WO1992018925A1 - Haptic computer output device - Google Patents

Haptic computer output device Download PDF

Info

Publication number
WO1992018925A1
WO1992018925A1 PCT/GB1992/000729 GB9200729W WO9218925A1 WO 1992018925 A1 WO1992018925 A1 WO 1992018925A1 GB 9200729 W GB9200729 W GB 9200729W WO 9218925 A1 WO9218925 A1 WO 9218925A1
Authority
WO
WIPO (PCT)
Prior art keywords
computer
membrane
user
bore
fingers
Prior art date
Application number
PCT/GB1992/000729
Other languages
French (fr)
Inventor
Richard Holmes
Original Assignee
W. Industries Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by W. Industries Limited filed Critical W. Industries Limited
Priority to US08/122,412 priority Critical patent/US5945978A/en
Priority to JP4508612A priority patent/JPH06507032A/en
Publication of WO1992018925A1 publication Critical patent/WO1992018925A1/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B21/00—Teaching, or communicating with, the blind, deaf or mute
    • G09B21/001—Teaching or communicating with blind persons
    • G09B21/003—Teaching or communicating with blind persons using tactile presentation of the information, e.g. Braille displays
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B21/00—Teaching, or communicating with, the blind, deaf or mute
    • G09B21/009—Teaching or communicating with deaf persons

Definitions

  • This invention relates to a haptic computer output device and more specifically to human/computer interface equipment which, when mounted on or adjacent a part of the human body, will apply tactile stimuli to the body under the control of the computer.
  • the viewer of virtual objects should be able to "interact" with them, such as by "picking them up” and "moving them about”.
  • one of the objects viewed is a cursor representing e.g. the hand of the viewer. By moving his real hand he causes corresponding movements of the cursor, and when this occupies the same apparent space as another virtual object the computer mast react appropriately. If the object "contacted” is nationally movable the computer must show it moving; if nationally immovable the movement of the cursor must be arrested, all to preserve the simulation of reality.
  • a deficiency in the realism currently experienced when interacting in this way with virtual objects is that the viewer experiences no tactile sensations when the cursor representing his hand "touches" an object. This lack of one of the normal sensory experiences detracts from the illusion. If the experience of virtual reality is solely visual, or visual and auditory, the lack of the corresponding sensation of touch will remind the viewer that he is inhabiting an artificial world, enabling him to preserve some of the detachment of a film or television audience and the experience will be less than the completely absorbing one which virtual reality has the potential to provide.
  • a principal object of the present invention is to redress this deficiency of previous virtual reality proposals.
  • a haptic computer output device comprising an exoskeleton member having digital extensions comprising ring formations adapted to encircle human appendages, at least some of said ring formations comprising a respective cavity located on the ring formation to open inwardly thereof, a membrane of a more resiliently deformable material than that of the exoskeleton member spanning the opening of the cavity in a gas-tight manner, and conduit means communicating with each said cavity whereby pressurised gas may be selectively introduced into the cavities to cause deformation of the respective membranes outwardly of the associated cavities and inwardly of the associated ring formations such that in use of the device the membranes may be caused selectively to apply tactile stimuli to human appendages inserted through the ring formations.
  • the device may be in the form of a data glove and the exoskeleton member may be adapted to be located on the back of a human hand with said digital extensions passing along the backs of the fingers or the fingers and thumb of said hand, said exoskeleton member being of a flexible material and said ring formations being adapted to retain the extensions in contact with the fingers or fingers and thumb during flexing movements of the latter.
  • Said cavities are preferably located on the ring formations at positions spaced angularly therearound from the associated extension.
  • Each said cavity is preferably a blind bore formed in the thickness of the exoskeleton member.
  • Said conduit means may be controlled by valve means which is in turn controlled by a computer which generates images perceived by the user of the device, and the computer may be adapted to apply tactile stimuli to the user in accordance with haptic incidents as perceived by the user.
  • a haptic computer output device comprising a member adapted to be positioned with one face thereof opposed to the body of a user of the computer, said member having in the thickness thereof a blind bore opening to said face, the opening of said blind bore being spanned by a membrane of a material more resiliently deformable than the material of said member, said membrane being generally flat in the unstressed condition thereof, conduit means in said member opening to said bore and valve means controlled by the computer whereby gas under pressure may be introduced into or relieved from said bore thereby to control tactile sensations which will be applied to said user's body by the membrane when deformed by excess gas pressure in said bore.
  • a plurality of similar blind bores are provided in respective formations of said member located thereon in mutually spaced relation and adapted to encircle different areas of the user's body, conduit means communicating with each said bore and the valve means being adapted selectively to admit pressurised gas to or to relieve pressurised gas from the individual bores under the control of the computer thereby to apply different stimuli to different areas of the user's body.
  • the member may be adapted to fit over the back of a hand of the user and may have finger portions to extend along the backs of the fingers or the fingers and thumb of said hand, at least two of said formations being provided in spaced relation on each said finger portion.
  • Each said formation may be in the form of a hoop comprising an inner U-shaped component nested in an outer U-shaped component, the outer U-shaped component being integral at the distal ends of its arms with said member and the inner component having an aperture in the web portion thereof which cooperates with the outer component to provide said blind bore of said formation, the inner component being undercut around the periphery of the aperture to provide an annular rebate in which the periphery of the membrane is seated and adhesively bonded to the inner component.
  • the inner component is preferably additionally formed with a channelwhich, in the assembled condition of the two components, provides a conduit through the formation opening at one end to the aperture between the membrane and the outer component, said conduit serving to admit pressurised gas to or to relieve pressurised gas from the associated bore.
  • the device preferably additionally comprises means to output to the computer signals relating to the spatial position and/or shape of the device and the computer controls a display whereby said user perceives images generated by the computer including a cursor image corresponding to said device, the device being controlled by the computer so as to apply to the user's body tactile stimuli which correspond with the perceived interaction between said cursor image and other of said images.
  • the member is preferably locally at least twice as thick as the or each membrane at the bottom of and around the or each blind bore.
  • the member may be of a high-tear flexible polyurethane and the or each said membrane may be a disc of neoprene adhesively bonded at its periphery to the material of the member in the region of the opening of the associated blind bore.
  • control by the computer of the valve means is such that pressure within the or each blind bore is proportional to notional contact forces, so that the wearer experiences a pressure proportional to the forces which would be experienced if the "contact” were real.
  • pressure within the bore will be higher if an "imm ⁇ vable object” is “struck", or a “heavy object” is “picked up”, than if "contact” is made with a "light” object.
  • Figure 1 illustrates a data glove in association with the other components of a virtual reality system.
  • Figure 2 is a cross-sectional view taken on the line II-II of Figure
  • Figure 3 is an exploded view of the assembly of Figure 2.
  • the human/computer interface exoskeleton member or data glove 10 illustrated in Figure 1 is adapted to be worn on the back of the hand and wrist by the provision of self-attaching bands 11A,11B.
  • the main components of the member are of thick, transversely ribbed high-tearstrength polyurethane so that the member can bend to follow flexing movements of the wrist and fingers.
  • the "glove" 10 has four finger extensions 10A and a thumb extension 10B which will pass along the backs of the. fingers and thumb. To ensure that the elongated finger and thumb extensions 10A and 10B of the glove follow flexing movements of the fingers and thumb of the wearer each has a hoop or ring formation 14 near its tip. Additional, similar formations 13 are provided in spaced relation to the rings 14 intermediate the ends of the finger and thumb portions 10A, 10B.
  • Illustrated at 15 is a sheath through which flexible cables, ducts and any other necessary facilities may pass to manifolds 16A, 16B on the backs of the wrist and hand portions of the glove 10.
  • Each of the fingers and the thumb has means (not shown) for generating a signal proportional to the flexing movement of that part of the glove relative to other parts, for example strain gages which generate electrical signals proportional to a tension loading.
  • Means (not shown) is additionally provided for generating signals according to the position of the member 10 in space.
  • the computer generates a cursor viewed on a visual display system 32 by the wearer in such a way that the cursor undergoes changes corresponding "with movement and flexure of the hand.
  • the computer 30 also generates virtual objects viewed on the visual display system 32 and monitors interaction between them and the cursor caused by movement and flexing of the real hand wearing glove 10.
  • the visual display system 32 may be a visual display unit of any known, conventional kind or may be an optical system employing liquid crystal VDUs individual to the eyes of the user of the kind described in the aforementioned U.K. Patent Specification No. 2201069A.
  • each ring 13 and 14 comprises U-shaped inner 17 and outer 18 parts of which the inner is integral at the distal ends of its limbs with the associated finger or thumb portion 10A or 10B of the glove and so forms therewith a ring structure which will surround the thumb or finger, causing the finger or thumb portion of the glove to conform to its flexing movements.
  • the web of the inner part 17 is formed with an aperture 19 and one of its limbs with a channel or groove 20 communicating at one end with the aperture.
  • the groove 20 forms a conduit or passageway and the aperture 19 the opening of a blind bore 21 in the assembly.
  • the inner part 17 is undercut at 22 to provide a seat for the periphery of a membrane 23 of neoprene -which spans the aperture 19.
  • This membrane 23 is very much more elastically deformable than the material of the remainder of the glove.
  • the polyurethane of the hoop 13 or 14 is at least twice as thick as the membrane 23 at the bottom of and around the blind bore.
  • the periphery of the membrane 23 is fixed in a gas tight manner to the inner part 17 and the membrane is of a sufficiently resilient material to deform in response to the presence of a super-atmospheric pressure in the cavity 21.
  • the membrane 23 is shown in its unstressed condition in full lines in Figure 2 and in a deformed or expanded condition in dotted lines.
  • She bore 21 thus provides a substantially solid, non-deformable housing and the combined parts 17 and 18 ensure that substantially all reaction forces are vectored and act upon the membrane 23 to deform it inwardly of the ring 13 or 14.
  • each finger 12 and thumb part 13 of the glove Running longitudinally of each finger 12 and thumb part 13 of the glove is an enclosed passage 25 in which the facility (not shown) - e.g. a strain gage - for monitoring flexure of that part of the hand is located.
  • Parallel with the duct 25 are further ducts 24 and 26 for pressurised air.
  • a union 27 joins the duct 26 to the passageway 20.
  • the duct 24 bypasses the ring 13 shown in Figure 2 and conveys pressurised air to the blind bore of the finger-tip ring 14 of the same finger portion 10 of the glove.
  • At the top of the ring its inner side is covered by a foam pad 28 which promotes wearer comfort and also serves to cover the channels in the finger or thumb part in which the air ducts 24 and 26 are located.
  • valve assembly 34 is the 12 valve EV/ET Electrical/Pneumatic Interface Card available from Clippard Instrument Laboratory, Inc. of U.S.A.
  • the computer 30 determines that a particular finger or the thumb of the wearer of the glove has "touched" a virtual object as viewed on the visual system 32 it opens the appropriate valve of assembly 34 so that the bore 21 of the appropriate hoop or hoops 13/14 is inflated.
  • Haptic devices according to the present invention may of course be adapted to be worn on parts of the human body other than a hand. If the spatial position of the whole body and flexing movements of the limbs and feet are also monitored by the computer 30 the devices may be provided on exoskeletal apparel warn on any part of the body.

Abstract

A haptic computer output device comprises a data glove (10) the finger and thumb extensions (10A) and (10B) of which have spaced ring formations (13) and (14). Each ring formation (13 and 14) is formed with an inwardly-opening blind bore (21) spanned in gas-tight manner by a membrane (23) and conduits (20) within the ring formations selectively apply pressurised air to or relieve it from the bores (21) under the control of a valve assembly (34) in turn controlled by a computer (30). The computer generates images perceived on a visual system (32) by a wearer of the glove. Data concerning the spacial position and flexing of the glove (10) is transmitted via line (31) to the computer, which additionally generates a cursor on the visual system (32). When this interacts with other virtual objects to simulate a 'touch' the appropriate bore (21) is inflated via valve assembly (34) to apply a tactile stimulus to the wearer of the glove.

Description

"HAPTIC COMPUTER OUTPUT DEVICE"
This invention relates to a haptic computer output device and more specifically to human/computer interface equipment which, when mounted on or adjacent a part of the human body, will apply tactile stimuli to the body under the control of the computer.
Recent years have seen the development of "virtual reality". The user of the system is presented with computer-generated images which change in response to changes in the notional relative positions of the viewer and the virtual object so that the viewer has the sense of occupying a fully three-dimensional, artificial world. Virtual reality is described in United Kingdom Patent Specification Serial No. 2201069A and reference is made thereto for a fuller understanding of the present invention.
It is desirable that the viewer of virtual objects should be able to "interact" with them, such as by "picking them up" and "moving them about". For this it is desirable that one of the objects viewed is a cursor representing e.g. the hand of the viewer. By moving his real hand he causes corresponding movements of the cursor, and when this occupies the same apparent space as another virtual object the computer mast react appropriately. If the object "contacted" is nationally movable the computer must show it moving; if nationally immovable the movement of the cursor must be arrested, all to preserve the simulation of reality.
A deficiency in the realism currently experienced when interacting in this way with virtual objects is that the viewer experiences no tactile sensations when the cursor representing his hand "touches" an object. This lack of one of the normal sensory experiences detracts from the illusion. If the experience of virtual reality is solely visual, or visual and auditory, the lack of the corresponding sensation of touch will remind the viewer that he is inhabiting an artificial world, enabling him to preserve some of the detachment of a film or television audience and the experience will be less than the completely absorbing one which virtual reality has the potential to provide. A principal object of the present invention is to redress this deficiency of previous virtual reality proposals.
In accordance with one aspect of the present invention there is provided a haptic computer output device comprising an exoskeleton member having digital extensions comprising ring formations adapted to encircle human appendages, at least some of said ring formations comprising a respective cavity located on the ring formation to open inwardly thereof, a membrane of a more resiliently deformable material than that of the exoskeleton member spanning the opening of the cavity in a gas-tight manner, and conduit means communicating with each said cavity whereby pressurised gas may be selectively introduced into the cavities to cause deformation of the respective membranes outwardly of the associated cavities and inwardly of the associated ring formations such that in use of the device the membranes may be caused selectively to apply tactile stimuli to human appendages inserted through the ring formations.
The device may be in the form of a data glove and the exoskeleton member may be adapted to be located on the back of a human hand with said digital extensions passing along the backs of the fingers or the fingers and thumb of said hand, said exoskeleton member being of a flexible material and said ring formations being adapted to retain the extensions in contact with the fingers or fingers and thumb during flexing movements of the latter.
Said cavities are preferably located on the ring formations at positions spaced angularly therearound from the associated extension.
Each said cavity is preferably a blind bore formed in the thickness of the exoskeleton member.
Said conduit means may be controlled by valve means which is in turn controlled by a computer which generates images perceived by the user of the device, and the computer may be adapted to apply tactile stimuli to the user in accordance with haptic incidents as perceived by the user.
In accordance with another aspect of the present invention there is provided a haptic computer output device comprising a member adapted to be positioned with one face thereof opposed to the body of a user of the computer, said member having in the thickness thereof a blind bore opening to said face, the opening of said blind bore being spanned by a membrane of a material more resiliently deformable than the material of said member, said membrane being generally flat in the unstressed condition thereof, conduit means in said member opening to said bore and valve means controlled by the computer whereby gas under pressure may be introduced into or relieved from said bore thereby to control tactile sensations which will be applied to said user's body by the membrane when deformed by excess gas pressure in said bore.
Preferably a plurality of similar blind bores, each spanned by a respective membrane, are provided in respective formations of said member located thereon in mutually spaced relation and adapted to encircle different areas of the user's body, conduit means communicating with each said bore and the valve means being adapted selectively to admit pressurised gas to or to relieve pressurised gas from the individual bores under the control of the computer thereby to apply different stimuli to different areas of the user's body.
The member may be adapted to fit over the back of a hand of the user and may have finger portions to extend along the backs of the fingers or the fingers and thumb of said hand, at least two of said formations being provided in spaced relation on each said finger portion.
Each said formation may be in the form of a hoop comprising an inner U-shaped component nested in an outer U-shaped component, the outer U-shaped component being integral at the distal ends of its arms with said member and the inner component having an aperture in the web portion thereof which cooperates with the outer component to provide said blind bore of said formation, the inner component being undercut around the periphery of the aperture to provide an annular rebate in which the periphery of the membrane is seated and adhesively bonded to the inner component.
The inner component is preferably additionally formed with a channelwhich, in the assembled condition of the two components, provides a conduit through the formation opening at one end to the aperture between the membrane and the outer component, said conduit serving to admit pressurised gas to or to relieve pressurised gas from the associated bore.
5he device preferably additionally comprises means to output to the computer signals relating to the spatial position and/or shape of the device and the computer controls a display whereby said user perceives images generated by the computer including a cursor image corresponding to said device, the device being controlled by the computer so as to apply to the user's body tactile stimuli which correspond with the perceived interaction between said cursor image and other of said images.
The member is preferably locally at least twice as thick as the or each membrane at the bottom of and around the or each blind bore.
The member may be of a high-tear flexible polyurethane and the or each said membrane may be a disc of neoprene adhesively bonded at its periphery to the material of the member in the region of the opening of the associated blind bore.
Preferably control by the computer of the valve means is such that pressure within the or each blind bore is proportional to notional contact forces, so that the wearer experiences a pressure proportional to the forces which would be experienced if the "contact" were real. In other words pressure within the bore will be higher if an "immσvable object" is "struck", or a "heavy object" is "picked up", than if "contact" is made with a "light" object.
An embodiment of the present invention will now be described by way of non-limitative example with reference to the accompanying drawings, in which:
Figure 1 illustrates a data glove in association with the other components of a virtual reality system.
Figure 2 is a cross-sectional view taken on the line II-II of Figure
1, and
Figure 3 is an exploded view of the assembly of Figure 2.
The human/computer interface exoskeleton member or data glove 10 illustrated in Figure 1 is adapted to be worn on the back of the hand and wrist by the provision of self-attaching bands 11A,11B. The main components of the member are of thick, transversely ribbed high-tearstrength polyurethane so that the member can bend to follow flexing movements of the wrist and fingers. The "glove" 10 has four finger extensions 10A and a thumb extension 10B which will pass along the backs of the. fingers and thumb. To ensure that the elongated finger and thumb extensions 10A and 10B of the glove follow flexing movements of the fingers and thumb of the wearer each has a hoop or ring formation 14 near its tip. Additional, similar formations 13 are provided in spaced relation to the rings 14 intermediate the ends of the finger and thumb portions 10A, 10B.
Illustrated at 15 is a sheath through which flexible cables, ducts and any other necessary facilities may pass to manifolds 16A, 16B on the backs of the wrist and hand portions of the glove 10. Each of the fingers and the thumb has means (not shown) for generating a signal proportional to the flexing movement of that part of the glove relative to other parts, for example strain gages which generate electrical signals proportional to a tension loading. Means (not shown) is additionally provided for generating signals according to the position of the member 10 in space. These position and flexure monitoring means do not form part of the present invention and so will not be further described, except to say that in use of the data glove 10 the appropriate signals pass to a computer 30 via line 31. The computer generates a cursor viewed on a visual display system 32 by the wearer in such a way that the cursor undergoes changes corresponding "with movement and flexure of the hand. The computer 30 also generates virtual objects viewed on the visual display system 32 and monitors interaction between them and the cursor caused by movement and flexing of the real hand wearing glove 10. The visual display system 32 may be a visual display unit of any known, conventional kind or may be an optical system employing liquid crystal VDUs individual to the eyes of the user of the kind described in the aforementioned U.K. Patent Specification No. 2201069A.
As shown more clearly in Figures 2 and 3 each ring 13 and 14 comprises U-shaped inner 17 and outer 18 parts of which the inner is integral at the distal ends of its limbs with the associated finger or thumb portion 10A or 10B of the glove and so forms therewith a ring structure which will surround the thumb or finger, causing the finger or thumb portion of the glove to conform to its flexing movements. The web of the inner part 17 is formed with an aperture 19 and one of its limbs with a channel or groove 20 communicating at one end with the aperture. When the inner part 17 is nested in the outer part 18 as shown in Figure 2 the groove 20 forms a conduit or passageway and the aperture 19 the opening of a blind bore 21 in the assembly. Around the aperture 19 the inner part 17 is undercut at 22 to provide a seat for the periphery of a membrane 23 of neoprene -which spans the aperture 19. This membrane 23 is very much more elastically deformable than the material of the remainder of the glove. Locally the polyurethane of the hoop 13 or 14 is at least twice as thick as the membrane 23 at the bottom of and around the blind bore. The periphery of the membrane 23 is fixed in a gas tight manner to the inner part 17 and the membrane is of a sufficiently resilient material to deform in response to the presence of a super-atmospheric pressure in the cavity 21. The membrane 23 is shown in its unstressed condition in full lines in Figure 2 and in a deformed or expanded condition in dotted lines. Due to its lesser thickness and greater deformability it will be the membrane and not the parts 17 and 18 which will respond to excess pressure in the cavity 21 by deforming. She bore 21 thus provides a substantially solid, non-deformable housing and the combined parts 17 and 18 ensure that substantially all reaction forces are vectored and act upon the membrane 23 to deform it inwardly of the ring 13 or 14.
Running longitudinally of each finger 12 and thumb part 13 of the glove is an enclosed passage 25 in which the facility (not shown) - e.g. a strain gage - for monitoring flexure of that part of the hand is located. Parallel with the duct 25 are further ducts 24 and 26 for pressurised air. A union 27 joins the duct 26 to the passageway 20. The duct 24 bypasses the ring 13 shown in Figure 2 and conveys pressurised air to the blind bore of the finger-tip ring 14 of the same finger portion 10 of the glove. At the top of the ring its inner side is covered by a foam pad 28 which promotes wearer comfort and also serves to cover the channels in the finger or thumb part in which the air ducts 24 and 26 are located. In use of the glove 10 shown the air ducts 24 and 26 are each connected through the sheath 15 and via two-way air lines 36 with a source 33 of air under pressure controlled by a valve assembly 34 which is in turn under the control of the computer 30. A suitable valve assembly 34 is the 12 valve EV/ET Electrical/Pneumatic Interface Card available from Clippard Instrument Laboratory, Inc. of U.S.A. When the computer 30 determines that a particular finger or the thumb of the wearer of the glove has "touched" a virtual object as viewed on the visual system 32 it opens the appropriate valve of assembly 34 so that the bore 21 of the appropriate hoop or hoops 13/14 is inflated. This causes the associated membrane(s) 23 to deform into contact with the wearer's finger or thumb to provide a tactile stimulus corresponding to the "touch", and the pressure of the membrane 23 on the human body may be stronger or weaker depending on the nature of the "touch" determined by the computer 30. In the absence of a "touch" condition determined by computer 30 air is allowed to escape to ambience from the appropriate blind bores 21 through an exhaust line 35 controlled by the valve assembly 34.
It will be evident that only those bores 21 will be inflated and membranes 23 deformed which correspond with the determined "contact". Thus if only part of the viewed representation of the hand meets a virtual object only the corresponding part of the real hand will experience pressure. Realism will of course be enhanced by multiplying the bores 21 throughout the glove 10 and by making the pressure within each proportional to the notional load on the associated part of the hand.
Haptic devices according to the present invention may of course be adapted to be worn on parts of the human body other than a hand. If the spatial position of the whole body and flexing movements of the limbs and feet are also monitored by the computer 30 the devices may be provided on exoskeletal apparel warn on any part of the body.

Claims

CLAIMS:
1. A haptic computer output device comprising an exoskeleton member (10) having digital extensions (10A,10B), characterised by comprising ring formations (13,14) adapted to encircle human appendages, at least some of said ring formations (13,14) comprising a respective cavity (21) located on the ring formation (13,14) to open inwardly thereof, a membrane (23) of a more resiliently deformable material than that of the exoskeleton member (10) spanning the opening of the cavity (21) in a gas-tight manner, and conduit means (20,27,36) communicating with each said cavity (21) whereby pressurised gas may be selectively introduced into the cavities (21) to cause deformation of the respective membranes (23) outwardly of the associated cavities (21) and inwardly of the associated ring formations (13,14) such that in use of the device the membranes (23) may be caused selectively to apply tactile stimuli to human appendages inserted through the ring formations (13,14).
2. A device as claimed in claim 1 in the form of a data glove and wherein the exoskeleton member (10) is adapted to be located on the back of a human hand with said digital extensions (10A,10B) passing along the backs of the fingers or the fingers and thumb of said hand, characterised in that said exoskeleton member (10) is of a flexible material and said ring formations (13,14) are adapted to retain the extensions (10A,10B) in contact with the fingers or fingers and thumb during flexing movements of the latter.
3. A device as claimed in claim 2, characterised in that said cavities (21) are located on the ring formations (13,14) at positions spaced angularly therearound from the associated extension (10A,10B).
4. A device as claimed in any one of the preceding claims, characterised in that each, said cavity (21) is a blind bore formed in the thickness of the exoskeleton member (10).
5. A device as claimed in any one of the preceding claims, characterised in that said conduit means (20,27,36) is controlled by valve means (34) which is in turn controlled by a computer (30) which generates images perceived by the user of the device, and in that the computer (30) is adapted to apply tactile stimuli to the user in accordance with haptic incidents as perceived by the user.
6. A haptic computer output device comprising a member (10) adapted to be positioned with one face thereof opposed to the body of a user of the computer (30) characterised in that, said member (10) has in the thickness thereof a blind bare (21) opening to said face, the opening of said blind bore (21) being spanned by a membrane (23) of a material more resiliently deformable than the material of said member (10), said membrane (23) being generally flat in the unstressed condition thereof, conduit means (20,27) in said member (10) opening to said bore (21) and valve means (34) controlled by the computer (30) whereby gas under pressure may be introduced into or relieved from said bore (21) thereby to control tactile sensations "which will be applied to said user's body by the membrane (23) when deformed by excess gas pressure in said bore (21).
7. A device as claimed in claim 6, characterised in that a plurality of similar blind bores (21), each spanned by a respective membrane (23), are provided in respective formations (13,14) of said member (10) located thereon in mutually spaced relation and adapted to encircle different areas of the user's body, conduit means (20,27) communicating with each said bore (21) and the valve means (34) being adapted selectively to admit pressurised gas to or to relieve pressurised gas from the individual bores (21) under the control of the computer (30) thereby to apply different stimuli to different areas of the user's body.
8. A device as claimed in claim 7, characterised in that the member (10) is adapted to fit over the back of a hand of the user and has finger portions (10A,10B) to extend along the backs of the fingers or the fingers and thumb of said hand, at least two. of said formations (13,14) being provided in spaced relation on each said finger portion (10A,10B).
9. A device as claimed in claim 8, characterised in that each said formation (13,14) is in the form of a hoop comprising an inner U-shaped component (17) nested in an outer U-shaped component (18), the outer U-shaped component (18) being integral at the distal ends of its arms with said member (10) and the inner component (17) having an aperture (19) in the web portion thereof which cooperates with the outer component (18) to provide said blind bore (21) of said formation, the inner component (17) being undercut around the periphery of the aperture (19) to provide an annular rebate (22) in which the periphery of the membrane (23) is seated and adhesively bonded to the inner component (17).
10. A device as claimed in claim 9, characterised in that the inner component (17) is additionally formed with a channel (20) which, in the assembled condition of the two components (17.18), provides a conduit (20) through the formation (13,14) opening at one end to the aperture (19) between the membrane (23) and the outer component (18), said conduit (20) serving to admit pressurised gas to or to relieve pressurised gas from the associated bore (21).
11. A device as claimed in any one of claims 6 - 10, characterised by comprising means to output to the computer (30) signals relating to the spatial position and/or shape of the device (10) and in that the computer (30) controls a display (32) whereby said user perceives images generated by the computer (30) including a cursor image corresponding to said device (10), the device (10) being controlled by the computer (30) so as to apply to the user's body tactile sensations which correspond with the perceived interaction between said cursor image and other of said images.
12. A device as claimed in any one of claims 6 - 11, characterised in that the member (10) is locally at least twice as thick as the or each membrane (23) at the bottom of and around the or each blind bore (21).
13. A device as claimed in any one of the preceding claims, characterised in that the member (10) is of a high-tear flexible polyurethane and the or each said membrane (23) is a disc of neoprene adhesively bonded at its periphery to the material of the member (10) in the region of the opening of the associated blind bare (21).
PCT/GB1992/000729 1991-04-20 1992-04-21 Haptic computer output device WO1992018925A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US08/122,412 US5945978A (en) 1991-04-20 1992-04-21 Haptic computer output device
JP4508612A JPH06507032A (en) 1991-04-20 1992-04-21 Tactile computer output device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB919108497A GB9108497D0 (en) 1991-04-20 1991-04-20 Human/computer interface
GB9108497.0 1991-04-20

Publications (1)

Publication Number Publication Date
WO1992018925A1 true WO1992018925A1 (en) 1992-10-29

Family

ID=10693654

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1992/000729 WO1992018925A1 (en) 1991-04-20 1992-04-21 Haptic computer output device

Country Status (5)

Country Link
US (2) US5945978A (en)
JP (1) JPH06507032A (en)
AU (1) AU1677992A (en)
GB (2) GB9108497D0 (en)
WO (1) WO1992018925A1 (en)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4400790A1 (en) * 1993-11-10 1995-05-18 Johannes Dipl Ing Geisen GUI computer mouse with force feed back and position data
WO1997019398A1 (en) * 1995-11-24 1997-05-29 Philips Electronics N.V. A method for presenting virtual reality enhanced with tactile stimuli, and a system for executing the method
EP0809223A1 (en) * 1995-05-17 1997-11-26 Thomas Rupp Device for transmission of signs and characters from a data-processing system to a deaf-blind person
WO1997050029A1 (en) * 1996-06-25 1997-12-31 Philips Electronics N.V. Virtual environment interaction and navigation device
FR2760371A1 (en) * 1997-03-08 1998-09-11 Philippe Nicoud Frame with curved fingers for use with snow board
US6072466A (en) * 1996-08-02 2000-06-06 U.S. Philips Corporation Virtual environment manipulation device modelling and control
US6154199A (en) * 1998-04-15 2000-11-28 Butler; Craig L. Hand positioned mouse
US6285379B1 (en) 1995-12-07 2001-09-04 U.S. Philips Corporation Virtual body control device
KR100670792B1 (en) * 2004-12-07 2007-01-17 한국전자통신연구원 Virtual manufacturing system using hand interface and method thereof
GB2499019A (en) * 2012-02-03 2013-08-07 Univ Southampton A pressure applying haptic device for a finger
CN105683882A (en) * 2013-10-07 2016-06-15 触觉实验室股份有限公司 Latency measuring and testing system and method
US9468846B2 (en) 2009-01-30 2016-10-18 Performance Designed Products Llc Tactile feedback apparatus and method
IT201700014209A1 (en) * 2017-03-14 2018-09-14 Nicholas Caporusso Useful device for communication and interaction based on gestures and touch.

Families Citing this family (81)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5986643A (en) * 1987-03-24 1999-11-16 Sun Microsystems, Inc. Tactile feedback mechanism for a data processing system
US5631861A (en) 1990-02-02 1997-05-20 Virtual Technologies, Inc. Force feedback and texture simulating interface device
US5889670A (en) 1991-10-24 1999-03-30 Immersion Corporation Method and apparatus for tactilely responsive user interface
US5335557A (en) * 1991-11-26 1994-08-09 Taizo Yasutake Touch sensitive input control device
US6597347B1 (en) 1991-11-26 2003-07-22 Itu Research Inc. Methods and apparatus for providing touch-sensitive input in multiple degrees of freedom
USRE40891E1 (en) * 1991-11-26 2009-09-01 Sandio Technology Corp. Methods and apparatus for providing touch-sensitive input in multiple degrees of freedom
US5734373A (en) 1993-07-16 1998-03-31 Immersion Human Interface Corporation Method and apparatus for controlling force feedback interface systems utilizing a host computer
US5805140A (en) 1993-07-16 1998-09-08 Immersion Corporation High bandwidth force feedback interface using voice coils and flexures
US5721566A (en) 1995-01-18 1998-02-24 Immersion Human Interface Corp. Method and apparatus for providing damping force feedback
US5724264A (en) 1993-07-16 1998-03-03 Immersion Human Interface Corp. Method and apparatus for tracking the position and orientation of a stylus and for digitizing a 3-D object
US5701140A (en) * 1993-07-16 1997-12-23 Immersion Human Interface Corp. Method and apparatus for providing a cursor control interface with force feedback
US5767839A (en) * 1995-01-18 1998-06-16 Immersion Human Interface Corporation Method and apparatus for providing passive force feedback to human-computer interface systems
US5739811A (en) 1993-07-16 1998-04-14 Immersion Human Interface Corporation Method and apparatus for controlling human-computer interface systems providing force feedback
US5821920A (en) 1994-07-14 1998-10-13 Immersion Human Interface Corporation Control input device for interfacing an elongated flexible object with a computer system
US5623582A (en) 1994-07-14 1997-04-22 Immersion Human Interface Corporation Computer interface or control input device for laparoscopic surgical instrument and other elongated mechanical objects
GB9414373D0 (en) * 1994-07-15 1994-09-07 Virtuality Ip Ltd Haptic computer input device
US20030040361A1 (en) 1994-09-21 2003-02-27 Craig Thorner Method and apparatus for generating tactile feedback via relatively low-burden and/or zero burden telemetry
US5691898A (en) 1995-09-27 1997-11-25 Immersion Human Interface Corp. Safe and low cost computer peripherals with force feedback for consumer applications
GB2307030B (en) * 1995-11-04 1999-07-21 British Aerospace Apparatus and method for providing resistance or force feedback to a human body surface
US6704001B1 (en) 1995-11-17 2004-03-09 Immersion Corporation Force feedback device including actuator with moving magnet
US6639581B1 (en) 1995-11-17 2003-10-28 Immersion Corporation Flexure mechanism for interface device
AU1328597A (en) 1995-11-30 1997-06-19 Virtual Technologies, Inc. Tactile feedback man-machine interface device
US6028593A (en) 1995-12-01 2000-02-22 Immersion Corporation Method and apparatus for providing simulated physical interactions within computer generated environments
US6161126A (en) 1995-12-13 2000-12-12 Immersion Corporation Implementing force feedback over the World Wide Web and other computer networks
US6050718A (en) * 1996-03-28 2000-04-18 Immersion Corporation Method and apparatus for providing high bandwidth force feedback with improved actuator feel
US6024576A (en) * 1996-09-06 2000-02-15 Immersion Corporation Hemispherical, high bandwidth mechanical interface for computer systems
GB2319590A (en) * 1996-11-26 1998-05-27 Christopher Mark Barron Electronic hand controller
US6233504B1 (en) * 1998-04-16 2001-05-15 California Institute Of Technology Tool actuation and force feedback on robot-assisted microsurgery system
US6417638B1 (en) * 1998-07-17 2002-07-09 Sensable Technologies, Inc. Force reflecting haptic interface
US6985133B1 (en) 1998-07-17 2006-01-10 Sensable Technologies, Inc. Force reflecting haptic interface
KR100299210B1 (en) * 1999-03-12 2001-09-22 박호군 Master device having force reflective function
AU1251101A (en) * 1999-09-09 2001-04-10 Rutgers, The State Of University Of New Jersey Remote mechanical mirroring using controlled stiffness and actuators (memica)
US6924787B2 (en) * 2000-04-17 2005-08-02 Immersion Corporation Interface for controlling a graphical image
US7877766B1 (en) * 2000-05-04 2011-01-25 Enreach Technology, Inc. Method and system of providing a non-skippable sub-advertisement stream
US7084854B1 (en) 2000-09-28 2006-08-01 Immersion Corporation Actuator for providing tactile sensations and device for directional tactile sensations
IL143255A (en) 2001-05-20 2015-09-24 Simbionix Ltd Endoscopic ultrasonography simulation
US6850224B2 (en) 2001-08-27 2005-02-01 Carba Fire Technologies, Inc. Wearable ergonomic computer mouse
US7008231B2 (en) * 2002-01-23 2006-03-07 Patrick Pesnell Catching training apparatus
US20030184574A1 (en) * 2002-02-12 2003-10-02 Phillips James V. Touch screen interface with haptic feedback device
US7850456B2 (en) 2003-07-15 2010-12-14 Simbionix Ltd. Surgical simulation device, system and method
US7411576B2 (en) 2003-10-30 2008-08-12 Sensable Technologies, Inc. Force reflecting haptic interface
US7742036B2 (en) 2003-12-22 2010-06-22 Immersion Corporation System and method for controlling haptic devices having multiple operational modes
GB2409596A (en) * 2003-12-23 2005-06-29 Nokia Corp Handset with squeezable body
US20060025690A1 (en) * 2004-07-27 2006-02-02 Guigne Jacques Y Acoustic body examination
ITPI20040084A1 (en) * 2004-11-18 2005-02-18 Massimo Bergamasco PORTABLE APTIC INTERFACE
US20060164392A1 (en) * 2005-01-21 2006-07-27 Chaokuo Mao Integrated mouse and the keyboard device
CN1325230C (en) * 2005-09-09 2007-07-11 东南大学 Fingerstall type force feeling feedback generator
WO2008054856A2 (en) * 2006-04-14 2008-05-08 The Regents Of The University California Novel enhanced haptic feedback processes and products for robotic surgical prosthetics
US8543338B2 (en) 2007-01-16 2013-09-24 Simbionix Ltd. System and method for performing computerized simulations for image-guided procedures using a patient specific model
WO2008087629A2 (en) 2007-01-16 2008-07-24 Simbionix Ltd. Preoperative surgical simulation
EP2163226A1 (en) * 2007-04-23 2010-03-17 Golden Crab, S.L. Exoskeleton for safety and control while skiing
US7797849B2 (en) 2007-10-31 2010-09-21 Immersion Corporation Portable metrology device
US8605041B2 (en) * 2009-06-08 2013-12-10 Kevin Theodore Johnson Data input device
US8542105B2 (en) 2009-11-24 2013-09-24 Immersion Corporation Handheld computer interface with haptic feedback
US20110187637A1 (en) * 2010-01-29 2011-08-04 David Scott Nichols Tactile Input Apparatus
WO2013049861A1 (en) 2011-09-29 2013-04-04 Magic Leap, Inc. Tactile glove for human-computer interaction
US9582072B2 (en) 2013-09-17 2017-02-28 Medibotics Llc Motion recognition clothing [TM] with flexible electromagnetic, light, or sonic energy pathways
US9891718B2 (en) 2015-04-22 2018-02-13 Medibotics Llc Devices for measuring finger motion and recognizing hand gestures
US10602965B2 (en) 2013-09-17 2020-03-31 Medibotics Wearable deformable conductive sensors for human motion capture including trans-joint pitch, yaw, and roll
US10321873B2 (en) 2013-09-17 2019-06-18 Medibotics Llc Smart clothing for ambulatory human motion capture
US9588582B2 (en) 2013-09-17 2017-03-07 Medibotics Llc Motion recognition clothing (TM) with two different sets of tubes spanning a body joint
US10716510B2 (en) 2013-09-17 2020-07-21 Medibotics Smart clothing with converging/diverging bend or stretch sensors for measuring body motion or configuration
CN105101903B (en) 2013-02-04 2018-08-24 儿童国家医疗中心 Mixing control surgical robot systems
US9468847B2 (en) 2014-04-30 2016-10-18 Umm Al-Qura University Tactile feedback gloves
GB201514721D0 (en) * 2015-08-19 2015-09-30 Morgan Innovation & Technology Ltd Haptic stimulation apparatus
RU2015145559A (en) * 2015-10-22 2017-04-25 Федор Валентинович Беломоев DEVICE AND METHOD FOR RECEIVING AND TRANSMISSION OF INFORMATION USING BRYLE FONT
US10894204B2 (en) * 2016-05-04 2021-01-19 Contact Control Interfaces, LLC Exo-tendon motion capture glove device with haptic grip response
CN106214427B (en) * 2016-08-11 2019-05-24 上海交通大学 The lower limb rehabilitation ectoskeleton control system and method that subject dominates
RU2651444C2 (en) * 2016-09-29 2018-04-19 Фёдор Валентинович Беломоев Device and method for receiving and transmitting information by braille letters
US10055022B2 (en) * 2017-01-11 2018-08-21 International Business Machines Corporation Simulating obstruction in a virtual environment
WO2019130755A1 (en) * 2017-12-27 2019-07-04 ソニー株式会社 Information processing device, information processing method, and program
WO2019208857A1 (en) * 2018-04-27 2019-10-31 주식회사 이지원인터넷서비스 Hmi hand module
WO2019208856A1 (en) * 2018-04-27 2019-10-31 주식회사 이지원인터넷서비스 Hmi hand module
WO2019208855A1 (en) * 2018-04-27 2019-10-31 주식회사 이지원인터넷서비스 Hmi hand module
WO2019229698A1 (en) 2018-05-31 2019-12-05 Purple Tambourine Limited Interacting with a virtual environment using a pointing controller
CN108970110A (en) * 2018-07-25 2018-12-11 骆国庆 A kind of virtual experience system and method based on VR
US10449677B1 (en) * 2019-03-12 2019-10-22 United Arab Emirates University Robotic gripping assist
US11755111B2 (en) 2020-03-16 2023-09-12 Arkh, Inc. Spatially aware computing hub and environment
USD1009861S1 (en) 2020-09-25 2024-01-02 Arkh, Inc. Smart ring
KR20240004907A (en) * 2021-05-03 2024-01-11 디스털 리얼리티 엘엘씨 Haptic hand controller system for mixed reality
WO2023039088A1 (en) * 2021-09-08 2023-03-16 Acumino Wearable robot data collection system with human-machine operation interface

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE941312C (en) * 1953-07-18 1956-04-05 Dr Med Georg Schwidetzky Device on non-sensory parts of the body or on prostheses to make pressure and heat palpable
US3263824A (en) * 1963-12-20 1966-08-02 Northrop Corp Servo controlled manipulator device
GB2013617A (en) * 1978-02-01 1979-08-15 Zarudiansky A Remote handling device
WO1992005519A1 (en) * 1990-09-25 1992-04-02 Advanced Robotics Research Limited Manipulator interaction simulation system

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58502189A (en) * 1981-12-24 1983-12-22 ブロンベルグ　ロボテルテクニ−ク　ジ−エム　ビ−　エイチ assembly robot
US4667236A (en) * 1985-04-26 1987-05-19 Digital Services Corporation Television perspective effects system
US4841292A (en) * 1986-08-11 1989-06-20 Allied-Signal Inc. Third dimension pop up generation from a two-dimensional transformed image display
GB2194715B (en) * 1986-09-03 1991-02-13 Ibm Method of and system for generating images of object transforms
GB8701288D0 (en) * 1987-01-21 1987-02-25 Waldern J D Perception of computer-generated imagery
US4988981B1 (en) * 1987-03-17 1999-05-18 Vpl Newco Inc Computer data entry and manipulation apparatus and method
US4905001A (en) * 1987-10-08 1990-02-27 Penner Henry C Hand-held finger movement actuated communication devices and systems employing such devices
US5184009A (en) * 1989-04-10 1993-02-02 Wright Scott M Optical attenuator movement detection system
US5184319A (en) * 1990-02-02 1993-02-02 Kramer James F Force feedback and textures simulating interface device
JPH054238A (en) * 1990-11-20 1993-01-14 Sanden Corp Manufacture of multilayered heat insulating wall
US5212372A (en) * 1991-09-09 1993-05-18 Psc, Inc. Portable transaction terminal for optical and key entry of data without keyboards and manually actuated scanners

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE941312C (en) * 1953-07-18 1956-04-05 Dr Med Georg Schwidetzky Device on non-sensory parts of the body or on prostheses to make pressure and heat palpable
US3263824A (en) * 1963-12-20 1966-08-02 Northrop Corp Servo controlled manipulator device
GB2013617A (en) * 1978-02-01 1979-08-15 Zarudiansky A Remote handling device
WO1992005519A1 (en) * 1990-09-25 1992-04-02 Advanced Robotics Research Limited Manipulator interaction simulation system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PROCEEDINGS OF THE ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY vol. 11, November 1989, SEATTLE, WASHINGTON pages 912 - 913; MASSIMO BERGAMASCO ET AL.: 'ADVANCED INTERFACES FOR TELEOPERATED BIOMEDICAL ROBOTS' *

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4400790A1 (en) * 1993-11-10 1995-05-18 Johannes Dipl Ing Geisen GUI computer mouse with force feed back and position data
EP0809223A1 (en) * 1995-05-17 1997-11-26 Thomas Rupp Device for transmission of signs and characters from a data-processing system to a deaf-blind person
WO1997019398A1 (en) * 1995-11-24 1997-05-29 Philips Electronics N.V. A method for presenting virtual reality enhanced with tactile stimuli, and a system for executing the method
US6285379B1 (en) 1995-12-07 2001-09-04 U.S. Philips Corporation Virtual body control device
WO1997050029A1 (en) * 1996-06-25 1997-12-31 Philips Electronics N.V. Virtual environment interaction and navigation device
US5982353A (en) * 1996-06-25 1999-11-09 U.S. Philips Corporation Virtual body modeling apparatus having dual-mode motion processing
US6072466A (en) * 1996-08-02 2000-06-06 U.S. Philips Corporation Virtual environment manipulation device modelling and control
FR2760371A1 (en) * 1997-03-08 1998-09-11 Philippe Nicoud Frame with curved fingers for use with snow board
US6154199A (en) * 1998-04-15 2000-11-28 Butler; Craig L. Hand positioned mouse
KR100670792B1 (en) * 2004-12-07 2007-01-17 한국전자통신연구원 Virtual manufacturing system using hand interface and method thereof
US9468846B2 (en) 2009-01-30 2016-10-18 Performance Designed Products Llc Tactile feedback apparatus and method
GB2499019A (en) * 2012-02-03 2013-08-07 Univ Southampton A pressure applying haptic device for a finger
CN105683882A (en) * 2013-10-07 2016-06-15 触觉实验室股份有限公司 Latency measuring and testing system and method
CN105683882B (en) * 2013-10-07 2019-11-29 触觉实验室股份有限公司 Waiting time measurement and test macro and method
IT201700014209A1 (en) * 2017-03-14 2018-09-14 Nicholas Caporusso Useful device for communication and interaction based on gestures and touch.

Also Published As

Publication number Publication date
AU1677992A (en) 1992-11-17
US6239784B1 (en) 2001-05-29
US5945978A (en) 1999-08-31
GB9108497D0 (en) 1991-06-05
GB9208585D0 (en) 1992-06-03
GB2254911B (en) 1994-12-14
GB2254911A (en) 1992-10-21
JPH06507032A (en) 1994-08-04

Similar Documents

Publication Publication Date Title
US5945978A (en) Haptic computer output device
Pezent et al. Tasbi: Multisensory squeeze and vibrotactile wrist haptics for augmented and virtual reality
EP3977239B1 (en) Haptic feedback apparatus worn on a hand
Hale et al. Deriving haptic design guidelines from human physiological, psychophysical, and neurological foundations
US20180335842A1 (en) Haptic feedback glove
ES2791722T3 (en) Virtual mockup with haptic portable aid
US6413229B1 (en) Force-feedback interface device for the hand
US20180335841A1 (en) Haptic feedback glove
US20210081048A1 (en) Artificial reality devices, including haptic devices and coupling sensors
US20140214206A1 (en) Device for providing tactile feedback for robotic apparatus using actuation
US10996756B1 (en) Tactile input mechanisms, artificial-reality systems, and related methods
Adilkhanov et al. Haptic devices: Wearability-based taxonomy and literature review
US11531389B1 (en) Systems and methods for electric discharge-based sensing via wearables donned by users of artificial reality systems
KR20230018403A (en) penetrating ratcheting device
Katzakis et al. Stylo and handifact: Modulating haptic perception through visualizations for posture training in augmented reality
WO2018212971A1 (en) Haptic feedback glove
Jumet et al. Fluidically programmed wearable haptic textiles
Kameoka et al. Tactile transfer of finger information through suction tactile sensation in HMDs
US11236846B1 (en) Fluidic control: using exhaust as a control mechanism
Miyakami et al. Head rotation and illusory force sensation by lateral skin stretch on the face
JP2008134697A (en) Contact presentation apparatus
US11550397B1 (en) Systems and methods for simulating a sensation of expending effort in a virtual environment
US11531391B2 (en) Tendon driven exoskeleton tightening mechanism
US11490669B1 (en) Lockable beams for haptics applications and related systems and methods
WO1992005519A1 (en) Manipulator interaction simulation system

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AT AU BB BG BR CA CH DE DK ES FI GB HU JP KP KR LK LU MG MN MW NL NO PL RO RU SD SE US

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE BF BJ CF CG CH CI CM DE DK ES FR GA GB GN GR IT LU MC ML MR NL SE SN TD TG

DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
WWE Wipo information: entry into national phase

Ref document number: 08122412

Country of ref document: US

REG Reference to national code

Ref country code: DE

Ref legal event code: 8642

122 Ep: pct application non-entry in european phase
NENP Non-entry into the national phase

Ref country code: CA