Exoskeleton device for directly measuring fingertip position and inferring finger joint angle

• US 6,110,130 A
• Filed: 10/24/1997
• Issued: 08/29/2000
• Est. Priority Date: 04/21/1997
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Virtual Technologies, Inc. (Immersion Corporation)
• Inventors: Kramer, James F.
• Primary Examiner(s): O'Connor, Cary
• Assistant Examiner(s): WINGOOD, PAMELA LYNN
• Application Number:
  US08/957,696
• Time in Patent Office: 1,040 Days
• Field of Search: 600/587, 600/595
• US Class Current: 600/595
• CPC Class Codes: A61B 2562/0261 Strain gauges
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 5/1071 measuring angles, e.g. using goniometers A61B5/1123 takes precedence
• CPC Class Codes: A61B 5/1116 Determining posture transitions
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61B 5/6825 Hand
• CPC Class Codes: A61B 5/6826 Finger
• CPC Class Codes: A61B 5/6831 Straps, bands or harnesses
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: B25J 9/0006 Exoskeletons, i.e. resembling a human figure
• 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

Abstract

An exoskeleton device is provided for measuring positions of links and angles of joints of an animate body, where the body comprises a plurality of links joined by intervening joints. The device is affixed at a first mobile terminus of said animate body and a second fixed terminus, having device links displaced from animate links, where the device links are connected by device joints and having sensor means for measuring the angle of the device joints. Using the signals from the sensor means, one can determine the position of the terminal device link and based on knowledge of the animate body structure, calculate the animate angle joints.

Claims

1. A device for measuring the relative placement of two terminal animate links separated by at least two animate joints of at least one animate kinematic chain using a device kinematic chain extending over said animate kinematic chain, said device comprising:

individual attachments for attaching to each of said two terminal animate links;

at least four sensing device joints in said device chain displaced from said animate joints, wherein two sensing device joints are situated on opposite ends of the same device link in said device kinematic chain, the number of said sensing device joints being at least sufficient to determine the relative placement of said two terminal animate links;

each said sensing device joint comprising means for producing electrical signals related to the angle of said sensing device joint;

five device links in series joined by said four sensing device joints as members of said device kinematic chain, with individual device links connected to each of said attachments and displaced from said animate links; and

signal transmission means for transmitting said electrical signals to a signal processing means to determine the relative placement of said two terminal animate links.

2. A device according to claim 1, wherein the axes of at least three device joints are parallel and one axis is orthogonal to the other axes.

3. A device for measuring the relative placement of two terminal animate links separated by at least two animate joints of at least one animate kinematic chain comprising a portion of a hand including at least a portion of a finger, said device comprising:

(1) at least one device kinematic chain comprising;

two attaching means for individual attachment to said two terminal animate links, wherein said attaching are connected to separate attached links in said device kinematic chain;

at least three device joints comprising at least two sensing device joints; and

at least two device links other than said attached links;

wherein two sensing device joints are attached to and situated on opposite ends of a single device link in said device kinematic chain, the number of sensing device joints being at least sufficient to determine the relative placement of said two terminal animate links; and

each said sensing device joint comprising means for producing electrical signals related to the angle of said sensing device joint; and

(2) signal transmission means for transmitting said electrical signals to a signal processing means to determine the relative placement of said two terminal animate links.

4. A device according to claim 3, wherein said terminal animate links are the distal phalanx of said finger and the metacarpus of said hand, and said two attaching means comprise a first attachment means for connection to said distal phalanx of sail finger and a second attachment means for connection to said metacarpus of said hand.

5. A device for measuring the relative placement of two terminal animate links separated by an animate joint of at least one animate kinematic chain comprising a portion of a hand including at least a portion of a finger, said device comprising:

(1) at least two device kinematic chains comprising;

two attaching means for individual attachment to said two terminal animate links wherein said attaching means are connected to separate attached links in said device kinematic chain;

at least three device joints comprising at least two sensing device joints; and

at least two device links other than said attached links;

wherein two sensing device joints are situated on opposite ends of a device link in said device kinematic chain, the number of sensing device joints being at least sufficient to determine the relative placement of said two terminal animate links; and

each said sensing device joint comprising means for producing electrical signals related to the angle of said sensing device joint; and

(2) signal transmission means for transmitting said electrical signals to a signal processing means to determine the relative placement of said two terminal animate links.

6. A device according to claim 5, wherein two of said device kinematic chains share a common attached link at the metacarpus of said hand.

7. A method for measuring the relative placement of two terminal animate links separated by at least two animate joints of at least one animate kinematic chain using a device kinematic chain extending over said animate kinematic chain, said method comprising steps of:

individual attachments for attaching to each of said two terminal animate links;

sensing the relative placement of said two terminal animate links including sensing an angle of each of at least four sensing device joints in said device kinematic chain displaced from said animate joints, wherein two of said sensed device joints are situated on opposite ends of the same device link in said device kinematic chain;

generating electrical signals related to said sensed angles;

connecting five device links in series joined by said at least four sensing device joints as members of said device kinematic chain, and connecting individual device links to each of said attachments and displaced from said animate links; and

transmitting said generated electrical signals to a signal processing means; and

determining the relative placement of said two terminal animate links based on said generated electrical signals.

8. A method according to claim 7, wherein the axes of at least three of said sensed device joints are oriented parallel and one of said sensed device joint axis is orthogonal to the other three axes.

9. A method according to claim 7, wherein said determining uses inverse kinematics processing.