Apparatus for generating haptic feedback

1. An apparatus for generating haptic feedback, comprising: multiple haptic units placed on a first portion of a body; and

a control unit placed on a second portion, near the first portion, of the body, wherein the control unit includes:

a first module for acquiring information on relative position (i) among the respective multiple haptic units and (ii) between the respective haptic units and the control unit,

a second module for acquiring information on absolute position of the control unit by measuring a position of the control unit in reference to an external reference point,

a haptic command module for creating a command signal by referring to at least one piece of the information on relative position acquired by the first module and the information on absolute position acquired by the second module and delivering the created command signal to a corresponding haptic unit among all the multiple haptic units; and

wherein the haptic command module creates the command

signal by referring to at least one piece of the information on relative position acquired by the first module and the information on absolute position acquired by the second module and further referring to at least one piece of information on position and physical properties of a virtual object for interaction.

2. The apparatus of claim 1 , wherein each haptic unit includes: a pair of magnets for generating a magnetic field by interaction and a position sensor for identifying the information on the position of the pair of magnets relevant to the respective positions of the multiple haptic units.

3. The apparatus of claim 2 , wherein each identifier is assigned to each position sensor and the position of each haptic sensor is acquired by referring to the assigned identifier.

4. The apparatus of claim 1 , wherein the second portion is a joint part near the first portion.

5. The apparatus of claim 4 , wherein the first portion includes multiple finger joints and the second portion is a wrist joint.

6. The apparatus of claim 1 , wherein the information on the position of the virtual object includes information on a location, a size and a shape of the virtual object.

7. The apparatus of claim 1 , wherein, if the first portion includes multiple finger joints in a hand region and the second portion is a wrist, in order to provide force feedback for a virtual object located in the hand region, the haptic command module acquires information on position and posture of the hand by referring to the acquired information on relative position and then creates the command signal by referring to the acquired information on relative position and information on a position and physical properties of the virtual object.

8. The apparatus of claim 1 , wherein, if the first portion includes multiple finger joints in a hand region and the second portion is a wrist, in order to provide force feedback for a virtual object located out of the hand region, the haptic command module acquires information on position and posture of the hand by referring to the acquired information on relative position and the acquired information on absolute position and then creates the command signal by referring to the acquired information on relative position, the acquired information on absolute position and information on a position and physical properties of the virtual object.

9. The apparatus of claim 1 , wherein the information on relative position and the information on absolute position is acquired by sensors located in the haptic units and a sensor located in the control unit or by image processing.