enhance the user's sense of realism.

[0007]

[0008] An embodiment of the present invention provides a haptic device capable of transmitting torque to the wrist, which can be simply, easily, and quickly worn by a user in various desired locations with a compact structure.

[0009] In addition, an embodiment of the present invention provides a haptic device capable of transmitting torque to the wrist, which can be applied to various metaverses and game industries, by generating torque in various directions to the wrist to enhance the user's sense of immersion.

[0010]

[0011] 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 gripped by a user; an arm band provided to surround an arm of the user; a plurality of wires, one side of which is connected to a plurality of sides of the arm band in a one-to-one correspondence from a plurality of edges of the handle to a plurality of sides of the arm band, the one side and the other side of which are individually adjustable in length; a plurality of wire driving units provided in the arm band, each of which provides torque to a wrist of the user by winding or unwinding the other sides of the plurality of wires 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 such that a predetermined distance is maintained between the handle and the arm band; and a control unit that controls the operation of the plurality of wire driving units.

[0012] Here, the handle may be formed in a circular ring shape, 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.

[0013] And, the lower part of the controller can be detachably connected to the lower inner side of the handle via a stand, and the upper part of the controller can be detachably connected to the upper inner side of the handle via a Velcro method.

[0014] The haptic device capable of transmitting torque to the wrist of the present embodiment may be configured to include a plurality of elastic solenoids that are provided such that one end of each wire is connected to the handle to fix one end of the wire or elastically support unwinding of the wire.

[0015] Here, each elastic solenoid includes a spiral torsion spring, and one side of the corresponding wire is connected to the spiral torsion spring, so that when each elastic solenoid is operated, one side 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 side of the corresponding wire can be elastically supported through the release of the restraint of the torsion spring.

[0016] In addition, the gap fixing band may have built-in wires for electrical connection between the plurality of elastic solenoids and the plurality of wire driving units.

[0017] At this time, the gap fixing band can be formed in the shape of a hollow bar containing a flexible material.

[0018] Additionally, the material may include a pneumatic artificial muscle.

[0019] Additionally, the handle may have built-in wires for electrical connection between the plurality of elastic solenoids and the gap fixing band.

[0020] Additionally, each of the above wire driving units may include a DC motor or linear actuator that winds or unwinds the other end of the corresponding wire when operated.

[0021]

[0022] According to another embodiment of the present invention, a method for controlling a haptic device capable of transmitting torque to a wrist is provided, comprising: a step of confirming whether torque is transmitted to a user's wrist; a step of calculating torque to be transmitted to the wrist when the torque transmission is confirmed; and a step of operating a plurality of wire driving units through a control unit according to the calculated torque to wind a plurality of wires, respectively, to generate torque to the user's wrist.

[0023] Here, one side of the plurality of wires is respectively connected to a plurality of elastic solenoids provided corresponding to the handle, and each of the elastic solenoids may include a spiral torsion spring.

[0024] Accordingly, when the torque transmission is confirmed, the plurality of elastic solenoids are operated to fix one side of the plurality of wires through the restraint of the spiral torsion spring, and when the torque non-transmission is confirmed, the plurality of elastic solenoids are not operated to release the restraint of the spiral torsion spring, thereby elastically supporting the unwinding of one side of the plurality of wires.

[0025]

[0026] According to an embodiment of the present invention, there is an advantage in that the compact structure allows for simple, easy, and quick wearing in various locations desired by the user.

[0027] In addition, according to an embodiment of the present invention, torque can be generated in various directions on the wrist, thereby enhancing the user's sense of immersion, thereby providing advantages applicable to various metaverses and game industries.

[0028]

[0029] FIG. 1 is a perspective view schematically illustrating a haptic device capable of transmitting torque to a wrist according to one embodiment of the present invention.

[0030] Figure 2 is an exploded perspective view schematically showing the detachable coupling structure of the handle and controller of Figure 1.

[0031] Figure 3 is an exploded perspective view schematically showing an example of an elastic solenoid applied to Figure 1.

[0032] Figures 4a to 4c are schematic diagrams for explaining the operating mechanism of the elastic solenoid of Figure 1.

[0033] Figure 4a is a drawing showing a state in which the user's wrist is bent backwards as much as possible.

[0034] Figure 4b is a drawing showing a state in which a user normally holds the controller.

[0035] Figure 4c is a drawing showing the user's wrist bent forward as much as possible.

[0036] Figure 5 is a schematic diagram for explaining a mechanism for generating torque by winding a wire through rotation of the DC motor of Figure 1.

[0037]

[0038] 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, devices, and / or systems described herein. However, these are merely examples, and the disclosed embodiments are not limited thereto.

[0039] In describing the embodiments, if it is determined that a specific description of related known technology may unnecessarily obscure the gist of the disclosed embodiments, the detailed description will be omitted. In addition, the terms described below are terms defined in consideration of their functions in the disclosed embodiments, and this may vary depending on the intention or custom of the user or operator. Therefore, the definitions should be made based on the contents throughout this specification. The terminology used in the detailed description is only for the purpose of describing the embodiments and should not be limited in any way. Unless clearly used otherwise, the singular form includes the plural form. In this description, expressions such as "comprises" or "having" are intended to indicate certain features, numbers, steps, operations, elements, parts or combinations thereof, and should not be construed to exclude the presence or possibility of one or more other features, numbers, steps, operations, elements, parts or combinations thereof other than those described.

[0040]

[0041] FIG. 1 is a perspective view schematically illustrating 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 illustrating a separable coupling structure of a handle and a controller of FIG. 1, and FIG. 3 is an exploded perspective view schematically illustrating an example of an elastic solenoid applied to FIG. 1. In addition, FIGS. 4A to 4C are schematic diagrams for explaining the operating mechanism of the elastic solenoid of FIG. 1, wherein FIG. 4A is a diagram illustrating a state in which a user's wrist is bent backward as much as possible, FIG. 4B is a diagram illustrating a state in which a user normally holds a controller, and FIG. 4C is a diagram illustrating a state in which the user's wrist is bent forward as much as possible. In addition, FIG. 5 is a schematic diagram for explaining a mechanism for generating torque by winding a wire through rotation of a DC motor of FIG. 1.

[0042] 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 gripped by a user; an arm band (130) provided to surround the user's arm; upper, lower, left, and right wires (141, 142, 143, 144) which are connected one-to-one from the upper, lower, left, and right sides of the edge of the handle (110) to the upper, lower, left, and right sides of the arm band (130) and which can be individually adjusted in length; and the other sides of the upper, lower, left, and right wires (141, 142, 143, 144) which are provided in the arm band (130) and which are respectively wound or unwound to adjust the angle between the handle (110) and the arm band (130). It may include upper, lower, left, and right wire driving units (151, 152, 153, 154) that generate torque on the user's wrist by adjusting the length of wires (141, 142, 143, 144), a gap 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 driving units (151, 152, 153, 154).

[0043] Here, the handle (110) may be formed in a circular ring shape, 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 can be separated and combined front and back.

[0044] And, referring further to FIG. 2, the lower and upper parts of the controller (120) can be detachably coupled to the lower inner side and the upper inner side of the handle (110).

[0045] In detail, the lower part of the controller (120) can be detachably coupled to the lower inner side of the handle (110) via a stand (125), and the upper part of the controller (120) can be detachably coupled to the upper inner side of the handle (110) using a Velcro method.

[0046] 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 stand (125), and a fitting groove (125b) is formed on the lower surface of the stand (125) and is mutually fitted with a fitting projection (120a) formed on the lower inner side of the handle (120), so that the stand (125) can be fitted and fixed to the lower inner side of the handle (120).

[0047] In addition, a Velcro tape with a smooth 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 controller (120), so that the tapes are mutually adhered with the belt, thereby fixing the upper part of the controller (120) to the upper inner side of the handle (110).

[0048] The haptic device (100) capable of transmitting torque to the wrist of the present embodiment is preferably configured to include a plurality of elastic solenoids (181, 182, 183, 184) that are provided such that one side of each of the wires (141, 142, 143, 144) is connected to the handle (110) to fix one side of the wire (141, 142, 143, 144) or elastically support unwinding of the wire (141, 142, 143, 144). At this time, each of the elastic solenoids (181, 182, 183, 184) may be built into the handle (110), but is not limited thereto.

[0049] In detail, referring further to FIG. 3, each elastic solenoid (181 or 182 or 183 or 184) may include a spiral torsion spring (181a or 182a or 183a or 184a), and one side of the corresponding wire (141 or 142 or 143 or 144) may be connected to the spiral torsion spring (181a or 182a or 183a or 184a), and thus, when each elastic solenoid (181 or 182 or 183 or 184) is operated, one side of the corresponding wire (141 or 142 or 143 or 144) may be fixed through the restraint of the spiral torsion spring (181a or 182a or 183a or 184a), and each elastic solenoid (181 or 182 or When the spiral torsion spring (181a or 182a or 183a or 184a) is not in operation, 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 spiral torsion spring (181a or 182a or 183a or 184a).

[0050] For example, when there is no need to transmit torque to the user's wrist in normal times, i.e., when there is no interaction, the user should be able to move the wrist without restriction, so at this time, each elastic solenoid (181 or 182 or 183 or 184) is turned off so that the corresponding spiral torsion spring (181a or 182a or 183a or 184a) is not constrained, i.e., the brake is released, and thus, each wire (141 or 142 or 143 or 144) is in a state where unwinding or winding can be performed smoothly, and the user can freely move the wrist.

[0051] At this time, even if the user's wrist moves, each of the above wires (141 or 142 or 143 or 143) can maintain a taut tension due to the restoring force of the corresponding spiral torsion spring (181a or 182a or 183a or 184a).

[0052] And, when a 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 spiral torsion spring (181a or 182a or 183a or 184a) is in a restrained state, that is, a braked state, and thus 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 parts (151, 152, 153, 154) are driven to wind the other side of the plurality of wires (141, 142, 143, 144), a torque can be immediately generated on the user's wrist.

[0053] Afterwards, when the user's interaction is completed, each elastic solenoid (181 or 182 or 183 or 184) is turned off, and the brake on the corresponding spiral torsion spring (181a or 182a or 183a or 184a) is released, allowing normal operation. Accordingly, the corresponding wire (141 or 142 or 143 or 144) is in a state where it can be flexibly wound or unwound, allowing the user to freely move the wrist.

[0054] At this time, the specific structure and operating principle of each elastic solenoid (181, 182, 183, 184) applied to this embodiment can be applied to 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.

[0055] Meanwhile, referring to FIGS. 4a to 4c, the relationship between the restoring force of the spiral torsion spring (181a) according to the user's wrist movement will be explained as follows, taking as an example the upper elastic solenoid (181) provided on the upper side of the handle (110) among the elastic solenoids (181 or 182 or 183 or 184).

[0056] First, as in Fig. 4a, when the user bends the wrist backward as much as possible, the length of the upper wire (141) becomes the shortest, and at this time, the spiral torsion spring (181a) of the upper elastic solenoid (181) to which one side of the upper wire (141) is connected is slightly loosened, so that the upper wire (141) has a taut tension, but the restoring force of the spiral torsion spring (181a) is hardly applied.

[0057] And, as in Fig. 4b, in a state where a normal user naturally holds the controller (120), the length of the upper wire (141) is in an intermediate state, and at this time, the spiral torsion spring (181a) of the upper elastic solenoid (181) to which one side of the upper wire (141) is connected is in a slightly looser state with a certain degree of restoring force, so that the upper wire (141) has a taut tension but does not significantly interfere with the user's wrist movement.

[0058] Also, as in Fig. 4c, when the user bends the wrist forward as much as possible, the length of the upper wire (141) becomes the longest, and at this time, the spiral torsion spring (181a) of the upper elastic solenoid (181) to which one side of the upper wire (141) is connected is in a state where the restoring force is the greatest on the upper wire (141). A situation like Fig. 4c is not common, and when an interaction is applied in this state, the upper elastic solenoid (181) is turned off to break the spiral torsion spring (181a), thereby winding the upper wire (141) by driving the upper wire drive unit (151), thereby immediately generating torque on the user's wrist.

[0059] 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 thus it can be applied to various users without calibration.

[0060] Here, the gap fixing band (160) may be equipped with wires for electrical connection between the plurality of elastic solenoids (181, 182, 183, 184) and the plurality of wire driving units (151, 152, 153, 154).

[0061] At this time, the handle (110) may have built-in wires flowing from the plurality of elastic solenoids (181, 182, 183, 184) to the gap fixing band (160).

[0062] That is, the 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 gap fixing band (160) through the inside of the handle (110).

[0063] In addition, the above-mentioned gap fixing band (160) can be formed in a hollow bar shape so that it includes a flexible material and has a wire routed inside.

[0064] At this time, the flexible material may be made of a pneumatic artificial muscle, and thus the gap fixing band (160) may be rigidly fixed in length so that the maximum length does not change, thereby allowing a certain distance to be maintained between the handle (110) and the arm band (130), and the flexible characteristic may allow the user to easily bend the wrist freely.

[0065] Meanwhile, each of the above wire driving units (151, 152, 153, 154) may be configured to include a DC motor or linear actuator that winds or unwinds the other side of the corresponding wire (141, 142, 143, 144) when in operation.

[0066] For example, referring to FIG. 5, when a DC motor is applied to each of the wire driving units (151, 152, 153, 154), the mechanism for generating torque on the user's wrist through rotation of the DC motor is described as follows.

[0067] First, the relationship between the speed and force of the DC motor can be experimentally calculated, and the experimentally calculated relationship between the speed and force of the DC motor can be applied to the haptic device of the present embodiment to control the torque.

[0068] Accordingly, according to the present embodiment, the torque applied to the user's wrist can be controlled without a separate sensor such as a torque sensor or a current sensor.

[0069] 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.

[0070] And, we can estimate the relationship between force and motor speed.

[0071] That is, since torque (T) = tension (F) × radius (R), tension (F) = torque (T) / radius (R).

[0072] Therefore, by controlling the speed of the motor, we can control the torque (T), and since the radius (R) is fixed, this is equivalent to controlling the tension (F).

[0073] The principle of the motor generating torque by applying this to the haptic device of the present embodiment is explained as follows. In particular, a case where the haptic device of the present embodiment is applied to content of shooting a gun is explained.

[0074] First, when the user initiates an interaction, i.e., shoots a gun, the recoil force (force: F) of the gun is fixed depending on the type of gun, and the motor is rotated enough to generate the recoil force of the gun as torque on the user's wrist, thereby winding the wire.

[0075] At this time, if the maximum force that the motor can generate is F(max), the force that the motor must pull is F(motor), and the angular difference between the direction of the reaction force (F) and the direction in which the motor pulls the wire is α, then F(motor)×cos(α) = F. That is, it can be calculated as F(motor) = F / cos(α). Therefore, once the size of the required force, i.e. the reaction force (F), is determined, the motor can be driven to pull with a force equal to the size of F / cos(α) to wind the wire.

[0076]

[0077] Next, a method for controlling a haptic device capable of transmitting torque to a wrist according to one embodiment of the present invention will be described as an example applied to content such as a shooting game.

[0078] First, the control unit (170) checks whether torque is transmitted to the user's wrist. In other words, it checks whether the recoil force of the gun, such as when the user holding the controller (120) fires a gun in the content, should be transmitted to the user's wrist as torque.

[0079] And, when 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.

[0080] Next, when the torque to be transmitted to the user's wrist is calculated, the control unit (170) operates a plurality of wire driving units (151, 152, 153, 154), i.e., a motor, to correspond to the calculated torque, thereby winding a plurality of wires (141, 142, 143, 144), thereby generating a torque corresponding to the recoil force of the gun on the user's wrist.

[0081] At this time, when confirming the torque transmission, by turning on a plurality of elastic solenoids (181, 182, 183, 184) to restrain, i.e., break, the spiral torsion springs (181a, 182a, 183a, 184a), one side of the plurality of wires (141, 142, 143, 144) is fixed and the other side is wound, thereby generating a wrist torque that bends the handle (110) and the controller (120) backward while simultaneously bending the user's wrist backward.

[0082] If the torque transmission is not necessary, 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) from restraint, i.e., release the brake, thereby allowing one side of the plurality of wires (141, 142, 143, 144) to be naturally and elastically unwound or wound according to the user's wrist movement.

[0083]

[0084] While representative embodiments of the present invention have been described in detail above, those skilled in the art will appreciate that various modifications to the above-described embodiments are possible 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 not only by the claims set forth below but also by equivalents thereof.

[0085]

[0086] [Explanation of symbols]

[0087] 100: Haptic device capable of transmitting torque to the wrist

[0088] 110: Handle

[0089] 120: Controller

[0090] 130: Arm Band

[0091] 141, 142, 143, 144: Top, bottom, left, and right wires

[0092] 151, 152, 153, 154: Up, down, left, and right wire drive units

[0093] 160: Fixed gap band

[0094] 170: Control unit

[0095] 181, 182, 183, 184: Up, down, left, and right elastic solenoids

Claims

1. Handle; A controller detachably attached to the handle, which allows the user to grip it; An arm band provided to surround the user's arm; A plurality of wires, one side and the other side of which are connected in a one-to-one correspondence from the plurality of sides of the frame of the above handle to the plurality of sides of the arm band, and whose lengths can be individually adjusted; A plurality of wire driving units provided in the arm band, each of which provides torque to the user's wrist by winding or unwinding the other side of the plurality of wires 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 that a certain distance is maintained between the handle and the arm band; and A haptic device capable of transmitting torque to a wrist, comprising a control unit that controls the operation of the plurality of wire driving units.

2. In claim 1, A haptic device capable of transmitting torque to the wrist, wherein the handle is formed in a circular ring shape, and the lower and upper parts of the controller are detachably connected to the lower inner side and the upper inner side of the handle.

3. In claim 2, A haptic device capable of transmitting torque to the wrist, wherein the lower part of the controller is detachably connected to the lower inner side of the handle via a stand, and the upper part of the controller is detachably connected to the upper inner side of the handle via a Velcro method.

4. In claim 1, A haptic device capable of transmitting torque to the wrist, comprising a plurality of elastic solenoids that are arranged to connect one end of each of the wires to the handle, thereby fixing one end of the wire or elastically supporting unwinding of the wire.

5. In claim 4, A haptic device capable of transmitting torque to the wrist, wherein each of the above elastic solenoids includes a spiral torsion spring, and one end of the corresponding wire is connected to the spiral torsion spring, such that when each of the above elastic solenoids is operated, the one end of the corresponding wire is fixed through the restraint of the torsion spring, and when each of the above elastic solenoids is not operated, the unwinding of the one end of the corresponding wire is elastically supported through the release of the restraint of the torsion spring.

6. In claim 5, A haptic device capable of transmitting torque to the wrist, wherein the gap fixing band has built-in wires for electrical connection between the plurality of elastic solenoids and the plurality of wire driving units.

7. In claim 6, A haptic device capable of transmitting torque to the wrist, wherein the handle has built-in wires for electrical connection between the plurality of elastic solenoids and the gap fixing band.

8. In claim 1, A haptic device capable of transmitting torque to the wrist, wherein each of the above wire driving units includes a DC motor or linear actuator that winds or unwinds the other end of the corresponding wire when operated.

9. In claim 1, The above gap fixing band is a haptic device capable of transmitting torque to the wrist, formed in the shape of a hollow bar containing a flexible material.

10. In claim 9, The above material is a haptic device capable of transmitting torque to the wrist, including a pneumatic artificial muscle.

11. A method for controlling a haptic device capable of transmitting torque to the wrist of claim 1, A step for checking whether torque is transmitted to the user's wrist; When the above torque transmission is confirmed, a step of calculating the torque to be transmitted to the wrist; and A method for controlling a haptic device capable of transmitting torque to a wrist, comprising: a step of operating a plurality of wire driving units through a control unit according to the above-described torque to wind the plurality of wires, thereby generating torque on the user's wrist; 12. In claim 11, One side of the plurality of wires is respectively connected to a plurality of elastic solenoids corresponding to the handle, and each elastic solenoid includes a spiral torsion spring. A control method for a haptic device capable of transmitting torque to a wrist, wherein when the torque transmission is confirmed, the plurality of elastic solenoids are operated to fix one side of the plurality of wires through restraint of the spiral torsion spring, and when the torque non-transmission is confirmed, the plurality of elastic solenoids are not operated to elastically support unwinding of one side of the plurality of wires through restraint release of the spiral torsion spring.