GB2499019A - A pressure applying haptic device for a finger - Google Patents
A pressure applying haptic device for a finger Download PDFInfo
- Publication number
- GB2499019A GB2499019A GB1201917.0A GB201201917A GB2499019A GB 2499019 A GB2499019 A GB 2499019A GB 201201917 A GB201201917 A GB 201201917A GB 2499019 A GB2499019 A GB 2499019A
- Authority
- GB
- United Kingdom
- Prior art keywords
- haptic
- finger
- haptic device
- pressure applicator
- ventrum
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 230000035807 sensation Effects 0.000 claims description 11
- 230000004913 activation Effects 0.000 claims description 7
- 230000003190 augmentative effect Effects 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 2
- 238000009429 electrical wiring Methods 0.000 claims description 2
- 210000000707 wrist Anatomy 0.000 claims description 2
- 239000000463 material Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 2
- 210000001142 back Anatomy 0.000 description 2
- 238000011960 computer-aided design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000002440 hepatic effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000002861 polymer material Substances 0.000 description 1
- 238000002432 robotic surgery Methods 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/038—Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/038—Indexing scheme relating to G06F3/038
- G06F2203/0384—Wireless input, i.e. hardware and software details of wireless interface arrangements for pointing devices
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- User Interface Of Digital Computer (AREA)
- Rehabilitation Tools (AREA)
Abstract
A haptic device 1 for a finger has a pressure applicator to apply a substantially non-vibrational force to the ventrum (underside) of the finger, and a drive assembly to controllably drive the pressure applicator. The drive assembly and pressure applicator, may include a cam follower on a cam track, optionally a rotating spiral cam track. Alternatively the pressure applicator may be a band (103, fig 4) that may be pulled by motor to apply pressure against the underside of a finger A glove may have such haptic devices for each finger tip, which in conjunction with a virtual reality environment and computer system, may enable a user to physically sense the position and shape of virtual reality objects by touch.
Description
1
HAPTIC DEVICE
Technical Field
The present invention relates generally to haptic devices
5
Background
In Augmented Reality (AR) systems and Virtual Reality (VR) systems, haptic devices are known which cause the user to experience the apparent sensation of touching a (two-dimensional) displayed object. We have appreciated that known haptic devices can be 10 cumbersome for the user, especially where the device is used for aiding recovery in rehabilitation. We seek to provide an improved haptic device.
Summary
According to one aspect of the invention there is provided a haptic device wearable on a 15 finger, the device comprising a pressure applicator arranged to apply pressure to the ventrum of the finger, a drive assembly to controllably drive the pressure applicator up against the ventrum and the drive assembly capable of applying a substantially non-vibrational force to the ventrum.
20 Preferably the applicator drivable in a direction which is substantially perpendicular to the ventrum surface.
Preferably the applicator controllably driveable towards and away from the ventrum.
25 Preferably the pressure applicator is substantially rigid.
Preferably the pressure applicator comprises a cam follower and the drive assembly comprises a cam track.
30 Preferably the cam track follows a path of varying radius. Most preferably the cam track is of spiral configuration.
2
Preferably the cam track is provided on a rotatable component. Preferably the rotatable component comprises drive teeth engageable with a motive device. Preferably the drive teeth are located circumferentially of the rotatable component.
5 Preferably the rotatable component is located towards a distal end of the haptic device.
Preferably the pressure applicator constrained for drivable movement in a linear direction.
10 Preferably the haptic device comprises a guide connected to the pressure applicator, which guide constrains drivable movement of the applicator.
Preferably the pressure applicator driven by one drive output of a motive device of a drive assembly.
15
Preferably the pressure applicator comprises a length of flexible material.
Preferably the pressure applicator is attached to the drive output such that the pressure applicator windable around the drive output.
20
Preferably the drive output arranged to provide a rotational drive output.
Preferably the pressure applicator arranged to apply pressure substantially solely to the ventrum of the finger.
25
Preferably the device arranged to maintain the pressure applicator in a spaced relationship from a dorsum of the finger.
30
Preferably the pressure applicator arranged to apply a force to the ventrum of the finger in a direction angularly offset from a perpendicular to the longitudinal extent of that portion of the finger to which the device arranged to be attached.
3
Preferably the device comprises a housing of generally tubular form arranged to receive a finger.
Preferably the pressure applicator arranged to extend through a volume defined by the 5 housing in which the finger is received.
Preferably the pressure applicator interchangeable for a replacement pressure applicator.
Preferably the drive output comprises a drive shaft.
10
Preferably the distal end portions of the pressure applicator attached to the drive output.
Preferably arranged to be attached to an endmost phalanx of the finger.
15 Preferably the pressure applicator arranged substantially in the form of a loop which substantially encircles the finger.
According to another aspect of the invention there is provided a haptic apparatus comprising a plurality of the haptic devices above, the apparatus arranged to be worn by 20 a user, the devices connected a wrist-mountable control unit, the control unit arranged to control activation of the haptic devices.
Preferably the control unit is connected to haptic devices by way of electrical wiring.
25 Preferably the control unit is incorporated into a wrist-mountable band, arranged to be detachably connected around the wrist of a wearer.
Preferably the position indicators arranged to provide instantaneous positioning information of the hand.
30
Preferably the apparatus arranged to communicate over an air interface with a control station.
4
According to another aspect of the invention there is provided an augmented or virtual reality apparatus comprising the above haptic device, or the haptic apparatus above, an image display device, and a control station, the control station arranged to cause the activation of the haptic device(s) so as to generate the sensation to the wearer of the 5 device that he is touching an object displayed by the image display device.
The control station preferably comprises a data processor configured to output control signals to the haptic devices(s) at least on the basis of received information indicative of the positioning of the hand, relative to a position of the object.
10
Brief description of the drawings
Various embodiments of the invention will now be described, by way of example only, in which:
15 Figure 1 is an exploded view of a haptic device,
Figure 2 is an exploded view of a sub-assembly of the haptic device of Figure 1, Figure 3 is a side elevation of the haptic device in an assembled condition,
20
Figure 4 is a side elevation of a second embodiment of a haptic device,
Figure 5 is an end elevation of the haptic device of Figure 4, and 25 Figure 6 is a schematic representation of a haptic apparatus and system.
Detailed Description
Reference is made initially to Figure 1 which shows an exploded view of a hepatic device 1 which, as will be described below, is arranged to be worn on a finger and is 30 arranged to apply a controlled pressure to a ventrum of a wearer's finger.
5
The haptic device 1 comprises a housing 4, which is of generally tubular form, which is dimensioned to receive a wearer's finger therein through an open distal end thereof.
An upper portion of the housing 4 comprises a recess 15 arranged to receive a motor 2 5 therein. The motor 2 comprises a rotational drive output 2a. The (toothed) drive output 2a is arranged to mesh with teeth 12a of a rotatable component 12 (essentially in the form of a cog). The rotatable component 12 is provided with a spiral cam track 13. The rotatable component 12 is rotatable about a pin 14.
10 The haptic device further comprises a pressure applicator 3 which is of substantially rigid construction, and is constrained to vertical movement by guide posts 18. The posts 18 are attached to the housing 4 and are slidably received within the apertures 3 a. The pressure applicator comprises a support surface arranged to receive and support a ventrum.
15
A front end of the pressure applicator 3 comprises a protruding pin 3b which serves as a cam follower. The diameter of the pin 3b is such as to be receivable in the track 13.
In use, by way of suitable drive signals sent to the motor 2, such as Pulse Width 20 Modulation (PWM) signals, the drive output 2a is driven so as to cause the same to rotate, thereby causing the rotatable component 12 to rotate (in a desired sense of rotation). When the rotatable component rotates, the pin 3b is caused to occupy a different portion of the track 13. Because the cam track 13 is of spiral configuration (and therefore of varying radius), and because the applicator 3 is constrained for vertical 25 movement by the guide posts 18, rotation of the rotatable component 12 causes vertical movement of the applicator 3. This, in turn, causes a controllable pressure to be applied to the ventrum of the wearer's finger. By way of such a non-vibrational/' static' force to the finger, a realistic sensation of touch is experienced by the user. It will be appreciated, however, that the device may also be arranged to be capable of providing a 30 low-frequency vibration to the finger.
6
Because of the worm-like gear action (albeit on a plane), the pin 3b will remain in the position after the rotational driving force has ceased. This is because the force acts at approximately ninety degrees to the force that would be required to turn the rotational component 12, and so sustained power is not required to maintain the pressure 5 applicator in position.
Further advantageously, the gearing between the drive output 2a and the rotational component 12 benefits from the overall diameter of the haptic device. This in turn means that lower cost motors can be used but nevertheless achieve a required gearing. 10 However, additional gears could be employed between the rotatable component 12 and the drive output 2a.
Conveniently, the front-facing end of the haptic device may serve as a suitable location for inclusion of a power cell, especially one of squat/compact shape in the form of a 15 disc or a button.
The haptic device 1 further benefits from the fact that there are relatively few moving parts, all of which are straightforward to manufacture.
20 The haptic device 1 is advantageously non-cumbersome for the wearer to use. This results from the small spatial envelope and low weight of the device. Because the pressure applicator 3 is ultimately driven solely by one drive output shaft of a single motor 2, the overall width of the device is minimised. Because of the non-cumbersome nature of the device, the device is easier to use. The device's low weight allows the 25 wearer to easily move his finger/hand. Also, because of the small dimensions of the device, movements of the wearer's finger are not inhibited/restricted by the overall size of the device. This is of particular significance in relation to use of the device for rehabilitation purposes, where the user may have restricted movement capability (such as a stroke patient for example). It will also be appreciated that the length of the 30 housing is less than the length of the phalanx to which the device is attached, which further aids the wearer in being able to move the finger.
7
It will be appreciated that current/torque sensing has been used to effect control over the applied haptic feedback, in alternative embodiments other implications could be envisaged, such as additional shaft position sensors (using rotary encoders). It will appreciated that other sensing/control schemes could be implemented.
5
Reference is now made to Figure 4 which shows an alternative haptic/tactile device 100 mounted on a wearer's finger, the device comprising a motor 102, a band 103 and a housing 104. As discussed below, the motor 102 is operative to pull the band 103 against the ventrum (ie the underside of a finger) 20 of a finger 125 so as to cause the 10 wearer of the device to experience a realistic sensation of touch.
The housing 104 is of a generally tubular form, having open distal ends and is dimensioned so as to be capable of receiving a wearer's finger therethrough.
15 The motor 102 is mounted to an upper region of the housing, and a single drive shaft 102a extends from the motor 102. Distal end portions 103a and 103b of the band 103 are attached to the drive shaft 102a (as best shown in Figure 5) such that the band is capable of being wound around the drive shaft on activation of the motor 102 to cause rotation of the drive shaft. The band 103 comprises a length of flexible material, 20 such as a fabric or a webbing.
Located on opposite side surfaces of the housing 104 there are provided guides 104a. The guides 104a each comprising a through-slot arranged to receive and guide the band 103 therethrough. A lower portion of the housing 104 is provided with a cut-out 25 section 104b, which serves to allow the band 103 to pass through the internal space defined by the housing and so contact with the ventrum 120 of the wearer's finger and not the sides of the finger. By virtue of the housing being open at each distal end, a wearer's finger is capable of protruding through the far distal end.
30 In a variant embodiment, the motor 102 is located directly above the band 103 (instead of being longitudinally offset, as shown in Figure 4), which advantageously further reduces the spatial envelope of the device.
8
In order to generate different types of touch sensation, the band 103 may be interchangeable for a replacement band of a different material or a different type of material (which respective surface characteristics), which provides different touch sensations to the skin of the wearer.
5
In use, by suitable drive signals sent to the motor 102 via wiring, such as a Pulse Width Modulation (PWM) signals, the output shaft 102a is driven so as to cause the shaft 102a to rotate and thereby tighten or loosen the band against the ventrum. By tightening of the band 103, the band 103 is pulled against the ventrum to create a sense of the user 10 touching an object. By loosening the band (achieved by driving the shaft 102a in the opposite sense) the magnitude of touch sensation is decreased. By way of such a non-vibrational/'static' force to the finger a realistic sensation of touch is experienced by the user. It will be appreciated, however, that the device may also be arranged to be capable of providing a low-frequency vibration to the finger.
15
Advantageously, the guides 104a ensure that pressure is applied at a slight angle to a perpendicular to the longitudinal extent of the phalanx to which the device is attached, as shown by the angle x in Figure4. This advantageously ensures that the direction of application of pressure applied by the band 103 takes account of the slight tapering 20 shape of the surface of the ventrum thus applying an even pressure.
The device 100 also provides a very realistic sensation of touch to the user. This is because the band 103 is arranged to apply pressure substantially solely to the ventrum 120 of the finger, and not to the dorsum of the finger.
25
Reference is now made to Figure6, which shows a haptic apparatus 50, comprising a haptic device 1 for each finger of the wearer. The apparatus 50 further comprises a wrist-mountable strap 51 with which is incorporated control and power components for the haptic devices 1. Each haptic device comprises a position sensor (not illustrated) 30 which serves to provide an indication of the instantaneous positioning of the hand, for example the positions of the fingers. The sensors may comprise resistive bend sensors, inertial measurement units, strain gauges and/or polymer materials. Broadly, the
9
sensors may provide relative and/or absolute position information relating to finger position, joint angle and hand position. It will be appreciated that the haptic apparatus 50 may conveniently be embodied as a glove.
5 The control components housed by the strap 51 are arranged to emit control signals to the haptic devices 1 to suitably control activation of each of the motors 2 as required. The control components further comprise a wireless, or air interface, communication device arranged to serve as a transceiver with a data processor device 60.
10 The data processor device 60 may comprise one or more cameras 62. Such a camera/cameras could be used to monitor the instantaneous position of the hand and/or fingers for ultimate use in control of activation of the haptic devices. It may be that such an arrangement (using the camera(s) to provide finger/hand positioning information) would remove the need for position sensors to be provided on each finger.
15
The strap 51 is connected to the haptic devices 1 by way of wiring 2c, which as well as serving to send and receive signals to/from the haptic devices, also serves to supply power (sourced from a rechargeable/replaceable battery incorporated with the strap 51). It will be appreciated that in an alternative embodiment, the haptic devices and the
20 position sensors are battery-powered and communicate with the controller by way of an air interface/wireless connection.
Also shown in Figure6, is an arm support 70 arranged to support a forearm 200, the support comprising sphere 71, arranged to engage with, and be rotatable on, a
25 supporting surface, and so allow movement of the support across the surface. The arm support further comprises an underside arranged to engage with a position indication device 72, such as a computer mouse. The position indication device arranged to send position data to the data processor device 60 (preferably over an air interface). In certain uses/embodiments, it may be possible to dispense with use of the arm support.
30 In one embodiment, the arm support may incorporate the power and control components (instead of those components being provided on the wrist-mountable strap).
10
In use, the data processor device 60 (in the instance shown a personal computer) is loaded with suitable machine readable instructions to generate an augmented reality environment for the wearer of the haptic apparatus 50. The instructions cause the device 60 to display an image of an object on the screen 61 of the device. The 5 instructions also configure the device 60 to receive positioning signals from the sensors in the haptic devices 1 and from the device 72, and to map that positioning data relative to the displayed object. The instructions also cause an image capturing device, such as camera, to receive images of the wearer's hand, and to use that information in relation to determining positioning of the wearer's hand/fingers. The instructions are further 10 such that the device 60 displays a representation of the wearer's hand relative to the displayed object, and when the data processor of the device 60 determines that the representation of the wearer's hand contacts with the displayed object, the device 60 outputs a control signal to the transceiver of the strap 51 so as to activate the appropriate haptic device(s), and give the impression to the wearer that he is touching the displayed 15 object. This feedback control arrangement may be realised by a proportional-integral-derivative (PID) controller.
In the context of rehabilitation, for example post-stroke recovery of arm and hand action, the 'haptics'/tactile feedback provided by the apparatus 50 advantageously 20 provides a realistic sensation of touch, which greatly aids recovery. The system shown in Figure 6 has particular advantage. The apparatus 50 is light, portable and unobtrusive for the wearer. The wearer will therefore feel encouraged to use the device, as may not be the case for a large, heavy and restrictive device. The wearer's experience, and initial perception of use of the apparatus will therefore be a positive 25 one. Also, because of the minimal nature of the apparatus, and indeed the overall system, the system is readily usable in a home environment, and is not restricted to use in a hospital or medical centre. On use of the apparatus, the wearer is immersed, and engaged, into the augmented reality environment, creating a positive and beneficial experience for the wearer. In the context of rehabilitation, the wearer may be required 30 to perform certain tasks on the displayed object such as reach-to-grasp and/or pick-and-place activities.
11
In addition to application in the field of rehabilitation, the haptic devices 1 and 100, and the apparatus 50, also find great utility in the fields of computer aided design (CAD), robotic surgery and gaming.
5 Although in the embodiment of Figure 6, each haptic device is provided with a position sensor, in an alternative embodiment no such positional sensors are provided on the haptic devices, rather, the positional sensing is effected using the camera(s) of the computer, and the assembly worn by the user solely provides haptic feedback.
12
Claims (1)
1. A haptic device wearable on a finger, the device comprising a pressure applicator arranged to apply pressure to the ventrum of the finger, a drive assembly to controllably
5 drive the pressure applicator up against the ventrum, and the drive assembly capable of applying a substantially non-vibrational force to the ventrum.
2. Haptic device as claimed in claim 1 in which the pressure applicator drivable in a direction substantially perpendicular to the ventrum surface.
10
3. Haptic device as claimed in claim 1 or claim 2 in which the pressure applicator controllably driveable forwards and away from the ventrum.
4. Haptic device as claimed in any preceding claim in which the pressure applicator 15 is substantially rigid.
5. Haptic device as claimed in any preceding claim in which the pressure applicator comprises a cam follower and the drive assembly comprises a cam track.
20 6. Haptic device as claimed in claim 5 in which the cam track follows a path of varying radius.
7. Haptic device as claimed in claim 6 in which the cam track is of spiral configuration.
25
8. Haptic device as claimed in claim 5 in which the cam track provided on a rotatable component.
9. Haptic device as claimed in claim 8 in which the rotatable component is located 30 towards a distal end of the haptic device.
13
10. Haptic device as claimed in any preceding claim in which the pressure applicator contained for drivable movement along a linear path.
11. Haptic device as claimed in claim 10 in which the haptic device comprises a guide 5 connected to the pressure applicator, which guide constrains driveable movement of the applicator.
12. A device as claimed in any preceding claim comprising a motive device arranged to provide a rotational drive output.
10
13. A device as claimed in any preceding claim comprising a housing of generally tubular form arranged to receive a finger.
14. A device as claimed in any preceding claim arranged to be attached to an endmost 15 phalanx of the finger.
15. Haptic apparatus comprising a plurality of the haptic devices of any of claims 1 to 14, the apparatus arranged to be worn by a user, the devices connected a wrist-mountable control unit, the control unit arranged to control activation of the haptic
20 devices.
16. Haptic apparatus as claimed in claim 15 in which the control unit connected to haptic devices by way of electrical wiring or wireless communication.
25 17. Haptic apparatus as claimed in claiml5 or claim 16 in which the control unit is incorporated into a wrist-mountable band, arranged to be detachably connected around the wrist of a wearer.
18. Haptic apparatus as claimed in any of claims 15 to 17 which comprises position 30 indicators arranged to provide instantaneous positioning information of the hand.
14
19. Haptic apparatus as claimed in any preceding claim arranged to communicate over an air interface with a control station.
20. An augmented or virtual reality apparatus comprising the haptic device of any of 5 claims 1 to 15, or the haptic apparatus of any of claims 15 to 19, an image display device, and a control station, the control station arranged to cause the activation of the haptic device(s) so as to generate the sensation to the wearer of the device that he is touching an object displayed by the image display device.
10 21. An apparatus as claimed in claim 20 in which the control station comprises a data processor configured to output control signals to the haptic devices(s) at least on the basis of received information indicative of the positioning of the hand, relative to a position of the object.
15 22. A haptic device substantially as herein described with reference to the accompanying drawings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB1201917.0A GB2499019A (en) | 2012-02-03 | 2012-02-03 | A pressure applying haptic device for a finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB1201917.0A GB2499019A (en) | 2012-02-03 | 2012-02-03 | A pressure applying haptic device for a finger |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB201201917D0 GB201201917D0 (en) | 2012-03-21 |
| GB2499019A true GB2499019A (en) | 2013-08-07 |
Family
ID=45896604
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB1201917.0A Withdrawn GB2499019A (en) | 2012-02-03 | 2012-02-03 | A pressure applying haptic device for a finger |
Country Status (1)
| Country | Link |
|---|---|
| GB (1) | GB2499019A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017126952A1 (en) * | 2016-01-22 | 2017-07-27 | Tzompa Sosa Alyed Yshidoro | Haptic virtual reality glove with systems for simulating sensations of pressure, texture and temperature |
| WO2018059737A1 (en) | 2016-09-29 | 2018-04-05 | Go Touch Vr Sas | Haptic device, for interaction with virtual reality or augmented reality systems |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1992018925A1 (en) * | 1991-04-20 | 1992-10-29 | W. Industries Limited | Haptic computer output device |
| JP2001166676A (en) * | 1999-12-09 | 2001-06-22 | Sony Corp | Tactile sense presenting mechanism and inner force sense presenting device using the same |
| US20010043847A1 (en) * | 1990-02-02 | 2001-11-22 | James Kramer | Force feedback and texture simulating interface device |
| EP2345951A2 (en) * | 1997-05-12 | 2011-07-20 | Immersion Corporation | Force-feedback interface device for the hand |
-
2012
- 2012-02-03 GB GB1201917.0A patent/GB2499019A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010043847A1 (en) * | 1990-02-02 | 2001-11-22 | James Kramer | Force feedback and texture simulating interface device |
| WO1992018925A1 (en) * | 1991-04-20 | 1992-10-29 | W. Industries Limited | Haptic computer output device |
| EP2345951A2 (en) * | 1997-05-12 | 2011-07-20 | Immersion Corporation | Force-feedback interface device for the hand |
| JP2001166676A (en) * | 1999-12-09 | 2001-06-22 | Sony Corp | Tactile sense presenting mechanism and inner force sense presenting device using the same |
Non-Patent Citations (2)
| Title |
|---|
| 'A Wearable Haptic Display to Present the Gravity Sensation - Preliminary Observations and Device Design', Kouta Minamizawa et al, EuroHaptics Conference, 2007 and Symposium on Haptic Interfaces for Vi rtual Environment and Teleoperator Systems. World Haptics 2007. Second Joint, ISBN 978-0-7695-2738 * |
| 'Remote tactile sensing glove-based system', Culjat M O et al, 2010 annual international conference of the IEEE Engineering in Medicine and Biology Society, ISBN 978-1-4244-4123-5 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017126952A1 (en) * | 2016-01-22 | 2017-07-27 | Tzompa Sosa Alyed Yshidoro | Haptic virtual reality glove with systems for simulating sensations of pressure, texture and temperature |
| WO2018059737A1 (en) | 2016-09-29 | 2018-04-05 | Go Touch Vr Sas | Haptic device, for interaction with virtual reality or augmented reality systems |
| US10928908B2 (en) | 2016-09-29 | 2021-02-23 | Go Touch Vr Sas | Haptic device, for interaction with virtual reality or augmented reality systems |
Also Published As
| Publication number | Publication date |
|---|---|
| GB201201917D0 (en) | 2012-03-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Wheeler et al. | Investigation of rotational skin stretch for proprioceptive feedback with application to myoelectric systems | |
| JP6111344B2 (en) | Force feedback controller and force feedback controller exoskeleton | |
| CN105408822B (en) | Human-machine interface for engaging a user | |
| US10817056B2 (en) | Hand exoskeleton force feedback system | |
| US20150148728A1 (en) | Isolated orthosis for thumb actuation | |
| US11385719B2 (en) | Electrostatic brake-based haptic device | |
| Lovasz et al. | Design and control solutions for haptic elbow exoskeleton module used in space telerobotics | |
| JP5849581B2 (en) | Force display device | |
| CN107019527A (en) | The system that robot assisted for transrectal probe is controlled | |
| KR102101483B1 (en) | Tactile feedback generating apparatus and system for virtual object manipulation | |
| JP2016024707A (en) | Tactile sense presentation device and force-tactile sense presentation system | |
| EP3598272A1 (en) | Trigger button for haptic controller | |
| RU179301U1 (en) | VIRTUAL REALITY GLOVE | |
| KR102162922B1 (en) | Virtual reality-based hand rehabilitation system with haptic feedback | |
| US20230263687A1 (en) | Fluid-actuated haptic device and methods for using thereof | |
| WO2021155689A1 (en) | Slip sense simulation device and control system | |
| GB2499019A (en) | A pressure applying haptic device for a finger | |
| CN107209074B (en) | Force value measuring mechanism | |
| Merrett et al. | Design and qualitative evaluation of tactile devices for stroke rehabilitation | |
| US9910528B2 (en) | Tactile force sense providing apparatus, information terminal, tactile force sense providing method, and computer readable recording medium | |
| KR102188851B1 (en) | Apparatus for providing haptic feedback to dorsum of hand according to interaction with virtual objects | |
| KR20220121194A (en) | Weight increase in the direction of gravity for strengthening muscle strength Haptic response exercise device | |
| KR101521560B1 (en) | Interface devices for hand haptic | |
| KR101348940B1 (en) | Sensory Reproduction System to transmit physical intercations in whole-body remote control of Robot | |
| RU2638276C1 (en) | Method for generation of control signals and method for manual control of operation of exoskeleton lower limbs based thereon, as well as exoskeleton operation control interfaces in manual and software control mode using specified generation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| WAP | Application withdrawn, taken to be withdrawn or refused ** after publication under section 16(1) |