- SYSTEMS AND METHODS FOR MULTI-RATE CONTROL OF HAPTIC EFFECTS WITH SENSOR FUSION

摘要

Disclosed are systems and methods for multi-rate control of haptic effects using sensor fusion. The system for multi-rate control of haptic effects using sensor fusion according to an embodiment of the present invention comprises: a haptic output device configured to output a haptic effect, a first sensor configured to sense an output of the haptic output device and generate a first sensor signal; and a processor communicating with the first sensor. The processor is configured to samples the first sensor signal from the first sensor at a first rate, receive a reference signal, determine an error between the first sensor signal and the reference signal, generate a haptic signal based at least in part on the reference signal and the error, transmit the haptic signal to the haptic output device configured to output the haptic effect based on the haptic signal, and sample the first sensor signal at a second rate, wherein the second rate is lower than the first rate.