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WO1997017649A1 - Dispositif et procede servant a conferer une resistance ou une reaction de force a une surface du corps humain - Google Patents

Dispositif et procede servant a conferer une resistance ou une reaction de force a une surface du corps humain Download PDF

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Publication number
WO1997017649A1
WO1997017649A1 PCT/GB1996/002656 GB9602656W WO9717649A1 WO 1997017649 A1 WO1997017649 A1 WO 1997017649A1 GB 9602656 W GB9602656 W GB 9602656W WO 9717649 A1 WO9717649 A1 WO 9717649A1
Authority
WO
WIPO (PCT)
Prior art keywords
body surface
bag
resistance
particulate material
force feedback
Prior art date
Application number
PCT/GB1996/002656
Other languages
English (en)
Inventor
Karen Carr
Original Assignee
British Aerospace Public Limited Company
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by British Aerospace Public Limited Company filed Critical British Aerospace Public Limited Company
Priority to EP96935127A priority Critical patent/EP0953171A1/fr
Publication of WO1997017649A1 publication Critical patent/WO1997017649A1/fr

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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 OR CALCULATING; 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

Definitions

  • the present invention relates to apparatus and a method for providing resistance or force feedback to a human body surface, particularly, but not exclusively, suitable for human/computer interaction in desktop or immersive virtual reality systems-
  • One of the problems encountered with human/computer interaction in desktop or virtual reality systems is that of imparting a force feedback when, for example, contact with an object is being simulated in the computer or virtual reality environment.
  • the human operator is attempting to grasp by hand a solid or partially solid object it is desirable to impart to the hand a resistance or force which corresponds to the effect of grasping a solid or partially solid object in reality. It has been proposed to do this by stiffening the resistance of the fingers of a hand to bending so that this resistance to bending conveys an impression of grasping against a solid object.
  • apparatus for providing resistance or force feedback to a human body surface including at least one bag-like member made at least partially of elastically deformable material for contact with a body surface, a quantity of particulate material contained in said bag-like member and gas flow means whereby a gaseous medium can be fed controUably into said member to soften the resistance of said member and particulate material to deformation or extracted controUably from said member to harden the resistance of said member and particulate material to deformation so as to provide a variable desired resistance to pressure for the contacting body surface.
  • the elastically deformable material utilised is plastics, latex or rubber.
  • the bag-like member is attached to a computer mouse for contact by a body surface in the form of a human hand.
  • the bag-like member is dimensioned to be held in or attached to the palm of a human hand.
  • the bag-like member is of elongated tubular form for attachment to the inner surface of a human finger to extend there along or for attachment to the inner surfaces of a human finger and thumb to extend there along.
  • the particulate material utilised is organic or inorganic, preferably one or more of mustard seeds, sesame seeds, semolina grains, plastics beads or glass beads.
  • gaseous medium utilised is air.
  • the gas flow means includes a gaseous medium flow pipe opening into the bag-like member for connection to a source of gaseous medium at, above or below atmospheric pressure and a filter located in the bag-like member to prevent particulate material being sucked from the bag-like member when the pressure therein is reduced to less than atmospheric pressure.
  • a method for providing resistance or force feedback to a human body surface in which at least one bag-like member containing a quantity of particulate material and made at least partially of elastically deformable material is placed in contact with a human body surface to which force feedback is to be provided and a gaseous medium at a pressure at, above or below atmospheric pressure is supplied to or removed from said member to soften or harden the resistance to deformation of said member and thereby provide a variable desired resistance to pressure for the contacting body surface.
  • Figure one is a diagrammatic view of apparatus according to a first embodiment of the present invention.
  • Figure 2 is a diagrammatic view of apparatus according to a second embodiment of the present invention shown in operative association with a human hand
  • Figure 3 is a diagrammatic plan view or apparatus according to a third embodiment of the present invention shown in operative association with an open human hand, and
  • Figure 4 is a diagrammatic view of the apparatus of Figure 3 shown in operative association with a closed human hand.
  • Apparatus according to the present invention for providing resistance or force feedback to a human body surface generally includes at least one bag-like member 1 made at least partially of elastically deformable material for contact with a body surface such as the inner surfaces of a hand 2 such as shown in Figures 2, 3 and 4 of the accompanying drawings.
  • the member 1 contains a quantity of particulate material (not shown) and gas flow means including a gas flow pipe 3 whereby a gaseous medium such as air, can be fed controUably into the member 1 to soften the resistance of the member and particulate material to deformation or extracted controUably from the member 1 to harden the resistance of the member and particulate material to deformation so as to provide a variable desired resistance to pressure for the contacting body surface such as the hand 2.
  • the elastically deformable material preferably is plastics, latex or rubber and the particulate material is organic or inorganic preferably one or more of mustard seeds, sesame seeds, semolina grains, plastics beads or glass beads.
  • the bag-like member 1 may be attached to a computer mouse on a table top for contact by a body surface such as a human hand 2.
  • the member 1 is dimensioned to be held in or attached to the palm of the hand 2 as shown in the embodiment of the invention illustrated in Figure 1.
  • the member 1 may be of elongated tubular form such as shown in Figures 2, 3 and 4 of the accompanying drawings for attachment to the inner surface of a human finger 4 to extend there along such as shown in figures 3 and 4 or for attachment to the inner surfaces of a human finger 4 and thumb 5 as shown in Figures 2, 3 and 4 and in particular in Figure 2, to extend there along.
  • the member 1 can be attached to the fingers 4 or thumb 5 in any convenient manner such as by means of elastic rings 6 shown in Figures 2, 3 and 4.
  • the gas flow means includes the gas pipe 3 which opens into the member 1 and is connectable to a source 7 of gaseous medium such as air at, above or below atmospheric pressure.
  • the gas flow means also includes a filter 8 located in the member 1 or in the flow pipe 3 to prevent particulate material being sucked from the member 1 when the pressure there is reduced to less than atmospheric pressure.
  • the source 7 can include a piston 9 activated by means of a solenoid 10 to displace the piston 9 to extract gaseous medium from the member 1 to increase the stiffness or resistance to deformation thereof.
  • gas flow means is gas tight and contains a constant volume of gas which is moved between the member 1 and source 7.
  • gas flow means could be provided by an electric vacuum pump (not shown).
  • the apparatus of the present application is operable such that at least one bag-like member 1 containing a quantity of particulate material and made at least partially of elastically deformable material is placed in contact with a human body surface such as the hand 2 to which force feedback is to be provided and a gaseous medium such as air at a pressure at, above or below atmospheric pressure is supplied to or removed from the member 1 to soften or harden the resistance of the member 1 and thereby provide a variable desired resistance to pressure for the contacting body surface such as the hand 2.
  • a gaseous medium such as air at a pressure at, above or below atmospheric pressure
  • the particles of particulate material When there is a maximum vacuum in the member 1 the particles of particulate material are packed together very tightly and feel solid. When there is an ample supply of gaseous medium, such as at atmospheric pressure, the particles of particulate material are freeflowing.
  • the amount of gaseous medium such as air in the member 1 can be varied as desired, below, at or above atmospheric pressure to provide a variable consistency and variable resistance to squeezing.
  • the member 1 can be hand held.
  • air is supplied to the member 1 substantially at atmospheric pressure so that the member 1 can be squeezed easily and the free flowing particles of particulate material therein are displaceable under the pressure of fingers grasping the member 1.
  • force feedback for example when the hand is positioned correctly for simulating a grasped virtual reality object the air in the member 1 should be evacuated therefrom so that the member 1 will be effectively solid and will be a shape corresponding to the position of the grasping fingers.
  • the member 1 becomes in effect a deformable object which will solidify into a shape defined by the grasping fingers 4 and thumb 5.
  • the force feedback is thus provided by a real object in contrast to earlier proposed forms of forced feedback which use devices to provide force feedback to the fingers by impeding the grasping movement of the fingers to try and simulate the presence of a solid object.
  • By suitably varying the pressure in the member 1 it is possible to allow both solid, partially solid and non-solid objects to be simulated such as for example stone or jelly-like consistency.
  • the member 1 can be hand held but alternatively as shown in the embodiment of Figures 2, 3 and 4 the member 1 can be strapped to the hand or even as previously described used like a computer mouse on a table top.
  • a position tracker for example magnetic or optical, may be located inside or attached to the member 1.
  • a pressure-sensing unit inside the member 1 could be used to sense finger closure, or the apparatus of the present application may be worn over a finger tracking "glove" of a type generally known.
  • the member 1 preferably is fully filled with the particulate material but not so much that the member 1 is distorted by the particulate material.
  • the members 1 at atmospheric pressure will bend freely as the finger 4 or thumb 5 bends.
  • the members 1 will solidify in whatever shape they are bent to thus preventing, or at least strongly resisting further flexion of the fingers 4 and thumb 5. Varying the amount of air removed from the members 1 will vary the resistance and will allow simulation of objects with varying degrees of solidity.
  • a single member 1 may be attached to the first finger 4 and thumb 5 as shown in Figure 2 so that the member 1 runs close to the inner surfaces of that finger and thumb.
  • the thumb attachment may be a fixed position but the finger attachment or ring 6 may slide up and down the member 1 in order to fit different sized fingers and hands. It is necessary to design the attachment and positioning of the member 1 in Figures 2, 3 and 4 so that when the finger and thumb bend the member 1 bends in an even manner and pressure is spread along the member 1 rather than being concentrated at one point such as the attachment points. For the same reason it is advisable that the member 1 be fully filled with particulate material but not so much that the member 1 is distorted. More than one such member 1 can be provided, one for each finger 4 and thumb 5 as shown in Figures 3 and 4. These members 1 are located on the inner surfaces, that is the palm side, of the hand 2 as illustrated.

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)
  • Orthopedics, Nursing, And Contraception (AREA)

Abstract

Au moins un élément (1) semblable à un sac, fabriqué, au moins partiellement, en matériau déformable élastiquement, tel que du latex ou du caoutchouc, conçu pour établir un contact avec une surface du corps, telle qu'une main (2), contient une quantité de matériau particulaire, tel que des grains organiques, et est accouplé à des moyens d'écoulement de gaz, de sorte qu'un milieu poreux tel que l'air puisse être envoyé de façon régulée dans ledit élément (1) pour que la résistance de l'élément et du matériau particulaire à la déformation soit réduite ou de sorte qu'il puisse être extrait de façon régulée, dudit élément (1), pour la résistance dudit élément et dudit matériau particulaire à la déformation soit accrue, et qu'une pression de résistance variable voulue pour la surface du corps en contact, tel qu'une main (2), soit créée.
PCT/GB1996/002656 1995-11-04 1996-11-01 Dispositif et procede servant a conferer une resistance ou une reaction de force a une surface du corps humain WO1997017649A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP96935127A EP0953171A1 (fr) 1995-11-04 1996-11-01 Dispositif et procede servant a conferer une resistance ou une reaction de force a une surface du corps humain

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB9522671.8 1995-11-04
GB9522671A GB2307030B (en) 1995-11-04 1995-11-04 Apparatus and method for providing resistance or force feedback to a human body surface

Publications (1)

Publication Number Publication Date
WO1997017649A1 true WO1997017649A1 (fr) 1997-05-15

Family

ID=10783433

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1996/002656 WO1997017649A1 (fr) 1995-11-04 1996-11-01 Dispositif et procede servant a conferer une resistance ou une reaction de force a une surface du corps humain

Country Status (3)

Country Link
EP (1) EP0953171A1 (fr)
GB (1) GB2307030B (fr)
WO (1) WO1997017649A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19957155C1 (de) * 1999-11-27 2001-06-21 Stefan Stocker Haptische Ein- und Ausgabevorrichtung und Verfahren für ein Manipulieren von virtuellen Objekten
US7877243B2 (en) 2001-07-16 2011-01-25 Immersion Corporation Pivotable computer interface
JP6780559B2 (ja) * 2017-03-24 2020-11-04 富士通株式会社 触感提供装置、及び、触感提供システム

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1992005519A1 (fr) * 1990-09-25 1992-04-02 Advanced Robotics Research Limited Systeme de simulation d'interaction par manipulateur
GB2263179A (en) * 1992-01-04 1993-07-14 British Aerospace Touch simulator

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1422966A (en) * 1973-06-17 1976-01-28 Schetrumpf J R Mouldable means
US4657003A (en) * 1983-10-03 1987-04-14 Cramer Products, Inc. Immobilizer device
GB2264371A (en) * 1990-09-25 1993-08-25 Advanced Robotics Res Manipulator interaction simulation system
GB9108497D0 (en) * 1991-04-20 1991-06-05 Ind Limited W Human/computer interface

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1992005519A1 (fr) * 1990-09-25 1992-04-02 Advanced Robotics Research Limited Systeme de simulation d'interaction par manipulateur
GB2263179A (en) * 1992-01-04 1993-07-14 British Aerospace Touch simulator

Also Published As

Publication number Publication date
EP0953171A1 (fr) 1999-11-03
GB2307030A (en) 1997-05-14
GB9522671D0 (en) 1996-01-03
GB2307030B (en) 1999-07-21

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