# US 2025/0147541 A1 · Adaptive Haptic Feedback Control of an User Interface > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0147541 A1 - Document ID: US20250147541A1 - Status: Published application - Kind: A1 - Application number: 18/911,154 - Filed: 2024-10-09 - Published: 2025-05-08 - Earliest claimed: 2023-11-02 - Assignees: AGCO International GmbH - Applicants: AGCO International GmbH - Inventors: Alexander Barzen; Korbinian Hornung - Web page: https://patentgrep.com/patent/US20250147541A1 ## CPC - G05G 9/047: the controlling member being movable by hand about orthogonal axes, e.g. joysticks {(for switches H01H25/04)} - A01B 76/00: Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00 - G06F 3/016: {Input arrangements with force or tactile feedback as computer generated output to the user} - A01B 71/02: Setting or adjusting mechanisms - G05G 2009/04766: {providing feel, e.g. indexing means, means to create counterforce} - G05G 2505/00: Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member - G05G: CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY ("Bowden" or like mechanisms F16C1/10; gearings or mechanisms not peculiar to this purpose F16H; speed changing or reversing mechanisms for gearings conveying rotary motion F16H59/00 - F16H63/00) - A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract A control system for controlling an agricultural machine with a user interface and a method of adjusting a haptic feedback of a user interface including method steps for determining a current position of the at least one actuator, determining a target position of the at least one actuator, determining a position difference between the current position and the target position, and adjusting a force feedback characteristic in dependence of the position difference. ## Claims ### Claim 1 A control system for controlling an agricultural machine, comprising: a user interface with a moveable input element; a feedback actuator for inducing a haptic feedback in the input element according to a force feedback characteristic; at least one actuator being controllable by the user interface; and a control unit configured to: determine a current position of the at least one actuator; determine a target position of the at least one actuator; determine a position difference between the current position and the target position; and adjust the force feedback characteristic in dependence of the position difference. ### Claim 2 (depends on 1) The control system of claim 1, wherein the control system comprises a hitch system being moveable between an upper limit and a lower limit, and wherein the at least one actuator is configured to adjust the hitch system according to an operation of the user interface. ### Claim 3 (depends on 1) The control system of claim 1, wherein the control unit is configured to adjust a resistance defined by the force feedback characteristic in dependence of the position difference. ### Claim 4 (depends on 3) The control system of claim 3, wherein the control unit is configured to determine a change of the position difference; increase a resistance defined by the force feedback characteristic when the position difference increases; and decrease the resistance defined by the force feedback characteristic when the position difference decreases. ### Claim 5 (depends on 3) The control system of claim 3, wherein the control unit is configured to adjust the resistance defined by the force feedback characteristic at least partly according to a function. ### Claim 6 (depends on 5) The control system of claim 5, wherein the function is a linear, regressive, progressive or degressive function. ### Claim 7 (depends on 1) The control system of claim 1, wherein the force feedback characteristic comprises at least one ripple defining a ripple resistance, and wherein the control unit is configured to adjust the ripple resistance of the at least one ripple for adjusting the resistance defined by the force feedback characteristic. ### Claim 8 (depends on 5, 7) The control system of claim 7, when referring back to claim 5, wherein the control unit is configured to adjust the ripple resistance of the at least one ripple in alignment with the function. ### Claim 9 (depends on 7) The control system of claim 7, wherein the control unit is further configured to: determine a ripple addition for the at least one ripple in dependence of the position difference; and increase the ripple resistance of the at least one ripple by the ripple addition. ### Claim 10 (depends on 9) The control system of claim 9, wherein the ripple addition of the at least one ripple is the higher, the more distant the at least one ripple is from the current position of the at least one actuator. ### Claim 11 (depends on 9) The control system of claim 9, wherein the control unit is further configured to: increase the ripple addition when the position difference increases; and decrease the ripple addition when the position difference decreases. ### Claim 12 (depends on 1) The control system of claim 1, wherein the control unit is further configured to: determine a set point position; and determine a current position of the input element. ### Claim 13 (depends on 12) The control system of claim 12, wherein the set point position is adjustable; and wherein the control unit is configured to: assign a set point ripple of the force feedback characteristic to the set point position; and adjust the position of the set point ripple according to the adjustment of the set point position. ### Claim 14 (depends on 13) The control system of claim 13, wherein the set point ripple has a ripple resistance being higher than a ripple resistance of a ripple adjacent to the set point ripple. ### Claim 15 (depends on 1) An agricultural machine comprising a control system of claim 1. ### Claim 16 A method of adjusting a haptic feedback of a user interface, comprising: determining a current position of the at least one actuator; determining a target position of the at least one actuator; determining a position difference between the current position and the target position; and adjusting a force feedback characteristic in dependence of the position difference. ### Claim 17 (depends on 16) The method of claim 16, further comprising: determining a change of position difference; increasing a resistance defined by the force feedback characteristic when the position difference increases; and decreasing the resistance defined by the force feedback characteristic when the position difference decreases.