Worn Unit Position Force Control System Reducing Signal Delay
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Solution Overview
Problem
Conventional systems providing force tactile sensation to users through exoskeletal devices suffer from significant delays in control signals due to reliance on PC or server control, leading to inadequate control performance.
Innovation Solution
A position/force control system comprising a worn unit with an actuator that provides force tactile sensation, and a control unit that acquires and transmits position data from the space, allowing the worn unit to control the actuator based on impedance and contour information of the touching object, reducing data transmission and signal delay.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If control is performed by a PC or server, then centralized control capability is achieved, but signal delay increases and control appropriateness deteriorates
Solution Approach 1:
The control system is segmented into two parts: the control unit (PC/server) that handles high-level coordination and data management, and the worn unit with embedded controller that performs real-time actuator control locally. This segmentation allows centralized intelligence while enabling distributed real-time response, resolving the contradiction between centralized control capability and signal delay.
Solution Approach 2:
The worn unit's controller acts as an intermediary between the control unit and the actuator. It receives control parameters from the control unit and translates them into real-time actuator commands, mediating the control signal transmission and reducing the impact of signal delay on control performance.
2Ease of operation
If control parameters are transmitted from control unit to worn unit, then control capability is provided, but data transmission complexity increases
Solution Approach 1:
The control unit pre-calculates control parameters (position, velocity, acceleration, impedance) based on the target object's physical properties before transmission. This preliminary action reduces the computational burden on the worn unit and simplifies the data transmission requirements, as only pre-processed control parameters need to be transmitted rather than raw sensor data or complex control algorithms.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration enables more appropriate control of force tactile sensation, reducing signal delays and improving system performance by minimizing data transmission from the control unit to the worn unit.
Implementation Method 1
provides force tactile sensation by an actuator
Data Source
AI summary
A position/force control system includes a worn unit and a control unit. The worn unit is configured to be worn on a body of a user, and provides force tactile sensation by an actuator. The control unit acquires data of a position of the worn unit in a space, based on data of space in which a touching object exists. The worn unit includes a control unit that acquires the data of the position from the control unit and controls driving of the actuator based on impedance and contour information of the touching object in the space, and the data of the position, thereby providing force tactile sensation.