Robot Haptic Control for High-Frequency Fluid Force Feedback
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing force feedback systems inadequately represent the viscosity of fluids, limiting interaction possibilities to simple movements and incapable of precise simulations due to low update rates.
Innovation Solution
A method and system that utilize a robot with actuated segments to detect user forces and movements, determining fluid and solid force vectors at high frequencies (over 500 Hz) to generate precise haptic feedback, enabling complex interactions with fluids by distributing forces to individual limbs based on detected parameters.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If force feedback systems use low update rates (30-500 Hz) for calculating viscosity, then computational load is reduced, but the accuracy and realism of fluid simulation deteriorates
Solution Approach 1:
The system segments the fluid simulation into multiple independent force vector calculations (fluid force vector, solid force vector, haptic feedback force) that can be computed and applied separately at different frequencies, allowing high-precision fluid dynamics calculation without overwhelming the entire system
Solution Approach 2:
The system implements periodic force feedback updates at optimized intervals, calculating fluid force vectors and solid force vectors in alternating or coordinated cycles, which maintains simulation accuracy while managing computational throughput efficiently
2Device complexity
If force feedback systems calculate forces at a single end point, then device complexity is reduced, but the ability to represent viscosity and interact with liquids deteriorates
Solution Approach 1:
The system transitions from single-point force calculation to multi-point distributed force vectors by introducing spatial distribution of force application points along the robotic manipulator, enabling representation of viscous drag and fluid resistance at multiple locations simultaneously
Solution Approach 2:
The robotic manipulator is divided into multiple segments with individual force vectors applied at different points, allowing independent calculation and application of fluid forces on each segment, which accurately represents viscosity effects throughout the entire manipulator structure
3Power
If force feedback systems limit interactions to simple movements, then computational requirements are reduced, but the realism and usefulness of teleoperation deteriorates
Solution Approach 1:
The system implements dynamic force feedback that adapts to complex manipulator configurations and fluid interactions, automatically adjusting force vector calculations based on real-time position, velocity, and orientation data from multiple degrees of freedom, enabling realistic fluid interaction without fixed computational overhead
Data Source
AI summary
A method for controlling a robot, in which a force and/or movement of a user is transferred to at least one actuated segment of the robot and is detected by the robot in order to control a solid in a fluid, wherein the force and/or movement of the user is transferred to the solid, wherein the actuated segment generates a movement and/or force in dependence of the solid as haptic feed-back, and wherein, in order to determine the force generated by the actuated segment, a fluid force vector is determined which includes the influence of the fluid on the solid, and a solid force vector is determined which includes the influence of the solid.