| 摘要 |
PROBLEM TO BE SOLVED: To provide a haptic force feedback device that can prevent a runaway of a torque generation part. SOLUTION: A controller 4 comprises a first rotational angular speed calculation part 4a for calculating rotational angular speed information on an operation part 1 from signal pulses output from an encoder 2, a rotational angular acceleration calculation part 4c for calculating rotational angular acceleration information on the operation part 1 from torque information output from a torque calculation part 4b, a second rotational angular speed calculation part 4d for calculating a rotational angular speed of the operation part 1 from the rotational angular acceleration information output from the rotational angular acceleration calculation part 4c, and a rotational angular speed selection part 4e for selecting either the rotational angular speed information output from the first rotational angular speed calculation part 4a or the rotational angular speed information output from the second rotational angular speed calculation part 4d. If the rotational angular acceleration information output from the first rotational angular speed calculation part 4a exceeds a predetermined value, the rotational angular speed information output from the second rotational angular speed calculation part 4d is selected and output to the torque calculation part 4b and a rotational angle calculation part 4f. COPYRIGHT: (C)2005,JPO&NCIPI |
