Force-Sense Device Control for Natural Haptic Feedback

Solution Overview

Problem

In force-sense processing for virtual objects, forces may be applied in a direction that causes users to feel a sense of strangeness, particularly when trying to detach their finger from the virtual object.

Innovation Solution

A control apparatus for a force-sense device that acquires position information about the virtual object and the user's fingertip, and controls the position of an acting portion to apply forces in a manner that simulates a natural sense of touch. This involves making a second force weaker than a first force when the fingertip is pushed in beyond the virtual object's surface and adjusting the force direction when the fingertip is to be placed back.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If force is applied to the acting portion in the first direction away from the virtual object surface when the fingertip is pushed in, then the virtual object provides resistance to finger insertion, but the user feels a sense of strangeness when trying to detach the finger

Engineering Contradiction:

Improveforce sense realismVSAvoiduser discomfort

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

The control section dynamically adjusts the force applied to the acting portion based on the movement direction of the fingertip. When the fingertip is pushed in, force is applied in the first direction; when the fingertip is pulled back, force is applied in the second direction. This dynamic adjustment of force direction and magnitude creates a more natural interaction that eliminates the sense of strangeness while maintaining realistic resistance.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The control section changes the parameters of the applied force (direction and magnitude) based on the fingertip's position and movement state. By making the second force weaker than the first force and adjusting forces according to contact time and virtual object properties, the system creates a more natural tactile sensation that resolves the contradiction between realism and user comfort.

Inventive Principle:

Principle #35Parameter changes

2Strength

If the control section applies strong force in the first direction to simulate solid object resistance, then the virtual object feels solid, but the user experiences unnatural force feedback when detaching

Engineering Contradiction:

Improveforce magnitudeVSAvoidnaturalness of interaction

Core Design Contradiction:

StrengthVSEase of operation

Solution Approach 1:

The control section dynamically adjusts the force applied to the acting portion based on the movement direction of the fingertip. When the fingertip is pushed in, force is applied in the first direction; when the fingertip is pulled back, force is applied in the second direction. This dynamic adjustment of force direction and magnitude creates a more natural interaction that eliminates the sense of strangeness while maintaining realistic resistance.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The control section changes the parameters of the applied force (direction and magnitude) based on the fingertip's position and movement state. By making the second force weaker than the first force and adjusting forces according to contact time and virtual object properties, the system creates a more natural tactile sensation that resolves the contradiction between realism and user comfort.

Inventive Principle:

Principle #35Parameter changes

3Measurement precision

If the control section maintains strong force application to keep the fingertip fixed at the virtual object surface, then position accuracy is improved, but the user cannot naturally detach or move the finger

Engineering Contradiction:

Improvefingertip position accuracyVSAvoidfinger movement freedom

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The control section dynamically adjusts the force applied to the acting portion based on the movement direction of the fingertip. When the fingertip is pushed in, force is applied in the first direction; when the fingertip is pulled back, force is applied in the second direction. This dynamic adjustment of force direction and magnitude creates a more natural interaction that eliminates the sense of strangeness while maintaining realistic resistance.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS12333078B2Control apparatus, control method, and control system for force-sense device

Publication Date: 2025.06.17 SONY GROUP CORP

AI summary

Provided are a control apparatus, a control method, and a system for a force-sense device that can apply a more natural haptic sensation. According to the present disclosure, a control apparatus for a force-sense device has a position information acquiring section for acquiring position information regarding a surface of a virtual object and position information regarding a fingertip, and a control section for controlling the position of an acting portion that applies a force to the fingertip, in reference to the pieces of position information, and the control section makes a second force weaker than a first force, the first force being applied to the acting portion in a first direction away from the surface of the virtual object in a case where the fingertip is pushed in further beyond the surface of the virtual object, and the second force being applied in a second direction opposite to the first direction in a case where the fingertip is to be placed back from the position where the fingertip has been pushed in.