Patent Publication Number: US-2022226988-A1

Title: Slip simulation apparatus, controlled robot, and game handle

Description:
RELATED APPLICATION(S) 
     This application is a continuation application of PCT Patent Application No. PCT/CN2021/080831 filed on Mar. 15, 2021, which claims priority to Chinese Patent Application No. 202010327089.8, filed with the China National Intellectual Property Administration on Apr. 23, 2020, all of which are incorporated herein by reference in entirety. 
    
    
     FIELD OF THE TECHNOLOGY 
     The present disclosure relates to the field of remote operation control, and in particular, to a slip simulation apparatus, a controlled robot, a game handle, a virtual game console, and a control system. 
     BACKGROUND 
     When a user operates a controlled end such as a robot or a game character, the controlled end such as the robot or the game character generates a touch sense in a movement process. To enable the user to perceive the touch sense of the controlled end, the touch sense may be simulated. 
     Tactile simulation solutions in certain existing technologies use a pressure sense (pressure for short), and there are a few apparatuses using a slip sense (slip for short). A slip simulation apparatus in certain existing technologies may be complex in structure and difficult to process, provide a limited range of movement, and provide slide simulation in a single direction, resulting in poor user experience. 
     SUMMARY 
     Embodiments of the present disclosure provide a slip simulation apparatus and a control system, which can simulate a slip in a remote operation, enabling a user to synchronously perceive continuous slides in a plurality of directions and at a plurality of speeds. 
     In one aspect, the present disclosure provides a slip simulation apparatus, including: a base; at least one motor arranged on the base; a slip simulation controller, configured to: receive slip data, and generate a rotating speed control signal used for controlling the at least one motor; and at least one synchronous wheel, at least one limit apparatus, and at least one synchronous belt associated with the motor, the synchronous belt being sleeved on the synchronous wheel and the limit apparatus, the motor being drivingly connected to the at least one synchronous wheel to drive, according to the rotating speed control signal, the at least one synchronous wheel and the at least one synchronous belt to rotate. 
     In another aspect, the present disclosure provides a controlled robot, including: a controlled end communicator, configured to: receive pressure control data, and transmit slip data to the slip simulation apparatus provided in the embodiments of the present disclosure; a controlled end pressure sensor, configured to: detect a pressure applied by the controlled robot, and generate pressure data of the controlled robot; and a controlled end controller, communicably connected to the controlled end communicator and the controlled end pressure sensor, the controlled end controller being configured to: adjust, according to the pressure data of the controlled robot and the pressure control data, the pressure applied by the controlled robot; and convert the pressure data of the controlled robot into the slip data, and transmit the slip data to the controlled end communicator. 
     In yet another aspect, the present disclosure provides a game handle, including: a housing; a power supply; and the slip simulation apparatus provided in the embodiments of the present disclosure arranged inside the housing, the slip simulation apparatus being configured to: receive slip data from a virtual game console, and output pressure control data to the virtual game console, to control a virtual object in a virtual game application, the virtual game application being run in the virtual game console. 
     In yet another aspect, the present disclosure provides a virtual game console, including: a controlled end communicator, configured to: receive pressure control data from the game handle provided in the embodiments of the present disclosure, and transmit slip data to the game handle; a processor, configured to run a virtual game application, a first virtual object in the virtual game application being controlled by the game handle, the processor being further configured to: compute pressure data, the pressure data indicating pressure applied by the first virtual object on a second virtual object; adjust, according to the pressure data and the pressure control data, the pressure applied by the first virtual object on the second virtual object, and update the pressure data; and convert the updated pressure data into the slip data, and transmit the slip data to the controlled end communicator; and a screen, configured to display that the first virtual object adjusts the pressure applied by the first virtual object to the second virtual object. 
     In yet another aspect, the present disclosure provides a control system, including the slip simulation apparatus provided in the embodiments of the present disclosure and the controlled robot provided in the embodiments of the present disclosure. 
     In yet another aspect, the present disclosure provides a control system, including the game handle provided in the embodiments of the present disclosure and the virtual game console provided in the embodiments of the present disclosure. 
     In the slip simulation apparatus and the control system provided in the embodiments of the present disclosure, the slip simulation apparatus implements a continuous slip simulation without a displacement range constraint by using infinite rotation of a synchronous belt structure. The structure is simple, manufacturing is convenient, the cost is low, and a user can perceive a sliding speed and direction of a controlled end device in real time. The control system senses a pressure from the user through a pressure sensor, to transmit a control signal to the controlled end in real time to change the sliding speed of the controlled end. 
     Other aspects of the present disclosure can be understood by those skilled in the art in light of the description, the claims, and the drawings of the present disclosure. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       To facilitate a better understanding of technical solutions of certain embodiments of the present disclosure, accompanying drawings are described below. The accompanying drawings are illustrative of certain embodiments of the present disclosure, and a person of ordinary skill in the art may still derive other drawings from these accompanying drawings without having to exert creative efforts. When the following descriptions are made with reference to the accompanying drawings, unless otherwise indicated, same numbers in different accompanying drawings may represent same or similar elements. In addition, the accompanying drawings are not necessarily drawn to scale. 
         FIG. 1  is a schematic structural diagram of an apparatus for generating a shearing force according to embodiment(s) of the present disclosure; 
         FIG. 2A  is a schematic structural diagram of a slip simulation apparatus according to embodiment(s) of the present disclosure; 
         FIG. 2B  is a schematic structural block diagram of the slip simulation apparatus according to embodiment(s) of the present disclosure; 
         FIG. 2C  is a schematic diagram of a control principle of the slip simulation apparatus according to embodiment(s) of the present disclosure; 
         FIG. 3  is a schematic structural diagram of a slip simulation apparatus according to embodiment(s) of the present disclosure; 
         FIG. 4A  is a schematic structural diagram of a slip simulation apparatus according to embodiment(s) of the present disclosure; 
         FIG. 4B  is a schematic top view of the slip simulation apparatus according to embodiment(s) of the present disclosure; 
         FIG. 4C  is a schematic front view of the slip simulation apparatus according to embodiment(s) of the present disclosure; 
         FIG. 4D  is a schematic rear view of the slip simulation apparatus according to embodiment(s) of the present disclosure; 
         FIG. 4E  is a schematic exploded view of the slip simulation apparatus according to embodiment(s) of the present disclosure; 
         FIG. 5A  is a schematic diagram of a controlled robot according to embodiment(s) of the present disclosure; 
         FIG. 5B  is a schematic diagram of a control principle of the controlled robot according to embodiment(s) of the present disclosure; and 
         FIG. 6  is a schematic diagram of an interaction of a game handle and a virtual game console according to embodiment(s) of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     To make objectives, technical solutions, and/or advantages of the present disclosure more comprehensible, certain embodiments of the present disclosure are further elaborated in detail with reference to the accompanying drawings. The embodiments as described are not to be construed as a limitation to the present disclosure. All other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of embodiments of the present disclosure. 
     When and as applicable, the term “an embodiment,” “one embodiment,” “some embodiment(s), “some embodiments,” “certain embodiment(s),” or “certain embodiments” may refer to one or more subsets of all possible embodiments. When and as applicable, the term “an embodiment,” “one embodiment,” “some embodiment(s), “some embodiments,” “certain embodiment(s),” or “certain embodiments” may refer to the same subset or different subsets of all the possible embodiments, and can be combined with each other without conflict. 
     In certain embodiments, the term “based on” is employed herein interchangeably with the term “according to.” 
     In the following description, many details are provided to facilitate a full understanding of the present disclosure. The described implementations are only some implementations rather than all the implementations of the present disclosure. Other implementations obtained by a person of ordinary skill in the art based on the implementations of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure. 
     In addition, the following description of various embodiments is provided to exemplify the specific embodiments of the present disclosure with reference to accompanying drawings. The directional terms such as “longitudinal”, “transverse”, and “vertical” refer to the directions in the accompanying drawings. Therefore, the used directional terms are used for better and clearer description and understanding of the present disclosure, rather than indicating or implying that the apparatus or element may have a particular orientation or may be constructed and operated in a particular orientation. Therefore, such terms shall not be construed as limiting of the present disclosure. Unless otherwise explicitly specified or defined, the terms such as “install”, “connect”, and “connection” shall be understood in a broad sense. For example, the connection may be a fixed connection, a detachable connection, or an integral connection; or the connection may be a mechanical connection; or the connection may be a direct connection, an indirect connection through an intermediary, or internal communication between two components. A person of ordinary skill in the art may understand the specific meanings of the terms in the present disclosure according to specific situations. 
       FIG. 1  is a schematic structural diagram of an apparatus  100  for generating a shearing force according to an embodiment of the present disclosure. 
     Generally, a magnitude of a slip may be represented by a magnitude of a shearing force. The shearing force represents a friction force generated when a relative movement occurs between adjacent layers. An apparatus for generating a shearing force is shown in  FIG. 1 . The apparatus generates a shearing force in a slider sensing region by making a slider slide behind a contact member. A user touches the slider sensing region to perceive the shearing force generated from the sliding of the slider. For the apparatus  100  for generating a shearing force shown in  FIG. 1 , the apparatus  100  may be used as one of the components of a game handle. The component may provide a slip feedback to the user. For example, it is assumed that a game character in a virtual game tries to hold a stick as shown in  FIG. 1 , and the stick may slide downward because the stick is too heavy or the surface of the stick is too smooth. In certain embodiment(s), when a finger of the user is in contact with the slider sensing region, a downward sliding force of the stick may be perceived by making the slider slide downward. After the user perceives that the stick slides down through the game handle, the user may increase a grip force on the game handle to control the game character. 
     The apparatus  100  can simulate the perception of a relative movement between a virtual object and another virtual object in the virtual game as well as a speed and shock of the relative movement for a user. However, a movement displacement of the slider only has a size of the slider sensing region, so that the apparatus  100  cannot provide a continuous slip to the user. Moreover, because the slider can only move vertically in a single direction, the user cannot perceive the shearing force generated by the slider in different directions on a same plane through the apparatus  100 . However, in an actual production process, the apparatus  100  has a complex structure and is difficult to process, resulting in an increased cost of game production. 
     Based on the above, the embodiments of the present disclosure a slip simulation apparatus, a controlled robot, a game handle, a virtual game console, and a control system. The slip simulation apparatus uses a synchronous belt to simulate a slip. Because the synchronous belt can rotate infinitely without a displacement range constraint, the slip simulation apparatus can provide a continuous slip simulation. In the embodiments of the present disclosure, a plurality of intersecting synchronous belts are further used to implement sliding synthesis in a plurality of directions, thereby implementing slide simulation in different directions and at different speeds. The slip simulation apparatus provided in the embodiments of the present disclosure is simple in structure, easy to manufacture, and low in cost, and allows a user to perceive a sliding speed and direction of a controlled object in real time. 
     The following describes the slip simulation apparatus and the control system provided in the embodiments of the present disclosure in detail with reference to the accompanying drawings. 
       FIG. 2A  is a schematic structural diagram of a slip simulation apparatus  200  according to an embodiment of the present disclosure.  FIG. 2B  is a structural block diagram of the slip simulation apparatus  200  according to an embodiment of the present disclosure.  FIG. 2C  is a diagram of a control principle of the slip simulation apparatus  200  according to an embodiment of the present disclosure. 
     Referring to  FIG. 2A , the slip simulation apparatus  200  of the embodiments of the present disclosure may be similarly mounted in a game handle as shown in  FIG. 1  or may be used independently to provide slip simulation to a user. For ease of description, in  FIG. 2A , an example in which the apparatus  200  is independently used is used to describe the structure of the apparatus below. However, a person skilled in the art is to understand that the slip simulation apparatus  200  may be used as one of a built-in component or an independent component of any related device to provide slip simulation to a user. This is not limited in the embodiments of the present disclosure. 
     For example, the slip simulation apparatus  200  includes: a base  201 ; at least one motor  204  arranged on the base  201 ; and a slip simulation controller  205 , configured to: receive slip data, and generate a rotating speed control signal used for controlling the at least one motor  204 . 
     Each motor  204  in the at least one motor  204  is provided with at least one synchronous wheel  203 , at least one limit apparatus  206 , and at least one synchronous belt  202  associated with the motor  204 . The at least one synchronous belt  202  is sleeved on the at least one synchronous wheel  203  and the limit apparatus  206 . The motor  204  is drivingly connected to the at least one synchronous wheel  203  to drive, according to the rotating speed control signal, the at least one synchronous wheel  203  and the at least one synchronous belt  202  to rotate. 
     For ease of description, only one motor  204 , one synchronous belt  202 , one limit apparatus  206 , and one synchronous wheel  203  are shown in  FIG. 2A . However, in some embodiments, there may be at least two synchronous wheels, at least two limit apparatuses, and at least two synchronous belts. A person skilled in the art is to understand that the quantities of the motors, the synchronous wheels, the limit apparatuses, and the synchronous belts are not limited in the embodiments of the present disclosure. In  FIG. 2A , the synchronous wheel  203  directly sleeved on the motor  204  is a driving wheel, and the limit apparatus  206  is a driven wheel. The driving wheel drives the driven wheel to rotate. A person skilled in the art is to understand that the limit apparatus  206  may be replaced with a mechanical component that can play a similar role, for example, an arc-shaped steel plate and a support rod, as long as the component can implement the function of assisting in the rotation of the synchronous belt  202 . 
     It is to be understood that after the synchronous belt  202  is sleeved on the synchronous wheel  203 , the synchronous belt  202  forms an arc-shaped portion respectively in contact with the synchronous wheel  203 , and two flat portions located between the limit apparatus  206  and the synchronous wheel  203 . The user may put a finger on the flat portion, and perceive a simulated slip by perceiving the rotation of the synchronous belt. 
     Slip data can represent the shearing force perceived by a controlled object. The apparatus  200  may provide a slip to the user based on the slip data, so that the user may perceive a shearing force similar to the shearing force perceived by the controlled object. For example, it is assumed that the controlled object is a game character in a virtual game, the game character in the virtual game tries to hold a stick, and the stick may slide downward because the stick is too heavy or the surface of the stick is too smooth. When the finger of the user presses or touches the synchronous belt  202 , the synchronous belt  202  may rotate forward or backward under the operation of the motor  204 . In certain embodiment(s), the user may perceive the sliding of the synchronous belt  202  to perceive the downward sliding of the stick. In another example, it is assumed that the controlled object is a fishing robot, and the fishing robot tries to grab a swimming fish by hand. In certain embodiment(s), when the finger of the user touches the synchronous belt  202 , the user may perceive the sliding of the synchronous belt  202  to simulate the swimming of fish through the hand. Therefore, the apparatus  200  simulates touching of a sliding object through the movement of the synchronous belt  202 . 
     Because the synchronous belt  202  is driven by the motor  204  to continuously rotate, the apparatus  200  may provide a continuous slip feedback to the user. In addition, because the rotating speed of the motor  204  is controlled by the rotating speed control signal outputted by the slip simulation controller  205 , the motor  204  may make the synchronous belt  202  rotate at different speeds, so that the apparatus  200  provides slips at different speeds to the user. When the speed of the motor  204  is faster, the shearing force provided by the apparatus  200  is greater, thereby simulating a more obvious slip for the user. 
     Referring to  FIG. 2B  and  FIG. 2C , the apparatus  200  may further include a control end communicator  206 . The control end communicator  206  is communicably connected to the slip simulation controller  205 . The control end communicator  206  is configured to receive slip data from a controlled end communicator. The slip simulation controller  205  is further configured to: receive slip data from the control end communicator  206 , and generate, based on the slip data, the rotating speed control signal used for controlling the at least one motor, to control a rotating speed of the at least one motor  204 . 
     The control end communicator  206  may be connected to the controlled end communicator by a network. A communicable connection refers to that devices may communicate with each other directly or indirectly, for example, may transmit and receive data and/or a signal to and from each other through the network. The network may be an Internet and/or telecommunication network-based Internet of Things, which may be a wired network or a wireless network. For example, the network may be an electronic network that can implement a function of information exchange, such as, a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), and a cellular data communication network. 
     After the control end communicator  206  receives the transmitted slip data, the slip simulation controller  205  may convert a sliding direction and a sliding speed of a controlled end into a rotating speed control signal to control an output rotating speed of the at least one motor  204 , to make the at least one synchronous belt  202  reach a corresponding rotating speed. 
     For example, the slip simulation controller  205  further includes a proportional-integral-derivative (PID) controller  2051 , configured as at least one control end rotating speed sensor  2053  and a power amplifier  2052  for obtaining an actual rotating speed of the at least one motor  204 . In some embodiments, a speed sensor-less control strategy may be applied in the slip simulation controller  205 . For example, a speed observer is used for estimating the rotating speed of the at least one motor. In certain embodiment(s), the at least one control end rotating speed sensor  2053  may be omitted, or may be replaced with a speed observer  2053 ′. 
     For example, the motor  204  may be a low-power direct current motor, and the control end rotating speed sensor  2053  may be an encoder built inside the motor  204 . The encoder may directly obtain actual rotating speed data n(t) of the at least one motor  204 , where t represents a moment, and n(t) represents the actual rotating speed of the motor  204  at the moment t. An actual speed of the synchronous belt  202  associated with the motor  204  may be calculated through the rotating speed of the motor  204 , to determine the sliding speed. With a built-in encoder of at least one motor  204  as the control end rotating speed sensor  2053 , the structure can be simplified and manufacturing is facilitated. 
     In another example, the control end rotating speed sensor  2053  may be a sensor that senses the rotating speed of the synchronous belt  202 . The control end rotating speed sensor  2053  may be arranged on the base  201  to detect the rotating speed of the synchronous belt  202 . The actual rotating speed data n(t) of the motor  204  associated with the synchronous belt may be derived from the rotating speed of the synchronous belt. 
     The control end rotating speed sensor  2053  may be electrically connected or communicably connected to the PID controller  2051 . The PID controller refers to a controller that controls a mechanical component through a PID control rule. For each motor  204 , the PID controller  2051  generates the rotating speed control signal according to the rotating speed data of the motor and the rotating speed control signal. 
     For example, when the at least one motor  204  is a low-power direct current motor, the rotating speed control signal may be converted into a motor voltage control signal. The motor voltage control signal indicates a direct current voltage applied to the motor  204 . As a result, the slip simulation controller  205  adjusts the rotating speed of the motor  204  by adjusting a voltage applied to the motor  204 . 
     For example, the PID controller  2051  may combine an expected rotating speed r(t) with the actual rotating speed data n(t) obtained by the control end rotating speed sensor  2053  according to the PID control rule for calculation and analysis, to adjust the rotating speed of the at least one motor  204 . The expected rotating speed r(t) represents a rotating speed expected to be reached by the motor  204  at the moment t, which may be indicated by the slip data. 
     The method for adjusting the speed of the at least one motor  204  by the slip simulation controller  205  includes: calculating, by the slip simulation controller  205 , the expected rotating speed r(t) of the motor  204  according to the slip data. The control end rotating speed sensor  2053  senses the actual speed n(t) of the at least one motor  204 . The slip simulation controller  205  compares the expected rotating speed r(t) with the actual rotating speed n(t), and calculates a difference e(t)=r(t)−n(t). The PID controller  2051  calculates a rotating speed control signal u(t) according to the difference e(t). The rotating speed control signal u(t) represents a signal for controlling the rotating speed of the motor at the moment t. In some embodiments, u(t) may be converted into the motor voltage control signal y(t) through a simple linear change. y(t) represents a motor drive voltage at the moment t. In certain embodiment(s), in some embodiments, u(t) may obtain the motor voltage control signal y(t) simply through the power amplifier  2052 , and drive at least one motor  204  to change the rotating speed of the motor by changing the voltage of the motor  204 , thereby implementing slide simulation. 
     The apparatus  200  may further include a control end pressure sensor  207 . The control end pressure sensor  207  is communicably connected to the slip simulation controller  205 , and is configured to sense the pressure applied to the at least one synchronous belt and generate a pressure detection signal. The slip simulation controller  205  is further configured to: receive the pressure detection signal from the control end pressure sensor  207 , and convert the pressure detection signal into pressure control data. The control end communicator  206  is further configured to: receive the pressure control data from the slip simulation controller  205 , and transmit the pressure control data to the controlled end communicator. 
     For example, the control end pressure sensor  207  may be arranged at the bottom of the base  201 . After the user applies pressure to the synchronous belt, that is, applies pressure to the entire slip simulation apparatus  200 , the control end pressure sensor  207  at the bottom of the base  201  may be used for sensing the pressure on the entire slip simulation apparatus  200 . In another example, the control end pressure sensor  207  may be arranged in a contact gap between the synchronous belt and the base  201 , so that the pressure applied by the user may be sensed. A person skilled in the art is to understand that the control end pressure sensor  207  may be arranged at another appropriate position of the apparatus  200  as desirable, as long as the control end pressure sensor  207  can sense the pressure applied by the user. The control end pressure sensor  207  may convert the detected pressure into the pressure detection signal, and then transmit the pressure detection signal to the slip simulation controller  205 . 
     After receiving the pressure detection signal from the control end pressure sensor  207 , the slip simulation controller  205  may convert the pressure detection signal into pressure control data. The pressure control data is used for controlling a pressure applied by the controlled object to the outside. The control end communicator  206  receives the pressure control data from the slip simulation controller  205 , and transmits the pressure control data to the controlled end communicator. For example, when the controlled object is a robot finger or a clamper, after receiving the pressure control data through the built-in controlled end communicator of the controlled object, the controlled object may change a grip force or a pressing force of the robot finger according to the pressure control data. In another example, when the controlled object is a virtual character in a virtual game, the controlled virtual character may adjust, according to the pressure control data, a force applied to another virtual object. 
     The slip simulation apparatus  200  uses the synchronous belt to simulate a slip. Because the synchronous belt can rotate infinitely without a displacement range constraint, the slip simulation apparatus  200  can provide a continuous slip simulation. 
       FIG. 3  is a schematic structural diagram of another slip simulation apparatus  300  according to an embodiment of the present disclosure. 
     Referring to  FIG. 3 , the slip simulation apparatus  300  of the embodiments of the present disclosure may be similarly mounted in a game handle as shown in  FIG. 1 , or may be used independently to provide slip simulation to a user. For ease of description, in  FIG. 3 , an example in which the apparatus  300  is independently used is used to describe the structure of the apparatus below. However, a person skilled in the art is to understand that this is not limited in the embodiments of the present disclosure. 
     For example, the slip simulation apparatus  300  includes a base  301 . The base  301  is similar to the base  201  and is provided with a first synchronous belt  303 , a second synchronous belt  306 , a first synchronous wheel  304 , a second synchronous wheel  307 , a first motor  302 , and a second motor  305 . The apparatus  300  may further similarly include the slip simulation controller  205  in the apparatus  200 . In some embodiments, the apparatus  300  may further include a control end communicator  206  and the control end pressure sensor  207 . 
     The first motor  302  and the second motor  305  are similar to the motor  204 . Therefore, details are not described herein again. 
     The synchronous wheel associated with the first motor  302  is the first synchronous wheel  304 , and the synchronous belt associated with the first motor  302  is the first synchronous belt  303 . 
     The synchronous wheel associated with the second motor  305  is the second synchronous wheel  307 , and the synchronous belt associated with the second motor  305  is the second synchronous belt  306 . 
     One end of the first synchronous belt  303  is sleeved on the first synchronous wheel  304 , and the other end of the first synchronous belt  303  is sleeved on the limit apparatus associated with the first motor  302 . The first motor  302  is drivingly connected to the first synchronous wheel  304  to drive the first synchronous wheel  304  and the first synchronous belt  303  to rotate. 
     One end of the second synchronous belt  306  is sleeved on the second synchronous wheel  307 , and the other end of the second synchronous belt  306  is sleeved on the limit apparatus associated with the second motor  305 . The second motor  305  is drivingly connected to the second synchronous wheel  307  to drive the second synchronous wheel  307  and the second synchronous belt  306  to rotate. 
     An extending direction of the first synchronous belt  303  is a first direction, an extending direction of the second synchronous belt  306  is a second direction, and the first direction and the second direction intersect. In some embodiments, the first direction is perpendicular to the second direction, and the first synchronous belt  303  and the second synchronous belt  306  have an overlapping portion (for example, which is a grid region in  FIG. 3 ) in a direction perpendicular to a plane formed by the first direction and the second direction. 
     The first synchronous belt  303  and the second synchronous belt  306  are placed crosswise (as shown in  FIG. 3 , the first synchronous belt  303  is overlapped on top of the second synchronous belt  306 ). Axial directions of rotating shafts of the first synchronous wheel  304  and the second synchronous wheel  307  are different. 
     Only a first synchronous belt  303  and a second synchronous belt  306  are shown in  FIG. 3 . However, a person skilled in the art is to understand that there may be a plurality of first synchronous belts  303  and a plurality of second synchronous belts  306 . Quantities of the first synchronous belt  303  and the second synchronous belt  306  are not limited in the embodiments of the present disclosure. 
     For example, when the finger of the user presses the grid region in  FIG. 3 , the first synchronous belt  303  may rotate forward or backward in the first direction under the operation of the first motor  302 . In certain embodiment(s), the user may perceive sliding of the first synchronous belt  303  in the first direction. In certain embodiment(s), the apparatus  300  uses the movement of the first synchronous belt  303  to simulate touching of an object sliding in the first direction by the user. 
     When the second synchronous belt  306  rotates forward or backward in the second direction with the operation of the second motor  305 , because the second synchronous belt  306  is in contact with the first synchronous belt  303 , when pressing the grid region, the user may perceive the slide of the second synchronous belt  306  through the first synchronous belt  303 . In certain embodiment(s), the apparatus  300  uses the movement of the second synchronous belt  306  to simulate touching of the object sliding in the second direction by the user via a layer of material. If the user directly presses the second synchronous belt  306 , the user may perceive the sliding of the second synchronous belt  306  in the second direction. 
     In some embodiments, the second synchronous belt  306  and the first synchronous belt  303  may rotate simultaneously. When the finger of the user presses the grid region in  FIG. 3 , the user may simultaneously perceive sliding in two directions. The user can perceive the sliding in a 360-degree direction by controlling the respective rotating speeds of the first synchronous belt  303  and the second synchronous belt  306 . In certain embodiment(s), the finger of the user presses the grid region. However, a person skilled in the art is to understand that when the finger presses another position of the first synchronous belt and the second synchronous belt, the apparatus  300  can still provide a slip feedback to the user. 
     For example, the first synchronous belt  303  and the second synchronous belt  306  may rotate at different speeds by changing the rotating speeds of the first motor  302  and the second motor  305 , thereby providing slip feedbacks at different speeds to the user. Compared with the apparatus  100 , because the first synchronous belt  303  and the second synchronous belt  306  may continuously rotate in the first direction and the second direction without a displacement range constraint, the apparatus  300  can provide a continuous slip simulation, and slide simulation in different directions and at different speeds can be implemented by using two-direction sliding synthesis, the structure is simple, manufacturing is easy, the cost is low, and the user perceives a sliding speed and direction of a controlled end device in real time. 
       FIG. 4A  is a schematic structural diagram of a slip simulation apparatus  400  according to an embodiment of the present disclosure.  FIG. 4B  is a top view of the slip simulation apparatus  400  according to an embodiment of the present disclosure.  FIG. 4C  is a front view of the slip simulation apparatus  400  according to an embodiment of the present disclosure.  FIG. 4D  is a rear view of the slip simulation apparatus  400  according to an embodiment of the present disclosure.  FIG. 4E  is an exploded view of the slip simulation apparatus  400  according to an embodiment of the present disclosure. 
     The slip simulation apparatus  400  includes a base  401 . A function of the base  401  is similar to the base  201  and the base  301 . The base  401  provides structural support for another component of the slip simulation apparatus  400 . The apparatus  400  may further similarly include the control end communicator  206  in the apparatus  200 . In some embodiments, the apparatus  200  may further include a slip simulation controller  205  and the control end pressure sensor  207 . 
     A first synchronous belt  403 A and a first synchronous belt  403 B are sleeved on a first synchronous wheel  404  and a limit apparatus associated with a first motor  402 . The first motor  402  is drivingly connected to the first synchronous wheel  404  to drive the first synchronous wheel  404 , the first synchronous belt  403 A, and the first synchronous belt  403 B to rotate. In some embodiments, the first synchronous belt  403 A and the first synchronous belt  403 B are parallel to each other, and the first synchronous belt  403 A and the first synchronous belt  403 B are separated by a limit strip on the first synchronous wheel  404 . 
     In some embodiments, a second synchronous belt  406 A and a second synchronous belt  406 B are sleeved on a second synchronous wheel  407  and a limit apparatus associated with a second motor  405 . The second motor  405  is drivingly connected to the second synchronous wheel  407  to drive the second synchronous wheel  407 , the second synchronous belt  406 A, and the second synchronous belt  406 B to rotate. In some embodiments, the second synchronous belt  406 A and the second synchronous belt  406 B are parallel to each other, and the second synchronous belt  406 A and the second synchronous belt  406 B are separated by a limit strip on the second synchronous wheel  407 . 
     In some embodiments, the synchronous wheels are cylindrical, and there is a limit strip in the middle, so that staggered friction between a set of parallel synchronous belts can be prevented, making it convenient for the user to perceive the sliding. 
     The second synchronous belt  406 A and the second synchronous belt  406 B intersect and overlap with the first synchronous belt  403 A and the first synchronous belt  403 B respectively. It is to be understood that, after the second synchronous belt  406 A and the second synchronous belt  406 B are sleeved on the second synchronous wheel  407  and the limit apparatus associated with the second motor  405 , the second synchronous belt  406 A and the second synchronous belt  406 B form two arc-shaped portions that are in contact with the second synchronous wheel  407  and the limit apparatus associated with the second motor  405 , and two flat portions located between the second synchronous wheel  407  and the limit apparatus associated with the second motor  405 . At least two flat portions on the second synchronous belt  406 A and the second synchronous belt  406 B are in contact with the flat portions of the first synchronous belt  403 A and the first synchronous belt  403 B. The second direction in which the second synchronous belt  406 A and the second synchronous belt  406 B rotate and the first direction in which the first synchronous belt  403 A and the first synchronous belt  403 B rotate intersect. 
     When the user places a finger on an overlapping flat portion of the synchronous belt, rotation of the second synchronous belt  406 A, the second synchronous belt  406 B, the first synchronous belt  403 A, and the first synchronous belt  403 B can be directly transferred to the finger of the user. In certain embodiment(s), the user may determine an overall direction and speed of real sliding according to a superposition of sliding of the second synchronous belt  406 A, the second synchronous belt  406 B, the first synchronous belt  403 A, and the first synchronous belt  403 B, allowing the user to perceive a full range of movement. For example, it is assumed that both the first synchronous belt  403 A and the first synchronous belt  403 B rotate forward in the first direction, and both the second synchronous belt  406 A and the second synchronous belt  406 B rotate forward in the second direction. In a case that the first direction is perpendicular to the second direction and the first motor  402  and the second motor  405  have the same rotating speed, the user perceives a shearing force generally in a direction of an angle of 45° between the first direction and the second direction. 
     In some embodiments, the first direction is perpendicular to the second direction. In certain embodiment(s), the overall direction and speed of the real sliding may be decomposed into speeds in two perpendicular directions. In certain embodiment(s), the second synchronous belt  406 A, the second synchronous belt  406 B, the first synchronous belt  403 A, and the first synchronous belt  403 B simulate transverse and longitudinal sliding speeds respectively, so that an algorithm can be simplified, thereby facilitating simulation in a plurality of directions. In certain embodiment(s), the first direction and the second direction may also intersect at another angle, and the first direction and the second direction are not parallel and can be synthesized into a speed in any direction. This is not limited in the embodiments of the present disclosure. 
     In some embodiments, outer surfaces of the second synchronous belt  406 A and the second synchronous belt  406 B are provided with different concave-convex textures different from those of the first synchronous belt  403 A and the first synchronous belt  403 B. When the synchronous belts slide, the user may distinguish between the synchronous belts by using different raised texture touches on the surface. 
     In some embodiments, thicknesses of the synchronous belts may be less than 1 mm. The thickness facilitates the sliding of the synchronous belts and reduces wear, and also facilitates perception of the user. In certain embodiment(s), this is not limited in the embodiments of the present disclosure. 
     In some embodiments, the synchronous belts are made of rubber with a smooth inner surface, so that a friction force when the synchronous belts are in contact can be reduced, and effective transmission with the synchronous wheel can be simultaneously satisfied. 
     In some embodiments, the base  401  is further provided with four tension sliders and a tension sliding groove. The tension sliding groove is arranged on the base. The tension sliders are slidably arranged inside the tension sliding groove. A sliding direction of the tension sliders is an arrangement direction of the synchronous wheels connected to the tension sliders. A limit jackscrew is connected to the base  401 , and extends into the tension sliding groove to contact the tension slider to limit a position of the tension slider in the tension sliding groove. The synchronous wheel is rotatably connected to the tension slider by a shaft. With the cooperation of the limit jackscrew and the tension slider, the synchronous wheel may be controlled to move back and forth in a rotating direction of a corresponding synchronous belt, and the tension of the synchronous belt can be adjusted, to facilitate control of tightness adjustment of the contact between the plurality of synchronous belts. 
     In some embodiments, the base includes a base plate, two transverse detachable side plates, and two longitudinal detachable side plates. The two transverse detachable side plate are arranged in parallel and opposite each other, and are both fixedly connected to the base plate. The first synchronous wheel  404 /the second synchronous wheel  407  is rotatably arranged on the base plate and between the transverse detachable side plates. The first motor  402  is fixedly connected to the base plate. The two longitudinal detachable side plate are arranged in parallel and opposite each other, and are both fixedly connected to the base plate. The first synchronous wheel  404 /the second synchronous wheel  407  is rotatably arranged on the base plate and between the longitudinal detachable side plates. The second motor  405  is fixedly connected to the base plate. 
     The apparatus  400  uses a multi-synchronous belt structure in which a plurality of synchronous belts cooperate, so that infinite rotation without a displacement range constraint can be implemented, a continuous slip simulation can be provided, and two-direction sliding synthesis can be further used to implement slide simulation in different directions and at different speeds. The structure is simple, manufacturing is easy, the cost is low, and the user perceives the sliding speed and direction of the controlled object in real time, to transmit a control signal to the controlled object in real time to change the sliding speed of the controlled object. 
       FIG. 5A  is a schematic diagram of a controlled robot  500  according to an embodiment of the present disclosure.  FIG. 5B  is a frame diagram of the controlled robot  500  according to an embodiment of the present disclosure. 
     Referring to  FIG. 5A , the controlled robot  500  includes a controlled end communicator  501 , a controlled end pressure sensor  502 , and a controlled end controller  503 . 
     The controlled end communicator  501  is configured to: receive pressure control data, and transmit slip data to any one of the slip simulation apparatus  200 , the slip simulation apparatus  300 , or the slip simulation apparatus  400 . An example in which the slip data is transmitted to the slip simulation apparatus  400  is used for description below. However, a person skilled in the art is to understand that this is not limited in the embodiments of the present disclosure. 
     Slip data can represent a shearing force perceived by the controlled robot. For example, in  FIG. 5A , when the controlled robot  500  tries to grip a clamped object, the clamped object may slide downward. The controlled robot  500  may sense that the clamped object slides downward to generate slip data, and then transmit the slip data to the slip simulation apparatus  400 . Then the slip simulation apparatus  400  may adjust rotation of the synchronous belt through the slip data, to simulate a state that the clamped object slides downward. When the finger of the user presses the synchronous belt, the user may perceive the state in which the clamped object slides downward, so that the slip simulation apparatus  400  provides a slip to the user. 
     When the finger of the user touches the flat portion where the synchronous belt of the slip simulation apparatus  400  overlaps, the sliding of the clamped object may be perceived. Then the slip simulation apparatus  400  feeds back the pressure control data to the controlled robot  500 . For example, it is assumed that the user applies an appropriate pressing force to the slip simulation apparatus  400 . As described above, the control end pressure sensor in the slip simulation apparatus  400  may sense the pressure applied by the user, and then generate a pressure detection signal. The slip simulation controller in the slip simulation apparatus  400  may convert the pressure detection signal into the pressure control data, and output the pressure control data to the controlled end communicator  501  of the controlled robot  500  through the control end communicator in the slip simulation apparatus  400 . 
     The controlled end pressure sensor  502  is configured to: detect a pressure applied by the controlled robot  500 , and generate pressure data of the controlled robot  500 . For example, when the controlled robot has a robot finger, the controlled end pressure sensor  502  may be mounted on the robot finger to detect a force applied by the robot finger to another object. 
     The controlled end controller  503  is communicably connected to the controlled end communicator  501  and the controlled end pressure sensor  502 . The controlled end controller  503  is configured to: adjust, according to the pressure data and the pressure control data of the controlled robot  500 , the pressure applied by the controlled robot  500 ; and convert the pressure data of the controlled robot  500  into the slip data, and transmit the slip data to the controlled end communicator  501 . 
     It is assumed that the user touches the slip simulation apparatus  400  to perceive that the clamped object slides downward, the user may try to increase a pressure to stop the clamped object from sliding. Therefore, the pressure control data instructs the controlled robot to increase the pressure applied to the clamped object. The controlled end controller  503  may compare the pressure data and the pressure control data to finally determine the pressure applied by the controlled robot  500  to the clamped object. When the controlled robot  500  increases a clamping force, the clamped object may no longer slide downward. In certain embodiment(s), the controlled end controller  503  may update the slip data according to the pressure data detected by the controlled end pressure sensor  502  (for example, by using a friction force formula, or the like), and then transmit the slip data to the slip simulation apparatus  400  through the controlled end communicator  501 . 
     In some embodiments, as shown in  FIG. 5A , the controlled robot  500  further includes a robot finger  504 . The robot finger  504  includes a finger motor  5041  (not shown in figure), a mechanical transmission portion  5042 , and a finger clamping portion  5043 . The finger motor  5041  drives the robot finger  504 . The controlled end controller  503  is configured to control a clamping force of the robot finger (that is, to adjust the pressure applied by the controlled robot). In some embodiments, the controlled end controller  503  may generate, according to the pressure data of the controlled robot and the pressure control data, a rotating speed control signal used for controlling the finger motor  5041 . The finger motor  5041  drives the mechanical transmission portion  5042 . The mechanical transmission portion  5042  drives the finger clamping portion  5043  to adjust a clamping force of the finger clamping portion  5043 . 
     For example, as shown in  FIG. 5B , the controlled end controller  503  may include a controlled end PID controller  5031  similar to the PID controller  2051 , which may control the rotating speed of the finger motor  5041  according to a PID control rule. For example, the controlled end PID controller  5031  may combine pressure control data Fc(t) with pressure data p(t) of the controlled robot according to the PID control rule for calculation and analysis, to implement a speed adjustment of the finger motor  5041 . The pressure control data Fc(t) represents the clamping force that the slip simulation apparatus  400  expects the robot finger to apply to the clamped object at the moment t. The pressure data p(t) of the controlled robot represents the clamping force applied by the robot finger to the clamped object at the moment t. 
     The controlled end controller  503  compares the pressure control data Fc(t) with the pressure data p(t) of the controlled robot, to obtain a difference d(t)=Fc(t)−p(t). Then, the controlled end PID controller  5031  determines a rotating speed control signal uf(t) of the finger motor  5041  according to d(t). For example, after a conversion between the rotating speed of the motor and the force applied by the robot finger, the controlled end PID controller  5031  determines the rotating speed control signal uf(t) of the finger motor  5041  according to the d(t), which represents a signal for controlling the rotating speed of the motor at the moment t. In some embodiments, u(t) may be converted into a finger motor voltage control signal yf(t) through a simple linear change, and yf(t) represents a drive voltage of the finger motor  5041  at the moment t. In certain embodiment(s), in some embodiments, uf(t) may obtain the finger motor voltage control signal yf(t) simply through the power amplifier  5045 , and change the voltage of the finger motor  5041  to drive the finger motor  5041  to change the rotating speed of the finger motor, thereby implementing slide simulation. 
     The voltage of a drive direct current motor of the finger motor  5041  is changed to change the rotating speed of the finger motor  5041 , to adjust the force applied by the robot finger to the clamped object to prevent the clamped object from sliding. 
     In some embodiments, the pressure control data Fc(t) and the voltage for driving the drive finger motor  2051  may be directly and simply mapped without using the controlled end pressure sensor  502 , that is, without using a force applied by an actual robot finger as a feedback, so that the control system and control method can be simplified. 
     In the controlled robot  500  provided in the embodiments of the present disclosure, when the user uses the slip simulation apparatus to remotely operate the controlled robot  500 , the slip simulation apparatus simulates a slip feedback provided by a touch sensor on a fingertip of a robot, enabling the user to perceive sliding direction and speed of the object grasped by the robot. In addition, the controlled end pressure sensor  502  of the controlled robot  500  may assist in perceiving or predicting that the grasped object has slid or is about to slide, and then the controlled robot  500  may generate slip information based on the perceived information, and feed the slip information back to the slip simulation apparatus, to remind the user to react. In the embodiments of the present disclosure, the slip simulation apparatus acquires a reaction of the user and generates a pressure control signal. The controlled robot  500  prevents, based on the pressure control signal, the object from sliding, thereby forming a closed-loop control system. 
     The slip simulation apparatus provided in the embodiments of the present disclosure is simple and compact, has a small volume, is easy to manufacture, and has a low cost. The algorithm used by the controlled robot provided in the embodiments of the present disclosure is also simple, efficient, and easy to implement. 
     The slip simulation apparatus provided in the embodiments of the present disclosure can communicate with the controlled robot to simulate the movement of the hand of a robot, and can be applied to another portion of a robot or a scenario such as virtual reality, computer games, and human-computer interaction. 
       FIG. 6  is a schematic diagram of an interaction of a game handle  600  and a virtual game console  700  according to an embodiment of the present disclosure. 
     As shown in  FIG. 6 , a game handle  600  of the embodiments of the present disclosure includes a housing  601 , a power supply  602 , and a slip simulation apparatus  603  arranged inside the housing  601 . The slip simulation apparatus  603  may be any one of the slip simulation apparatus  200 ,  300 , and  400  disclosed in the embodiments. The slip simulation apparatus  603  is configured to: receive slip data from a virtual game console, and output pressure control data to the virtual game console, to control a virtual object in a virtual game application, the virtual game application being run in the virtual game console. 
     The virtual game console  700  of the embodiments of the present disclosure includes a controlled end communicator  701 , a processor  702 , and a screen  703 . 
     The controlled end communicator  701  is configured to: receive pressure control data from the game handle  600 , and transmit slip data to the game handle  600 . The controlled end communicator  701  is similar to the controlled end communicator  501  described above. Therefore, details are not described again in the embodiments of the present disclosure. 
     The processor  702  is configured to run a virtual game application. A first virtual object in the virtual game application is controlled by the game handle. For example, as shown in  FIG. 6 , the first virtual object may be a person&#39;s hand trying to hold a stick. The stick is a second virtual object. The processor  702  is configured to: compute pressure data, the pressure data indicating pressure applied by the first virtual object on the second virtual object; adjust, according to the pressure data and the pressure control data, the pressure applied by the first virtual object on the second virtual object, and update the pressure data; and convert the updated pressure data into the slip data, and transmit the slip data to the controlled end communicator. 
     According to different game applications, the manner in which the processor  702  calculates the pressure data may be different. This is not limited in this embodiment of the present disclosure. 
     For example, as shown in  FIG. 6 , when the first virtual object tries to hold the second virtual object, the second virtual object may slide downward. The processor  702  may perform calculation to determine that the second virtual object slides downward to generate slip data, and then transmit the slip data to the slip simulation apparatus  603 . Then the slip simulation apparatus  603  may adjust rotation of the synchronous belt through the slip data, to simulate a state that a clamped object slides downward. When the finger of the user presses the synchronous belt, the user may perceive the state in which the second virtual object slides downward, so that the slip simulation apparatus  603  provides a slip to the user. 
     It is assumed that the user touches the slip simulation apparatus  603  to perceive that the second virtual object slides downward, the user may try to increase a pressure to stop the second virtual object from sliding. Therefore, the pressure control data transmitted by the slip simulation apparatus  603  instructs the first virtual object to increase the pressure applied to the second virtual object. The processor  702  may compare the pressure data and the pressure control data to finally determine the pressure applied by the first virtual object to the second virtual object. After the first virtual object increases the clamping force, the second virtual object may no longer slide downward. In certain embodiment(s), the processor  702  may update the slip data (for example, by using a friction force formula, or the like), and then transmit the slip data to the slip simulation apparatus  603  through the controlled end communicator  701 . 
     The screen  703  displays the first virtual object and the second virtual object. In some embodiments, the screen  703  may display that the first virtual object is adjusting the pressure applied to the second virtual object. For example, the screen  703  may display a change of the grip force of the first virtual object. 
     The embodiments of the present disclosure further provides a control system. The control system includes the slip simulation apparatus and the controlled robot; or the game handle and the virtual game console. 
     The embodiments of the present disclosure provide a slip simulation apparatus, a controlled robot, a game handle, a virtual game console, and a control system. The slip simulation apparatus uses a synchronous belt to simulate a slip. Because the synchronous belt can rotate infinitely without a displacement range constraint, the slip simulation apparatus can provide a continuous slip simulation. In the embodiments of the present disclosure, a plurality of intersecting synchronous belts are further used to implement sliding synthesis in a plurality of directions, thereby implementing slide simulation in different directions and at different speeds. The slip simulation apparatus provided in the embodiments of the present disclosure is simple in structure, easy to manufacture, and low in cost, and allows a user to perceive a sliding speed and direction of a controlled object in real time. 
     The flowcharts and block diagrams in the accompanying drawings illustrate a system architecture, a function, and an operation that may be implemented by a system, a method, and a computer program product according to various embodiments of the present disclosure. In this regard, each box in a flowchart or a block diagram may represent a module, a program segment, or a part of code. The module, the program segment, or the part of code includes one or more executable instructions used for implementing specified logic functions. Each box in a block diagram and a combination of boxes in the block diagram may be implemented by using a dedicated hardware-based system configured to perform a specified function or operation, or may be implemented by using a combination of dedicated hardware and a computer instruction. 
     Various exemplary embodiments of the present disclosure may be implemented in hardware or a dedicated circuit, software, firmware, logic, or any combination thereof. Some aspects can be implemented in hardware, while other aspects can be implemented in firmware or software executable by a controller, a microprocessor, or other computing devices. When various aspects of the embodiments of the present disclosure are illustrated or described as block diagrams, flowcharts, or represented by some other graphs, it is to be understood that the blocks, apparatuses, systems, technologies, or methods described herein can be implemented, as non-restrictive examples, in hardware, software, firmware, a dedicated circuit or logic, general-purpose hardware or a controller or other computing devices, or some combinations thereof. 
     The exemplary embodiments of the present disclosure described in detail above are only illustrative, but not restrictive. A person killed in the art is to understand that various modifications and combinations may be made to these embodiments or the features of the embodiments without departing from the principle and spirit of the present disclosure, and such modifications fall within the protection scope of the present disclosure.