Position/force control system, worn unit, control unit, position/force control method, and storage medium

A worn unit in a position/force control system that includes the worn unit that is configured to be worn on a body of a user and to provide force tactile sensation by an actuator, and a control unit that, based on data of a space in which a touching object exists, acquires data of a position in the space corresponding to the worn unit, wherein the worn unit includes a controller that acquires the data of the position from the control unit, and controls driving of the actuator based on impedance, which is determined by rigidity, viscosity and inertia, and contour information of the touching object in the space, and the data of the position, thereby providing the force tactile sensation,

• wherein the touching object is a virtual or remote touching object with which the user is not in direct touch.

A control unit in a position/force control system that includes a worn unit that is configured to be worn on a body of a user and to provide force tactile sensation by an actuator, and the control unit that, based on data of a space in which a touching object exists, acquires data of a position in the space corresponding to the worn unit,

• wherein the control unit acquires the data of the position in the space corresponding to the worn unit, and successively transmits the data of the position to the worn unit, to control driving of the actuator based on the impedance, which is determined by rigidity, viscosity, and inertia, and contour information of the touching object in the space and the data of the position, thereby providing the force tactile sensation,
• wherein the touching object is a virtual or remote touching object with which the user is not in direct touch.

A non-transitory storage medium encoded with a computer-readable program that controls a processor of a computer controlling a position/force control system that includes a worn unit that is configured to be worn on a body of a user and to provide force tactile sensation by an actuator, and a control unit that, based on data of a space in which a touching object exists, acquires data of a position in the space corresponding to the worn unit, to execute a control processing including providing force tactile sensation, by the worn unit acquiring the data of the position from the control unit, and controlling driving of the actuator based on impedance, which is determined by rigidity, viscosity, and inertia, and contour information of the touching object in the space, and the data of the position, wherein the touching object is a virtual or remote touching object with which the user is not in direct touch.