| 摘要 |
The present disclosure provides a method and device for controlling a haptic interface, which can maintain stability and enhance transparency by restricting force caused by unnecessary energy generated in the sample and hold processes while controlling the haptic interface. The method includes detecting a physical parameter based on driving of the haptic interface; calculating a reaction to be sent from a virtual environment to the haptic interface according to the physical parameter; calculating a bounding parameter satisfying a condition that a haptic system is passive, using the physical parameter and the reaction; adjusting the bounding parameter to be within a preset range; calculating force to be output to the haptic interface according to the adjusted bounding parameter; and applying the calculated force to the haptic interface. |
