Haptic device and haptic system including same

Abstract

One embodiment of the present invention provides a haptic device comprising: a body including a plurality of vibration motors; a first tracking unit which is disposed at a first end portion of the body and which includes a first position tracking sensor; and a control unit for transmitting a control signal to an object to be controlled, receiving, when the object to be controlled collides with another object, a collision signal from the object to be controlled, and controlling at least some of the plurality of vibration motors such that a first feedback signal is generated.

Description

Haptic device and haptic system including the same

[0001] The present invention relates to a haptic device and a haptic system including the same.

[0002] In general, haptic devices are devices that output an artificial sense of touch. They include the ability to receive input such as the user's movements and position, as well as the ability to output tactile sensations or forces corresponding to events occurring in a given virtual reality environment. These haptic devices are used as control devices to replace workers with robots in hazardous environments in actual industrial settings. Furthermore, haptic devices can provide haptic feedback, intuitively and efficiently conveying the results of remote interactions between robots and their surroundings to local workers in the form of tactile sensations and feedback.

[0003] Haptic devices are widely used as control devices in robot remote control systems and can be categorized into grounded and ungrounded types based on their form. Ungrounded haptic devices can be further categorized into body-grounded and handheld types.

[0004] First, fixed-type haptic devices have the advantage of being less constrained by weight or size, as the motor-equipped portion of the device is attached to the ground (or a desk). However, fixed-type haptic devices operate while their parts are fixed to the ground (or other surface), and design constraints prevent them from being manufactured infinitely large sizes. Consequently, their range of motion is limited.

[0005] Furthermore, non-rigid haptic devices are typically designed to be held in the user's hand and are lightweight and compact to minimize user fatigue. This design limits their ability to provide only simple forms of haptic feedback, such as tactile feedback, which can be generated by lightweight motors. Conversely, non-rigid haptic devices, because they are not fixed to the ground, offer the advantage of unrestricted range of motion.

[0006] The present invention was created to solve the above problems, and its purpose is to provide a haptic device and haptic system that solve each problem of a fixed haptic device and a non-fixed haptic device and include the advantages of both devices.

[0007] The objectives of the present invention are not limited to the above-described scope. Those skilled in the art will have no difficulty understanding the additional objectives of the present invention from the overall content of this specification.

[0008] In order to achieve the above object, a haptic device according to one embodiment of the present invention may include a body including a plurality of vibration motors, a first tracking unit disposed at a first end of the body and including a first position tracking sensor, and a control unit that transmits a control signal to a control target, receives a collision signal from the control target when the control target collides with another object, and controls at least some of the plurality of vibration motors to generate a first feedback signal.

[0009] In an embodiment of the present invention, the body may have an elongated shape extending along the first direction and may include an extension portion having an internal space.

[0010] In an embodiment of the present invention, the plurality of vibration motors are arranged in the internal space and can be spaced apart in the first direction.

[0011] In an embodiment of the present invention, the control unit can determine, based on the collision signal, which of the plurality of vibration motors will output the first feedback signal, and the output form of the first feedback signal.

[0012] In an embodiment of the present invention, the control unit may increase or decrease at least some of the position of the vibration motor that outputs the first feedback signal, the number of the vibration motors, and the output intensity, output period, and output number of the first feedback signal to correspond to an actual collision occurring in the control target based on the collision signal.

[0013] In an embodiment of the present invention, a display unit disposed on the body and displaying a second feedback signal corresponding to the collision signal may be further included.

[0014] In an embodiment of the present invention, a handle portion may be further provided, which is disposed at the second end of the body and has a trigger portion for selectively stopping transmission of the control signal to the control target.

[0015] In an embodiment of the present invention, a gripper module may be further included, which is disposed at the first end or the second end of the body and includes a gripper body, and a first grip portion and a second grip portion that are disposed facing the gripper body and are capable of reciprocating along a second direction.

[0016] A haptic system according to one embodiment of the present invention may include a support unit, a first operating unit disposed on the support unit and movable in the forward / backward direction and the left / right direction, a connecting unit including at least one rotating member rotatable around a rotation axis, a connecting unit connecting the first operating unit and the connecting unit and including a second operating unit for elevating the connecting unit, a haptic device including a body including a plurality of vibration motors therein, a gripper module disposed at a first end of the body, and a first tracking unit disposed at a second end of the body and including a first position tracking sensor, and a second tracking unit disposed on the support unit and including a second position tracking sensor.

[0017] In an embodiment of the present invention, the haptic device may further include a control unit that transmits a control signal to a control target, receives a collision signal from the control target when the control target collides with another object, and controls at least some of the plurality of vibration motors to generate a first feedback signal.

[0018] In an embodiment of the present invention, the connecting portion may include a first rotational member rotatable around a first rotational axis, a second rotational member connected to the first rotational member so as to be rotatable around a second rotational axis perpendicular to the first rotational axis, and a third rotational member connected to the second rotational member so as to be rotatable around a third rotational axis perpendicular to the first and second rotational axes.

[0019] In an embodiment of the present invention, at least two second tracking units are provided, and at least two of the second tracking units can be spaced apart from each other at the upper end of the support unit.

[0020] In an embodiment of the present invention, the control unit can control the connecting unit to track the gripper module based on the relative positions of the first position tracking sensor and the second position tracking sensor.

[0021] In an embodiment of the present invention, the control unit can control the gripper module to grip the rotating member when the connecting unit enters the coupling position with the gripper module.

[0022] In an embodiment of the present invention, the control unit may increase or decrease at least some of the position of the vibration motor that outputs the first feedback signal, the number of the vibration motors, and the output intensity, output period, and output number of the first feedback signal to correspond to an actual collision occurring in the control target based on the collision signal.

[0023] In an embodiment of the present invention, the haptic device may further include a handle portion disposed at a second end of the body and having a trigger portion for selectively stopping transmission of the control signal to the control target.

[0024] In an embodiment of the present invention, a display unit disposed on the body and displaying a second feedback signal corresponding to the collision signal may be further included.

[0025] In an embodiment of the present invention, a load compensation unit may be further included, which is arranged between the support unit and the connecting unit and distributes the self-load of the connecting unit applied to the second operating unit.

[0026] In an embodiment of the present invention, the device may include a fixed part connected to the first operating part, and an elastic member wound around the fixed part, with a portion of the elastic member being unwound from the fixed part and connected to the second operating part.

[0027] The haptic device and haptic system according to embodiments of the present invention are configured to be switchable between a non-fixed haptic device and a fixed haptic device, so that either the non-fixed or fixed type can be appropriately selected and used depending on the characteristics of the task. In addition, during the switching process, the position of the non-fixed haptic device is automatically tracked and engaged, so that the non-fixed haptic device can be easily switched to a fixed type.

[0028] Figure 1 schematically illustrates an example of how a haptic device according to the present invention operates.

[0029] FIG. 2 is a perspective view illustrating a haptic device according to one embodiment of the present invention.

[0030] Figure 3 illustrates an internal view of a part of the haptic device of Figure 2.

[0031] FIG. 4 is a perspective view illustrating a haptic system according to another embodiment of the present invention.

[0032] FIG. 5 is a perspective view of a haptic system according to one embodiment of the present invention, showing a haptic device separated.

[0033] FIG. 6 is a perspective view illustrating a haptic system according to one embodiment of the present invention, in which a haptic device is combined.

[0034] Figure 7 is a perspective view illustrating a connection unit and a load compensation unit according to one embodiment of the present invention.

[0035] Figure 8 is a perspective view showing a state before a connecting part according to one embodiment of the present invention comes into contact with a gripper module.

[0036] Fig. 9 is a perspective view showing a state before the connecting part of Fig. 8 is coupled after coming into contact with the gripper module.

[0037] Fig. 10 is a perspective view showing a state in which the connecting part and the gripper module of Fig. 9 are combined.

[0038] FIG. 11a is a front view illustrating a non-coupled state of a gripper module according to one embodiment of the present invention.

[0039] Fig. 11b is a front view showing the combined state of the gripper module of Fig. 11a.

[0040] Figure 12 schematically illustrates an example of how a haptic system according to the present invention operates.

[0041] Hereinafter, preferred embodiments of the present invention will be described with reference to the attached drawings. However, the embodiments of the present invention may be modified in various other forms, and the scope of the present invention is not limited to the embodiments described below.

[0042] In addition, the embodiments of the present invention are provided to more completely explain the present invention to a person having average knowledge in the relevant technical field.

[0043] The shape and size of elements in the drawing may be exaggerated for clearer explanation.

[0044] In describing the embodiments of the present invention, if a detailed description of a known technology related to the present invention is judged to unnecessarily obscure the gist of the present invention, such detailed description will be omitted. In addition, the terms described below are terms defined in consideration of their functions in the present invention, and these 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 of the present invention and should in no way be limiting. Unless clearly defined otherwise, expressions in the singular form include plural meanings.

[0045] In this description, expressions such as "including" or "having" are intended to indicate certain features, numbers, steps, operations, elements, portions or combinations thereof, and should not be construed to exclude the presence or possibility of one or more other features, numbers, steps, operations, elements, portions or combinations thereof other than those described.

[0046] In this specification, terms such as 'top', 'upper part', 'top surface', 'bottom', 'lower part', 'bottom', 'side', etc. are based on the drawings, and in reality, they may vary depending on the direction in which the elements or components are arranged.

[0047] Additionally, throughout the specification, when we say that a part is 'connected' to another part, this includes not only cases where it is 'directly connected', but also cases where it is 'indirectly connected' with other elements in between.

[0048] Below, the present invention will be described in detail through each embodiment or example of the present invention. It should be noted that each embodiment or example described in this specification is not limited to a single embodiment or example, but may be combined with other embodiments or examples. Therefore, the citation of a claim in the patent claims is only an example of an embodiment, and the technical concept of the present invention should not be interpreted solely as a combination with the cited claim, and combinations with various claims also fall within the scope of the technical concept of the present invention.

[0049] Hereinafter, the present invention will be described in detail through examples. However, it should be noted that the examples described below are intended only to illustrate and concretize the present invention and are not intended to limit the scope of the invention. This is because the scope of the invention is determined by the matters set forth in the patent claims and matters reasonably inferred therefrom.

[0050] FIG. 1 schematically illustrates an example of the operation of a haptic device according to the present invention. FIG. 2 is a perspective view illustrating a haptic device according to an embodiment of the present invention. FIG. 3 illustrates the internal appearance of a portion of the haptic device of FIG. 2.

[0051] Referring to FIG. 1, a haptic device (10, 10a) according to embodiments of the present invention can be used to remotely control a controllable object (30) placed at a work site (P). Here, the controllable object (30) may be a work robot. In this case, the haptic device (10, 10a) may be a control device for controlling the operation of the work robot (30). At this time, the place where the controllable object (30) performs work, i.e., the work site (P), may be, for example, an industrial site, but is not limited thereto. By using the haptic device (10, 10a), a user (U) can control the work robot (30) from a location (hereinafter, referred to as an operation space) away from the work site (P) without having to move directly to the work site (P).

[0052] Referring to FIGS. 2 and 3, a haptic device (10) according to one embodiment of the present invention (hereinafter, Embodiment 1) may include a body (110), a first tracking unit (120), and a control unit (not shown). In addition, the haptic device (10) may further include a handle unit (140), a display unit (150), and a gripper module (130).

[0053] The body (110) is a part where other components of the haptic device (10) are installed and can have various shapes.

[0054] For example, the body (110) may include an extension (111) extending along a first direction on one side thereof. The extension (111) may have an elongated shape that is thinner and longer than other parts of the body (110). In this case, a first tracking unit (120) may be arranged at one end of the body (110), and a handle unit (140) may be arranged at the other end of the body (110). Here, one end of the body (110) is the terminal end of the extension (111), and is hereinafter referred to as a 'first end (E10)'. In addition, the other end of the body (110) is the opposite end of the first end (E10), and is hereinafter referred to as a 'second end (E20)'.

[0055] An internal space (A) may be provided in the extension (111). A vibration motor (112) may be placed in the internal space (A). The vibration motor (112) may generate vibrations that constitute a feedback signal provided to a user (U) when the haptic device (10) is operated.

[0056] A plurality of vibration motors (112) may be provided. The plurality of vibration motors (112) may be arranged inside the internal space (A). In this case, the plurality of vibration motors (112) may be arranged to be spaced apart from each other along the first direction (i.e., the longitudinal direction of the extension portion (111)) in the internal space (A). At this time, the spacing between the vibration motors (112) may be the same or similar. However, the present invention is not limited thereto, and the spacing between the vibration motors (112) may be changed according to the specifications of the haptic device (10) or the type of feedback signal provided to the user (U). Meanwhile, the operation, vibration intensity, and vibration cycle of the plurality of vibration motors (112) may be individually controlled by a control unit (not shown).

[0057] The first tracking unit (120) can track the posture of a user (U) operating a haptic device (10). To this end, the first tracking unit (120) can include a first position tracking sensor (not shown).

[0058] The first position tracking sensor can detect a change in the center of gravity of the haptic device (10) that occurs when the user (U) operates the haptic device (10). In addition, the first position tracking sensor can detect a change in acceleration of the haptic device (10) that occurs when the user (U) operates the haptic device (10). The first tracking unit (120) can transmit the results of detecting the change in the center of gravity and the change in acceleration of the device (10) to the control unit. Based on this, the control unit can generate a control signal including information about the movement of the haptic device (10) (hereinafter, referred to as 'posture information') and transmit the control signal to the control target (30).

[0059] The power supply (S) may be a switch for starting or stopping the operation of the haptic device (10). The power supply (S) may be placed on the body (110). For example, as illustrated in FIG. 2, the power supply (S) may be placed on the upper surface of the body (110) adjacent to the handle portion (140). This allows the user (U) to easily operate the power supply (S) while holding the haptic device (10).

[0060] A control unit (not shown) can generate a control signal to control the operation of a control target (30) when a user (U) operates a haptic device (10). The control signal includes the aforementioned posture information, and the control unit can control the operation of the control target (30) by transmitting the control signal to the control target (30).

[0061] The control unit may be provided in a haptic device (10) (or haptic system (1)) that includes a hardware device such as a microprocessor or a general-purpose computer system, for example. The control unit may include a processor (not shown). A processor may refer to a data processing device built into hardware that has a physically structured circuit to perform a function expressed by a code or command included in a program, for example. Examples of such data processing devices built into hardware include processing devices such as a microprocessor, a central processing unit (CPU), a processor core, a multiprocessor, an application-specific integrated circuit (ASIC), and a field programmable gate array (FPGA), but the scope of the present invention is not limited thereto.

[0062] Meanwhile, the control unit may not be placed in the haptic device (10) but may be provided as a separate device. However, the following description focuses on an embodiment in which the control unit is installed inside or on one surface of the body (110).

[0063] Additionally, the control unit can control the haptic device (10) to generate a first feedback signal. More specifically, when the control unit receives a 'collision signal' from the control target (30), the control unit can control the vibration motor (112) to generate a first feedback signal corresponding to the collision signal, which will be described later.

[0064] The control unit can transmit and receive the signals as described above through a communication network. For example, the control unit can communicate with the control target (30) using a wireless or wired communication method. At this time, the communication method is not limited, and for example, it can include not only a communication method using a mobile communication network, wired Internet, wireless Internet, and broadcasting network, but also short-range wireless communication between devices. The communication network used at this time can include, but is not limited to, one or more networks among networks such as a personal area network (PAN), a local area network (LAN), a campus area network (CAN), a metropolitan area network (MAN), a wide area network (WAN), a broadband network (BBN), and the Internet. However, for the convenience of the following description, the description will focus on an embodiment using a wireless communication method.

[0065] The handle portion (140) may be a portion that a user (U) grasps with his / her hand when using the haptic device (10). The handle portion (140) may be positioned at a location where the user (U) can easily grasp the haptic device (10) when using the haptic device. For example, the handle portion (140) may be positioned at the second end (E20), which is the opposite end of the gripper module (130) among the two ends of the body (110), as illustrated in FIGS. 1 and 2. At this time, the handle portion (140) may include a trigger portion (141).

[0066] The trigger unit (141) can selectively turn the operation of the haptic device (10) ON / OFF. More specifically, even if the power supply unit (S) is ON, the haptic device (10) can be operated only when the user (U) turns the trigger unit (141) ON. That is, if the trigger unit (141) is OFF, even if the user (U) operates the haptic device (10), the generation of the control signal or the transmission of the control signal to the control target (30) can be stopped. As a result, the haptic device (10) can not affect the control target (30). In this way, even after the power supply unit (S) is ON, the user (U) can operate or stop the operation of the haptic device (10) by controlling the ON / OFF of the trigger unit (141).

[0067] Through this, when the user (U) needs to temporarily suspend control of the control target (30), such as when the user (U) needs to change the position due to the limited area of ​​the control space while operating the haptic device (10) within the control space, the user can stop transmitting and receiving signals with the control target (30) by turning off only the trigger unit (141) while holding the handle unit (140). Thereafter, when controlling the control target (30) again, the user (U) can resume transmitting and receiving signals with the control target (30) by turning on the trigger unit (141) while holding the handle unit (140). That is, the haptic device (10) can be operated only when control of the control target (30) is required through ON / OFF control of the trigger unit (141).

[0068] The display unit (150) can output a second feedback signal to the outside. The control unit can control the display unit (150) to generate and output the second feedback signal based on a collision signal received from the control target (30).

[0069] For example, the display unit (150) may be configured as a display device. In this case, the display unit (150) may output a 'second feedback signal' that outputs the intensity of the collision signal to the outside.

[0070] The second feedback signal can be output in various ways. For example, the second feedback signal can be output through a 'gauge bar method' or a 'color change (e.g., changing the color to become lighter or darker) method'. As exemplarily shown in the enlarged view of Fig. 3, the display unit (150) can externally display a gauge bar of a size corresponding to the intensity of the collision signal as the second feedback signal. That is, the second feedback signal output as in the enlarged view (b) of Fig. 3 is an example of showing the result output to the display unit (150) when a collision stronger than the second feedback signal output as in the enlarged view (a) of the same drawing is detected.

[0071] The display unit (150) can be placed in a location that can be easily confirmed with the naked eye when the user (U) is holding the haptic device (10). For example, the display unit (150) can be placed on the upper surface of the extension unit (111), as illustrated in FIGS. 2 and 3, but is not limited thereto.

[0072] The gripper module (130) can couple the haptic device (10) to a connection unit (300) to be described later. More specifically, the gripper module (130) is disposed at the first end (E10) of the body (110) and can be coupled to or decoupled from the connection portion (310) of the connection unit (300).

[0073] The gripper module (130) may include a gripper body (131) and a grip portion (132). At least two grip portions (132) may be provided. For example, a pair of grip portions (132) may be provided. In this case, each of the pair of grip portions (132) is referred to as a first grip portion (132a) and a second grip portion (132b), and the following description will focus on a case where a pair of grip portions (132) is provided.

[0074] The first grip portion (131a) and the second grip portion (132b) can be movably arranged on the gripper body (131). In a state where the haptic device (10) and the connection unit (300) are not coupled (hereinafter referred to as a non-coupled state) [see T1 of FIG. 10(a)], the first grip portion (132a) and the second grip portion (132b) can be arranged to be spaced apart from each other by a predetermined distance (r). Accordingly, in the non-coupled state (T1), an empty space, 'coupling space (ab)', can be provided between the first grip portion (132a) and the second grip portion (132b).

[0075] The first grip portion (131a) and the second grip portion (132b) can be coupled to a portion of the connection portion (310) or separated from the connection portion (310) by reciprocatingly moving toward or away from the second direction (B2 in FIG. 9) in the non-coupled state (T1). Here, the second direction (B2) may be a different direction from the first direction (e.g., a direction perpendicular to the first direction). Specific features of the gripper module (130) and a method of coupling to or separating from the connection portion (310) will be described later.

[0076] FIG. 4 is a perspective view illustrating a haptic system according to another embodiment of the present invention.

[0077] Referring to FIG. 4, a haptic device (10a) according to another embodiment of the present invention (hereinafter, Embodiment 2) may include a body (110a), a first tracking unit (120a), and a control unit (not shown). In addition, the haptic device (10a) may further include a gripper module (130a). At this time, since the specific features of the haptic device (10a) are the same or similar to those of Embodiment 1, the description will focus on the differences to avoid redundant description.

[0078] In the case of Example 2, the body (110a) may be composed only of an elongated extension portion. For example, the body (110a) of Example 2 may be in the shape of a bar extending in a straight line along the first direction. In this case, a plurality of vibration motors (not shown) are arranged in the internal space (not shown) of the body (110a) to provide a first feedback signal, which is the same as or similar to Example 1.

[0079] The gripper module (130a) may be arranged at the first end (E10a) of the body (110a). However, unlike the first embodiment, the first tracking unit (120a) may be arranged at the second end (E20a) of the body (110a). Accordingly, the first tracking unit (120a) and the gripper module (130a) may be arranged to face each other. At this time, the specific characteristics of the first tracking unit (120a) and the gripper module (130a), and the ability of the haptic device (10) to be selectively coupled to or separated from the connection unit (300) by the gripper module (130a) are the same as or similar to the above-described first embodiment.

[0080] Meanwhile, although not illustrated in the drawing, a haptic device according to another embodiment of the present invention (hereinafter, Embodiment 3) may not include a gripper module (130). In this case, the haptic device according to Embodiment 3 may have other features other than the gripper module (130) that are the same as or similar to those of Embodiment 1 or 2 described above. The haptic device according to Embodiment 3 is a handheld haptic device and can be used alone without a fixing device (20) to be described later.

[0081] For the convenience of the following explanation, the haptic device (10) according to Example 1 will be described.

[0082] Referring back to FIG. 1, a method for a user (U) to remotely control a controllable object (30) placed at a work location (P) using a haptic device (10) may be as follows.

[0083] A user (U) can operate a haptic device (10) in an operating space that is different from a working place (P). At this time, the user (U) can operate the haptic device (10) while wearing a virtual reality creation device (U10), as illustrated in the drawing. In this case, the user (U) can check the working status through a virtual reality image implemented identically or similarly to the working place (P). That is, the user (U) can control the movement of the control object (30) while watching the working performance of the spherical control object (30) in the virtual reality image.

[0084] When a user (U) operates a haptic device (10), the movement of the haptic device (10) that changes accordingly can be detected by the first tracking unit (120). At this time, 'posture information' including the detection result of the first tracking unit (120) can be included in a control signal and transmitted to the control target (30). When the control signal is received, the control target (30) can perform a task with an action corresponding to the movement of the haptic device (10) based on the posture information. For example, in accordance with the movement of the haptic device (10), the main body of the control target (30) can move toward the work location (P), or the work arm (31) can be driven forward / backward, up / down, or rotated, thereby performing a task required for the work location (P).

[0085] Meanwhile, when the control target (30) performs a task according to a control signal, the movement of the main body (30) or the work arm (31) may be impeded or a collision may occur due to another object (not shown) within the work location (P). In this case, the control target (30) may generate a collision signal and transmit it to the haptic device (10). At this time, the collision signal may include 'collision information', which is information including the direction in which the movement of the control target (30) is impeded by another object (hereinafter, collision direction), the intensity of the external force applied to the control target (30) (hereinafter, collision intensity), and the location where the external force is applied (hereinafter, collision location).

[0086] When receiving a collision signal as above, the haptic device (10) can control the vibration motor (112) to generate and output a first feedback signal corresponding to the collision information.

[0087] More specifically, the vibration motors (112) may be provided in multiple numbers and arranged at various locations in the internal space (A) of the haptic device (10). At this time, each location of the multiple vibration motors (112) may be, for example, a location corresponding to each joint location provided in the working arm (31) of the control target (30). In this case, the control unit may determine the vibration motor (112) that will output the first feedback signal among the multiple vibration motors (112), and / or the output form of the first feedback signal, based on the collision information included in the collision signal.

[0088] That is, the control unit can control the vibration motor (112) to generate vibration at a position corresponding to the actual collision position of the control target (). In addition, the control unit can control the vibration motor (112) to output vibration corresponding to the collision intensity applied to the control target (30).

[0089] For example, when a collision occurs on a controllable object (30) and the collision intensity increases or decreases, the vibration intensity output by the corresponding vibration motor (112) can be increased or decreased accordingly. As another example, when multiple collisions occur on the controllable object (30), the vibration output cycle and number of times of the vibration motor (112) can be controlled to correspond to the actual collision occurrence cycle and number of times. As another example, when collisions occur on multiple parts of the controllable object (30), multiple vibration motors (112) can be controlled to simultaneously output a first feedback signal corresponding to the collision status of each part. As a result, the user (U) can indirectly grasp collision information such as the direction / location of the collision, the intensity of the collision, and the number / period of the collision that occurred on the controllable object (30) through the feedback information (inverse feedback) provided by the haptic device (10).

[0090] Thereafter, the user (U) can control the controllable object (30) to escape from the impact state by changing the movement of the haptic device (10) based on the identified collision information. Through this, it is possible to prevent excessive external force from being applied to the controllable object (30), such as when the user (U) manipulates the haptic device (10) to force the controllable object (30) to move in a direction in which it cannot move.

[0091] In addition, the control unit can control the display unit (150) to output a second feedback signal corresponding to the collision information to the outside. That is, the display unit (150) can output information corresponding to the impact intensity applied to the control target (30) through a gauge bar, color change, or the like. Through this, the user (U) can more easily grasp the impact information applied to the control target (30) with the naked eye as well as vibration.

[0092] FIG. 5 is a perspective view of a haptic system according to one embodiment of the present invention, showing a haptic device separated. FIG. 6 is a perspective view of a haptic system according to one embodiment of the present invention, showing a haptic device combined.

[0093] Referring to FIGS. 5 and 6, the haptic system (1) may include a haptic device (10) and a fixing device (20). At this time, the specific features of the haptic device (10) are the same or similar to those described above, so a duplicate description will be omitted.

[0094] The fixing device (20) may be a device for converting a non-fixed haptic device (10) into a fixed type. At this time, the fixing device (20) may include a support unit (200), a connection unit (300), and a second tracking unit (500). In addition, the fixing device (20) may further include a load compensation unit (500).

[0095] A connection unit (300) can be installed and supported on the support unit (200). The support unit (200) can have various forms. For example, the support unit (200) can include a frame (210). In this case, the support unit (200) can be formed by connecting a plurality of horizontal frames (211) and a plurality of vertical frames (212) to each other. The support unit (200) can be placed on the floor, inner wall, or ground of a building in which the above-described operation space is provided. Meanwhile, the support unit (200) can further include an external plate (see 220 of FIG. 12) connected between the frames (210).

[0096] The support unit (200) may include a first guide portion (L10) and a second guide portion (L20). The first guide portion (L10) and the second guide portion (L20) may guide the reciprocating movement of the connection unit (300) in the horizontal direction (e.g., the XY plane direction). At this time, the first guide portion (L10) and the second guide portion (L20) may be spaced apart from each other to be symmetrical to each other along the vertical direction (Z). For example, as illustrated in the drawing, the first guide portion (L10) may be arranged at the upper end of the support unit (200), and the second guide portion (L20) may be arranged at the lower end of the support unit (200).

[0097] In this case, the first guide part (L10) may include a 1-1 rail (L11) and a 1-2 rail (L12). The 1-1 rail (L11) may extend along a first movement direction (A1), and the 1-2 rail (L12) may extend along a second movement direction (A2). At this time, the first movement direction (A1) and the second movement direction (A2) may be perpendicular to each other, the first movement direction (A1) may be a left-right direction (a direction parallel to the X-axis of the drawing), and the second movement direction (A2) may be a front-back direction (a direction parallel to the Y-axis of the drawing). In addition, the second guide part (L20) may include a 2-1 rail (L21) and a 2-2 rail (L22). As with the first guide portion (L10), the second-first rail (L21) may extend along the first movement direction (A1), and the second-second rail (L22) may extend along the second movement direction (A2). Accordingly, the first-first rail (L11) may be arranged symmetrically with the second-first rail (L21), and the first-second rail (L12) may be arranged symmetrically with the second-second rail (L22) along the vertical direction (Z). Accordingly, the first guide portion (L10) and the second guide portion (L20) may have a structure that is symmetrical to each other while facing each other in the vertical direction (Z).

[0098] Figure 7 is a perspective view illustrating a connection unit and a load compensation unit according to one embodiment of the present invention.

[0099] Referring to FIGS. 5, 6, and 7, the connection unit (300) can selectively connect the haptic device (10) to the fixing device (20). The connection unit (300) can be positioned between the first guide portion (L10) and the second guide portion (L20). At this time, the connection unit (300) can include a connection portion (310), a first operating portion (320), and a second operating portion (330).

[0100] As described above, the connecting portion (310) is the portion to which the gripper module (130) is coupled and may include at least one rotating member. In one embodiment, a plurality of rotating members may be provided. In this case, the rotating members may be rotatably coupled to each other to form a single structure. Additionally, each rotating member may include a rotating drive unit.

[0101] As illustrated in the drawing, three rotating members may be provided. Hereinafter, these will be referred to as the first rotating member (311), the second rotating member (312), and the third rotating member (313).

[0102] The rotating members (311, 312, 313) may have various shapes. In one embodiment, the first rotating member (311) and the third rotating member (313) may be plates curved with a predetermined radius of curvature. In addition, the second rotating member (312) may be a plate having a complete ring shape or a similar shape. In this case, the second rotating member (312) is positioned at the center, and the first rotating member (311) and the third rotating member (313) may be rotatably coupled to the second rotating member (312), respectively. That is, the first rotating member (311) may be rotatably coupled to the second rotating member (312), and the third rotating member (313) may be rotatably coupled to the second rotating member (312). Accordingly, the three rotating members (311, 312, 313) may each rotate.

[0103] More specifically, both ends of the first rotary member (311) and both ends of the second rotary member (312) can be arranged on the same line along the first rotation axis (C1). In this state, the ends of the first rotary member (311) and the ends of the second rotary member (312) are coupled one-to-one, thereby forming two first coupling portions. In this case, the two first coupling portions can be arranged on the same line along the first rotation axis (C1). In addition, a first rotation driving portion (311m) can be installed on either of the first coupling portions.

[0104] The first rotary drive unit (311m) can provide a first rotary driving force for the first rotary member (311) to rotate. The first rotary drive unit (311m) can be, for example, an electric motor. In this case, the remaining first coupling unit can rotate together when the first rotary driving force is supplied.

[0105] Similarly, both ends of the third rotary member (313) and both side center portions of the second rotary member (312) may be arranged on the same line along the second rotation axis (C2). In this state, the ends of the third rotary member (313) and the side center portions of the second rotary member (312) may be coupled one-to-one, thereby forming two second coupling portions. In this case, the two second coupling portions may be arranged on the same line along the second rotation axis (C2). In addition, a second rotation drive portion (312m) may be installed on one of the second coupling portions.

[0106] The second rotary drive unit (312m) can provide a second rotary driving force for the second rotary member (312) to rotate. The second rotary drive unit (312m) can be, for example, an electric motor. In addition, the remaining second coupling unit can rotate together when the second rotary driving force is supplied.

[0107] A third rotational driving unit (313m) may be provided at the center of the third rotational member (313). The third rotational driving unit (313m) may provide a third rotational driving force for the third rotational member (313) to rotate. The third rotational driving unit (313m) may be, for example, an electric motor. At this time, one side of the third rotational driving unit (313m) may be coupled so that the third rotational member (313) can rotate around the third rotational axis (C3).

[0108] Additionally, the other side of the third rotary drive unit (313m) can be connected to the first operating unit (320). In this way, by connecting the other side of the third rotary drive unit (313m) to the second operating unit (330), the connecting unit (310) can rise or fall together when the second operating unit (330) is raised or lowered.

[0109] In the above case, the first rotation axis (C1), the second rotation axis (C2), and the third rotation axis (C3) may be pseudo-rotation axes that extend orthogonally to each other. For example, based on the states illustrated in FIGS. 5 and 6, the first rotation axis (C1) may extend in a direction parallel to the Z-axis. In addition, the second rotation axis (C2) may extend in a direction parallel to the X-axis, and the third rotation axis (C3) may extend in a direction parallel to the Y-axis. In this way, the first rotation member (311), the second rotation member, and the third rotation member (313) may each rotate in different rotational directions around the first rotation axis (C1), the second rotation axis (C2), and the third rotation axis (C3) that are orthogonal to each other. That is, the connecting portion (310) may be provided to enable a three-degree-of-freedom rotational movement.

[0110] In the above case, the first rotating member (311) and the third rotating member (313) may be arranged to protrude in opposite directions with the second rotating member (312) in the middle. At this time, since the rotating members (311, 312, 313) are plates of a predetermined thickness, the 'connecting part (310)', which is a structure formed by combining them, may have a shape like a sphere with an empty interior. At this time, the first rotating driving part (311m) and the second rotating driving part (312m) may be arranged in the empty interior of the connecting part (310). As a result, the connecting part (310) may have a compact shape with minimized volume.

[0111] In addition, the first rotary member (311) may be positioned at the outermost side along the second direction (B2) from the third guide portion (L30) among the rotary members (311, 312, 313). Accordingly, the first rotary member (311) may directly face the gripper module (130) when the user (U) operates the haptic device (10). That is, when the haptic device (10) is coupled to the connection unit (300), the gripper module (130) may be coupled to the first rotary member (311).

[0112] Meanwhile, the present invention is not limited to the above-described embodiment, and it goes without saying that one or two rotating members, or four or more, may be provided. However, for convenience of explanation, the description will focus on a case where three rotating members (311, 312, 313) are provided.

[0113] The first operating unit (320) can move the connecting unit (310) horizontally. In one embodiment, two first operating units (320) may be provided. One of the two first operating units (320) may be movably connected to the first guide unit (L10). In addition, the other of the two first operating units (320) may be movably connected to the second guide unit (L20). In this case, the two first operating units (320) are arranged symmetrically to each other along the vertical direction (Z), so that they can move together in the first movement direction (A1) or the second movement direction (A2). That is, the two first operating units (320) can move simultaneously in the same direction and at the same speed.

[0114] The first operating unit (320) may include a first driving unit (not shown). The first driving unit may provide a driving force required for the first operating unit (320) to move in the first movement direction (A1) and the second movement direction (A2). The first driving unit may be, for example, an electric motor, but is not limited thereto. Meanwhile, the two first operating units (320) may each have a first driving unit. As another example, only one of the two first operating units (320) may have the first driving unit, and the two first operating units (320) may move by the driving force generated therefrom.

[0115] A third guide part (L30) may be placed between the two first operating parts (320). One end of the third guide part (L30) may be connected to the first operating part (320) located at the lower end of the two. In addition, the other end of the third guide part (L30) may be extended along the vertical direction (Z) and connected to the first operating part (320) located at the upper end.

[0116] As described above, the third guide part (L30) can connect the two first operating parts (320) in the vertical direction (Z). At this time, the second operating part (330) can be connected to the third guide part (L30) so as to be able to rise and fall. That is, the third guide part (L30) can guide the second operating part (330) to rise and fall between the two first operating parts (320). The third guide part (L30) can be configured to include, for example, a guide rail.

[0117] In addition, since the third guide part (L30) is coupled with the two first operating parts (320) at the same time, when the first operating part (320) moves horizontally, the third guide part (L30) can also move together in the same direction and at the same speed by the first operating part (320). For example, when the two first operating parts (320) move in the first movement direction (A1), the third guide part (L30) and the second operating part (330) and the connecting part (310) connected thereto can also move together in the same direction (A1). As another example, when the two first operating parts (320) move horizontally in the second movement direction (A2), the third guide part (L30) and the second operating part (330) and the connecting part (310) connected thereto can also move together in the same direction (A2).

[0118] The second operating unit (330) can move the connecting unit (310) in the vertical direction (Z). One side of the second operating unit (330) can be movably connected to the third guide unit (L30). To this end, the second operating unit (330) can include a second driving unit (330m). In this case, the second operating unit (330) can be moved up and down along the third guide unit (L30) by the driving force generated by the second driving unit (330m). The second driving unit (330m) can be, for example, an electric motor. Meanwhile, the third rotating member (313) of the connecting unit (310) can be fixedly connected to the other side of the second operating unit (330), as described above.

[0119] To summarize, the connecting portion (310) can move back and forth in the first movement direction (A1) and the second movement direction (A2) by the first operating portion (320) and the second operating portion (330). In addition, since the connecting portion (310) itself is capable of three-degree-of-freedom rotational movement, the connecting unit (300) can consequently be capable of six-degree-of-freedom movement.

[0120] Meanwhile, the driving units may be configured to include a timing belt. That is, the first driving unit can transmit driving force to the first operating unit (320) via the first timing belt. The second driving belt can also transmit driving force to the second operating unit (330) via the second timing belt. In addition, the first rotary driving unit (311m), the second rotary driving unit (312m), and the third rotary driving unit (313m) can transmit rotary driving force to the first rotary member (311), the second rotary member (312), and the third rotary member (313) via separate timing belts. In this way, since the driving units are driven based on the timing belt, each driving unit can move at a constant speed as required.

[0121] Referring again to FIGS. 5 and 6, the second tracking unit (400) can track the position of the haptic device (10) that changes when the user (U) operates it. To this end, the second tracking unit (400) can include a second position tracking sensor (not shown).

[0122] The second position tracking sensor can detect the position of the distal end of the haptic device (10). At this time, the distal end of the haptic device (10) is the first end (E10), and the second position tracking sensor can detect the first end (E10) itself, or the first tracking unit (120) or gripper module (130) arranged at the first end (E10). The position detection target of the second position tracking sensor is hereinafter referred to as a 'detection target portion'.

[0123] The second tracking unit (400) can transmit location information (hereinafter, “location tracking information”) of a detection target detected by the second location tracking sensor to the control unit. Based on the location tracking information, the control unit can determine the location of the haptic device (10) (i.e., the location of the detection target) that changes according to the operation of the user (U).

[0124] The second tracking unit (400) may be arranged on the support unit (200). At this time, at least two second tracking units (400) may be provided. In one embodiment, two second tracking units (400) may be provided. In this case, the two second tracking units (400) may be arranged on the upper end of the support unit (200). More specifically, the two second tracking units (400) may be installed on a horizontal frame (hereinafter, “uppermost horizontal frame”) (211a) located at the uppermost end of the support unit (200). At this time, the two second tracking units (400) may be arranged spaced apart from each other on the uppermost horizontal frame (211a) so as to be symmetrical to each other along the first movement direction (A1).

[0125] The second tracking unit (400) can detect the position of the detection target using various methods. For example, the second tracking unit (400) can detect the position of the detection target by measuring the distance between the second position tracking sensor and the detection target. In this case, the control unit can calculate the current position of the detection target using the distance measurement value and the initial position of the detection target. At this time, the initial position of the detection target may be a preset position. When the user (U) holds the haptic device (10) and moves the detection target to the preset position, the second tracking unit (400) can recognize the detection target and start tracking the position of the detection target. Meanwhile, the calculated position of the detection target can be calculated in the form of a three-dimensional coordinate system (X, Y, Z). Thereafter, the control unit can control the connection unit (300) to move the connection unit (310) to a position corresponding to the calculated result [i.e., the coordinate value indicating the position of the detection target].

[0126] The load compensation unit (500) can compensate for the load of the connecting unit (310) itself coupled to the second operating unit (330). At this time, the load compensation unit (500) can include a fixed unit (510) and an elastic member (520).

[0127] The fixed part (510) may be positioned above the second operating part (330). For example, the fixed part (510) may be connected to the lower part of the first operating part (320) positioned above the two. Accordingly, the fixed part (510) may move in the same direction as the first operating part (320) when the first operating part (320) moves.

[0128] The elastic member (520) may be connected to the fixed part (510). The elastic member (520) may be provided in the form of a thin metal plate having elasticity. The elastic member (520) may be, for example, a resistance spring. The elastic member (520) may be arranged in a wound form on the fixed part (510). At this time, one end of the elastic member (520) may be unwound from the fixed part (510) and extended in a downward direction (-Z), thereby being connected to the second operating part (330). Accordingly, the upper end (521) of the elastic member (520) may be unwound on the fixed part (510), and the lower end (522) of the elastic member (520) may be unwound downward from the fixed part (510).

[0129] In the above case, the elastic member (520) can provide elastic force in the direction of being wound around the fixed member (510) (e.g., +Z) to the second operating member (330). By this elastic force, some of the load applied to the second operating member (330) by connecting the connecting member (310) can be distributed to the elastic member (520). That is, by providing the 'elastic force (compressive force) in the direction of being wound (+Z)' by the elastic member (520), the load applied to the second operating member (330) can be reduced. In addition, by providing the above-described elastic force, the power required when the second operating member (330) raises the connecting member (310) can be reduced.

[0130] Fig. 8 is a perspective view illustrating a state before a connecting portion according to one embodiment of the present invention comes into contact with a gripper module. Fig. 9 is a perspective view illustrating a state before the connecting portion of Fig. 8 comes into contact with the gripper module and is coupled. Fig. 10 is a perspective view illustrating a state in which the connecting portion of Fig. 9 and the gripper module are coupled. In addition, Fig. 11a is a front view illustrating a non-coupled state of a gripper module according to one embodiment of the present invention, and Fig. 11b is a front view illustrating a coupled state of the gripper module of Fig. 11a.

[0131] Referring to FIGS. 8 to 10, when the gripper module (130) of the haptic device (10) approaches the connection portion (310) of the connection unit (300), the method of coupling the gripper module (130) and the connection portion (310) may be as follows.

[0132] First, a user (U) can start controlling a control target (30) by manipulating a haptic device (10). In this process, as illustrated in FIG. 8, when the haptic device (10) approaches a connection unit (300) by the user (U), the second tracking unit (400) can detect the position of the haptic device (10).

[0133] That is, when the detection target of the haptic device (10) enters the detection range of the second position tracking sensor, the control unit can receive position tracking information from the second tracking unit (400). At this time, the detection range of the second position tracking sensor may be a preset range. In addition, the control unit can identify the position of the detection target based on the position tracking information. Thereafter, the control unit can control the first operation unit (320) and the second operation unit (330) to move the connection unit (310) to the position of the detection target. At this time, the second position tracking sensor detecting the position of the detection target and the control unit moving the connection unit (310) to the detected position can be performed in real time and continuously.

[0134] Accordingly, when the positions of the haptic device (10) and the detection target continue to change, the second tracking unit (400) can continuously track and detect the changed position of the detection target. The newly acquired position tracking information can be continuously transmitted to the control unit. In addition, the control unit can identify the changed position of the detection target based on the newly received position tracking information and move the connecting unit (310) to the changed position again. By repeating this process, even when the position of the haptic device (10) changes, the connecting unit (310) can continuously move toward the detection target.

[0135] Next, the gripper module (130) can be moved to a position (hereinafter, a coupling position) close to a portion of the connecting portion (310), as illustrated in FIG. 9. Hereinafter, a description will be given focusing on a case where the gripper module (130) is coupled to the first rotating member (311).

[0136] The coupling position may be a position where a part of the first rotating member (311) [hereinafter referred to as the coupling target portion (311a)] is moved so as to be accommodated in the coupling space (ab) between the first grip portion (132a) and the second grip portion (132b). In addition, in the non-coupling state (T1), the distance (r) between the first grip portion (132a) and the second grip portion (132b) may be greater than the width of the coupling target portion (311a). Accordingly, the coupling target portion (311a) may pass between the first grip portion (132a) and the second grip portion (132b) and be accommodated in the coupling space (ab).

[0137] Next, when the coupling target portion (311a) of the first rotary member (311) is accommodated within the coupling space (ab), as illustrated in FIG. 10, the gripper module (130) can be coupled to the coupling target portion (311a). More specifically, the first grip portion (131a) and the second grip portion (132b) can move closer to each other along the second direction (B2), thereby gradually reducing the area of ​​the coupling space (ab). Accordingly, both sides of the coupling target portion (311a) can be gripped by the first grip portion (131a) and the second grip portion (132b), thereby allowing the first rotary member (311) to be pressurized and fixed. In this way, the state in which the gripper module (130) is fixed to the first rotary member (311) is referred to as a 'coupling state (T2)' of the haptic device (10) and the connection unit (300). In this case, the specific method by which the gripper module (130) pressurizes and fixes the first rotating member (311) may be as follows.

[0138] Referring to FIGS. 1 and 11, the gripper module (130) may further include a rotating portion (M). The rotating portion (M) may be arranged at the center of the gripper body (131) when viewed from the front direction of the gripper module (130) (e.g., the ZX plane direction of the drawing). The rotating portion (M) may be driven to rotate around the center of the gripper body (131). Accordingly, the first grip portion (131a) and the second grip portion (132b) may be arranged to face each other with the center of the gripper body (131) as the center.

[0139] In one embodiment, the first grip portion (131a) may be a plate extending in the vertical direction (Z). At this time, a first protrusion (C10) extending in a direction different from the vertical direction (Z) (e.g., the +X-axis direction) may be provided at the lower end of the first grip portion (131a). In addition, the second grip portion (132b) may be a plate extending in the vertical direction (Z). At this time, a second extension portion (C20) extending in a direction different from the vertical direction (Z) (e.g., the -X-axis direction) may be provided at the upper end of the second grip portion (132b). Accordingly, the first grip portion (131a) and the second grip portion (132b) may face each other along the second direction (B2) in a state where the first extension portion (C10) and the second extension portion (C20) face each other along the vertical direction (Z).

[0140] First, as illustrated in Fig. 11a, the first grip portion (131a) can be connected to a point of the rotation portion (M) by the first link member (R10). More specifically, the first end of the first link member (R10) can be rotatably connected to the aforementioned point of the rotation portion (M), and the second end of the first link member (R10) can be connected to the first grip portion (131a). At this time, the second end of the first link member (R10) can be rotatably coupled to the distal end of the first extension portion (C10).

[0141] In addition, the second grip portion (132b) can be connected to another point of the rotating portion (M) by the second link member (R20). At this time, one point and the other point of the rotating portion (M) may be two connecting points arranged at opposite positions among a plurality of connecting points provided on the rotating portion (M). More specifically, the first end of the second link member (R20) may be rotatably connected to the other point of the rotating portion (M), and the second end of the second link member (R20) may be connected to the second grip portion (132b). At this time, the second end of the second link member (R20) may be rotatably coupled to the distal end of the second extension portion (C20).

[0142] In the above case, as illustrated in FIG. 11b, when the rotating part (M) rotates in one rotational direction, the first link member (R10) having one end connected to one point of the rotating part (M) can rotate around the one point. Accordingly, the second end of the first link member (R10) can move in the first outward direction (e.g., the rightward direction in the drawing) away from the center of the gripper body (131). At the same time, the first grip part (131a) connected to the second end of the first link member (R10) can be pulled in the first outward direction. That is, the first grip part (131a) can move toward the center of the gripper body (131) along the second direction (B2).

[0143] In addition, by the rotation of the rotating member (M) in the above-described rotational direction, the second link member (R20) connected at one end to another point of the rotating member (M) can rotate around the other point. Accordingly, the second end of the second link member (R20) can move in a second outward direction (e.g., to the left in the drawing) away from the center of the gripper body (131). At the same time, the second grip part (132b) connected to the second end of the second link member (R20) can be pulled in the second outward direction. That is, the second grip part (132b) can move toward the center of the gripper body (131) along the second direction (B2).

[0144] In this way, by the rotation of the rotating part (M), the first grip part (131a) and the second grip part (132b) move toward the center of the gripper body (131) along the second direction (B2), so that the separation distance (r') and the area of ​​the coupling space (ab') can be reduced. At this time, if the coupling target part (311a) is accommodated in the coupling space (ab'), both sides of the coupling target part (311a) can be pressed and fixed by the first grip part (131a) and the second grip part (132b). That is, the haptic device (10) can be in a coupled state (T2) with the connecting unit (300). Meanwhile, when the haptic device (10) in the coupled state (T2) is separated from the connecting unit (300), the aforementioned coupling process can be performed in reverse to switch to a non-coupled state (T1).

[0145] Figure 12 schematically illustrates an example of how a haptic system according to the present invention operates.

[0146] First, as illustrated in Fig. 1, a user (U) can control the movement of a control target (30) by manipulating a haptic device (10) in a non-coupled state (T1). At this time, in the non-coupled state (T1), the haptic device (10) can be used as a non-fixed haptic device.

[0147] When a user (U) operates a haptic device (10), he / she may approach a fixed device (20) placed within the operating space. In this process, the distal end of the haptic device (10), i.e., the detection target, may enter within a 'pre-set range', which is the detection range of the second position tracking sensor. In this case, the second tracking unit (400) may detect the position of the detection target.

[0148] The control unit can track the position of the detection target using the detection result of the second tracking unit (400) and move the connection unit (310) toward the gripper module (130). At this time, when the coupling target portion (311a) of the first rotating member (311) moves to the coupling position, the coupling target portion (311a) can be pressurized and fixed by the first grip portion (131a) and the second grip portion (132b). As a result, the haptic device (10) and the fixing device (20) can be in a coupled state (T2). In this way, by being automatically tracked by the second tracking unit (400), even when the user (U) is performing a task while wearing the virtual reality creation device (U10), the haptic device (10) can be easily switched to the coupled state (T2), that is, the fixed haptic system (1).

[0149] After the coupled state (T2) is reached, when the user (U) operates the haptic device (10), the connecting portion (310) can move forward / backward / left / right, lift, and / or rotate in accordance with the movement of the haptic device (10) while being connected to the gripper module (130). This movement of the connecting portion (310) can be easily and effectively implemented through the 6-degree-of-freedom movement of the connecting unit (300) as described above. At this time, the method by which the user (U) controls the movement of the controllable object (30) and the method of outputting the first and second feedback signals corresponding to the collision state applied to the controllable object (30) are the same as or similar to those described above.

[0150] The haptic device (10) and haptic system (1) according to the embodiments of the present invention as described above are switchable between non-fixed and fixed types, so that either the non-fixed or fixed type can be appropriately selected and used according to the characteristics of the work. In addition, during the switching process, the position of the non-fixed haptic device (10) is automatically tracked and coupled, so that the non-fixed haptic device (10) can be easily switched to the fixed type.

[0151] Although the embodiments of the present invention have been described with reference to the attached drawings, those skilled in the art will appreciate that the present invention can be implemented in other specific forms without altering the technical spirit or essential characteristics thereof. Therefore, the embodiments described above should be understood to be illustrative in all respects and not restrictive.

[0152] The present invention can be applied to an industrially usable haptic device and a haptic system including the same.

Claims

1. A body including a plurality of vibration motors; A first tracking unit disposed at a first end of the body and including a first position tracking sensor; and A haptic device comprising a control unit that transmits a control signal to a control target, receives a collision signal from the control target when the control target collides with another object, and controls at least some of the plurality of vibration motors to generate a first feedback signal.

2. In paragraph 1, The above body, A haptic device having an elongated shape extending along a first direction and including an extension portion having an internal space.

3. In paragraph 2, A haptic device wherein the plurality of vibration motors are arranged in the internal space and spaced apart in the first direction.

4. In paragraph 3, The above control unit, A haptic device that determines, based on the collision signal, which of the plurality of vibration motors outputs the first feedback signal and the output form of the first feedback signal.

5. In paragraph 4, The above control unit, A haptic device that increases or decreases at least some of the position of the vibration motor that outputs the first feedback signal, the number of the vibration motors, and the output intensity, output cycle, and output number of the first feedback signal to correspond to an actual collision that occurred in the control target based on the collision signal.

6. In paragraph 1, A haptic device further comprising a display unit disposed on the body and displaying a second feedback signal corresponding to the collision signal.

7. In paragraph 1, A haptic device further comprising a handle portion disposed at a second end of the body and having a trigger portion for selectively stopping transmission of the control signal to the control target.

8. In paragraph 1, A haptic device further comprising a gripper module disposed at a first end or a second end of the body, the gripper module including a gripper body, and a first grip portion and a second grip portion disposed facing the gripper body and capable of reciprocating along a second direction.

9. Support unit; A connection unit including a first operating unit that is arranged on the support unit and can move in the forward and backward directions and left and right directions, a connection unit including at least one rotating member that can rotate around a rotation axis, and a second operating unit that connects the first operating unit and the connection unit and elevates the connection unit; A haptic device comprising a body including a plurality of vibration motors therein, a gripper module disposed at a first end of the body, and a first tracking unit disposed at a second end of the body and including a first position tracking sensor; and A haptic system comprising a second tracking unit disposed on the support unit and including a second position tracking sensor.

10. In paragraph 9, The above haptic device, A haptic system further comprising a control unit that transmits a control signal to a control target, receives a collision signal from the control target when the control target collides with another object, and controls at least some of the plurality of vibration motors to generate a first feedback signal.

11. In paragraph 9, The above connection part, A haptic system comprising a first rotational member rotatable around a first rotational axis, a second rotational member connected to the first rotational member so as to be rotatable around a second rotational axis perpendicular to the first rotational axis, and a third rotational member connected to the second rotational member so as to be rotatable around a third rotational axis perpendicular to the first and second rotational axes.

12. In paragraph 10, The above second tracking unit is provided with at least two, A haptic system, wherein at least two of the second tracking units are spaced apart from each other on the upper portion of the support unit.

13. In paragraph 10, The above control unit, A haptic system that controls the connecting part to track the gripper module based on the relative positions of the first position tracking sensor and the second position tracking sensor.

14. In paragraph 13, The above control unit, A haptic system that controls the gripper module to grip the rotating member when the connecting portion enters a range preset by the gripper module.

15. In paragraph 10, The above control unit, A haptic system that determines, based on the collision signal, which of the plurality of vibration motors will output the first feedback signal and the output form of the first feedback signal.

16. In paragraph 15, The above control unit, A haptic system that increases or decreases at least some of the position of the vibration motor that outputs the first feedback signal, the number of the vibration motors, and the output intensity, output cycle, and output number of the first feedback signal to correspond to an actual collision that occurred in the control target based on the collision signal.

17. In paragraph 10, The above haptic device, A haptic system further comprising a handle portion disposed at a second end of the body and having a trigger portion for selectively stopping transmission of the control signal to the control target.

18. In paragraph 10, A haptic system further comprising a display unit disposed on the body and displaying a second feedback signal corresponding to the collision signal.

19. In paragraph 9, A haptic system further comprising a load compensation unit disposed between the support unit and the connecting unit, the load compensation unit distributing the self-load of the connecting unit applied to the second operating unit.

20. In paragraph 19, The above load compensation part is, A haptic system comprising a fixed part connected to the first operating part, and an elastic member wound around the fixed part, a portion of which is unwound from the fixed part and connected to the second operating part.

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