Actuated tendon pairs in a virtual reality device
A haptic glove includes a glove body including a glove digit corresponding to a phalange of a user hand. The glove digit has a pair of flexible tendons, including a first and a second tendon, which are parallel to a bend centerline that bisects a surface of the glove digit. The first and second tendons are positioned respectively on opposite sides of the bend centerline. The haptic glove further comprises an actuator coupled to the glove body and the first and second tendons, the actuator configured to actuate the tendons to control movement of the glove digit.
1. A wearable device comprising:
a wearable garment including a sleeve corresponding to a human body part, the sleeve having an elastic ribbon positioned on the surface of the sleeve and a pair of flexible tendons, including a first and a second tendon that are parallel to a bend centerline that bisects a surface of the sleeve, and the first and second tendons are positioned respectively on opposite sides of the bend centerline and the elastic ribbon is positioned parallel to the bend centerline to overlap the first and second tendons; and
an actuator coupled to the sleeve and the first and second tendons, the actuator configured to actuate the tendons to control movement of the sleeve.
2. The wearable device of claim 1 , wherein the sleeve further comprises a plurality of anchors, and each anchor of the plurality of anchors is connected to the first tendon and to the second tendon and is configured to be placed at a respective bend location of the sleeve.
3. The wearable device of claim 2 , wherein a first anchor, of the plurality of anchors, comprises a first connector and a second connector that are coupled to the sleeve on opposite sides of a bend location, and the first connector and the second connector are both attached to the first tendon and to the second tendon.
4. The wearable device of claim 1 , wherein the first and second tendons are interconnected at an end of the sleeve and the end of the sleeve comprises a rigid cap enclosing a region where the first and second tendons are interconnected.
5. The wearable device of claim 1 , wherein the elastic ribbon has a first value of elasticity in a central region along the bend centerline and a second value of elasticity along edge regions distal from the bend centerline, the first value being greater than the second value.
6. The wearable device of claim 1 , wherein the actuator is configured to simultaneously adjust lengths of both the first and second tendons based at least in part on a virtual position of the wearable garment in a virtual space, the virtual space in which a virtual object is placed, the virtual position of the sleeve determined based on a physical position of the wearable garment relative to the virtual object.
7. The wearable device of claim 1 , wherein the first and second tendons are positioned equidistant from the bend centerline on the first and the second side of the bend centerline of the sleeve and are positioned on a plane distinct from a plane of an apexline of a contour of the surface of the sleeve.
8. The wearable device of claim 1 , wherein the sleeve is part of a haptic glove.
9. The wearable device of claim 1 , wherein the wearable garment is a haptic glove and the sleeve is part of a glove body wearable around a wrist of a user, the wearable garment further comprising:
one or more control wires coupled to the first and second tendon.
10. The wearable device of claim 1 , wherein the wearable garment is a haptic glove and the sleeve is part of a glove body wearable around a wrist of a user.
11. The wearable device of claim 10 , wherein:
the first tendon comprises a plurality of tendon segments including a first tendon segment and a second tendon segment, the first and second tendon segments formed on opposite sides of and connected to a first anchor of a plurality of anchors, wherein the first anchor comprises a first connector and a second connector that are coupled to the sleeve on opposite sides of a bend location and the first connector and the second connector are both attached to the first tendon and to the second tendon;
the second tendon comprises a plurality of tendon segments including a third tendon segment and a fourth tendon segment, the third and fourth tendon segments formed on opposite sides of and connected to the first anchor of the plurality of anchors;
the first and third tendon segments are connected to the first connector of the first anchor; and
the second and fourth tendon segments are connected to the second connector of the first anchor.
12. The wearable device of claim 11 , wherein:
the first and second tendon segments are physically connected via a first tendon interconnect positioned between the first connector and the second connector; and
the third and fourth tendon segments are physically connected via a second tendon interconnect positioned between the first connector and the second connector.