Physical-Engine Control for Synchronized Rehabilitation Robot Motion
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot control methods based on physical engines face challenges in ensuring user safety due to sudden changes in the stress or motion state of virtual objects, leading to potential impacts on users.
Innovation Solution
A robot control method that synchronizes the motion of a robot with a virtual object by determining current resultant forces and motion information using a physical engine, employing a closed-loop feedback system to adjust the robot's motion based on the virtual object's motion, utilizing a formula F=M{umlaut over (x)}+B{dot over (x)}+Kx to compensate for inertia and damping differences.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot directly follows the motion state of the virtual object in the physical engine, then the tactile experience realism is improved, but the user safety deteriorates due to sudden motion changes causing impact
Solution Approach 1:
The patent applies beforehand cushioning by introducing a buffer mechanism that anticipates and mitigates sudden motion changes. The buffer calculates predicted motion states and applies compensatory forces before actual collisions or sudden movements occur, preventing harmful impacts to users while preserving the realism of the tactile experience.
Solution Approach 2:
The patent uses an intermediary buffer mechanism between the virtual object and the robot. This buffer acts as a mediator that decouples the direct connection, allowing the robot to follow virtual object motion while filtering out harmful sudden changes. The buffer calculates intermediate motion states that balance realism and safety.
2Measurement precision
If the physical engine simulates complex virtual environments, then the simulation accuracy is improved, but the system complexity increases leading to harder control and potential safety issues
Solution Approach 1:
The patent segments the control system into distinct modules: the physical engine for high-accuracy simulation, a buffer for motion prediction and smoothing, and a robot controller for execution. This segmentation allows each component to specialize in its function, maintaining simulation accuracy while reducing overall system complexity through modular design.
Solution Approach 2:
The buffer serves as an intermediary layer between the complex physical engine and the robot controller. It simplifies the control task by pre-processing virtual object motion data, predicting future states, and providing smoothed motion commands to the robot, thereby reducing the complexity of real-time control decisions.
Data Source
AI summary
The present application relates to the technical field of robots, and discloses a robot control method based on a physical engine. The method includes: obtaining the current first resultant force to which a robot is subjected and the current second resultant force to which a virtual object in a virtual environment constructed by a physical engine is subjected; determining the current motion information corresponding to the current first resultant force and the current second resultant force according to the corresponding relationship between the force and the motion information; wherein the current second resultant force is determined by the physical engine according to the previous motion information corresponding to the previous first resultant force of the robot and the previous second resultant force of the virtual object, and the current motion information enables the current first resultant force and the current second resultant force to tend to be synchronized.