FORCE FEEDBACK AND TEXTURE SIMULATING INTERFACE DEVICE

• US 20010043847A1
• Filed: 11/15/1999
• Published: 11/22/2001
• Est. Priority Date: 02/02/1990
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: James Kramer
• Inventors: KRAMER, JAMES F.
• Granted Patent: US 6,979,164 B2
• Time in Patent Office: Days
• US Class Current: 414/5
• CPC Class Codes: B25J 13/025 comprising haptic means
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/014 Hand-worn input/output arrangements, e.g. data gloves
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

A man-machine interface is disclosed which provides force, texture, pressure and temperature information to sensing body parts. The interface is comprised of a force-generating device (900) that produces a force which is transmitted to a force-applying device (902) via force-transmitting means (908). The force-applying device applies the generated force to a sensing body part. A force sensor (909) associated with the force-applying device measures the actual force applied to the sensing body part, while angle sensors (917) measure the angles of relevant joint body parts. A computing device (911) uses the joint body part position information to determine a desired force value to be applied to the sensing body part. The computing device combines the joint body part position information with the force sensor information to calculate the force command which is sent to the force-generating device. In this manner, the computing device may control the actual force applied to a sensing body part to a desired force which depends upon the positions of related body parts. In addition, the interface is comprised of a displacement-generating device (901) which produces a displacement which is transmitted to a displacement-applying device (902) (e.g., a texture simulator) via displacement-generating means (920). The displacement-applying device applies the generated displacement to a sensing body part. The force-applying device and displacement-applying device may be combined to simultaneously provide force and displacement information to a sensing body part. Furthermore, pressure and temperature-applying devices may be combined to also provide pressure and temperature sensations to a sensing body part. In addition, a force-applying device may be attached to a sensing body part and apply force to the sensing body part, where the force is applied relative to a reference location not rigidly affixed to the living body.

Claims

1. A device for producing a signal at a hand part simulating the interaction between an interactive entity and a virtual or physical object, said device comprising:

means for generating a force simulating the interaction between said interactive entity and said object; and

means for applying a change in physical condition to said hand part or a second hand part; and

at least one of;

(a) means for applying said generated force between said hand part and another body part which serves as a non-sensing part;

or

(b) means for applying said generated force to said hand part, said applying means comprising an entity displaced from said hand part in a first unactivated position and touching said hand part in a second activated position.

2. A device according to

claim 1

, wherein said means for applying a change in physical condition to said hand part comprises at least one of heat and/or cooling means or pressure means.

3. A device according to

claim 2

, wherein said heat means comprises a heating element.

4. A device according to

claim 2

, wherein said cooling means comprises a circulating cooling fluid.

5. A device according to

claim 2

, wherein said pressure means comprises at least one diaphragm or bellows.

6. A device according to

claim 1

, wherein said means for applying said generated force to said hand part comprises said means for applying a change in physical condition.

7. A device according to

claim 1

, further comprising:

second force generating means;

means for applying said second generated force to said hand part to produce a displacement of one or a plurality of texture elements, each element comprising an extendible and retractable pin or a focused fluid stream.

14. A device according to

claim 2

, wherein said pressure means comprises at least one voice-coil actuator.

8. A device for producing a signal at a sensing body part simulating the interaction between an interactive entity and a virtual or physical object, said device comprising:

means for generating a force simulating the interaction between said interactive entity and said object; and

positioning means for spatially positioning said second body part; and

at least one of;

(a) first means for applying said generated force between said sensing body part and a second body part which serves as a non-sensing part; and

(b) second means for applying said generated force to said sensing body part, said applying means comprising an entity displaced from said sensing body part in a first unactivated position and touching said sensing body part in a second activated position.

9. A device according to

claim 8

, further comprising means for applying a change in physical condition to said hand part or a second hand part.

10. A device according to

claim 8

, further comprising:

second force generating means;

means for applying said second generated force to produce a displacement of one or a plurality of texture elements, each element comprising an extendable and retractable pin or a focused fluid stream.

11. A device according to

claim 10

, further comprising means for applying a change in physical condition to said hand part or a second hand part.

12. A device according to

claim 8

, wherein said sensing body part is a hand part and said positioning means comprises:

a wrist band;

means for moving said wrist band in response to said interaction; and

support means for supporting said moving means.

13. A device according to

claim 12

, wherein said moving means comprises one of:

(a) i. a multiarticulated system, wherein the elements of the system are connected by a revolute or prismatic joint; and

ii. motor means for actuating said joints;

(b) at least one rigid extensible and retractable element;

(c) at least two flexible retractable elements.