System and method for virtual feedback with haptic devices

1. A system comprising:

a virtual feedback device virtually coupled between a first device and a second device; and

a control unit comprising one or more processors;

wherein the control unit is configured to:

select a first virtual feedback model (VFM) for the virtual feedback device from among a plurality of VFMs for the virtual feedback device;

configure the first VFM;

determine, based on information received from one or more first sensors for detecting information related to a position of the first device and one or more second sensors for detecting information related to a position of the second device, a relative displacement between the first device and the second device;

determine, based on the relative displacement and the first VFM, a feedback level;

send one or more first feedback commands, based on the feedback level, to one or more first actuators for inducing feedback on the first device; and

send one or more second feedback commands, based on the feedback level, to one or more second actuators for inducing feedback on the second device.

2. The system of claim 1 , wherein the first VFM includes a transfer function that has one or more characteristics selected from a group consisting of unidirectional, bidirectional, linear, non-linear, asymmetric, symmetric, isotropic, non-isotropic, and hysteresis.

3. The system of claim 1 , wherein the one or more first feedback commands and the one or more second feedback commands induce compliant motion between the first device and the second device.

4. The system of claim 1 , wherein the control unit is further configured to:

select a second VFM for the virtual feedback device from among the plurality of VFMs for the virtual feedback device;

configure the second VFM; and

determine the feedback level further based on the second VFM.

5. The system of claim 1 , wherein the first VFM emulates one or more feedback devices selected from a group consisting of a mechanical spring, a damper, a dashpot, a shock absorber, a torsion spring, and a gas spring.

6. The system of claim 1 , wherein the relative displacement is a linear displacement, an angular displacement, or both a linear displacement and an angular displacement.

7. The system of claim 1 , wherein the first device is a haptic device, an operator control, or an end effector of an articulated device.

8. The system of claim 1 , wherein the first VFM includes a transfer function that includes a region of zero feedback level.

9. The system of claim 1 , wherein the first VFM includes a transfer function that includes a saturation region.

10. The system of claim 1 , wherein:

the control unit is further configured to change one or more parameters of the first VFM; and

the one or more parameters correspond to one or more slopes, break points, start-up thresholds, or saturation values of a transfer function associated with the first VFM.

11. The system of claim 1 , wherein the control unit is further configured to:

select a second VFM for the virtual feedback device from among a plurality of VFMs for the virtual feedback device;

configure the second VFM;

determine, based on the relative displacement and the second VFM, a second feedback level;

determine a third feedback level based on superposition of the feedback level and the second feedback level; and

send the one or more first feedback commands, further based on the third feedback level, to the one or more first actuators; and

send the one or more second feedback commands, further based on the third feedback level, to the one or more second actuators.

12. A method comprising:

selecting, by a control unit, a first virtual feedback model (VFM) for a virtual feedback device from among a plurality of VFMs for the virtual feedback device;

configuring, by the control unit, the first VFM;

determining, by the control unit based on information received from one or more first sensors for detecting information related to a position of a first device and one or more second sensors for detecting information related to a position of a second device, a relative displacement between the first device and the second device;

determining, by the control unit based on the relative displacement and the first VFM, a feedback level;

sending, by the control unit, one or more first feedback commands, based on the feedback level, to one or more first actuators for inducing feedback on the first device; and

sending, by the control unit, one or more second feedback commands, based on the feedback level, to one or more second actuators for inducing feedback on the second device.

13. The method of claim 12 , wherein the one or more first feedback commands and the one or more second feedback commands induce compliant motion between the first device and the second device.

14. The method of claim 12 , wherein the first VFM emulates one or more feedback devices selected from a group consisting of a mechanical spring, a damper, a dashpot, a shock absorber, a torsion spring, and a gas spring.

15. The method of claim 12 , wherein the relative displacement is a linear displacement, an angular displacement, or both a linear displacement and an angular displacement.

16. The method of claim 12 , wherein the first device is a haptic device, an operator control, or an end effector of an articulated device.

17. A non-transitory machine-readable medium comprising executable code, which when executed by a control unit cause the control unit to perform a method comprising:

selecting a first virtual feedback model (VFM) for a virtual feedback device from among a plurality of VFMs for the virtual feedback device;

configuring the first VFM;

determining, based on information received from one or more first sensors for detecting information related to a position of a first device and one or more second sensors for detecting information related to a position of a second device, a relative displacement between the first device and the second device;

determining, based on the relative displacement and the first VFM, a feedback level;

sending one or more first feedback commands, based on the feedback level, to one or more first actuators for inducing feedback on the first device; and

sending one or more second feedback commands, based on the feedback level, to one or more second actuators for inducing feedback on the second device.

18. The non-transitory machine-readable medium of claim 17 , wherein the one or more first feedback commands and the one or more second feedback commands induce compliant motion between the first device and the second device.

19. The non-transitory machine-readable medium of claim 17 , wherein the relative displacement is a linear displacement, an angular displacement, or both a linear displacement and an angular displacement.

20. The non-transitory machine-readable medium of claim 17 , wherein the first device is a haptic device, an operator control, or an end effector of an articulated device.