WO2018212971A1 - Gant de rétroaction haptique - Google Patents

Gant de rétroaction haptique Download PDF

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Publication number
WO2018212971A1
WO2018212971A1 PCT/US2018/030106 US2018030106W WO2018212971A1 WO 2018212971 A1 WO2018212971 A1 WO 2018212971A1 US 2018030106 W US2018030106 W US 2018030106W WO 2018212971 A1 WO2018212971 A1 WO 2018212971A1
Authority
WO
WIPO (PCT)
Prior art keywords
human
interface system
computer interface
user
assembly
Prior art date
Application number
PCT/US2018/030106
Other languages
English (en)
Inventor
Jacob A. RUBIN
Robert S. Crockett
Marc Y. GOUPIL
Jeffrey D. D'AMELIO
Bodin L. ROJANACHAICHANIN
Kurt C. SJOBERG
Paul PILLER
Nicholas J. BONAFEDE Jr.
Original Assignee
HaptX Inc.
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
Priority claimed from US15/599,471 external-priority patent/US20180335842A1/en
Priority claimed from US15/599,470 external-priority patent/US20180335841A1/en
Application filed by HaptX Inc. filed Critical HaptX Inc.
Publication of WO2018212971A1 publication Critical patent/WO2018212971A1/fr

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B25J13/025—Hand grip control means comprising haptic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A41—WEARING APPAREL
    • A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
    • A41D19/00—Gloves
    • A41D19/0024—Gloves with accessories

Definitions

  • the present invention relates generally to human- machine interfaces to the hand, and more specifically to virtual reality human-machine interfaces to the hand. Even more specifically, the present invention relates to virtual reality human-machine interfaces to the hand that include cutaneous and kinesthetic feedback.
  • U.S. Patent Application No. 15/372,362 describes a whole-body human-computer interface capable of simulating highly realistic interaction with virtual reality environments.
  • the present invention comprises a series of improvements to the hand portion of the human-computer interface garment disclosed therein. Said hand portion will hereafter be referred to as a "haptic feedback glove . "
  • Haptic feedback gloves have broad commercial applications, including in entertainment; medical and industrial training; and computer-aided design and manufacturing. Said applications broadly require haptic feedback gloves with the following combination of features absent in the present art:
  • human-machine interfaces to the hand of the present art including haptic feedback gloves, are typically built and programmed for a single narrow range of applications. These systems employ simplified
  • touch sensation is comprised of multiple sensory modalities described in the art.
  • cutaneous feedback mechanical stimulation of the skin
  • kinesthetic feedback net forces applied to the musculoskeletal system
  • Haptlc feedback gloves of the present art typically only include a single sensory modality.
  • Said devices of the present art also typically lack the resolution, displacement, frequency response, force output, or other performance
  • haptic feedback gloves must be light and low-profile enough to be comfortably worn on the hand, and robust enough to survive repeated use in a real-world environment. They must also be low-cost enough to be commercially
  • Haptic feedback gloves of the present art lack some or all of these qualities. Even the best performing devices of the known art (and in fact particularly the best performing devices) are simply impractical, as well as being substantially uneconomical. Even if these devices did overcome all of the shortcomings listed above, they would still likely be incapable of broad application due to their prohibitive cost and complexity.
  • the present invention can be characterized as a human-computer interface system including: a sensor configured to transduce the location of a finger of a hand of a user an exoskeleton including: a kinematic termination configured to exchange mechanical energy with the finger of the hand, a force transmission element, an actuator, and a mechanical ground; and an interface garment, including: an interface laminate coupled to a
  • counterpressure assembly configured to stimulate the user by applying a pressure to the finger.
  • FIG. 1A is a top view of a haptic feedback glove in accordance with one embodiment of the present invention.
  • FIG. IB is a bottom view of the haptic feedback glove of the embodiment of FIG. 1A.
  • FIG. 2 is an exploded perspective view of a
  • FIG. 3 is an exploded perspective view of an actuator interacting with a force transmission element of the haptic feedback glove of the embodiment of FIG. 1A.
  • FIG. 4 is an exploded view of a hypothenar assembly of a haptic feedback glove in accordance with one embodiment .
  • FIG. 5 is a partial bottom view of a thenar assembly of a haptic feedback glove, in accordance with one embodiment, showing an interface laminate, and an armature and tensile members of a counterpressure assembly.
  • FIG. 6 is a partial bottom view of a hypothenar assembly of a haptic feedback glove, in accordance with one embodiment, showing an interface laminate, and an armature and tensile members of a counterpressure assembly.
  • FIG. 7 is a partial bottom view of an interdigital assembly of a haptic feedback glove, in accordance with one embodiment, showing an interface laminate, and an armature and tensile members of a counterpressure assembly.
  • FIG. 8 is a block diagram of a haptic feedback glove in accordance with one embodiment.
  • each finger e.g. 135, 133, 202, 261, 252, 250, 254, 258, 260, 262, 206, 132, 207, 204, 205, 208, 118, 119, 120, 121, 122, 123, 124, 125, 146, 142, 143, 140, 148, 315, 316, 314, 202, 320, 308, 310, 324, 326, 306, 304, 207) are given only a single label for clarity. References through the Detailed Description to these components should be understood to apply to said components of any or all fingers.
  • an embodiment, “an embodiment, “ or similar language means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention.
  • haptic feedback glove means : a hand portion of a human-computer interface garment .
  • finger means: a digit of the hand, including the thumb. "Digit” and “finger” are used interchangeably throughout the present application.
  • mechanical ground means: a point that is substantially fixed and immovable with respect to a finger of the user, rather than with respect to the user as a whole as defined in U.S. Patent
  • position sensor means: a sensor configured to detect at least one of position and orientation.
  • force sensor means: a sensor configured to detect at least one of force and torque .
  • FIG. 8 shows a block diagram of a haptic feedback glove in accordance with one embodiment of the present invention. Shown is a plurality of input transducers 808 and output transducers 810 coupled to a computer system 804 and to a user 806.
  • the input transducers 808 receive input from the user 806, and transduce that input to a user input state 812 preferably defined at a discrete time step n.
  • the output transducers 810 receive a user output state 814 from the computer system 804, preferably defined at a discrete time step n+1.
  • the user output state 814 is transduced by the output transducers 810 to an appropriate form so as to stimulate one or more of the user's 806 sensory systems.
  • Non-haptic stimuli 828 e.g. visual, auditory, or chemosensory stimuli
  • FIGS . 1A and IB show a top and bottom view
  • the haptic feedback glove comprises an interface garment, including an interface laminate and an exoskeleton.
  • Position sensors transduce the position of the user's digits.
  • an additional position sensor transduces the position of the user' s palm.
  • a haptic feedback glove comprises an interface laminate comprising a plurality of tactile actuators 834 (FIG. 8) coupled to the skin of the user's hand.
  • a counterpressure assembly provides a normal force counter to the force produced by said interface laminate against the user' s skin, holding the interface laminate against the skin during actuation of tactile actuators of the laminate and motion of the user's hand.
  • a fingertip assembly 200 of a haptic feedback glove preferably comprises an interface laminate segment 204 located such that tactile actuators 205 are coupled to substantially all of the user's finger pad.
  • fingertip assembly 200 comprises at least 12 tactile actuators 205 contacting said finger pad.
  • fingertip assembly 200 comprises at least 24 tactile actuators contacting said finger pad.
  • tactile actuators 205 of fingertip assembly 200 are configured to produce a displacement of at least 0.5 mm.
  • tactile actuators 205 of fingertip assembly 200 are configured to produce a displacement of at least 1 mm.
  • interface laminate segment 204 The interior surface of interface laminate segment 204 is coupled to intermediate layer 208. Intermediate layer 208 is in turn coupled to the user's hand. The exterior surface of interface laminate segment 204 is coupled to the interior surface of fingertip
  • Ribbon assembly 207 of interface laminate segment 204 preferably exits the proximal side of fingertip counterpressure assembly 250, above the user's nail.
  • Fingertip counterpressure assembly 250 comprises an armature 256 and a tensile member 258. Armature 256 provides structural support to fingertip assembly 200, helping interface laminate segment 204 remain in
  • Armature 256 is coupled to interface laminate segment 204 by means of a suitable adhesive, preferably room-temperature
  • armature 256 comprises an elastomer, such as polydimethylsiloxane or fiberglass-reinforced silicone. In another embodiment, armature 256 comprises a non-elastomeric polymer, such as high-density polyethylene or polyimide.
  • Armature 256 is coupled to tensile member 258, which resists forces applied orthogonal to the interior surface of armature 256 by interface laminate segment 204.
  • Tensile member 258 preferably comprises an elastic textile, such as Lycra, an elastomer, such as latex, or another suitable high strain material. Tensile member 258 serves a secondary purpose as a donning aid, enabling fingertip assembly 200 to stretch to accommodate various finger sizes, while retaining a suitable level of counterpressure for the operation of interface laminate segment 204.
  • Sensor mounting point 252 is a declivity in the upper surface of armature 256 that provides a mounting point for magnetic position sensor 135, and aids in the routing of position sensor leads 133.
  • Armature 256 is preferably shaped such that it closely matches the curvature of the user's fingertip.
  • fingertip armature 256 is slightly undersized relative to the distal phalange of the target user, such that it produces a nominal force against the top and bottom of the finger when worn to help interface laminate segment 204 remain in contact with the
  • Armature 256 does not extend to the medial and lateral sides of the finger to avoid interfering with finger ad- and abduction.
  • armature 256 ends distally enough to the distal interphalangeal crease to avoid interfering with the motion of the distal interphalangeal joint.
  • Embodiments are contemplated in which tactile interface laminate segments are also coupled to the pads of the intermediate and proximal phalanges of one or more of the user's fingers, in addition to the pad of the distal phalange.
  • Embodiments are also contemplated in which tactile interface laminate segments extend to the dorsal, medial, or lateral aspects of the fingers.
  • One or more separate segments may also be employed to extend sensation to the dorsal, medial, or lateral aspects of the fingers, rather than extending the existing segments.
  • Fingertip assembly 200 is coupled to fabric
  • Fabric substrate 115 to facilitate ease of donning.
  • Fabric substrate 115 preferably comprises Lycra or another lightweight, elastic fabric. While alternate embodiments are contemplated in which fingertip assemblies are donned as separate elements, in the preferred embodiment, fingertip assemblies are all coupled to fabric substrate 115 such that they can be donned with a single motion, like a typical glove.
  • Interface laminate segment 204 is coupled to a vibration actuator 206.
  • vibration actuator 206 is configured to produce
  • vibration actuator 206 is configured to produce
  • vibrations of 20 Hz - 1 kHz that are detectible by the user through interface laminate segment 204.
  • Vibration actuator 206 preferably comprises a multilayer piezoelectric actuator, such as a piezoceramic or piezopolymer actuator, a non-piezoelectric electroactive polymer actuator, or another suitable solid state actuator.
  • vibration actuator 206 comprises an electromechanical actuator, such as an eccentric rotating mass, linear resonant actuator, or other vibration motor.
  • vibration actuator 206 comprises a fluidic actuator.
  • vibration actuator 206 is coupled to inner surface 262 of fingertip armature 256, such that a majority of vibration actuator 206 is still permitted free motion relative to inner surface 262.
  • An air gap is preferably left between the inner surface of vibration actuator 206 and the outer surface of interface laminate segment 204.
  • vibration actuator 206 is placed on the top, rather than the bottom, portion of fingertip armature 256, such that it contacts the user's fingernail. In this embodiment, vibrations are transmitted through the fingernail and distal phalange into the finger pulp.
  • Vibration actuator 206 is coupled to vibration actuator leads 132, which supply electric power to vibration actuator 206.
  • Vibration actuator leads 132 preferably run along the back of the user' s finger, as shown in FIG. 1 ⁇ , in accordance with one embodiment. Palm Assembly
  • a palm portion of a haptlc feedback glove comprises a plurality of palm assemblies - thenar assembly 150, hypothenar assembly 160, and interdigital assembly 180 - configured to permit
  • haptlc feedback glove wherein more or less than three palm assemblies are employed.
  • FIG. 4 shows an exploded view of hypothenar assembly 160, In accordance with one embodiment.
  • Hypothenar assembly 160 comprises Interface laminate segment 163, coupled to the skin of the user' s hypothenar eminence by means of Intermediate layer 161.
  • Intermediate layer 161 In a preferred embodiment,
  • Interface laminate segment 163 comprises a tactile actuator density of at least 0.75 actuators per square centimeter. In a more preferred embodiment,
  • Interface laminate segment 163 comprises a tactile actuator density of at least 1.50 actuators per square centimeter. In a preferred embodiment, tactile actuators of Interface laminate segment 163 are configured to produce a displacement of at least 1 mm. In a more preferred embodiment, tactile actuators of interface laminate segment 163 are configured to produce a
  • interface laminate segment 163 The bottom surface of interface laminate segment 163 is coupled to intermediate layer 161. Intermediate layer 161 is in turn coupled to the user's hand.
  • the top surface of interface laminate segment 163 is coupled to the bottom surface of hypothenar counterpressure assembly 175. Ribbon assembly 179 of interface laminate segment 163 preferably exits the proximal side of hypothenar counterpressure assembly 175, being routed through wrist strap 116.
  • Hypothenar counterpressure assembly 175 comprises an armature 165 and a plurality of tensile members 162, 164, 166. Armature 165 provides structural support to
  • Armature 165 is coupled to interface laminate segment 163 by means of a suitable adhesive, preferably room-temperature vulcanization silicone 169.
  • armature 165 comprises an elastomer, such as polydimethylsiloxane or fiberglass-reinforced silicone.
  • armature 165 comprises a non-elastomeric polymer, such as high-density
  • FIG. 6 shows the geometry of hypothenar assembly 160 in a top and side view respectively, in accordance with one embodiment.
  • Hypothenar assembly 160 is generally shaped to match the shape and curvature of the user' s hypothenar eminence.
  • Distolateral tip 604 of hypothenar assembly 160 is preferably flared slightly above the surface of the palm to aid in the generation of a counterforce against the portion of the user' s palm under said tip.
  • armature 165 is coupled to tensile members 162, 164, 166 which resist forces applied orthogonal to the interior surface of armature 165 by interface laminate segment 163.
  • Tensile members 162, 164, 166 preferably comprise an elastic textile, such as Lycra.
  • Said tensile members 162, 164, 166 can also comprise an elastomer, such as latex, or another suitable high strain material.
  • Tensile members 162, 164, 166 serve a secondary purpose as a donning aid, enabling hypothenar assembly 160 to stretch to
  • interface laminate segment 163 accommodate various hand sizes, while retaining a suitable level of counterpressure for the operation of interface laminate segment 163.
  • Tensile member 162 is routed through a cutout 174 in fabric substrate 115, over the top of the user's thenar eminence, through the thenar space, and is coupled to opisthenar plate 111 located on the back of the user' s hand.
  • Opisthenar plate 111 comprises any suitable rigid structural material, preferably a polymer or fiber- reinforced polymer composite.
  • Tensile member 166 is routed through a cutout 178 in fabric substrate 115, medially over the blade of the palm to couple to the medial side of opisthenar plate 111.
  • Tensile member 164 is routed proximally through a cutout 176 in fabric substrate 115 and coupled to wrist strap 116, which substantially encircles the user's wrist.
  • Interface laminate segment 163 is coupled to vibration actuator assemblies 170, 172.
  • Vibration actuator assemblies 170, 172 comprise a casing and a vibration actuator.
  • said vibration actuators are configured to produce vibrations of 20 Hz - 300 Hz that are detectible by the user through interface laminate segment 163 and intermediate layer 161.
  • said vibration actuators are configured to produce vibrations of 20 Hz - 1 kHz that are detectible by the user through interface laminate segment 163 and intermediate layer 161.
  • Vibration actuators of vibration actuator assemblies 170, 172 preferably comprise a multi-layer piezoelectric actuator, such as a piezoceramic or piezopolymer
  • said vibration actuators comprise an electromechanical actuator, such as an eccentric rotating mass, linear resonant actuator, or other vibration motor.
  • ⁇ portion of the vibration actuators of vibration actuator assemblies 170, 172 is coupled to the upper inner surface of their casings, such that a majority of said vibration actuators are still permitted free motion relative to said upper inner surfaces.
  • An air gap is preferably left between the bottom surface of the vibration actuators and the top surface of interface laminate segment 163.
  • Vibration actuator assemblies 170, 172 are
  • vibration actuators preferably spaced substantially evenly across the surface area of the user's hypothenar eminence, with a density of least 0.1 actuators per square centimeter. In a more preferred embodiment, vibration actuators have a density of least 0.2 actuators per square centimeter.
  • Vibration actuators of vibration actuator assemblies 170, 172 are coupled to vibration actuator leads 171, 173 which supply electric power to the vibration actuators of said assemblies. Vibration actuator leads 171, 173 preferably run along the user's palm to the wrist.
  • tactile interface laminate segments extend to the dorsal or medial aspects of the hypothenar eminence. One or more separate segments may also be employed to extend
  • hypothenar assembly 160 is coupled to fabric substrate 115 to facilitate ease of donning.
  • thenar assembly 150 comprises interface laminate segment 153, coupled to the skin of the user' s thenar eminence by means of an intermediate layer (not shown) .
  • Tactile actuator density and displacement of interface laminate segment 153 are similar to interface laminate segment 163 of hypothenar assembly 160. Tactile actuator displacement and density can vary between palm assemblies. For instance, the tactile actuator density of interface laminate segment 153 can be slightly higher than that of interface laminate segment 163 due to increased tactile sensitivity in the thenar region.
  • interface laminate segment 153 is coupled to an intermediate layer (not shown) , which is in turn coupled to the user's hand.
  • the top surface of interface laminate segment 153 is coupled to the bottom surface of thenar counterpressure assembly 158.
  • Ribbon assembly 159 of interface laminate segment 153 preferably exits the proximal side of thenar counterpressure assembly 158, being routed proximally through wrist strap 116.
  • annular counterpressure assembly 158 comprises an armature 155 and a plurality of tensile members 152, 154, 156 of substantially Identical composition to those of
  • FIG. 5 shows the geometry of thenar assembly 150 In a top and projected view respectively, In accordance with one embodiment.
  • ar assembly 150 Is generally shaped to match the shape and curvature of the user's thenar eminence.
  • Radius of curvature 502 Is preferably slightly smaller than the corresponding radius of curvature of the user' s thenar eminence. Said difference In radius of curvature provides a nominal force against the user' s thenar eminence when thenar assembly 150 Is worn to help Interface laminate segment 153 remain In contact with the thenar eminence.
  • the stiffness of thenar assembly 150 varies across Its surface. Said variation in stiffness minimizes interference with thenar motion, particularly around the thenar crease and palmar
  • interdigital crease of the thumb while maintaining sufficient structural integrity to provide effective counterpressure for interface laminate segment 153.
  • the portion of thenar assembly 150 bonded to armature 155 has a higher stiffness than remaining portions comprising only the interface laminate. Armature 155 does not extend all the way to the thenar crease and palmar interdigital crease of the thumb, creating a more compliant region in thenar assembly 150 around these highly mobile areas.
  • armature 155 is coupled to tensile members 152, 154, 156 which resist forces applied orthogonal to the interior surface of armature 155 by interface laminate segment 153.
  • Tensile members 152, 154, 156 are of substantially identical composition and purpose to those of hypothenar assembly 160.
  • Tensile member 152 is routed over the top of the user' s thenar eminence, through the thenar space, and is coupled to thenar plate 114 located on the dorsum of the user's thumb. Thenar plate 114 comprises any suitable rigid structural material, preferably a polymer or fiber- reinforced polymer composite.
  • Tensile member 154 is coupled to thenar plate 114 above the first metacarpal. Thenar plate 114 is preferably coupled to opisthenar plate 111 by means of tensile member 157.
  • Tensile member 156 is routed proximally through wrist strap 116.
  • Thenar assembly 150 comprises vibration actuators substantially identical to those of hypothenar assembly 160. Said thenar vibration actuators are preferably spaced substantially evenly across the surface area of the user' s thenar eminence, with a density similar to the vibration actuators of the hypothenar assembly 160.
  • Embodiments are contemplated in which tactile interface laminate segments extend to the dorsal, lateral, or proximal aspects of the thenar eminence.
  • One or more separate segments may also be employed to extend sensation to dorsal, lateral, or proximal aspects of the thenar eminence, rather than extending the existing segments.
  • fingertip assembly 200, and hypothenar assembly 160, thenar assembly 150 is coupled to fabric substrate 115 to facilitate ease of donning.
  • interdigital assembly 180 comprises interface laminate segment 183, coupled to the skin of the interdigital region of the user' s palm by means of an intermediate layer (not shown) .
  • Tactile actuator density and displacement of interface laminate segment 183 are similar to interface laminate segment 163 of hypothenar assembly 160. Tactile actuator displacement and density can vary between palm assemblies. For instance, the tactile actuator
  • interface laminate segment 183 can be slightly lower than that of interface laminate segment 163.
  • interface laminate segment 183 is coupled to an intermediate layer (not shown) , which is in turn coupled to the user's hand.
  • the top surface of interface laminate segment 183 is coupled to the bottom surface of interdigital counterpressure assembly 188.
  • Ribbon assembly 189 of interface laminate segment 183 preferably exits the medial side of interdigital
  • counterpressure assembly 188 being routed around the fifth metacarpal to the dorsal aspect of the hand, then along the back of the hand to the wrist.
  • interdigital counterpressure assembly 188 comprises an armature 185 and a plurality of tensile members 182, 184 of
  • FIG. 7 shows the geometry of interdigital assembly 180 in a top and projected view respectively, in accordance with one embodiment.
  • Interdigital assembly 180 is generally shaped to match the shape and curvature of the interdigital region of the user' s palm.
  • Radius of curvature 702 is preferably slightly smaller than the corresponding radius of curvature of the user' s palm.
  • Said difference in radius of curvature provides a nominal force against the user' s palm when interdigital assembly 180 is worn to help interface laminate segment 183 remain in contact with the user' s palm.
  • interdigital assembly 180 varies across its surface. Said variation in stiffness minimizes interference with the motion of the index, middle, ring, and pinky fingers, particularly around the distal and proximal transverse creases and the palmar interdigital creases of said fingers, while maintaining sufficient structural
  • interdigital assembly 180 bonded to armature 185 has a higher stiffness than remaining portions comprising only the interface laminate. Armature 185 does not extend all the way to the distal and proximal transverse creases and the palmar interdigital creases of the index, middle, ring, and pinky fingers, creating a more compliant region in interdigital assembly 180 around these highly mobile areas .
  • armature 185 is coupled to tensile members 182, 184 which resist forces applied orthogonal to the interior surface of armature 185 by interface laminate segment 183.
  • Tensile members 182, 184 are of substantially identical composition and purpose to those of thenar assembly 150 and hypothenar assembly 160.
  • Tensile member 184 is routed medially over the fifth metacarpal to couple to the medial side of opisthenar plate 111 located on the back of the user's hand.
  • Tensile member 182 is routed laterally over the second metacarpal to couple to the lateral side of opisthenar plate 111.
  • Interdigital assembly 180 comprises vibration actuators substantially identical to those of thenar assembly 150, and hypothenar assembly 160. Said
  • interdigital vibration actuators are preferably spaced substantially evenly across the surface area of the Interdigital region of the user' s palm, with a density similar to the vibration actuators of the thenar and hypothenar assemblies.
  • Interface laminate segments extend to the dorsal, medial, or lateral aspects of the Interdigital region of the user' s palm. One or more separate segments may also be employed to extend sensation to dorsal, medial, or lateral aspects of the Interdigital region, rather than extending the existing segments.
  • fingertip assembly 200 thenar assembly 150, and hypothenar assembly 160, Interdigital assembly 180 Is coupled to fabric substrate 115 to facilitate ease of donning.
  • a haptlc feedback glove comprises an exoskeleton, said exoskeleton comprising a plurality of actuated articulations 836 (FIG. 8) .
  • Said exoskeleton comprises: a finger
  • exoskeleton assembly 107 Including an actuator assembly 300, a kinematic termination 190, a force transmission element 202, and a mechanical ground connection 304.
  • Force transmission element 202 Is mechanically coupled to kinematic termination 190, and Is variably coupled to mechanical ground connection 304 by means of actuator 308 (FIG. 3) .
  • Enabling actuator 308 (FIG. 3) modifies the net force on the user's finger, preferably by means of modifying the physically-defined Impedance of finger exoskeleton assembly 107 by controlling the extent of mechanical coupling between force transmission element 202 and mechanical ground connection 304.
  • FIG. 2 shows an exploded perspective view of the fingertip assembly 200 of a haptic feedback glove, in accordance with one embodiment, comprising a kinematic termination 190.
  • Kinematic termination 190 comprises a load path from a user' s fingertip to force transmission element 202, comprising: intermediate layer 208; coupled to interface laminate segment 204; coupled in turn to fingertip counterpressure assembly 250; and finally, to force transmission element 202, by means of projection 260, through-hole 261, and guide slot 254.
  • stiffness of kinematic termination 190 and the ability to accommodate a wide range of finger sizes.
  • compliant fingertip counterpressure assembly 250 will enable fingertip assembly 200 to stretch to fit a greater range of finger sizes, while still providing effective counterpressure, at the expense of reducing the effective stiffness of the constraint to finger motion imposed by finger exoskeleton assembly 107 (FIG. 1A) .
  • Finger motion acting against the finger exoskeleton assembly 107 results in reaction forces which are distributed via the load path of kinematic termination 190 to the user's finger.
  • this termination of reaction forces occurs at the distal phalange of the finger. More preferably, this termination of reaction forces is distributed approximately evenly across the palmar surface of said phalange.
  • the kinematic termination 190 is preferably shaped to minimize
  • interface laminate segment 204 acts to distribute the net force on the user's fingertip produced by the action of finger exoskeleton assembly 107 via kinematic termination 190, such that point forces at the fingertip approximate the physical point forces resulting from a particular object interaction. For example, pressing on a simulated pin and a simulated flat surface in a virtual environment might produce identical net forces on the user' s fingertip, as rendered by the action of finger exoskeleton assembly 107; however, these interactions would produce very different point forces on the skin of the fingertip as rendered by the action of tactile actuators 205 of interface laminate segment 204.
  • exoskeleton assembly 107 results in forces which are transmitted from kinematic termination 190 to mechanical ground connection 304 via force transmission element 202.
  • Force transmission element 202 can be designed to transmit both tensile and compressive forces (e.g. a continuous mechanical linkage) , compressive forces only (e.g. a series of disconnected linkages sharing a common centerline) , or tensile forces only (e.g. a cable).
  • force transmission element 202 is a tendon located on the dorsum of the user's hand that transmits tensile forces, applying forces to the user' s finger during grasping motions involving finger flexion while allowing unhindered finger extension.
  • Force transmission element 202 is preferably ribbon shaped (i.e. having a ratio of width to thickness of at least 10) , and composed of nylon or another suitable polymer or non-polymer material with minimal elongation under tensile load, a smooth surface finish, flexibility under bending load, high toughness, and a low coefficient of friction relative to any bearing surfaces - e.g. actuator casing lower lip 307, and upper lip 315 (FIG. 3) , or force transmission element guide slots 119, 121.
  • Cross section can vary across the length of a force transmission element.
  • the portion of force transmission element 202 contacting actuator assembly 300 can be ribbon shaped to maximize contact area between the actuator assembly 300 and the force transmission element 202, while other portions of the force transmission element 202 have a circular cross section.
  • Force transmission element 202 is coupled to the user's finger by means of kinematic termination 190. Said force transmission element 202 is then coupled to force transmission guides 118 and 120, which are in turn coupled to the intermediate and proximal phalanges of the user's finger. Force transmission element 202 is free to slide proximodistally via force transmission element guide slots 119, 121 in force transmission guides 118, 120, but is substantially fully constrained in all other axes of motion. During flexion of the user's finger, when finger exoskeleton assembly 107 is active, force
  • the height of force transmission element guide slots 119, 121 relative to the user' s finger strongly Influences both the magnitude and vector of force that will be applied to the kinematic termination 190 for a given tensile force on force transmission element 202 and a given position of the user's finger.
  • said height of force transmission element guide slots 119, 121 Is greater than 0.5 cm and less than 5 cm. In a more preferred embodiment, said height of force transmission element guide slots 119, 121 Is greater than 1 cm and less than 2.5 cm.
  • Elastic straps 122, 124 secure force transmission guides 118, 120 to the Intermediate and proximal
  • Said elastic straps 122, 124 are preferably composed of an elastic fabric, such as Lycra, but can also be composed of an elastomer or other suitable elastic material. As with fingertip
  • elastic straps 122, 124 are preferably coupled to fabric substrate 115 to facilitate the donning of a haptlc feedback glove as a single unit, In the manner of a typical glove.
  • force transmission element 202 Is coupled to a vibration actuator, of any of the types described above, located proximally to fingertip assembly 200. Vibrations from said actuator are transmitted to fingertip assembly 200 by means of force transmission element 202, particularly when under tension.
  • FIG. 3 shows an exploded perspective view of an actuator 308 interacting with a force transmission element 202, in accordance with one embodiment.
  • An actuator assembly 300 comprises an actuator 308.
  • Actuator 308 is configured to produce a variable force or
  • actuator 308 is a miniature fluidic actuator constructed in a similar manner to a fluidic actuator of a tactile actuation laminate (as detailed in U.S. Patent
  • Actuator 308 comprises an elastic membrane 320 bonded to a substrate 322 to form a plurality of
  • actuation chambers 310, 324, 326 A pressurized fluid is supplied to actuator 308 by means of tube 131, via supply orifice 328.
  • Elastic membrane 320 can be controllably actuated by regulating the volume or pressure of working fluid flowing into and out of actuation chambers 310, 324, 326.
  • actuator 308 comprises a solid-state actuator (such as a piezoceramic or piezopolymer, or non-piezoelectric electroactive polymer actuator) , an electromechanical actuator (such as a solenoid, voice coil, a brushed or brushless DC motor, or an AC induction or synchronous motor) , or any other suitable actuator detailed in in U.S. Patent Application No. 15/372,362.
  • Actuator 308 is preferably configured to produce a force of at least 10 N. In a more preferred embodiment, actuator 308 is configured to produce a force of at least 25 N. Actuator 308 is preferably configured to produce a displacement of at least 0.5 mm.
  • the upper surface of actuator 308 preferably comprises an elastic material with a high coefficient of friction in contact with the material of force transmission element 202, such as
  • actuator 308 is configured as a variable mechanical impedance brake.
  • actuator 308 comprises an active actuation element configured to apply a variable force to force transmission element 202, in addition to said variable impedance brake (in mechanical serial or parallel configurations), or instead of it.
  • This alternate embodiment and other suitable embodiments are described in detail in U.S. Patent Application No. 15/372,362.
  • Actuator housing 192 (FIG. 1) comprises upper housing 316 coupled to lower housing 306. Actuator 308 is coupled to the upper face of lower housing 306. Traction membrane 314 is coupled to the lower face of upper housing 316. In actuator's 308 off state, actuator housing 192 (FIG. 1) is coupled to force transmission element 202 by means of lower lip 307 and upper lip 315, thus preventing direct contact between force transmission element 202 and actuator 308 or traction membrane 314. In actuator's 308 on state, force transmission element 202 is frictionally coupled to actuator 308 and traction membrane 314 by the orthogonal displacement of actuator 308. Actuator 308 can be configured for binary control - acting like a simple brake - or proportional control - allowing the application of multiple intermediate levels of force to force transmission element 202 between full on and full off.
  • Actuator housing 192 supports actuator 308 and traction membrane 314, applying a normal force during actuation to maintain contact between actuator 308, traction membrane 314, and force transmission element 202.
  • Traction membrane 314 is preferably included in actuator assembly 300 to maximize the holding force between actuator 308 and force transmission element 202.
  • traction membrane 314 comprises a material similar to the upper surface of actuator 308.
  • traction membrane 314 comprises a ratchet-like mechanism, having teeth or other projections that mate with similar projections on the surface of force transmission element 202 to increase the effective coefficient of friction between the two surfaces.
  • traction membrane 314 is replaced with a second actuator above force transmission element 202.
  • the opening in actuator housing 192 (FIG. 1) formed by upper lip 315 and lower lip 307 has a width sufficient to allow for some angular play of force transmission element 202 as the user's finger ad- and abducts. Said angular play permits substantially
  • Actuator housing 192 (FIG. 1) is coupled to mechanical ground by means of mechanical ground
  • connection 304
  • a single finger exoskeleton assembly 107 is shown coupled to the user's thumb.
  • a second finger exoskeleton assembly is additionally coupled to the thumb to control motion of the metacarpal.
  • Reaction forces from the action of actuator 308 must be transferred to mechanical ground to produce a net force on the user's finger.
  • mechanical ground comprises the user's palm and wrist. Reaction forces from the action of actuator 308 are transferred to opisthenar plate 111 by means of
  • Said armature preferably distributes reaction forces generated by actuator 308 across the skin surface of the user' s hand and arm as evenly as possible to minimize anomalous point forces.
  • reaction forces from the action of actuator 308 are transferred to an external mechanical structure, such as an arm exoskeleton, preferably by means of a temporary coupling point.
  • FIG. 1A shows a preferred embodiment of a finger exoskeleton assembly 107, comprising a tensioning mechanism 143.
  • Said tensioning mechanism is coupled to force transmission element 202, and serves to keep it under a nominal amount of tension during the operation of finger exoskeleton assembly 107.
  • Tensioning mechanism 143 comprises an elastic band
  • Termination block 140 Is coupled to oplsthenar plate 111, and In turn to the user's hand by means of fabric substrate 115 and wrist strap 116, among other elements.
  • tensioning mechanism 143 are additionally coupled to interface laminate ribbon assembly 207 to minimize slack in said ribbon assembly 207.
  • slack in interface laminate ribbon assembly 207 won't compromise the function of interface laminate segment 204; however, slack in ribbon assembly 207 is undesirable as it will cause ribbon assembly 207 to protrude unnecessarily above the user's fingers during flexion. This protrusion increases the profile of a haptic feedback glove and introduces a risk of the user' s fingers becoming tangled in ribbon assembly 207.
  • 143 comprises an actuator of any of the types
  • Said actuator can also be used to actuate finger exoskeleton assembly 107, as described above .
  • FIG. 8 shows a block diagram of a haptic feedback glove, in accordance with one embodiment.
  • ⁇ haptic feedback glove preferably comprises a position sensor 832 configured to transduce the position or angle 822 of a digit of the user' s hand, and a position sensor 832 configured to transduce the position or angle 820 of the palm of the user's hand.
  • Many position sensors 832 suitable for capturing hand motion are described in U.S. Patent Application No. 15/372,362.
  • a haptic feedback glove can also comprise one or more force sensors 830 configured to transduce a point force 824 on the user's skin, or a net force/torque 826 on a digit of the user' s hand to enable closed loop force control.
  • force sensors 830 are described in U.S. Patent Application No. 15/372,362.
  • a magnetic position sensor 135 on the fingertip, and a magnetic position sensor (not shown) on the palm are used to transduce hand position.
  • the magnetic sensor on the palm is replaced with an optical sensor.
  • the haptic feedback glove is coupled to an arm
  • the magnetic sensor on the palm is obviated by position information supplied by the arm exoskeleton.
  • a first palm sensor is placed between the second and third metacarpals, and a second palm sensor is placed between the fourth and fifth metacarpals to transduce motion of the carpometacarpal joints of the pinky and/or ring finger.
  • a magnetic emitter (not shown) coupled to the user's hand emits a magnetic field.
  • the strength of the magnetic field is employed by magnetic position sensor 135 to transduce its position relative to the emitter.
  • Such magnetic emitters are well known in the art.
  • said emitter is located off the user's body.
  • biosignal sensors are included in the haptic feedback glove, as described in U.S. Patent Application No. 15/372,362.
  • a veneer layer (not shown) is included over a haptic feedback glove.
  • this veneer layer simply comprises a thin fabric glove.
  • the veneer layer includes rigid elements, particularly on the dorsal surface of the hand. The veneer layer serves to protect the functional components of a haptic feedback glove during operation and enhance the aesthetic appeal of the haptic feedback glove.
  • an undersuit glove is donned by the user before donning a haptic feedback glove.
  • Said undersuit glove prevents direct skin contact between the user and the inside of the haptic feedback glove.
  • the use of an undersuit glove reduces the need to clean the haptic feedback glove, and offers improved hygiene, particularly in cases where a single haptic feedback glove is shared between multiple users. Said undersuit is described in greater detail in U.S. Patent Application No. 15/372,362.

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

L'invention concerne un système d'interface homme-ordinateur qui comprend : un capteur configuré pour transduire l'emplacement d'un doigt d'une main d'un utilisateur ; un exosquelette comprenant : une terminaison cinématique conçue pour échanger de l'énergie mécanique avec le doigt de la main, un élément de transmission de force, un actionneur et une masse mécanique ; et un vêtement d'interface, comprenant : un stratifié d'interface couplé à un ensemble de contre-pression, configuré pour stimuler l'utilisateur par application d'une pression au doigt.
PCT/US2018/030106 2017-05-19 2018-04-30 Gant de rétroaction haptique WO2018212971A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US15/599,471 2017-05-19
US15/599,470 2017-05-19
US15/599,471 US20180335842A1 (en) 2017-05-19 2017-05-19 Haptic feedback glove
US15/599,470 US20180335841A1 (en) 2017-05-19 2017-05-19 Haptic feedback glove

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WO2018212971A1 true WO2018212971A1 (fr) 2018-11-22

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109625137A (zh) * 2019-01-11 2019-04-16 海南大学 一种二轮平衡车
CN110625591A (zh) * 2019-04-09 2019-12-31 华南理工大学 一种基于外骨骼数据手套和遥操纵杆的遥操作系统与方法
US11531391B2 (en) 2020-10-09 2022-12-20 Contact Control Interfaces, LLC Tendon driven exoskeleton tightening mechanism
WO2023239305A1 (fr) * 2022-06-07 2023-12-14 National University Of Singapore Actionneur de chambre continu

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US5512919A (en) * 1992-03-31 1996-04-30 Pioneer Electronic Corporation Three-dimensional coordinates input apparatus
US5898599A (en) * 1993-10-01 1999-04-27 Massachusetts Institute Of Technology Force reflecting haptic interface
US6435794B1 (en) * 1998-11-18 2002-08-20 Scott L. Springer Force display master interface device for teleoperation
US20060115348A1 (en) * 1990-02-02 2006-06-01 Kramer James F Force feedback and texture simulating interface device
US20160259417A1 (en) * 2014-07-21 2016-09-08 Dexta Robotics Hand exoskeleton force feedback system

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Publication number Priority date Publication date Assignee Title
US20060115348A1 (en) * 1990-02-02 2006-06-01 Kramer James F Force feedback and texture simulating interface device
US5512919A (en) * 1992-03-31 1996-04-30 Pioneer Electronic Corporation Three-dimensional coordinates input apparatus
US5898599A (en) * 1993-10-01 1999-04-27 Massachusetts Institute Of Technology Force reflecting haptic interface
US6435794B1 (en) * 1998-11-18 2002-08-20 Scott L. Springer Force display master interface device for teleoperation
US20160259417A1 (en) * 2014-07-21 2016-09-08 Dexta Robotics Hand exoskeleton force feedback system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109625137A (zh) * 2019-01-11 2019-04-16 海南大学 一种二轮平衡车
CN110625591A (zh) * 2019-04-09 2019-12-31 华南理工大学 一种基于外骨骼数据手套和遥操纵杆的遥操作系统与方法
US11531391B2 (en) 2020-10-09 2022-12-20 Contact Control Interfaces, LLC Tendon driven exoskeleton tightening mechanism
WO2023239305A1 (fr) * 2022-06-07 2023-12-14 National University Of Singapore Actionneur de chambre continu

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