Actuator system for providing force feedback to portable master support
First Claim
1. An actuator system for placement in a hand comprising:
- a first digit support connectable to a first digit of said hand;
a palm support spaced from said first digit and positionable on the palm surface of said hand;
a first sensor means for generating electrical signals attached to said first digit support and a first actuator means and responsive to movement of said first digit;
said first actuator means extending between said first digit support and said palm support for providing force feedback to said first digit support as a result of said electrical signals generated by said first sensor means;
a first mount for connecting said first actuator means to said palm support; and
a first rotary sensor means attached to said first mount for measuring rotation of said first actuator means wherein said first rotary sensor measures an azimuthal angle ψ and
a declination angle φ
.
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Accused Products
Abstract
An actuator system provides force feedback to a master support. A first, second and third digit support are connectable by a finger mount to the thumb, index and middle, and ring digits, respectively. First, second, third and fourth actuators comprising pneumatic cylinders extend between the first, second, third and fourth digit supports and an "L" shaped palm support mountable on the palm of the glove. Sensors are mounted to the pneumatic cylinders to provide electrical signals on the positioning of the fingers. The signals are forwarded by a stand alone feature to a host computer. The host computer computes the positioning of the finger and provides feedback through interface to the first, second and third actuators. Azimuthal mounts connect the first, second, third and fourth actuators to the palm support for increased movement of the digits.
380 Citations
16 Claims
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1. An actuator system for placement in a hand comprising:
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a first digit support connectable to a first digit of said hand; a palm support spaced from said first digit and positionable on the palm surface of said hand; a first sensor means for generating electrical signals attached to said first digit support and a first actuator means and responsive to movement of said first digit; said first actuator means extending between said first digit support and said palm support for providing force feedback to said first digit support as a result of said electrical signals generated by said first sensor means; a first mount for connecting said first actuator means to said palm support; and a first rotary sensor means attached to said first mount for measuring rotation of said first actuator means wherein said first rotary sensor measures an azimuthal angle ψ and
a declination angle φ
. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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Specification