Inner force sense controller for providing variable force to multidirectional moving object, method of controlling inner force sense and information storage medium used therein
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United States of America Patent
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Sep 14, 1999
Grant Date -
N/A
app pub date -
Oct 16, 1997
filing date -
Oct 18, 1996
priority date (Note) -
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Abstract
An inner force sense controller includes an actuator for exerting a reaction force on a moving object such as a manipulator, a sensor for producing a detecting signal indicative of current position of the moving object and a controlling unit connected to the actuator and the sensor; the controlling unit calculates a current velocity so as to determine the direction of motion, and selects one of the data tables assigned to the direction of the motion for reading out a target reaction force; and the operator feels the inner force sense to be different depending upon the direction of the motion.
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