Patent ID: 9582077
Date: 2017-02-28
CPC Classifications: A63F,G05G,G06F,H01H,H04L

Claim:
1. A method for providing a user of a manipulandum with haptic feedback simulating an interaction of a simulated object with a simulated compliant paddle whose movement is controlled by movement of the manipulandum, the method comprising: determining a first haptic force during a first stage of the interaction, the first haptic force based on (i) the interaction, (ii) a simulated mass and stiffness of the simulated compliant paddle, and (iii) a mass of the simulated object, the first stage of the interaction beginning with a collision of the simulated object with the simulated compliant paddle and continuing to a maximum flexibility point of the simulated compliant paddle; determining a second haptic force during a second stage of the interaction, the second haptic force based on (i) the interaction, (ii) a simulated mass and stiffness of the simulated compliant paddle, and (iii) the mass of the simulated object, the second stage of the interaction corresponding to a rebounding of the simulated compliant paddle and a release of the simulated object from the simulated compliant paddle, the second stage of the interaction beginning in response to the simulated compliant paddle reaching the maximum flexibility point; actuating one or more actuators that are coupled to the manipulandum to impart the first haptic force to the manipulandum during the first stage of the interaction; and actuating at least one of the one or more actuators to impart the second haptic force to the manipulandum during the second stage of the interaction.