Actuator system for providing force feedback to a dextrous master glove
First Claim
1. An actuator system for use with a glove having a palm surface, a plurality of digits and back surface with a plurality of sensors mounted thereon for generating electrical signals responsive to the movement of said digits, said system comprising:
- a first digit support connectable to a first digit of said glove;
a palm support spaced from said first digit support and positionable on the palm surface of said glove;
a first actuator means comprising a pneumatic cylinder, extending between said supports for providing force feedback to said first digit support as a result of electrical signals generated by at least one of said sensors; and
,a first sphere joint for connecting said first actuator means to said palm support, said first sphere joint including an air passageway for communicating with said first pneumatic cylinder.
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Accused Products
Abstract
An actuator system provides force feedback to a dextrous master glove. A first, second and third digit support are connectable by hook and loop fasteners to the thumb, index and middle digits of the glove, respectively. First, second and third actuators comprising pneumatic cylinders extend between the first, second and third digit supports and an "L" shaped palm support mountable on the palm of the glove. Sensors mounted on the back of the glove provide electrical signals that are interpreted by a glove interface and forwarded to a host computer. The host computer computes the movement of the glove and provides feedback through a digital-to-analog circuit, and an actuator interface to the first, second and third actuators. Sphere joints connect the first, second and third actuators to the palm support. Each sphere joint includes an air passageway that communicates with the pneumatic force feedback cylinders in the actuators. Cylindrical joints connect the first, second and third digit supports to the first, second and third actuators. The spherical joints permit rotation in a cone of about 60° and provide for realistic three-dimensional manipulation in a compact environment.
263 Citations
13 Claims
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1. An actuator system for use with a glove having a palm surface, a plurality of digits and back surface with a plurality of sensors mounted thereon for generating electrical signals responsive to the movement of said digits, said system comprising:
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a first digit support connectable to a first digit of said glove; a palm support spaced from said first digit support and positionable on the palm surface of said glove; a first actuator means comprising a pneumatic cylinder, extending between said supports for providing force feedback to said first digit support as a result of electrical signals generated by at least one of said sensors; and
,a first sphere joint for connecting said first actuator means to said palm support, said first sphere joint including an air passageway for communicating with said first pneumatic cylinder. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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Specification