HAPTIC INTERFACE WITH LOCALIZED FEEDBACK
First Claim
1. A haptic robotic interface for recreating a virtual environment in a real environmentcomprising:
- a. a grounded portion configured for being in a grounded configuration with respect to the real environment in which the haptic device is located;
b. a user-manipulable portion movable by a user with respect to the grounded portion;
c. at least one haptic feedback device in mechanical connection to the user-manipulable portion, the haptic feedback device being actuatable under an input to apply a force to the user-manipulable portion to simulate the application of a force in the virtual environment;
d. an audio output device located on the user-manipulable portion providing environmental information on the virtual environment.
1 Assignment
0 Petitions
Accused Products
Abstract
Improvement to haptic systems and methods whereby environmental information is provided to a user via audio output device. The audio output device may be provided on a user-manipulable portion of a haptic robotic interface, e.g. a kinesthetic interface. The haptic robotic interface at least partially recreates a virtual environment by providing haptic feedback. The audio output device may provide sound from a source in the virtual environment which may be collocated with the user-manipulable portion of the robotic interface. The audio output device may provide other environmental information on the virtual environment such as proximity information on the proximity of an obstacle. This may be used in, e.g. telemanipulation operations where proximity information may be used to provide warning prior to collision of the slave device with an obstacle.
12 Citations
24 Claims
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1. A haptic robotic interface for recreating a virtual environment in a real environment
comprising: -
a. a grounded portion configured for being in a grounded configuration with respect to the real environment in which the haptic device is located; b. a user-manipulable portion movable by a user with respect to the grounded portion; c. at least one haptic feedback device in mechanical connection to the user-manipulable portion, the haptic feedback device being actuatable under an input to apply a force to the user-manipulable portion to simulate the application of a force in the virtual environment; d. an audio output device located on the user-manipulable portion providing environmental information on the virtual environment. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A telemanipulation system comprising:
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a. a first robotic interface for recreating in a first real environment a virtual environment simulating a second real environment comprising; i. a grounded portion configured for being in a grounded configuration with respect to the first real environment; ii. a user-manipulable portion movable by a user with respect to the grounded portion; iii. at least one haptic feedback device in mechanical connection to the user-manipulable portion, the haptic feedback device being actuatable under an input to apply a force to the user-manipulable portion to simulate the application of a force in the virtual environment; and iv. an audio output device located on the user-manipulable portion providing environmental information on a remote environment; v. a first robotic interface communication interface configured for; 1. transmitting in response to a user manipulation a user state data indicative of the user manipulation, and 2. receiving environmental information data; b. a second robotic interface for being controlled in the second real environment comprising; i. an actuatable portion configured to be actuated in the second real environment in response to actuation data; ii. a grounded portion configured for being fixed relative to the actuatable portion such that when actuated the actuatable portion moves in relation to the grounded portion; iii. an environmental information sensor configured for sensing an environmental condition and for generating an output representative of the environmental condition; iv. a second robotic interface communication interface configured for; 1. receiving from the first robotic interface the state data from the first robotic interface, deriving therefrom actuation data, and providing the actuation data to the actuatable portion, and 2. generating on the basis of the output of the environmental sensor environmental information data for transmission to the first robotic interface. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21)
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22. A method of creating a realistic virtual environment using a haptic robotic interface device in a real environment, the method comprising:
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a. accepting user manipulations on a haptic robotic interface at a user-manipulable portion, the user manipulation corresponding to manipulation commands for an object in the virtual environment; b. providing haptic feedback to the user-manipulable portion to simulate the virtual environment; c. receiving from an external source environmental information data representative of environmental information; d. providing at an audio output device on the user-manipulable portion an audio representation of the environmental information. - View Dependent Claims (23, 24)
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Specification