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 configured to exchange mechanical energy with the finger; 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; a first plurality of tactile actuators configured to apply a pressure to a finger of the user; and a second plurality of tactile actuators configured to apply a pressure to a palm of the hand of the user.
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 configured to exchange mechanical energy with the finger; 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;
a first plurality of tactile actuators configured to apply a pressure to a finger of the user; and
a second plurality of tactile actuators configured to apply a pressure to a palm of the hand of the user.
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 the hand of the user.
4 . The human-computer interface system of claim 1 wherein the interface laminate comprises a portion with at least 1 tactile actuator per square centimeter.
5 . The human-computer interface system of claim 1 wherein the interface laminate comprises a tactile actuator with a displacement of at least 1 mm.
6 . The human-computer interface system of claim 1 further comprising an intermediate layer between the interface laminate and skin of the user.
7 . The human-computer interface system of claim 1 wherein the interface laminate is coupled to a vibration actuator.
8 . The human-computer interface system of claim 7 wherein the vibration actuator comprises one of a piezoelectric actuator and a fluidic actuator.
9 . The human-computer interface system of claim 1 wherein the counterpressure assembly comprises an armature and a tensile member.
10 . The human-computer interface system of claim 9 wherein said tensile member comprises an elastic element.
11 . The human-computer interface system of claim 9 wherein said armature contacts palmar and dorsal faces of a distal phalange of the finger, but does not contact medial and lateral faces of said finger.
12 . The human-computer interface system of claim 1 wherein the interface garment comprises a palm assembly, including at least one of: a thenar assembly, a hypothenar assembly, and an interdigital assembly.
13 . The human-computer interface system of claim 12 wherein the stiffness of said palm assembly varies between a first and second point along its surface.
14 . The human-computer interface system of claim 13 having a less stiff portion adjacent to at least one of: a palmar interdigital crease, a transverse crease, and a thenar crease.
15 . The human-computer interface system of claim 12 wherein the thenar assembly comprises a portion having a radius of curvature between 10 mm and 20 mm.
16 . The human-computer interface system of claim 12 wherein the interdigital assembly comprises a portion having a radius of curvature between 56 mm and 94 mm.
17 . The human-computer interface system of claim 1 wherein the interface garment comprises a wrist strap.
18 . The human-computer interface system of claim 1 wherein the counterpressure assembly comprises a fastener configured to adjust pressure applied by the counterpressure assembly to a portion of the hand of the user.
19 . The human-computer interface system of claim 1 comprising at least one of: an opisthenar plate, and a thenar plate.