U.S. patent application number 15/291944 was filed with the patent office on 2018-04-12 for force grounding wristband for haptic glove.
The applicant listed for this patent is Oculus VR, LLC. Invention is credited to Nicholas Roy Corson, Sean Jason Keller, Raymond King, Garett Andrew Ochs, David R. Perek, Tristan Thomas Trutna.
Application Number | 20180098583 15/291944 |
Document ID | / |
Family ID | 61829454 |
Filed Date | 2018-04-12 |
United States Patent
Application |
20180098583 |
Kind Code |
A1 |
Keller; Sean Jason ; et
al. |
April 12, 2018 |
FORCE GROUNDING WRISTBAND FOR HAPTIC GLOVE
Abstract
Disclosed is a force ground device (e.g., a glove) including one
or more tendons coupled to actuators for providing haptic feedback
when worn by a user. The force ground device includes a wristband
that couples to the tendons or to the actuators. The wristband
grounds forces from the compressed tendons to the wrist of the
user. The wristband may include two force grounding segments
adjacent to the ulnar and radial sides of the wrist. The wristband
may also include a tension adjustment mechanism (e.g., a ratchet)
to adjust the tension of the wristband.
Inventors: |
Keller; Sean Jason;
(Kirkland, WA) ; Perek; David R.; (Bellevue,
WA) ; Trutna; Tristan Thomas; (Seattle, WA) ;
Ochs; Garett Andrew; (Seattle, WA) ; Corson; Nicholas
Roy; (Mukilteo, WA) ; King; Raymond; (Redmond,
WA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Oculus VR, LLC |
Menlo Park |
CA |
US |
|
|
Family ID: |
61829454 |
Appl. No.: |
15/291944 |
Filed: |
October 12, 2016 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G06F 3/14 20130101; A41D
19/0024 20130101; G06F 3/016 20130101; G06F 3/014 20130101; A41D
19/0034 20130101 |
International
Class: |
A41D 19/00 20060101
A41D019/00 |
Claims
1. A force ground device comprising: a finger sheath configured to
enclose a finger of a user of the force grounding device; a tendon
having a first end and a second end, the first end coupled to the
finger sheath; an actuator coupled to the second end of the tendon,
wherein the actuator is configured to produce tension in the
tendon; a wristband coupled to the actuator and configured to
ground forces from the actuator to a wrist of the user, the
wristband comprising: a first force distribution segment inflexible
in directions parallel to a surface of a wrist, the first force
distribution band to distribute forces on the wristband from the
actuator to a first side of the wrist; a second force distribution
segment inflexible in directions parallel to the surface of the
wrist, the second force distribution band to distribute forces on
the wristband from the actuator to a second side of the wrist.
2. The force ground device of claim 1, wherein the wristband
further comprises: a first adjustable strip coupled at a first end
to a first end of the first force distribution segment; a second
adjustable strip coupled at a first end to a first end of the
second force distribution segment; and a tension adjustment
mechanism, the tension adjustment mechanism coupled at a first end
to a second end of the first adjustable strip and coupled at a
second end to a second end of the second adjustable strip, the
tension adjustment mechanism configured to adjust tension in the
first adjustable strip and tension in the second adjustable
strip.
3. The force ground device of claim 2, wherein: the first
adjustable strip comprises one or more first tendons, each of the
one or more first tendons protruding from the tension adjustment
mechanism and coupling to the first force distribution segment at a
first end; the second adjustable strip comprises one or more second
tendons, each of the one or more second tendons protruding from the
tension adjustment mechanism and coupling to the second force
distribution segment at a first end; the tension adjustment
mechanism is configured to increase the tension in the first
adjustable strip by partially withdrawing the one or more first
tendons into itself; and the tension adjustment mechanism is
further configured to increase the tension in the second adjustable
strip by partially withdrawing the one or more second tendons into
itself.
4. The force ground device of claim 3, wherein the tension
adjustment mechanism withdraws the one or more first tendons and
the one or more second tendons into itself with a ratcheting
mechanism.
5. The force ground device of claim 2, wherein the tension
adjustment mechanism is adjacent to a posterior side of the
wrist.
6. The force ground device of claim 1, wherein the force ground
device further comprises: a thumb sheath; a thumb tendon having a
first end and a second end, the first end coupled to the thumb
sheath; a thumb actuator coupled to the second end of the thumb
tendon, wherein the thumb actuator is configured to produce tension
in the tendon; and a thumb tension adjustment mechanism, the thumb
tension adjustment mechanism configured to adjust tension in the
thumb tendon.
7. The force ground device of claim 1, wherein the first force
distribution segment is adjacent to an ulna bone of the wrist and
the second force distribution segment is adjacent to a radius bone
of the wrist.
8. The force ground device of claim 1, wherein each of the first
and second force distribution segments comprises a plurality of
interconnected rigid links.
9. The force ground device of claim 1, wherein each of the first
and second force distribution segments comprises a mesh and an
elastic strip, the elastic strip between the wrist and the
mesh.
10. The force ground device of claim 9, wherein the elastic strip
of each of the first and second force distribution segments is
neoprene.
11. The force ground device of claim 9, wherein the mesh of each of
the first and second force distribution segments is a Milanese
mesh.
12. The force ground device of claim 1, wherein the first force
distribution segment is flexible in a first direction perpendicular
to the surface of the wrist and the second force distribution
segment is flexible in a second direction perpendicular to the
surface of the wrist.
13. The force ground device of claim 1, wherein the wristband
further comprises an anterior strip coupled at a first end to a
second end of the first force distribution segment and coupled at a
second end to a second end of the second force distribution
segment.
Description
BACKGROUND
[0001] The present disclosure generally relates to virtual reality
systems, and specifically relates to a wristband for grounding
forces generated by a haptic glove.
[0002] Virtual reality (VR) systems typically provide multiple
forms of sensory output, such as a head-mounted display and
headphones, which operate together to create the illusion that a
user is immersed in a virtual world. A VR system can also include
an input device such as a haptic glove that can be used to detect
the position, acceleration, orientation, or some combination
thereof of the user's hand and uses the information as input. The
input can then be used to move a corresponding item in the virtual
world (e.g., a hand or other appendage belonging to a character in
the virtual world) when the VR system detects movement of the
haptic glove in the real world. A haptic glove can also be used to
facilitate interactions with other objects in the virtual world.
For example, the VR system can allow the user to use the haptic
glove to manipulate virtual objects by touching them, picking them
up, and moving them.
[0003] Similarly, a haptic glove may be used in a mixed reality
(MR) system. A MR system combines virtual elements with elements
from physical world (e.g., a live video feed). For example, a MR
system may be an augmented reality (AR) system. An example of an AR
system is a display which overlays virtual objects on a live video
feed. Virtual elements displayed in the AR may correspond to
physical phenomena detected by the AR system (e.g., a virtual
representation a magnetic field). The haptic glove may be used to
interact with virtual objects or physical objects in an AR
system.
SUMMARY
[0004] A force ground device glove is described. In some
embodiments, the force ground device is part of a haptic glove. The
force ground device includes one or more finger sheaths, one or
more tendons, and one or more actuators. The one or more finger
sheaths are configured to enclose a finger of a user of the force
grounding device. The one or more tendons connect to respective
finger sheaths, and each tendon may have a first end and a second
end where the first end couples to the respective finger sheath.
The one or more actuators are coupled to the second end of
respective tendons, and are configured to produce tension in the
respective tendons.
[0005] The force ground device may also include a wristband coupled
to the one or more actuators. The wrist band is configured to
ground forces from the one or more actuators to a wrist of the
user. The wristband may include one or more force distribution
segments, one or more adjustable strips, one or more tension
adjustment mechanism, or some combination thereof.
[0006] In some embodiment, the wristband may include one or more
force distribution segments that are inflexible in directions
parallel to a surface of a wrist. The first force distribution band
may distribute forces on the wristband from the one or more
actuators to a side of the wrist. For example, a first force
distribution segment may be adjacent to an ulna bone of the wrist
and a second force distribution segment may be adjacent to a radius
bone of the wrist.
[0007] In some embodiments, the wristband may also include one or
more adjustable strips. The adjustable strips may be coupled to the
one or more force distribution segments. The one or more tension
adjustment mechanisms may couple to the adjustable strips. Each
tension adjustment mechanisms may be configured to adjust tension
in and/or the length of adjustable strips to which it is coupled.
For example, a tension adjustment mechanism adjacent to the
posterior of the user's wrist may couple to two adjustable strips
which each couple to a respective force distribution segment. In
some embodiments, the wristband further comprises an anterior band,
which may couple between two force distribution segments.
[0008] The one or more adjustable strips may each include one or
more wristband tendons. The wristband tendons may couple between
one of the force distribution segments and one of the tension
adjustment mechanisms. A tension adjustment mechanism may be
configured to increase the tension in an adjustable strip by
partially withdrawing the one or more tendons corresponding to the
adjustable strip into itself. The tension adjustment mechanism
allows a user to manually adjust the tension in the wristband by
operating as a ratcheting mechanism.
[0009] In some embodiments, each of the one or more force
distribution segments may include a plurality of interconnected
rigid links. In alternate embodiments, each of the one or more
force distribution segments includes a mesh and an elastic strip.
The elastic strip is positioned between the wrist and the mesh. The
elastic strip may be composed of neoprene and the mesh may be a
Milanese mesh. In some embodiments, the one or more force
distribution segments are flexible in a first direction
perpendicular to the surface of the wrist.
[0010] The one or more finger sheaths may include a thumb sheath
that encloses the thumb of a user. The thumb sheath may couples to
thumb tendon, which, in turn, couples to a thumb tendon. A thumb
tension adjustment mechanism on the wristband may be configured to
allow a user to adjust the default tension in the thumb tendon.
BRIEF DESCRIPTION OF THE DRAWINGS
[0011] FIG. 1 is a block diagram of a system environment, in
accordance with an embodiment.
[0012] FIG. 2 illustrates a plan view of a haptic glove, in
accordance with an embodiment.
[0013] FIG. 3 illustrates a plan view of a haptic glove with an
alternate tendon configuration, in accordance with an
embodiment.
[0014] FIG. 4 illustrates a plan view of a wristband with wires for
tension adjustment, in accordance with an embodiment.
[0015] FIG. 5A illustrates a cross-section of a wristband with
force distribution segments that are each continuous elements,
according to an embodiment.
[0016] FIG. 5B illustrates a cross-section of a wristband including
series of links, according to an embodiment.
[0017] FIG. 5C illustrates a cross-section of a wristband including
meshes, according to an embodiment.
[0018] FIG. 5D illustrates a cross-section of a wristband including
hinged segments, according to an embodiment.
[0019] The figures depict embodiments of the present disclosure for
purposes of illustration only. One skilled in the art will readily
recognize from the following description that alternative
embodiments of the structures and methods illustrated herein may be
employed without departing from the principles, or benefits touted,
of the disclosure described herein.
DETAILED DESCRIPTION
[0020] To provide a more immersive experience in a VR, MR, or AR
system, a haptic glove may apply force to a user's hand to simulate
a user's interaction with a virtual object. For example, the system
may detect that a user has reached out to grab a virtual object.
This may be detected by sensors integrated into a haptic glove,
sensors external to a haptic glove, or some combination thereof. As
the user closes her hand to grasp the virtual object, the glove may
generate an opposing force that resists the closing of the hand. In
this way, the haptic glove simulates the experience of grasping the
virtual object. The haptic glove may also produce force feedback
corresponding to a real-world machine controlled by the user. For
example, the forces generated by the haptic glove may correspond to
forces and/or torques applied by a motor or system of motors in,
for example, heavy machinery (e.g., an excavator), a robotic
surgery system, a telerobotic system, or some combination
thereof.
[0021] The haptic glove may apply forces to the user's hand via one
or more tendons adjacent to the back of the user's hand (i.e., the
posterior side of the hand). A tendon may connect to an anchor
point and to the posterior side of a user's finger. By modulating
tension in this tendon by an actuator, the tendon may produce a
force resisting the closing of the user's hand, thereby simulating
the normal forces of a virtual object grasped by the user.
[0022] Depending on how an anchor point is attached to the glove,
forces on the anchor point may cause the haptic glove to deform,
shift its position on the user's hand, or produce uncomfortable,
irritating forces on the user's hand. For example, if the anchor is
attached to compliant fabric on the haptic glove, a tension in the
tendon may produce an undesirable deformation of the fabric around
the anchor point.
[0023] Deformation of the haptic glove is undesirable because, as
tension in a tendon is repeatedly applied and released, the glove
may repeatedly deform and shift along the surface of the user's
hand. Friction produced by this repeated movement may irritate the
user's hand. Furthermore, if tension in the tendon causes the
anchor point's position on the user's hand to shift significantly,
in order to produce sufficient tension, the tendon may need to be
shortened further than it would if the anchor point's position was
invariant. Accordingly, it is advantageous for an anchor point of a
tendon system to, as close as practicable, remain fixed to the
user's hand and/or wrist. That is, the anchor point should not move
relative to the user's hand or deform the haptic glove when a force
is applied. Such an anchor point is referred to herein as a
"grounded" anchor.
[0024] A haptic glove that grounds the forces from tensioned
tendons to a wristband may resolve the aforementioned problems. The
wristband distributes the forces from the tendons to the ulnar and
radial sides of the wrist (i.e., the bony portions on the side of
the wrist). The interface between the sides of the wrist and
wristband may provide lateral stiffness so that wristband remains
fixed to the wrist. Tension in the wristband produces compressive
force between the wristband and the sides of the user's wrist. This
compressive force increases the lateral stiffness between the sides
of the user's wrist and the wristband of the haptic glove.
System Overview
[0025] FIG. 1 is a block diagram of a system environment 100 in
which a haptic interface garment 140 operates. The system
environment 100 may be, for example, a VR, MR, or AR system. In
some embodiments, the system environment 100 is capable of
alternating between operating as a VR, an MR, and an AR system, or
some subset thereof. The system environment 100 shown in FIG. 1
comprises a head-mounted display (HMD) 110 and a haptic interface
garment 140 that are both coupled to a console 170. While FIG. 1
shows an example system environment 100 including one HMD 110 and
one haptic interface garment 140, in other embodiments any number
of these components may be included in the system environment 100.
For example, the system environment 100 may include two haptic
interface garments 140 (e.g., one haptic glove for each hand) that
are worn by the same user. As another example, the system
environment 100 may include multiple haptic interface garments 140
intended to be worn by multiple users, with each haptic interface
garment 140 or each pair of haptic interface garments 140
associated with a different HMD 110. In alternative configurations,
different or additional components may be included in the system
environment 100.
[0026] The HMD 110 is a head-mounted display that presents media to
a user. Examples of media presented by the HMD 110 include images,
video, audio, or some combination thereof. In some embodiments,
audio is presented via an external device (e.g., speakers or
headphones) that receives audio information from the HMD 110, the
console 170, or both, and presents audio data based on the audio
information. In some embodiments, the HMD 110 may also act as an AR
and/or MR headset. In these embodiments, the HMD 110 augments views
of a physical, real-world environment with computer-generated
elements (e.g., images, video, sound, etc.).
[0027] The HMD 110 includes an electronic display 112, sensors 114,
and a communication interface 116. Some embodiments of the HMD 110
have different components than those described here. Similarly, the
functions can be distributed among the components in a different
manner than is described here.
[0028] The electronic display 112 displays images to the user in
accordance with data received from the console 170. In various
embodiments, the electronic display 112 may comprise a single
electronic display 112 or multiple electronic displays 112 (e.g.,
one display for each eye of a user).
[0029] The sensors 114 include one or more hardware devices that
detect spatial and motion information about the HMD 110. Spatial
and motion information can include information about the position,
orientation, velocity, rotation, and acceleration of the HMD 110.
For example, the sensors 114 may include a gyroscope that detects
rotation of the user's head while the user is wearing the HMD 110.
This rotation information can then be used (e.g., by the engine
174) to adjust the images displayed on the electronic display
112.
[0030] The communication interface 116 enables input and output to
the console 170. In some embodiments, the communication interface
116 is a bus, such as High-Definition Multimedia Interface (HDMI),
Universal Serial Bus (USB), Video Graphics Array (VGA), Digital
Visual Interface (DVI), DisplayPort.TM., or some combination
thereof. In other embodiments, the communication interface 116
includes several distinct communication buses operating together or
independently. In one embodiment, the communication interface 116
includes wireless connections for sending data collected by the
sensors 114 from the HMD 110 to the console 170 but also includes a
wired connection (e.g., an HDMI or DVI connection) that receives
audio/visual data to be rendered on the electronic display 112.
[0031] The haptic interface garment 140 is a wearable device for
receiving haptic input or producing haptic output. The haptic
interface garment 140 may be configured to be worn on a portion of
a user's body, such as the user's hand (e.g., a glove). The haptic
interface garment 140 may collect information about the portion of
the user's body that can be used as input for virtual reality
applications 172 executing on the console 170. The haptic interface
garment 140 includes a haptic feedback mechanism 142, sensors 144,
and a communication interface 146. Some embodiments of the haptic
interface garment 140 have different components than those
described here, e.g., the haptic interface garment 140 may include
additional components that are not shown in FIG. 1, such as a power
source (e.g., an integrated battery, a connection to an external
power source, a container containing compressed air, or some
combination thereof). Similarly, the functions can be distributed
among the components in a different manner than is described
here.
[0032] The haptic feedback mechanism 142 provides haptic feedback
to the user by directing the portion of the user's body to move in
a particular way or in a particular direction or preventing the
portion of the user's body from moving in certain directions or in
certain ways. The haptic feedback mechanism 142 includes a tendon
system to apply force to the haptic interface garment 140.
Transducers of the tendon system may apply forces on portions of
the user's body. By applying forces to the user's body, the tendon
system may move a portion of the user's body apply torque to a
joint of a user's body, or produce tactile sensation for the user.
Various embodiments of the haptic feedback mechanism 142 are
described in conjunction with FIGS. 2-5D.
[0033] The sensors 144 include one or more hardware devices that
detect spatial information for the haptic interface garment 140.
The spatial information may include information about position,
orientation, velocity, rotation, and acceleration, or some
combination thereof. The spatial information may refer to the
entire haptic interface garment 140, subdivisions of the haptic
interface garment 140, or both. For example, if the haptic
interface garment 140 is a haptic glove, sensors 144 may identify
positions and orientations of various portions of the glove, such
as the fingers, fingertips, knuckles, palm, or wrist. The sensors
144 may also detect forces applied by the user to the haptic
interface garment 140.
[0034] The communication interface 146 enables input from and
output to the console 170. In some embodiments, the communication
interface 146 may be a single communication bus, such as USB. In
other embodiments, the communication interface 146 includes several
distinct communication buses operating together or independently.
For example, the communication interface 146 may include separate
communication buses for receiving control signals for the haptic
feedback mechanism 142 and sending data from the sensors 144 to the
console 170. The one or more communication buses of the
communication interface 146 may be implemented as wired
connections, wireless connections, or some combination thereof.
[0035] The console 170 is a computing device that executes virtual
reality applications, augmented reality applications, mixed reality
applications, or some combination thereof, to process input data
from the sensors 114 and 144 on the HMD 110 and the haptic
interface garment 140 and provide output data for the electronic
display 112 on the HMD 110 and the haptic feedback mechanism 142 on
the haptic interface garment 140. The console 170, or portions
thereof, may be integrated with the HMD 110, the haptic interface
garment 140, or both the HMD 110 and the haptic interface garment
140. The console 170 can be implemented as any kind of computing
device, such as an integrated system-on-a-chip, a microcontroller,
a desktop or laptop computer, a server computer, a tablet, a smart
phone, or other mobile device. Thus, the console 170 may include
components common to typical computing devices, such as a
processor, random access memory (RAM), a storage device, a network
interface, an I/O interface, and the like.
[0036] The processor may be or include one or more graphics
processing units (GPUs), microprocessors, or application specific
integrated circuits (ASICs). The memory may be or include RAM, ROM,
DRAM, SRAM, and MRAM, and may include firmware, such as static data
or fixed instructions, BIOS, system functions, configuration data,
and other routines used during the operation of the computing
device and the processor. The memory also provides a storage area
for data and instructions associated with applications and data
handled by the processor.
[0037] The storage device provides non-volatile, bulk, or long term
storage of data or instructions in the computing device. The
storage device may take the form of a magnetic or solid state disk,
tape, CD, DVD, or other reasonably high capacity addressable or
serial storage medium. Multiple storage devices may be provided or
be available to the computing device. Some of these storage devices
may be external to the computing device, such as network storage or
cloud-based storage. The network interface includes an interface to
a network and can be implemented as either a wired or wireless
interface. The I/O interface interfaces the processor to
peripherals (not shown) such as, depending upon the computing
device, sensors, displays, cameras, color sensors, microphones,
keyboards and USB devices.
[0038] In the example shown in FIG. 1, the console 170 further
includes applications 172 and an engine 174. An application 172
running on the engine 174 may generate a VR environment, an AR
environment, an MR environment, or some combination thereof. In
some embodiments, the applications 172 and the engine 174 are
implemented as software modules that are stored on the storage
device and executed by the processor. Some embodiments of the
console 170 include additional or different components than those
described in conjunction with FIG. 1. Similarly, the functions
further described below may be distributed among components of the
console 170 in a different manner than is described here.
[0039] Each application 172 is a group of instructions that, when
executed by a processor, generates virtual reality content for
presentation to the user. An application 172 may generate content
(e.g., VR, MR, or AR content) in response to inputs received from
the user via movement of the HMD 110 or the haptic interface
garment 140. Examples of applications 172 include gaming
applications, conferencing applications, video playback
applications, augmented reality application, telerobotic
applications, or other suitable applications.
[0040] The engine 174 is a software module that allows the
applications 172 to operate in conjunction with the HMD 110 and the
haptic interface garment 140. In some embodiments, the engine 174
receives information from sensors 114 on the HMD 110 and provides
the information to an application 172. Based on the received
information, the engine 174 determines media content to provide to
the HMD 110 for presentation to the user via the electronic display
112 or haptic feedback to provide to the haptic interface garment
140 to provide to the user via the haptic feedback mechanism. For
example, if the engine 174 receives information from the sensors
114 on the HMD 110 indicating that the user has looked to the left,
the engine 174 generates content for the HMD 110 that mirrors the
user's movement in a virtual environment.
[0041] Similarly, in some embodiments the engine 174 receives
information from the sensors 144 on the haptic interface garment
140 and provides the information to an application 172. The
application 172 can use the information to perform an action within
the virtual world of the application 172. For example, if the
engine 174 receives information from the sensors 144 that the user
has closed her fingers around a position corresponding to a coffee
mug in the virtual environment and raised her hand, a simulated
hand in the application 172 picks up the virtual coffee mug and
lifts it to a corresponding height.
[0042] The engine 174 may also provide feedback to the user that
the action was performed. The provided feedback may be visual via
the electronic display 112 in the HMD 110 (e.g., displaying the
simulated hand as it picks up and lifts the virtual coffee mug) or
haptic feedback via the haptic feedback mechanism 142 in the haptic
interface garment 140 (e.g., resisting movement of a user's fingers
from curling past a certain point to simulate the sensation of
touching a solid coffee mug). The haptic feedback may also be force
feedback from some machine being controlled by the user.
Force Grounding Wristband
[0043] FIG. 2 illustrates a plan view of a haptic glove 200, in
accordance with an embodiment. The haptic glove 200 includes one or
more tendons 210A-210E, one or more actuators 215A-215E, one or
more finger-tendon anchors 212A-212E, a controller 270, and a
wristband 220. In the embodiment of FIG. 2, each of the five finger
sheaths of the glove 200 corresponds to a respective tendon
210A-210E, a respective actuator 215A-215E, and a respective
finger-tendon anchor 212A-212E. In FIG. 2, the haptic glove 200 is
shown in an orientation corresponding to posterior view of a user's
right hand (i.e., a plan view of the back of the user's hand).
[0044] The tendons 210A-210E are thin elements that each translate
force from a respective actuator 215A-215E to a respective finger.
For example, a tendon 210A-210E may be a wire, string, rod, chord,
chain, wire cable, or elastic structure. As depicted in FIG. 2,
each of the non-thumb tendons 210B-210E runs along the back of the
haptic glove 200 (i.e., the side of the haptic glove 200
corresponding to the posterior side of the user's hand) and along
the posterior side of its respective finger sheath. The tendon 210A
corresponding to the thumb may runs along the side of the
thumb.
[0045] The actuators 215A-215E are motors that each tension a
respective tendon 210A-210-210E. Each actuators 215A-215E may
include an electromagnetic mechanism (e.g., one or more solenoids),
a hydraulic mechanism, a pneumatic mechanism, a piezoelectric
mechanism, or a combination thereof. When an electrical signal is
delivered to an actuator 215A-215E, the actuator 215A-215E may
apply a force to its respective tendon 210A-210E causing the tendon
210A-210E to be tensioned. By modulating the tension in the tendons
210A-210E via the actuators 215A-215E, the haptic glove 200 can
apply a force to the fingers of the user's hand. In this way, the
haptic glove 200 resists flexion of one or more of the user's
fingers or causes extension of the fingers. Resistance to flexion
from the haptic glove 200 may be used in conjunction with the
display of a virtual object in the HMD 110 to simulate the grasping
of the virtual object.
[0046] Each of the finger-tendon anchors 212A-212E is a coupling
between a respective tendon 210A-210E and a respective finger
sheath of the haptic glove 200. In some embodiments, the
finger-tendon anchors 212A-212E are located on different portions
of the finger sheaths that is depicted in FIG. 2. For example, some
or all of the finger-tendon anchors 212A-212E could be adjacent to
the distal interphalangeal joints of the fingers, the proximal
interphalangeal joints, or both. In some embodiments, more than one
finger-tendon anchor 212A-212E couples between each tendon
210A-210E and the respective finger sheath. In addition, alternate
embodiments use different types of finger-tendon anchors 212A-212E
than those illustrated in FIG. 2.
[0047] Each tendon 210A-210E mechanically couples at a respective
first end to a respective finger sheath via a respective
finger-tendon anchor 212A-212E. The first tendon 210A couples at
the first end to the finger sheath corresponding to the user's
thumb (i.e., the "thumb sheath"). The other four tendons 210B-210E
(i.e., the "finger tendons") couple at respective first ends to
finger sheaths corresponding to the user's index, middle, ring, and
"pinky" fingers, respectively. Each tendon 210A-210E mechanically
couples at a respective second end to a respective actuator
215A-215E. The five actuators 215A-215E each couple to the
wristband 220. The actuators 215A-215E may be rigidly anchored to
the wristband 220. The first actuator 215A couples to the thumb
tendon mount 260. The second actuator 215B couples to the first
force distribution segment 240A. The third actuator 215C couples to
the first adjustable strip 250A and the fourth and fifth actuators
215D-215E couple to the second adjustable strip 215E. One or more
of the actuators 215A-215E may couple to a respective tension
adjustment mechanism, and in some embodiments all of the actuators
215A-215E may couple to a respective tension adjustment mechanism.
These tension adjustment mechanisms may allow the user to configure
the tension on each tendon 210A-210E by adjusting its length to
accommodate the shape of the user's hand (e.g., the length of the
user's fingers).
[0048] In an alternate embodiment, the actuators 215B-215E not
corresponding to the thumb all couple at the same part of the
wristband 220. For example, the four finger actuators 215B-215E may
couple to the first or second adjustable strip 250A, the first or
second force distribution segments 240A-240B, or the ratchet 230.
In another embodiment, the two actuators 215B-215C corresponding to
the index and middle fingers couple to the first adjustable strip
250A and the two actuators 215D-215E corresponding to the ring and
pinky fingers couple the second adjustable strip 250B. In some
embodiments, one or more of the finger actuators 215B-215E are
omitted and one or more of the finger tendons 210B-210E are coupled
to the same actuator. For example, the four finger tendons
210B-210E may be coupled to a single actuator. Other coupling
configurations for the actuators 215A-215E and tendons 210A-210E
are also possible.
[0049] The controller 270 is an electronic device the controls each
of the actuators 215A-215E. The controller 270 may receive input
the console 170 that may determine setpoint position for each
actuator, a force to apply to each actuator, or some combination
thereof. The controller 270 may include a digital-to-analog
converter for converting input from the console 170 to an
electrical signal for controlling the actuators 215A-215E. The
controller 270 may control the actuators 215A-215E individually or
control a set of the actuators 215A-215E as a unit. A unit of
actuators (e.g., every other actuator, all the actuators, or any
other combination of actuators) may be controlled together, so that
each actuator in the unit is tensioned or de-tensioned together. In
some embodiments, the controller 270 is located at a different
location on the haptic glove 200. In alternate embodiments, the
functions of the controller 270, as described herein, are
implemented by a device external to but communicatively coupled to
the haptic glove 200 (e.g., the console 170).
[0050] The wristband 220 is a band that may encircle a user's
wrist. The wristband 220 may ground forces generated by the
actuators 215A-215E. The wristband 220 may ground these forces by
distributing the forces from the actuators 215A-215E to the ulnar
and radial sides of the wrist (i.e., the bony portions on the side
of the wrist). The wristband 220 includes a ratchet 230, one or
more force distribution segments 240A-240B, one or more adjustable
strips 250A-250B, and a thumb tendon mount 260. In the embodiments
shown in FIG. 2, the wristband includes two adjustable strips
250A-250B and two force distribution segments 240A-240B.
[0051] The ratchet 230 is a tension adjustment mechanism with which
a user can manually adjust the tension in the wristband 220. The
ratchet 230 of the wristband 220 couples at a first end to a first
adjustable strip 250A and couples to a second adjustable strip 250B
at a second opposite end. The ratchet 230 may include a rotatable
knob for adjusting tension. The ratchet 230 may include a locking
mechanism so that in a locked position the knob can rotate in a
first direction to tension the wristband, but cannot be rotated in
the opposite direction to provide slack to the wristband. In an
unlocked position, the ratchet 230 releases tension in the
wristband. Lifting the knob up may set the ratchet 230 to the
unlocked position and pressing the knob down may set it to the
locked position (or vice versa).
[0052] The adjustable strips 250A-250B are strips that couple to
the ratchet 230. The adjustable strips 250A-250B may be adjusted in
length by the ratchet 230 to produce tension in the wristband 220.
The first and second adjustable strips 250A, 250B couple to first
and second force distribution segments 240A-240B, respectively. In
alternate embodiments, the ratchet 230 and adjustable strips
250A-250B are omitted in favor of an alternate tension adjustment
mechanism, a linear ratchet mechanism (e.g., a ratchet strap), such
as a ratchetable buckle strap system, a releasable pawl and gear
rack system, a threaded buckle, a ladderlock strap system, or a
fabric hook and fastener strap system.
[0053] The first and second force distribution segments 240A-240B
are components of the wristband 220 that may ground forces to the
bony portions of the user's wrist. The first and second force
distribution segments 240A-240B adjacent to the radial side and
ulnar side, respectively, of the user's wrist. The first force
distribution segment 240A is adjacent to the radial side (i.e., the
"thumb side") of the user's wrist, and the second force
distribution segment 240B is adjacent to the ulnar side (i.e., the
"pinky side") of the wrist. The force distribution segments
240A-240B may rigidly couple to the wrist of the user. Tension in
the wristband 220 is distributed along the sides of the wrist to
ground the forces caused by tendons 210A-210E anchored to the
wristband 220. The force distribution segments 240A-240B may be
inflexible in directions parallel to the surface of the wrist. That
is, forces parallel to the wrist's surface produce relatively
little deformation of the force distribution segments 240A-240B.
The first and second force distribution segments 240A-240B may be
coupled together. An anterior band (not shown) couples between the
first and second force distribution segments 240A-240B in some
embodiments. In alternate embodiments, the first and second force
distribution segments 240A-240B may be portions of a single
continuous element. The wristband 220 also includes a thumb tendon
mount 260 that couples to the first force distribution segment
240A.
[0054] The force distribution segments 240A-240B may be curved in
the same direction as the surface of the wrist to which they are
adjacent. In some embodiments, the force distribution segments
240A-240B are flexible (e.g., susceptible to bending) in the
direction perpendicular to the surface of the wrist. Thus, a
tension in the wristband 220 may cause the force distribution
segments 240A-240B to bend towards the curvature of the wrist. As a
result, tension in the wristband 220 causes the force distribution
segments 240A-240B to conform to the curvature of the wrist. By
conforming to the sides of the wrist, the wristband 220 may
distribute the force from tendons 210A-210E over a larger area.
Thus, the force distribution segments 240A-240B allow the wristband
220 to effectively ground the forces produced by the tendons
210A-210E and actuators 215A-215E. Several embodiments of force
distribution segments 240A-240B are discussed below in conjunction
with FIGS. 5A-5B.
[0055] The thumb tendon mount 260 is a rigid component that is
coupled to the actuator 215A corresponding to the thumb. Because
the thumb tendon 210A runs along the side of the thumb, the thumb
tendon mount 260 may extend from the side of the first force
distribution segment 240A. The actuator 215A, the thumb tendon
mount 260, and the first force distribution segment 240A may be
rigidly coupled together. The thumb tendon mount 260 may be a
continuous piece of the first force distribution segment 240A and
may protrude therefrom. The actuator 215A may be coupled to the
thumb tendon mount 260 or may be integrated within the thumb tendon
mount 260. The thumb tendon mount 260 may include a tension
adjustment mechanism for adjusting the default tension in the thumb
tendon 210A. By adjusting the thumb tension mount, the user can
adjust the length of the tendon 210A to accommodate the length of
his or her thumb.
[0056] The haptic glove 200 may be a full-fingered glove wearable
on the user's hand. The haptic glove 200 may cover the user's hand
with a textile, but it may also include other materials such as
rubber, processed animal hide (e.g., leather), cloth, wool, a
polymer (e.g., nylon, polyester, or latex), or some combination
thereof. The haptic glove 200 may include multiple layers. For
example, the tendons 210A-210E and the actuators 215A-215E may be
enclosed between two layers of the haptic glove 200. The haptic
glove 200 may include five finger sheaths, each of which may
entirely cover a respective finger or cover a portion of the finger
(e.g., as in a fingerless glove). The haptic glove 200 may
alternately be a mitten, or a gauntlet.
[0057] FIG. 3 illustrates a plan view of a haptic glove 300 with an
alternate tendon configuration, according to an embodiment. The
embodiment of the haptic glove 300 illustrated in FIG. 3 has a
different tendon configuration than the haptic glove 200
illustrated in FIG. 2. Whereas, the actuators 215A-215E of the
haptic glove 300 in FIG. 2 were directly coupled to the wristband
220, the actuators 215A-215E of the haptic glove 300 in FIG. 3 are
each coupled to a respective second tendon 320A-320E which couples
to the wristband 220 at a respective coupling point 310A-310E. The
coupling points 310A-310E may be rigid anchors to the wristband
220. The actuators 215A-215E may be directly coupled to the fabric
of the haptic glove 300. The actuators 215A-215E may alternately be
free-floating with respect to the fabric of the haptic glove
300.
[0058] Each actuator 215A-215E may be controlled by the controller
270 to contract a respective first tendon 210A-210E while the
length of the respective second tendon 320A-320E remains relatively
invariant. In an alternate embodiment, each actuator 215A-215E may
contract the second tendon 320A-320E to produce tension, while the
length of the respective first tendon 210A-210E remains relatively
invariant. In a third alternate embodiment, the actuators 215A-215E
may exert tension by contracting both the first tendons 210A-210E
and the second tendons 320A-320E.
[0059] FIG. 4 illustrates a plan view of a wristband 400 with wires
420A-420D for tension adjustment, in accordance with an embodiment.
The wristband 400 may be an embodiment of the wristband 220
illustrated in FIGS. 2-3. The wristband 400 includes one or more
adjustable strips (e.g., adjustable strips 250A-250B), each of
which includes one or more wires 420A-420D over a thin strip
410A-410B. For example, the wristband 400 illustrated in FIG. 4
includes two adjustable strips 250A-250B, each of which includes
two wires 420A-420D over a thin strip 410A-410B.
[0060] The wires 420A-420D couple between the ratchet 230 and the
force distribution segments 240A-240B. Instead of wires 420A-420D,
any type of tendon may alternately be used, such as, strings, rods,
chords, chains, or elastic structures. In alternate embodiments,
the wristband 400 includes a different number of wires than shown
in FIG. 4. The wristband 400 may also include a layer of material
(e.g., fabric) over the wires 420A-420D or sheaths that enclose the
wires 420A-420D.
[0061] The thin strips 410A-410B are layers of material beneath the
wires 420A-420D. The thin strips 410A-410B may be composed of
elastic material (e.g., neoprene), inelastic fabric, or some
combination thereof. In some embodiments, the thin strips 410A-410B
are omitted entirely.
[0062] The ratchet 430 is an embodiment of the ratchet 230 of FIGS.
2-3. The ratchet 430 may comprise one or more reels about which the
wires 420A-420D are wound. The one or more reels retract the wires
420A-420D into the ratchet 430 when rotated in a first direction
and provide slack when rotated in the opposite direction. The
ratchet 430 may include a locking mechanism so that in a locked
position the one or more reels can rotate in the first direction to
retract the wires 420A-420D, but cannot rotate in the opposite
direction to provide slack to the wires 420A-420D. That is, the one
or more reels are ratchetable. In an unlocked position, the one or
more reels of the ratchet 430 may be free to rotate in either
direction, thereby allowing the user to reduce the tension in the
wristband 400. In some embodiments, the ratchet 430 comprises a
knob configured to rotate the one or more reels. Lifting the knob
up may set the ratchet 430 to the unlocked position and pressing
the knob down may set it to the locked position (or vice versa). In
some embodiments, when the ratchet 430 is in a locked position the
knob and the one or more reels are rotationally coupled, but the
knob and the one or more reels are disengaged in the unlocked
position. In some embodiments, the ratchet 430 is unlocked by
disengaging a pawl from a gear rotationally coupled to the knob,
the one or more reels, or both.
Force Distribution Segments
[0063] FIG. 5A illustrates a cross-section of a wristband 500 with
force distribution segments 240A-240B that are each continuous
elements, according to an embodiment. The wristband 500 may be part
of a haptic glove (e.g., haptic glove 200). The wristband 500
includes two adjustable strips 250A-250B, two force distribution
segments 240A-240B, a thumb tendon mount 260, a ratchet 230, and an
anterior strip 510. For context FIG. 5A shows a cross-section of a
user's wrist 580, that the wristband 500 encircles. The user's
wrist 580 is illustrated as a dotted outline.
[0064] Each the force distribution segments 240A-240B may be a
continuous, curved solid element. The force distribution segments
240A-240B may be curved in the same direction as the surface of the
wrist to which they are adjacent. The force distribution segments
240A-240B may be a segment of an oblong annular cylinder. In some
embodiments, the force distribution segments 240A-240B are flexible
in the direction perpendicular to the surface of the wrist. Thus, a
tension in the wristband 220 may cause the force distribution
segments 240A-240B to bend towards the curvature of the wrist. As a
result, tension in the wristband 220 may cause the force
distribution segments 240A-240B to conform to the wrist's
curvature.
[0065] FIG. 5A also shows an anterior strip 510, which couples
between the first and second force distribution segments 240A-240B.
The anterior strip 510 may be an elastic strip (e.g., rubber) or an
inelastic flexible strip (e.g., fabric). In some embodiments, the
anterior strip 510 comprises a thin elastic strip under one or more
wires, wherein each wire couples between the force distribution
segments 240A-240B. Instead of wires, any type of tendon may be
used, such as, strings, rods, chords, chains, or elastic
structures. The wires may bear most of the tension in the anterior
strip 510.
[0066] In some embodiments, elements of the anterior strip 510 are
coupled to one or both of the adjustable strips 250A-250B. For
example, the anterior strip 510 may comprise one or more wires
(e.g., wires 420A,420B) that are also part of the first adjustable
strip 250A. These one or more wires may run through or over the
force distribution segment 240A. In this way, when the ratchet 230
retracts these wires, the length of the first adjustable strip 250A
and the length of the anterior strip 510 may both be shortened.
Similarly, the anterior strip 510 may comprise one or more wires
(e.g., 420C, 420D) that are also part of the second adjustable
strip 250B. In this way, one or more continuous wires may be part
of the first and second adjustable strips 250A, 250B and the
anterior strip 510. For example, wire 420A of the first adjustable
strip 250A and the wire 420C of the second adjustable strip 250B
may be portions of the same continuous wire. These one or more
wires may encircle the wrist, running from one end of the ratchet
230 to the opposite end of the ratchet 230. In alternate
embodiments, the anterior strip 510 is replaced by a tension
adjustment mechanism similar to that on the posterior side of the
wrist (e.g., two adjustable strips coupled to ratchet configured to
adjust the length of the adjustable strips). Alternately, the
anterior strip 510 may include a ratchetable buckle strap system, a
releasable pawl and gear rack system, a ladderlock strap system, or
a fabric hook and fastener strap system. In some embodiments, the
anterior strip 510A is omitted. In such embodiments, the force
distribution segments 240A, 240B may directly couple to each other
with one or more hinges. Alternately, the force distribution
segments 240A, 240B may be constituent portions of a single
continuous element.
[0067] FIG. 5B illustrates a cross-section of a wristband 520
including series of links, according to an embodiment. The
wristband 520 may part of a haptic glove (e.g., haptic glove 200).
The wristband may include force distribution segments 240A-240B
that each comprise a series of links. These links may be rigid
elements (e.g., plastic, metal, or ceramic) connected to each other
by hinges, which permit the links to rotate relative to each other.
The hinges may be configured to allow rotation along an axis
parallel to the surface of the user's wrist thereby allowing the
force distribution segments 240A, 240B to conform to the curvature
of the user's wrist.
[0068] FIG. 5C illustrates a cross-section of a wristband 530
including meshes, according to some embodiments. The wristband 530
may be part of a haptic glove (e.g., haptic glove 200). The
wristband 530 may include force distribution segments 240A, 240B.
Force distribution segment 240A includes a mesh 540A over a thin
elastic strop 540A, and force distribution segment 240B includes a
mesh 540B over a thin elastic strip 540B. Each mesh 540A, 540B may
consist of interconnected links, such as metal rings. The mesh
540A, 540B may be, for example, a Milanese mesh. The meshes
540A,540B may be compliant in a direction perpendicular to the
surface of the user's wrist 580, but relatively stiff to forces
parallel to the surface of the user's wrist 580.
[0069] FIG. 5C does not depict a thumb tendon mount 260. In some
embodiments, the wristband 530 does not include a thumb tendon
mount 260, and a thumb tendon (e.g., tendon 215A) couples to an
alternate part of the wristband 530 (e.g., the mesh 540A). In
alternate embodiments, the first force distribution segment 240A
includes a thumb tendon mount 260 which couples to the thumb
tendon.
[0070] FIG. 5D illustrates a cross-section of a wristband 550
including hinged segments, according to an embodiment. The
wristband 550 may be part of a haptic glove (e.g., haptic glove
200) and may include force distribution segments 240A-240B. The
force distribution segment 240A includes an upper segment 560A, and
a hinge 570A connecting the upper segment 560A to a lower segment
560A. The force distribution segment 240B includes an upper segment
560B, and a hinge 570B connecting the upper segment 560B to a lower
segment 560B. Each of the hinges 570A, 570B allows their respective
upper and lower segments 560A,560D to rotate with respect to each
other. The axis of rotation of the hinges 570A, 570B may be
approximately parallel to direction of the user's forearm. In some
embodiments, each of the force distribution segments 240A, 240B
include more than two segments (e.g., 560A-D) and more than one
hinge (e.g., hinges 570A, 570B) to connect them. In some
embodiments, the upper segments 560A, 560B and lower segments 560C,
560D are rigid bodies. In alternate embodiments, the upper segments
560A, 560B and lower segments 560C, 560D are flexible in a
direction perpendicular to the surface of the user's wrist 580, but
inflexible (i.e., not susceptible to bending) in directions
parallel to the surface of the user's wrist 580.
OTHER CONSIDERATIONS
[0071] The foregoing description of the embodiments of the
disclosure have been presented for the purpose of illustration; it
is not intended to be exhaustive or to limit the disclosure to the
precise forms disclosed. Persons skilled in the relevant art can
appreciate that many modifications and variations are possible in
light of the above disclosure.
[0072] Some portions of this description describe the embodiments
of the disclosure in terms of algorithms and symbolic
representations of operations on information. These algorithmic
descriptions and representations are commonly used by those skilled
in the data processing arts to convey the substance of their work
effectively to others skilled in the art. These operations, while
described functionally, computationally, or logically, are
understood to be implemented by computer programs or equivalent
electrical circuits, microcode, or the like. Furthermore, it has
also proven convenient at times, to refer to these arrangements of
operations as modules, without loss of generality. The described
operations and their associated modules may be embodied in
software, firmware, hardware, or any combinations thereof.
[0073] Any of the steps, operations, or processes described herein
may be performed or implemented with one or more hardware or
software modules, alone or in combination with other devices. In
one embodiment, a software module is implemented with a computer
program product comprising a computer-readable medium containing
computer program code, which can be executed by a computer
processor for performing any or all of the steps, operations, or
processes described.
[0074] Embodiments of the disclosure may also relate to an
apparatus for performing the operations herein. This apparatus may
be specially constructed for the required purposes, and/or it may
comprise a general-purpose computing device selectively activated
or reconfigured by a computer program stored in the computer. Such
a computer program may be stored in a non-transitory, tangible
computer readable storage medium, or any type of media suitable for
storing electronic instructions, which may be coupled to a computer
system bus. Furthermore, any computing systems referred to in the
specification may include a single processor or may be
architectures employing multiple processor designs for increased
computing capability.
[0075] Embodiments of the disclosure may also relate to a product
that is produced by a computing process described herein. Such a
product may comprise information resulting from a computing
process, where the information is stored on a non-transitory,
tangible computer readable storage medium and may include any
embodiment of a computer program product or other data combination
described herein.
[0076] Finally, the language used in the specification has been
principally selected for readability and instructional purposes,
and it may not have been selected to delineate or circumscribe the
inventive subject matter. It is therefore intended that the scope
of the disclosure be limited not by this detailed description, but
rather by any claims that issue on an application based hereon.
Accordingly, the disclosure of the embodiments is intended to be
illustrative, but not limiting, of the scope of the disclosure,
which is set forth in the following claims.
* * * * *