Method, apparatus, and article for force feedback based on tension control and tracking through cables

A cable-based haptic device, comprising:

• a spool configured to play out and retract a cable segment;
• an electric motor configured to controllably provide torque to the spool for rotating and counter-rotating the spool;
• a brake that is controllably actuated by a signal and configured to prevent rotation of the spool when actuated by a brake actuation signal;
• and
• a controller that provides signals to control the torque provided by the electric motor.

A cable-based haptic device, comprising:

• a grip configured to be held by a hand of a user;
• a cable segment coupled to the grip and extending therefrom;
• a spool having the cable segment coupled thereto and configured to play out and retract the cable segment extending between the spool and the grip;
• an electric motor configured to controllably provide torque to the spool for rotating and counter-rotating the spool;
• an encoder configured to provide signals corresponding to rotation of the spool;
• a brake controllably actuated by a brake actuation signal and configured to prevent rotation of the spool when actuated by a brake actuation signal;
• and
• a controller that receives signals corresponding to rotation of the spool, determine force feedback signals to control the torque provided by the electric motor such that tension in the cable segment, induced by the torque applied to the spool, provides force feedback at the grip to the user, and provides the force feedback signals for the electric motor.