公开(公告)号：KR101448832B1

公开(公告)日：2014-10-13

申请号：KR1020130051888

申请日：2013-05-08

Applicant: 국방과학연구소

Inventor： 강신천 ,  박성준 ,  류제하

IPC: B25J13/08 ,  G06F3/00

Abstract: The present invention relates to a haptic system. More specifically, the present invention relates to a method of controlling position distortion of a multi-degree of freedom (MDOF) haptic system, which solves a problem of direction distortion of force caused when a passive theory is applied to an MDOF system to control the haptic system. According to the present invention, stability can be maintained when interacting with a remote environment, and the directional transparency of the MDOF haptic system can be improved.

Abstract translation: 本发明涉及触觉系统。 更具体地，本发明涉及一种控制多自由度（MDOF）触觉系统的位置失真的方法，其解决了当将被动理论应用于MDOF系统时引起的力的方向失真的问题，以控制 触觉系统。 根据本发明，当与远程环境相互作用时，可以保持稳定性，并且可以提高MDOF触觉系统的方向透明度。