Force feedback and texture simulating interface device

• US 7,390,157 B2
• Filed: 10/03/2005
• Issued: 06/24/2008
• Est. Priority Date: 02/02/1990
• Status: Expired due to Fees

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Kramer, James F.
• Primary Examiner(s): Underwood; Donald
• Application Number:
  US11/243,470
• Publication Number:
  US 20060115348A1
• Time in Patent Office: 995 Days
• Field of Search: 414/4, 414/5, 414/6, 414/7, 414/2, 901/33, 901/34, 340/407.1
• US Class Current: 414/5
• CPC Class Codes: B25J 13/025 comprising haptic means
• 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
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

A man-machine! interface is disclosed which provides force, texture, pressure and temperature information to sensing body parts. The interface is comprised of a force-generating device (900) that produces a force which is transmitted to a force-applying device (902) via force-transmitting means (908). The force-applying device applies the generated force to a sensing body part A force sensor (909) associated with the force-applying device measures the actual force applied to the sensing body part, while angle sensors (9171 measure the angles of relevant joint body parts. A computing device (911) uses the joint body part position information to determine a desired force value to be applied to the sensing body part. The computing device combines the joint body part position information with the force sensor information to calculate the force command which is sent to the force-generating device. In this manner, the computing device may control the actual force applied to a sewing body part to a desired force which depends upon the positions of related body parts. In addition, the interface is comprised of a displacement-generating device (901) which produces a displacement which is transmitted to a displacement-applying device (902) (e.g., a texture simulator) via displacement-generating means (920). The displacement-applying device applies the generated displacement to a sensing body part. The force-applying device and displacement-applying device may be combined to simultaneously provide force and displacement information to a sensing body part. Furthermore, pressure and temperature-applying devices may be combined to also provide pressure and temperature sensations to a sensing body part. In addition, a force-applying device may be attached to a sensing body part and apply force to the sensing body part, where the force is applied relative to a reference location not rigidly affixed to the living body.

Claims

1. An apparatus, comprising:

a feedback member including a jointed hinge member having at least a first portion and a second portion, at least one of the first portion and the second portion configured to output a sensation to a body part of a user, the sensation associated with a position signal;

a first sensor configured to output the position signal, the position signal being associated with a position of the feedback member;

an actuator, the actuator and the feedback member collectively being configured to output sensation feedback based on the position signal; and

a second sensor configured to measure the sensation feedback output collectively by the actuator and the feedback member.

2. The apparatus of claim 1 wherein the sensation is a sensation selected from the group consisting of pressure, tension, temperature, texture, and combinations thereof.

3. An apparatus comprising:

a feedback member including a sensation applying platform, the sensation applying platform configured to output a sensation to a body part of a user, the sensation associated with a sensation feedback;

a first sensor configured to output a position signal, the position signal configured to associate with a position of the feedback member;

an actuator, the actuator and the feedback member collectively configured to output the sensation feedback in response to the position signal;

a second sensor configured to measure the sensation feedback output collectively by the actuator and the feedback member; and

a feedback interface, the sensation applying platform being biased away from the feedback interface by a biasing member.

4. The apparatus of claim 3 wherein the sensation is a sensation selected from the group consisting of pressure, tension, temperature, texture, and combinations thereof.

5. An apparatus comprising:

a feedback member including a sensation applying platform, the sensation applying platform being configured to output a sensation to a body part of a user, the sensation associated with a sensation feedback;

a first sensor configured to output a position signal, the position signal being associated with a position of the feedback member;

an actuator, the actuator and the feedback member collectively being configured to output the sensation feedback based on the position signal; and

a second sensor configured to measure the sensation feedback output collectively by the actuator and the feedback member, the second sensor including a sensation sensing platform, the sensation sensing platform being configured to determine a magnitude of the sensation applied by the sensation applying platform.

6. The apparatus of claim 5 wherein the sensation is a sensation selected from the group consisting of pressure, tension, temperature, texture, and combinations thereof.

7. The apparatus of claim 5 wherein the sensation feedback is applied at least in part by a fluid.

8. The apparatus of claim 5 wherein the sensation feedback is a simulated texture and the sensation applying platform includes at least one texture-simulating element configured to simulate texture associated with the sensation feedback.

9. The apparatus of claim 5 wherein the feedback member further includes:

an elongated element; and

at least one guide element coupled to the elongated element, the elongated element being configured to output sensation feedback based an a sensation feedback signal.

10. The apparatus of claim 9 wherein the elongated element is a tendon.

11. The apparatus of claim 9 wherein the elongated element is a tubular member carrying a fluid.

12. An apparatus, comprising:

a feedback member including a sensation applying platform, the sensation applying platform including at least one pin configured to simulate a sensation associated with a sensation feedback;

a first sensor configured to output a position signal, the position signal being associated with a position of the feedback member;

an actuator, the actuator and the feedback member collectively being configured to output a sensation to a body part of a user, the sensation based on the position signal;

and a second sensor configured to measure the sensation feedback output collectively by the actuator and the feedback member.

13. The apparatus of claim 12 wherein the sensation is a sensation selected from the group consisting of pressure, tension, temperature, texture, and combinations thereof.

14. The apparatus of claim 12 wherein the pin is configured to selectively extend and refract from a feedback application portion of the sensation applying platform.

15. A method, comprising:

outputting a position signal associated with a position of a feedback interface;

receiving a sensation feedback signal associated with the position signal;

outputting sensation feedback to a body part of a user, the sensation feedback output via the feedback interface with at least one of a plurality of feedback members, the outputting the sensation feedback being based on the sensation feedback signal;

determining a magnitude of sensation feedback output at the feedback interface; and

moving a sensation applying platform from a first position that is removed from the feedback interface to a second position that is located at the feedback interface, sensation feedback being output in response to the moving.

16. The method of claim 15 wherein the sensation feedback is a sensation feedback selected from the group consisting of pressure, tension, temperature, texture, and combinations thereof.

17. The method of claim 15 further comprising:

outputting a texture feedback via the feedback interface of at least one of the plurality of feedback members based on the sensation feedback signal.