METHOD FOR ESTIMATING PHYSICAL DAMPING FOR HAPTIC DEVICE, AND METHOD FOR STABILIZING HAPTIC DEVICE USING THE SAME

摘要

A method for estimating equivalent physical damping in a haptic device and a haptic device stabilization device using the same are provided to estimate an equivalent physical damping factor of the haptic device forming a haptic system by enabling a controller of the haptic system to operate the haptic device without any additional sensor and using momentum generated by the haptic device, and stabilize the haptic device by using the estimated equivalent physical damping factor. A controller operates a haptic device by transferring random power to the haptic device(S100). A potential change of the haptic device is transferred to the controller and the controller calculates the speed of the haptic device(S110). The controller calculates energy applied to the haptic device by using random power input transferred to the haptic device and the speed of the haptic device(S120). The controller estimates an equivalent physical damping factor of the haptic device by using the energy applied to the haptic device and the speed of the haptic device(S130). All stages are performed in a state not operating the haptic device.