中文摘要：

设计了一套以嵌入式微处理器LCP2294和专用运动控制芯片为核心的，力觉接口设备隐式力控制系统硬件平台，实现了扩展的嵌人式实时操作系统μC／OS-Ⅱ在该硬件平台上的移植，建立了面向力觉接口设备应用的多优先级多任务协调调度机制。最后通过时基正弦力轨迹的跟踪实验验证，与传统的基于PC的控制系统相比本控制系统具有更好的实时性，力觉交互的透明性也得到有效提升。

英文摘要：

An implicit force control system＇s hardware platform of hapitic interface device based on LPC2294 and motion control chip is designed; planting the RTOS μC/OS - Ⅱ on this hardware platform is realized; a multi - priority and multitask scheduling mechanism for hapitic interface device is established. Finally the force tracking experiment proved that this system has higher realtime performance than before and transparency of the force interaction is improved.