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Tactile interface apparatus for providing physical feedback to a user based on an interaction with a virtual environment

  • US 5,737,505 A
  • Filed: 10/15/1996
  • Issued: 04/07/1998
  • Est. Priority Date: 01/11/1995
  • Status: Expired due to Fees
First Claim
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1. Tactile interface apparatus comprising:

  • a mounting means;

    a left interface arm comprising a left upper arm and a left forearm, the left interface arm for providing physical feedback to a left human arm, the left upper arm and the left forearm being coupled to one another for rotation about a left elbow hinge;

    a right interface arm comprising a right upper arm and a right forearm, the right interface arm for providing physical feedback to a right human arm, the right upper arm and the right forearm being coupled to one another for rotation about a right elbow hinge;

    a left mechanical shoulder rotatably coupling the left interface arm to the mounting means, the left mechanical shoulder permitting rotation of the left upper arm with respect to the mounting means about a left shoulder pivot;

    a right mechanical shoulder rotatably coupling the right interface arm to the mounting means, the right mechanical shoulder permitting rotation of the right upper arm about a right shoulder pivot;

    left actuating means being operable in response to a left output signal to cause rotation of the left forearm relative to the left upper arm, and simultaneously to cause rotation of the left upper arm relative to the mounting means, thereby to exert forces on the left human arm in use;

    right actuating means being operable in response to a right output signal to cause rotation of the right forearm relative to the right upper arm, and simultaneously to cause rotation of the right upper arm relative to the mounting means, thereby to exert forces on the right human arm in use;

    sensing means for providing input signals representative of the relative locations of the left forearm, the left upper arm and the mounting means, and representative of the relative locations of the right forearm, the right upper arm and the mounting means; and

    processing means for providing a virtual environment and for determining an interaction of the human operator with the virtual environment in use, the interaction being determined from the virtual environment and the input signals, the processing means further providing the left and right output signals to the left and right actuating means respectively based on said determined interaction, thereby to exert forces on the left and right human arms in use.

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