Synthetic friction algorithm for a hand control element

Details Synthetic friction algorithm for a hand control element Synthetic friction algorithm for a hand control element

1993-08-09

1995-05-09

Trammell, James P.

Boots, shoes, and leggings

364190, 414 5, 244223, G05B 1918

Patent

active

054146208

ABSTRACT:
Synthetic friction force algorithms provide simulated static friction forces as well as dynamic friction forces. On either side of a hand-control element reference position a small static friction zone is established. As long as the hand-control element is within this static friction zone, the reference position remains constant and the control element drive motor generates a centering force proportional to the distance of the hand-control element from the reference position; a force urging the hand-control element toward the reference position. When the relative position of the hand-control element reaches or exceeds an edge of the static friction zone, it enters the dynamic friction zone. The motor applies a constant dynamic friction force, urging the hand-control element toward the reference position and the reference position is translated so that the edge of the static friction zone is translated to the current hand-control element position.

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