Force Feedback Calculation of Thread in the Desktop-Based Thread Force Feedback System

The desktop-based thread force feedback system is divided into three logical parts. They are mechanical device, controller and data processing center. All kinds of interactive behaviors will be limited in the interactive space of the system. There exist two spaces of force feedback in the system. They are partial force space and entire force space. Operation vibrations will happen when the endpoints of threads enter from entire force space to partial force space. The vibrations will affect thread tension calculation. The quadratic program algorithm of thread tension can decrease vibrations and increase stability of thread force feedback when the tolerance coefficient is joined in the equations. It is a global optimization algorithm. The experiments have confirmed that threads tension changes will be smooth when the tolerance coefficient is not equal to zero.

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