HAPTIC FEEDBACK GLOVE
A human-computer interface system including: a sensor configured to transduce the location of a finger of a hand of a user; an exoskeleton including: a kinematic termination configured to exchange mechanical energy with the finger of the hand, a force transmission element, an actuator, and a mechanical ground; and an interface garment, including: an interface laminate coupled to a counterpressure assembly, configured to stimulate the user by applying a pressure to the finger.
1 . A human-computer interface system including:
a sensor configured to transduce the location of a finger of a hand of a user;
an exoskeleton including:
a kinematic termination configured to exchange mechanical energy with the finger of the hand,
a force transmission element,
an actuator,
and a mechanical ground; and
an interface garment, including:
an interface laminate coupled to a counterpressure assembly, configured to stimulate the user by applying a pressure to the finger.
2 . The human-computer interface system of claim 1 wherein the sensor comprises at least one of: a magnetic sensor and an optical sensor.
3 . The human-computer interface system of claim 2 further comprising a magnetic emitter coupled to a hand of the user.
4 . The human-computer interface system of claim 1 wherein the force transmission element of the exoskeleton has a ratio of width to height of at least 10.
5 . The human-computer interface system of claim 1 further comprising a first force transmission guide coupled to an intermediate phalange of the user, and a second force transmission guide coupled to a proximal phalange of the user.
6 . The human-computer interface system of claim 5 further comprising an elastic element coupled to at least one of: said first force transmission guide, and said second force transmission guide.
7 . The human-computer interface system of claim 5 wherein the first and second force transmission guides are coupled to a fabric substrate.
8 . The human-computer interface system of claim wherein said first and second force transmission guides comprise force transmission element guide slots with heights of between 1 and 2.5 cm above a finger of the user.
9 . The human-computer interface system of claim 1 wherein the actuator of the exoskeleton comprises a brake configured to vary a mechanical impedance of an actuated articulation.
10 . The human-computer interface system of claim 9 wherein said actuator further comprises a fluidic actuator.
11 . The human-computer interface system of claim 10 wherein said fluidic actuator is part of a laminate structure.
12 . The human-computer interface system of claim 11 further comprising a first and second actuation chamber.
13 . The human-computer interface system of claim 9 wherein said brake is configured to produce more than two states of mechanical impedance of said actuated articulation.
14 . The human-computer interface system of claim 9 further comprising a traction membrane.
15 . The human-computer interface system of claim 9 wherein the exoskeleton comprises a tensioning mechanism.
16 . The human-computer interface system of claim 15 wherein said tensioning mechanism comprises at least one of: an elastic element and an actuator.
17 . The human-computer interface system of claim 1 wherein the mechanical ground of the exoskeleton comprises at least one of: a metacarpal of the user and a forearm of the user.
18 . The human-computer interface system of claim 1 wherein the mechanical ground of the exoskeleton comprises an arm exoskeleton.
19 . The human-computer interface system of claim 1 wherein the exoskeleton comprises a force sensor.
20 . The human-computer interface system of claim 1 wherein the force transmission element comprises a first cross section and a second cross section, having different cross sectional geometries.