WO2020122267A1 - Force feedback method and system using intensity - Google Patents

Abstract

Disclosed is a force feedback method according to an embodiment. The force feedback method comprises the steps of: setting a user object and a virtual object on an extended reality environment; detecting an interaction event between the user object and the virtual object; changing a force feedback control variable on the basis of the type of event and the intensity characteristic of the user object and the virtual object; and providing kinesthesia through an output device on the basis of the changed force feedback control variable.

Description

Force feedback method and system using intensity

The present invention relates to a force feedback method and system using strength, and more particularly, to a force feedback method and system for providing inverse (Kinesthesia) by the strength of a user object and a virtual object.

Related to the fourth industrial revolution, technologies related to Augmented Reality, Mixed Reality and Virtual Reality are rapidly developing. These, augmented reality, mixed reality and virtual reality are in contact with the attempt to amplify the sense of reality beyond space-time. Therefore, these technologies are also collectively referred to as extended reality.

These, extended reality technologies are generally used in computing systems in fields such as education, entertainment, training, and medicine. In particular, it has emerged as an alternative that can solve the reality of the limitations of the existing game by integrating the expanded reality technology with the game.

In order to add immersion to the game based on the expanded reality technology, a controller that provides force feedback that realistically conveys a collision, a position change, etc., which is a physical change in the image, to the user has been developed. Most conventional controllers use a method of applying vibration. Although the controller using the haptic feedback provided by the vibration provides immersion, it was difficult to provide a sense of reality due to the limit of the sense provided by the vibration. Therefore, recently, due to the limitation of haptic feedback from vibration, an inverse force feedback system that provides direct force to a user has been developed.

However, most of the force feedback systems used to make force feedback suitable for a specific event as a manual work, and when the event occurs in the game, the library is called and executed. Accordingly, the force-reducing force feedback only provides the repulsion due to a specific event, and does not provide the repulsion including environmental factors. Particularly, realistic expressions are gradually increasing in games, and various force feedbacks must be implemented in the same event, but these technologies are lacking.

The purpose of the embodiment is to provide a force feedback method and system using a strength to generate a force feedback control signal by using a physical control factor of an object to provide a sense of inverse to a user in order to increase a sense of realism and immersion in augmented reality .

In addition, by providing the user with a sense of intensity according to the strength when interacting with the user object and the virtual object in the environment using the extended reality, a force feedback method and system using the strength to actually feel the sense in the extended reality environment is provided. Is to do.

The problems to be solved in the embodiments are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

A force feedback method according to an embodiment will be described.

The force feedback method according to an aspect of the embodiment includes setting a user object and a virtual object on an extended reality environment, detecting an interaction event between the user object and the virtual object, the type of the event, and the user object And changing a force feedback control variable according to the strength characteristic of the virtual object and providing a sense of inverse through an output device according to the changed force feedback control variable.

According to another aspect of the embodiment, a machine-readable storage medium for recording a program for executing the force feedback method is provided.

In addition, the force feedback system according to another aspect of the embodiment detects an event in which a user object interacts with a virtual object in an extended reality environment, and changes a force feedback control variable according to the strength characteristics of the user object and the virtual object. It includes a control device for generating a force feedback control signal and an output device for receiving the force feedback control signal and providing a sense of inverse to the user.

According to the embodiment, in order to increase the sense of immersion and immersion in the expanded reality, a force feedback control signal is generated using the physical control factor of the object, thereby providing a sense of back to the user, thereby further increasing the sensation and immersion in the expanded reality environment. Can be.

In addition, in the environment using the extended reality, the user can feel the physical sense in the extended reality environment by providing the user with a sense of inverse by strength when interacting with the user object and the virtual object.

Force feedback method and system using strength according to the embodiment, and the machine-readable storage medium are not limited to those mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the following description. There will be.

The following drawings attached to the present specification illustrate preferred embodiments of the present invention, and serve to further understand the technical spirit of the present invention together with the detailed description of the present invention, and thus the present invention is limited only to those described in those drawings. And should not be interpreted.

1 is a view showing a force feedback system according to an embodiment.

2 is a view showing a control unit according to an embodiment.

3 is a view showing a state in which a user object and a virtual object are tensioned according to a difference in strength according to an embodiment.

4 is a diagram showing a stress and strain diagram according to the embodiment of FIG. 3.

5 is a view showing a state in which a user object compresses a virtual object in augmented reality according to another embodiment.

6 is a diagram illustrating a state in which a user object twists a virtual object in augmented reality according to another embodiment.

7 is a diagram illustrating a state in which a user object bends a virtual object in augmented reality according to another embodiment.

8 is a diagram illustrating a collision event between a user object and a virtual object according to another embodiment.

9 is a diagram exemplarily showing a collision event between a user object and a virtual object according to another embodiment.

10 is a flowchart illustrating a force feedback method according to an embodiment.

Hereinafter, embodiments will be described in detail through exemplary drawings. It should be noted that in adding reference numerals to the components of each drawing, the same components have the same reference numerals as possible even though they are displayed on different drawings. In addition, in describing the embodiments, when it is determined that detailed descriptions of related well-known configurations or functions interfere with understanding of the embodiments, detailed descriptions thereof will be omitted.

In addition, in describing the components of the embodiment, terms such as first, second, A, B, (a), (b), and the like can be used. These terms are only for distinguishing the component from other components, and the nature, order, or order of the component is not limited by the term. When a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected to or connected to the other component, but another component between each component It should be understood that may be "connected", "coupled" or "connected".

Components included in any one embodiment and components including a common function will be described using the same name in other embodiments. Unless there is an objection to the contrary, the description described in any one embodiment may be applied to other embodiments, and a detailed description will be omitted in the overlapped range.

Prior to describing the present specification, the user object U refers to an actual user's body, a virtual user's body, or an actual or virtual tool that the user grips or mounts in an extended reality environment according to the user's input or operation. .

In addition, the virtual object V means a virtual object that can interact with the user object U in augmented reality. Here, the virtual object V may be a virtual object implemented as a solid. Also, the virtual object V may be a user object U of another user.

And, extended reality (Extended Reality) collectively refers to augmented reality (Augmented Reality), mixed reality (Mixed Reality) and virtual reality (Virtual Reality).

1 is a view showing a force feedback system according to an embodiment.

Referring to FIG. 1, the force feedback system 10 includes an input device 100, a control device 200, an output device 300 and a display device 400. In addition, the force feedback system 10 may further include a camera (not shown), a microphone (not shown), and the like.

The input device 100 may be a device that generates input data by receiving a user's input location, direction, acceleration, pressure, and key information. The input device 100 may include a gyro sensor, an encoder, a touch panel, a keypad having a plurality of key buttons, and the like, and may be a device that detects a user's input and generates input data. For example, the input device 100 may be a game pad, paddle controller, trackball, joystick, arcade style joystick, car handle, mouse, data glove, and the like. In addition, the input device 100 may be implemented with a camera, a motion sensor, or the like that detects movements such as a user's hand, arm, leg, and foot movements, and recognizes these movements as user inputs.

The control device 200 may be a device including a storage medium in which a physical engine provided by generating and providing an extended reality environment is recorded. For example, the control device 200 may be a computer including a storage medium on which a physical engine is recorded, a portable communication terminal such as a mobile phone, a console, a PDA, a tablet PC, a server, or the like. The control device 200 includes a communication unit 210, a control unit 220, and a memory 230.

The control device 200 provides an extended reality environment, detects an event in which the user object U interacts with the virtual object V, and changes the force feedback control variable to change the force feedback control variable, thereby providing force feedback to provide kinesthesia. Generate a control signal.

The communication unit 210 may communicate with the input device 100, the output device 300, or the display device 400 to transmit and receive input data, force feedback control signals, image data, and audio data. The communication unit 210 is a wired method using a LAN, a data cable, or RF communication (Radio Frequency), WiFi (Wireless Fidelity), LTE (Long Term Evolution), Bluetooth, IrDA (Infrared Data Association), Zigbee, UWB (Ultra- wideband), code division multiple access (CDMA), frequency division multiplexing (FDM), time division multiplexing (time division multiplexing: TDM), etc. The output device 300 or the display device 400 may communicate. Also, the communication unit may connect to the Internet and communicate with the input device 100, the output device 300, or the display device 400.

Here, the input device 100, the output device 300 or the display device 400 may be provided with a communication module (not shown) that can communicate with the communication unit 210. The communication module may communicate in the same manner as the communication unit 210 or may be connected to the Internet to access the communication unit.

The controller 220 executes a program or application that provides an extended reality environment such as a game according to a user's selection. Here, the control unit 220 detects an event in which the user object U interacts with the virtual object V in the extended reality environment, and controls the physical factor that is the same as the reality of each object or set by the user. Accordingly, the force feedback control variable is changed and a force feedback control signal is generated accordingly. In addition, the control unit 220 may transmit information about a control factor input through the input device 100 to the memory 230 and store the information. A detailed description of the control unit 220 will be described later with reference to FIG. 2.

The memory 230 is necessary to drive databases related to images, user information, documents, etc. for providing applications of various functions such as games, communication, and a graphical user interface (GUI) associated therewith, and a force feedback system. Background images (menu screen, standby screen, etc.) or operating programs may be stored. In addition, the data of the force feedback control variable according to each control factor may be stored in the memory 230.

Here, the memory 230 may store force feedback control variable data according to strength characteristics among control factors. In addition, the memory 230 may input or store strength characteristic control factors and force feedback control variable data that change according to the shape, temperature, or fatigue of a user object or a virtual object, or pre-store and retain it.

The output device 300 is an inverse-type output device that provides physical force. The output device 300 receives the force feedback control signal and outputs it in reverse power to provide it to the user. The output device 300 provides a sense to the user by providing the user with the magnitude, direction, and angle of the force.

In addition, the output device 300 is provided with a clutch among the inverted-type output devices, so that the connection with a driving part such as a motor is completely cut off, and freewheeling without any load by the motor is possible, so that a delicate change in power can be output. It may be more desirable to be an output device. In this case, the inverse reduction type output device capable of freewheeling is implemented in three states: a load state due to the operation of the motor and no motor operation, but the output axis is connected to the motor, so that the motor is not loaded due to the magnetic field of the motor and the freewheeling state. If possible, it may be the most desirable form.

Although the input device 100 and the output device 300 are illustrated separately in this embodiment, this is for convenience of description and is not limited thereto. The input device 100 is integrally provided with the output device 300 so that input and output may be possible in one device.

The display device 400 displays image data and audio data received from the control device 200 to the user. For example, the display device 400 may be a TV equipped with a display and a speaker, a monitor, and a head mounted display (hereinafter, a VR headset). The display device 400 may provide a user with an image that is updated periodically or according to an event.

2 is a view showing a control unit according to an embodiment.

2, the control unit 220 includes an extended reality providing unit 221, an event detection unit 222 and a control variable unit 223.

The extended reality providing unit 221 implements extended reality including user object data and virtual object data. For example, the extended reality providing unit 221 may generate and provide a visual extended reality environment by generating a user object U and a virtual object V as data together with a control factor.

In addition, the extended reality providing unit 221 can also be generated by setting environmental characteristics including temperature characteristics on the extended reality environment.

The extended reality providing unit 221 can implement the environmental characteristics of the extended reality environment in the same way as in the real world. In addition, the extended reality providing unit 221 can implement any environment different from the characteristics of the real environment. For example, the extended reality providing unit 221 may be configured to arbitrarily set environmental characteristics to form a plurality of zones having different temperature characteristics adjacent to each other.

The extended reality providing unit 221 generates a generated extended reality environment as image data and audio data and provides it to the display device 400 through the communication unit 210 so that the user can be provided with images and sounds. Also, the extended reality providing unit 221 may provide the display device 400 with real-time video data and audio data updated according to an event.

Meanwhile, the user object data refers to data including a control factor of a physical property in an extended reality of the user object U. In addition, the virtual object data means data including a control factor of the physical characteristics of the virtual object V in the extended reality. Here, the user object (U), or the virtual object (V) may all be implemented as a virtual object, either one or more of them may be implemented as a hologram or virtual object in augmented reality or mixed reality. .

The event detector 222 detects an event by determining an interaction event between the user object U and the virtual object V. For example, the event detection unit 222 may include at least one of collision, contact, hitting, passing, penetrating, or escaping between the user object U and the virtual object V generated by a user input or a running process. It is possible to detect an interaction event comprising a. The event detection unit 222 detects an event and generates event data and transmits it to the control variable unit 223.

The control variable unit 223 receives the event data and changes the force feedback control variable. The control variable unit 223 changes the force feedback control variable from the strength characteristic of the user object U or the virtual object V to the physical control factor. Here, the strength characteristics include at least one of tensile strength, compressive strength, shear strength, torsional strength, or bending strength of the user object and the virtual object. In addition, the strength characteristics include at least one of yield strength, ultimate strength, and breaking strength.

For example, when the interaction between the user object U and the virtual object V is a collision or a hit, a part of the user object U or the virtual object V is dropped or the shape is destroyed due to the strength characteristic. , Permanent damage or deformation such as bending or compression occurs. At this time, the control variable unit 223 changes the force feedback control variable with respect to the direction, intensity, and distribution of the force acting on the user object, which acts on the user object, including deformation during collision due to the strength characteristic.

The control variable unit 223, when either the user object (U) or the virtual object (V) is deformed by a difference in strength, the feedback provided by the user is provided with force feedback so that a relatively small inverse is provided than when not deformed. Control variables can be changed.

In addition, the control variable unit 223 may change the strength characteristic according to any one of the shape, temperature, or fatigue of the user object or the virtual object, and may change the force feedback control variable according to the changed strength characteristic. For example, when the user object (U) or the virtual object (V) is set to a metal material, the temperature becomes high enough to cause softening, or the strength decreases when rapidly cooled. At this time, the control variable unit 223 provides a sense to the user by changing the strength characteristic according to the temperature of the user object U or the virtual object V, and changing the force feedback control variable according to the changed strength characteristic.

Here, the strength characteristic according to the temperature may be a strength characteristic according to the actual material or a strength characteristic arbitrarily stored in the memory by the user. In addition, the temperature characteristics of the user object U or the virtual object V may be changed according to the temperature of the environmental characteristics, so that the strength characteristics may be changed.

Meanwhile, the control variable unit 223 sets control variables of one of the control methods of open loop control, on-off control, PID control, and impedance control. However, the present invention is not limited thereto, and any control method capable of providing force feedback may be possible.

For example, the control variable unit 223 changes the impedance control variable according to the magnitude, direction, and control factor of the inverse. Here, the impedance control variable may include a spring constant k, a mass constant m, and a damping constant c. The control variable unit 223 determines the inverse force to be provided to the output device 300 by changing the damping constant according to the friction coefficient or viscosity, or by changing the spring constant k and the mass constant m according to the magnitude and direction of the inverse, It is generated as a force feedback control signal and provided to the output device 300.

In addition, the control variable unit 223 may change the control variable according to the control factor according to the control method of the output device 300. In other words, the control variable unit 223 refers to data of the memory 230 according to a control method of a plurality of output devices 300 having different control methods, and generates a control signal, respectively, to force feedback for providing feedback. Control signals can be generated and provided.

The control variable unit 223 provides a force feedback control signal to the output device through the communication unit, thereby providing the user with an inverse feeling through the output device.

3 is a view showing a state in which a user object and a virtual object are tensioned according to a difference in strength according to an embodiment.

Referring to FIG. 3, the interaction by the continuous contact between the user object U and the virtual object V is illustrated by way of example. For example, the user object U may grasp the virtual object V and apply force in both directions.

Here, the control variable unit 223 changes the force feedback control variable to provide different backlash according to the deformation of the virtual object V according to the strength characteristics of the virtual object V. For example, when the tensile strength of the virtual object V is low, the control variable unit 223 changes the control variable to provide a relatively weak backlash to the output device 300. In addition, when the tensile strength is high, the control variable unit 223 changes the control variable to provide a relatively strong backlash to the output device 300.

Here, strength characteristics may be changed according to the shape of the user object U or the virtual object V. For example, depending on the shape of the user object (U) or the virtual object (V), strength may be reduced due to concentration of stress in some parts, and it may be possible to reduce the intensity of backlash due to the strength decrease.

In addition, the control variable unit 223 may change the strength characteristics according to the accumulation of fatigue of the user object U or the virtual object V. When a continuous impact is repeatedly applied to the user object U or the virtual object V, fatigue fracture occurs, which is also called progressive fracture. The control variable unit 223 may provide the user with a sense of reality by changing the strength characteristic to gradually decrease according to the accumulation of fatigue of the user object U or the virtual object V.

4 is a diagram showing a stress and strain diagram according to the embodiment of FIG. 3.

Referring to FIG. 4, in the present invention, the strength characteristics may include at least one of yield strength (B), ultimate strength (C), and breaking strength (D). Here, the yield strength (A, B) refers to the limit stress when elastic deformation occurs as a stress in a state where the deformation is continuously suddenly increased even without increasing the stress. In addition, the ultimate strength (C) means the stress obtained by dividing the maximum load that the material can withstand by the cross-sectional area of the material. In addition, the breaking strength (D) means the stress for breaking the material during the tensile test.

Here, the strength characteristic further includes a deformation factor of the user object U or the virtual object V as a control factor. In other words, the control variable unit 223 further includes a strain factor of the user object U or the virtual object V as a control factor to change the force feedback control variable. For example, the extended reality providing unit 221 may set a strain rate according to the strength of the user object U or the virtual object V. The control variable unit 223 applies force to provide the user with backlash by applying the yield strength (B), the ultimate strength (C), and the breaking strength (D) according to the set deformation rate of the user object (U) or the virtual object (V). The feedback control variable is changed, and a control signal is generated and provided to the output device.

On the other hand, the strength (Strength) in the present invention refers to the strength at which the object is permanently deformed to a strength greater than the yield strength of a different meaning and the stiffness of the proportionality (A) at the origin.

5 is a view showing a state in which a user object compresses a virtual object in augmented reality according to another embodiment, and FIG. 6 is a view showing a state in which a user object bites a virtual object in augmented reality according to another embodiment, 7 is a diagram illustrating a state in which a user object bends a virtual object in augmented reality according to another embodiment.

5 to 7, the strength characteristics may further include any one of compressive strength, torsional strength, shear strength, or bending strength. For example, the extended reality providing unit 221 may further set any one of the compressive strength, torsional strength, shear strength, or bending strength of the user object U or the virtual object V. In addition, the control variable unit 223 may provide the user with inverse sensation according to any one of the compressive strength, torsional strength, shear strength, or bending strength of the user object U or the virtual object V. Here, the extended reality providing unit 221 changes the strength characteristics of the user object U or the virtual object V according to one or more of shape, temperature, or fatigue. In addition, the control variable unit 223 may provide a realistic backlash to the user by changing the force feedback control variable according to the changed strength characteristics.

8 is a diagram illustrating a collision event between a user object and a virtual object according to another embodiment.

Referring to FIG. 8, when the user object U and the virtual object V collide on augmented reality, a broken event may occur due to a decrease in the strength of the virtual object V. The event detection unit 222 further detects a broken event of the virtual object V in the collision event and transmits the event data to the control variable unit 223. The control variable unit 223 may provide a sense of reaction to the reaction in the event of a collision, but when broken, may temporarily provide a part of the reaction to the reaction and remove the feeling of backlash, thereby providing a feeling to the user.

Here, the strength decrease of the virtual object (V) may occur due to the temperature rise of the virtual object (V) or fatigue due to continued collisions, and according to the temperature rise or fatigue accumulation data set by the extended reality provider (221). It can be changed. When the virtual object V has a strength characteristic smaller than that of the user object U, a crashed event may occur in the event of a collision.

9 is a diagram exemplarily showing a collision event between a user object and a virtual object according to another embodiment.

Referring to FIG. 9, the user object U may be blunt and may be set to a stronger strength than the virtual object V. At this time, if a collision between the user object U and the virtual object V occurs, the virtual object V may be permanently deformed. In this case, the control variable unit 223 may provide a sense of increase to the user by providing a repulsive force that no longer deforms from the feeling that some of the sense of attenuation is attenuated when the permanent deformation occurs. .

Hereinafter, a force feedback method using the force feedback system 10 according to the embodiment of FIGS. 1 and 9 will be described with reference to FIG. 10.

10 is a flowchart illustrating a force feedback method according to an embodiment.

Referring to FIG. 10, the force feedback method includes an initialization step (S51), setting an object (S52), detecting an event (S53), changing a force feedback control variable (S54), and providing backlash. Step S55 may be included.

In the initialization step (S51), the extended reality providing unit 221 generates a user object U and a virtual object V while loading an application or a program.

In step S52 of setting an object, a user object U and a virtual object V are set in the extended reality environment. For example, the extended reality providing unit 221 extracts a control factor including a strength characteristic stored in the memory 230 and sets it by applying it to user object data and virtual object data.

Here, the strength characteristics include at least one strength of tensile strength, compressive strength, shear strength, torsional strength, or bending strength. In addition, the strength characteristics include at least one of yield strength, ultimate strength, and breaking strength. And, the strength characteristics may be changed according to any one or more of the shape, temperature, or fatigue of the user object U or the virtual object V. In addition, the strength characteristic is changed according to the deformation rate of the user object U or the virtual object V.

In step S53 of detecting an event, an interaction event between the user object U and the virtual object V is detected. At this time, the event detection unit 222 generates event data including input data, user object data, and virtual object data. The event detection unit 222 further transmits event data to the control variable unit 223 by further including any one or more of a progress direction, a movement speed, an acceleration, a magnitude of the force, and a direction of the force according to a user input. Here, the interaction event includes at least one or more of collision, contact, hitting, passing, penetration, and escape of the user object U and the virtual object V.

The collision means a temporary collision between the user object U and the virtual object V. The contact means the continuous contact between the user object U and the virtual object V. In addition, hitting means collision with the virtual object V by the user object U. Passing means that the user object U passes through the virtual object V, or the virtual object V passes through the user object U. In addition, the penetration means that the user object U or the virtual object V is inserted into another object, and the escape means that the user object U or the virtual object V escapes from the other object.

Meanwhile, although not illustrated in the drawings, the method may further include receiving input data input to the input device before generating the event data. The step of receiving the input data may receive input data according to a user's input. For example, the position, angle, speed, and acceleration of the user object U may be adjusted according to a user input from the input device 100 through the communication unit 210.

Thereafter, an interaction event may be detected according to the input data received in step S53 of detecting the event.

In step S54 of changing the force feedback control variable, the control variable unit 223 changes the force feedback control variable based on the user object data, the virtual object data, and the event data. The control variable unit 223 may change the force feedback control variable according to the control factor including the strength characteristic.

Here, in the step of changing the force feedback control variable, control factors other than strength include the contact angle between the user object and the virtual object, the contact area between the user object and the virtual object, the rigidity of the user object, the friction coefficient of the user object, and the friction of the virtual object It may also be possible to change the force feedback control variable, including at least one of the coefficient, the viscosity of the user object, and the viscosity of the virtual object.

The control variable unit 223 provides force feedback on the force generated according to the strength characteristics of the user object U and the virtual object V. For example, when the user object has a lower strength than the virtual object, the user object may be destroyed or permanent deformation may occur. At this time, the control variable unit 223 changes the force feedback control variable by determining the direction and angular intensity of the inverse so that the user object can be provided by changing the intensity of the inverse received by the intensity difference and the strain rate.

Meanwhile, the user object U or the virtual object V may be formed of different materials. At this time, the control variable unit 223, when the user object (U) or the virtual object (V) collides with an object formed of a different material, reflects the strength of the different material to change the force feedback control variable to provide backlash. have.

The control variable unit 223 sets control variables according to the control method of the output device 300. For example, when the control method of the output device 300 is an impedance control method, the control variable unit 223 may measure the strength, the magnitude of the force of the user object U or the virtual object V, the contact angle, the contact area, and the stiffness. , Set the control variables spring constant k, mass constant m and damping constant c according to one or more of the control factors of friction coefficient or viscosity. In addition, the control variable unit 223 sets the direction and magnitude of the force feedback of the output device 300 through the traveling direction, the moving speed, the acceleration, the magnitude of the force, and the direction of the force.

In step S55 of providing backlash, the control variable unit 223 generates a force feedback control signal according to the force feedback control variable, and transmits the control signal to the output device 300 to output the backlash.

In addition, the force feedback method may further include providing an image updated according to an event to a user (not shown).

The force feedback method may repeat the above steps to output the inverse feeling in real time.

The force feedback method according to the embodiment may be implemented in the form of program instructions that can be executed through various machine means, and may be recorded in a storage medium readable by the machine in which the program is recorded. The machine-readable storage medium may include program instructions, data files, data structures, or the like alone or in combination. The program instructions recorded on the medium may be specially designed and configured for an embodiment or may be known and usable by a person skilled in the art, such as computer software. Examples of machine-readable storage media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs, DVDs, and floptical disks. Hardware devices specifically configured to store and execute program instructions, such as magneto-optical media, and ROM, RAM, flash memory, and the like, are included. Examples of program instructions include high-level language code that can be executed by a machine using an interpreter, etc., as well as machine language codes such as those produced by a compiler. The hardware device described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

Although the embodiments have been described by the limited drawings as described above, a person skilled in the art can make various modifications and variations from the above description. For example, the described techniques may be performed in a different order than the described method, and/or components such as the structure, device, etc. described may be combined or combined in a different form from the described method, or other components or equivalents may be used. Even if replaced or substituted by, appropriate results can be achieved.

Claims (16)

Setting a user object and a virtual object on the extended reality environment; Detecting an interaction event between the user object and the virtual object; Changing a force feedback control variable according to the type of the event and the strength characteristics of the user object and the virtual object; And Providing a sense of inverse through an output device according to the changed force feedback control variable; Force feedback method comprising a. According to claim 1, The strength characteristics, Force feedback method comprising at least one strength characteristic of the tensile strength, compressive strength, shear strength, torsional strength, or bending strength of the user object and the virtual object. According to claim 2, The step of changing the force feedback control variable, Force feedback method for changing the strength characteristics according to any one or more of the shape of the user object or the virtual object, temperature or fatigue, and changing the force feedback control variable according to the changed strength characteristics. According to claim 1, The strength characteristics, Force feedback method comprising at least one strength characteristic of yield strength, ultimate strength, and breaking strength. The method of claim 4, The step of changing the force feedback control variable, Force feedback method for changing a force feedback control variable according to the strain rate of the user object or the virtual object. According to claim 1, Further comprising; receiving input data input to the input device; The detecting of the interaction event may include: Force feedback method for detecting the interaction event according to the received input data. According to claim 1, The interaction event, Force feedback method comprising at least one or more of collision, contact, hitting, passing, penetrating, and escape of the user object and the virtual object. According to claim 1, Providing an image updated according to the event to a user; Force feedback method further comprising a. A control device for detecting an interaction event of a user object with a virtual object in an extended reality environment, and generating a force feedback control signal by changing a force feedback control variable according to the strength characteristics of the user object and the virtual object; And An output device that receives the force feedback control signal and provides a sense of reversal to the user; Force feedback system comprising a. The method of claim 9, The strength characteristics, Force feedback system including at least one strength characteristic of the tensile strength, compressive strength, shear strength, torsional strength, or bending strength of the user object and the virtual object. The method of claim 10, The control device Force feedback system for changing the strength characteristics according to any one or more of the shape of the user object and the virtual object, temperature or fatigue, and changing the force feedback control variable according to the changed strength characteristics. The method of claim 10, The strength characteristics, Force feedback system including at least one strength characteristic of yield strength, ultimate strength, and breaking strength. The method of claim 12, The control device, Force feedback system for changing a force feedback control variable by further including a deformation factor of the user object or the virtual object as a control factor. The method of claim 9, Further comprising; an input device for generating the user's input as input data, The user object is a force feedback system that moves on the extended reality environment according to the input data generated by the input device. The method of claim 9, The interaction event, Force feedback system including at least one or more of collision, contact, hitting, passing, penetrating, and escape of the user object and the virtual object. The method of claim 9, A display device that provides a user with an image updated according to the event Force feedback system further comprising a.

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