Multidirectional Force Feedback Control Device with Movable Contact End
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Solution Overview
Problem
Haptic interfaces and master arms for teleoperation and collaborative robots face challenges in providing high transparency and realistic force feedback, as the user feels friction and inertia of the entire robot, limiting the perception of free space and sensitivity to environmental changes.
Innovation Solution
A force feedback control device with a movable contact end and a contact zone that allows intermittent contact, enabling multidirectional and bilateral force feedback, where the contact end and zone have shapes that allow forces to be applied in two distinct directions, and can be temporarily secured to maintain contact without play.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the handle is permanently linked to the robot, then the robot can apply force feedback to the user, but the user feels friction and inertia of the entire robot, reducing transparency in free space
Solution Approach 1:
The device separates the contact end from the robot body, creating an independent interaction element that the user manipulates directly. This segmentation allows the robot to apply force feedback through the contact zone without requiring the entire robot structure to be permanently coupled to the handle, thereby maintaining transparency during free-space movement while enabling force application when needed.
Solution Approach 2:
The contact end acts as an intermediary element between the user's hand and the robot's contact zone. This mediator enables force feedback transmission while allowing the user to move the contact end freely in space without feeling the robot's inertia and friction, resolving the contradiction between force feedback capability and operational transparency.
2Ease of operation
If the contact end and contact zone are separated, then transparency is ensured in free space, but force feedback can only be applied in one direction (unilateral)
Solution Approach 1:
Both the contact end and contact zone are designed with spherical geometry. This curved, symmetric shape enables multidirectional contact and force application while maintaining the separation needed for transparency. The spherical form allows the elements to interact in multiple directions without requiring complex mechanical linkages, thus achieving both transparency and versatile force feedback.
Solution Approach 2:
The invention transitions from unilateral (one-directional) force feedback to multidirectional force feedback by enabling contact in multiple spatial dimensions. The spherical contact end and zone allow interaction along radial directions in three-dimensional space, expanding the versatility of force feedback while preserving the separated configuration for transparency.
3Ease of operation
If the contact end is movable with respect to the contact zone, then transparency is improved, but contact stability and force feedback precision are reduced
Solution Approach 1:
The invention replaces mechanical contact-based detection with optical detection systems. Transmitters and sensors detect the position and contact state of the movable contact end without requiring rigid mechanical linkages. This substitution maintains transparency during free movement while achieving precise contact detection when the contact end approaches or touches the contact zone.
Solution Approach 2:
The system dynamically changes detection parameters based on the distance between the contact end and contact zone. During free-space movement, the system operates in a non-contact detection mode with higher positional resolution. Upon approach or contact, the system switches to contact force detection mode, adjusting measurement parameters to maintain precision across different operational states.
Data Source
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Figure 3A~3B
Figure 4A~4B
AI summary
The invention relates to a control device with force feedback comprising: a handle (1) operated by the user, said handle (1) comprising an input area (101) for input by the user and a contact end (401) rigidly connected to the input area during at least part of the operation of the control device; a robot (2) provided with a terminal body (206) comprising a contact area (402) which can come in contact with the contact end (401); means for measuring (3) the relative configuration of the handle (1) and the terminal body (206); a controller (5) for controlling the movement of the contact area (402) relative to the contact end (401); the contact end (401) being movable relative to the contact area (402) during at least part of the operation of the control device; wherein the contact end (401) and the contact area (402) are shaped such that the robot applies (1) a force feedback to the handle in at least two separate directions during at least part of the operation of the control device.