Patent ID: 9335821
Filing Date: 2016-05-10
CPC Classification: G06F

Claim Text:
1. A method of controlling a haptic interface, comprising: 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 passivity condition that a haptic system is passive, using the physical parameter and the reaction, wherein the bounding parameter obtained by using a necessary and sufficient condition and a sufficient condition of the passivity condition; adjusting the bounding parameter to within a preset range, wherein the bounding parameter comprises information about force calculated using the physical parameter and the reaction, and the adjusting the bounding parameter comprises adjusting the bounding parameter to a preset maximum value when the bounding parameter is greater than or equal to the preset maximum value; adjusting the bounding parameter to a preset minimum value when the bounding parameter is less than or equal to the preset minimum value; and maintaining the bounding parameter when the bounding parameter is between the preset maximum value and the preset minimum value; calculating force to be output to the haptic interface according to the adjusted bounding parameter; and applying the calculated force to the haptic interface.