| 摘要 |
The invention relates to a device (DS) for the real-time simulation of actions carried out on a virtual object by means of a virtual tool teleoperated by at least two simulation stations (SS-E, SS-M), each comprising a force feedback device (DRE-E, DRE-M). The inventive device (DS) comprises treatment means (MT) which receive primary data representing the states of a virtual tool (R) acted upon by two force feedback devices (DRE-E, DRE-M), and are then used to determine secondary data representing a force vector (or torsor) depending on a variation in the primary data received, and to transmit the determined secondary data to at least one of the simulation stations (SS-E, SS-M) in such a way that said station adapts the force applied to the force feedback device (DRE-E, DRE-M) thereof, according to the secondary data transmitted. |
