Wearable glove with a plurality of fluidic actuators and a plurality of fluidic control devices and system of use thereof

Patent metadata

Field	Value
Publication number	US-12443281-B2
Application number	US-202318193528-A
Country	US
Kind code	B2
Filing date	Mar 30, 2023
Priority date	Dec 27, 2016
Publication date	Oct 14, 2025
Grant date	Oct 14, 2025

Abstract

A wearable glove for interacting with virtual objects in an artificial-reality environment is described herein. The wearable glove comprises a matrix made of an elastic polymer, the matrix including a plurality of voids, each respective void (i) including at least one fluidic actuator and ii) not being fluidically coupled with a positionally adjacent void of the plurality of voids included in the matrix. The wearable glove further comprises at least one fluidic control device coupled to the at least one fluidic actuator. The at least one fluidic control device provides (i) a first fluid pressure to the at least one fluidic actuator, which causes the at least one fluidic actuator to enter a high-pressure state and (ii) a second fluid pressure to the at least one fluidic actuator, which causes the at least one fluidic actuator to enter a low-pressure state.

First claim

What is claimed is:

1. A wearable glove for interacting with virtual objects in an artificial-reality environment, the wearable glove comprising:
a fabric material configured to be worn on a hand of a user;
a matrix made of an elastic polymer, the matrix including a void that: (i) includes at least one fluidic actuator and (ii) is not fluidically coupled with a positionally adjacent void of a plurality of voids included in the matrix;
one or more position sensors configured to monitor positional data used to a determine a position of the wearable glove within a three-dimensional space; and
at least one fluidic control device coupled to the at least one fluidic actuator, wherein:
the at least one fluidic control device provides a first fluid pressure to the at least one fluidic actuator, which causes the at least one fluidic actuator to enter a high-pressure state,
the at least one fluidic control device provides a second fluid pressure, distinct from the first fluid pressure, to the at least one fluidic actuator, which causes the at least one fluidic actuator to enter a low-pressure state, and
the wearable glove is configured to control the at least one fluidic control device to simulate real-world interactions in the artificial-reality environment based on the position of the wearable glove as compared to respective positions of virtual objects within the artificial-reality environment.

2. The wearable glove of claim 1 , wherein the void includes at least one additional fluidic actuator that is configured to change a volume of fluid present within a separate inflatable bladder that is in fluid communication with the at least one fluidic actuator.

3. The wearable glove of claim 2 , wherein:
the separate inflatable bladder is inflated when the at least one fluidic actuator is in the high-pressure state, and
the separate inflatable bladder is deflated when in the at least one fluidic actuator is in the low-pressure state.

4. The wearable glove of claim 2 , wherein a respective change in the volume of fluid present within the separate inflatable bladder is configured to cause a restriction in physical movement of a portion of the wearable glove.

5. The wearable glove of claim 2 , wherein a respective change in the volume of fluid present within the separate inflatable bladder is configured to induce a physical movement in a portion of the wearable glove.

6. The wearable glove of claim 2 , wherein a respective change in the volume of fluid present within the separate inflatable bladder is configured to produce vibrotactile feedback at a portion of the wearable glove.

7. The wearable glove of claim 1 , wherein the wearable glove includes a mechanically-tensioned tendon that is positioned adjacent to a joint on a digit of the user's hand when the wearable glove is worn on the user's hand, the mechanically-tensioned tendon configured to be stiffened to restrict movement of the user's digit.

8. The wearable glove of claim 1 , wherein the wearable glove is configured to be wirelessly coupled to an artificial-reality console and to receive instructions from the artificial-reality console indicating that movement of one of the user's digits is to be restricted to a certain value based on an interaction of the user's hand with a virtual object in the artificial-reality environment.

9. The wearable glove of claim 1 , further comprising:
a bend sensor configured to sense a bending movement at one of the user's digits while the wearable glove is worn by the user.

10. A system for interacting with virtual objects in an artificial-reality environment, the system comprising:
a wearable glove including:
a fabric material configured to be worn on a hand of a user;
a matrix made of an elastic polymer, the matrix including a void, that: (i) includes at least one fluidic actuator and (ii) is not fluidically coupled with a positionally adjacent void of a plurality of voids included in the matrix;
one or more position sensors configured to monitor positional data used to a determine a position of the wearable glove within a three-dimensional space; and
at least one fluidic control device coupled to the at least one fluidic actuator, wherein:
the at least one fluidic control device provides a first fluid pressure to the at least one fluidic actuator, which causes the at least one fluidic actuator to enter a high-pressure state,
the at least one fluidic control device provides a second fluid pressure, distinct from the first fluid pressure, to the at least one fluidic actuator, which causes the at least one fluidic actuator to enter a low-pressure state, and
the wearable glove is configured to control the at least one fluidic control device to simulate real-world interactions in the artificial-reality environment based on the position of the wearable glove as compared to respective positions of virtual objects within the artificial-reality environment; and

an artificial-reality console, wirelessly coupled to the wearable glove, wherein:
the artificial-reality console is configured to provide instructions to the wearable glove that cause the wearable glove to restrict movement of one of the user's digits to a certain value based on an interaction of the user's hand with a virtual object in the artificial-reality environment.

11. The system of claim 10 , wherein the void includes at least one additional fluidic actuator that is configured to change a volume of fluid present within a separate inflatable bladder that is in fluid communication with the at least one fluidic actuator.

12. The system of claim 11 , wherein:
the separate inflatable bladder is inflated when the at least one fluidic actuator is in the high-pressure state, and
the separate inflatable bladder is deflated when in the at least one fluidic actuator is in the low-pressure state.

13. The system of claim 11 , wherein a respective change in the volume of fluid present within the separate inflatable bladder is configured to cause a restriction in physical movement of a portion of the wearable glove.

14. The system of claim 11 , wherein a respective change in the volume of fluid present within the separate inflatable bladder is configured to induce a physical movement in a portion of the wearable glove.

15. The system of claim 11 , wherein a respective change in the volume of fluid present within the separate inflatable bladder is configured to produce vibrotactile feedback at a portion of the wearable glove.

16. The system of claim 10 , wherein the wearable-glove includes a mechanically-tensioned tendon that is positioned adjacent to a joint on a digit of the user's hand when the wearable glove is worn on the user's hand, the mechanically-tensioned tendon configured to be stiffened to restrict movement of the user's digit.

17. The system of claim 10 , wherein the wearable glove further includes:
a bend sensor configured to sense a bending movement at one of the user's digits while the wearable glove is worn by the user.

18. A haptic feedback device for interacting with virtual objects in an artificial-reality environment, the haptic feedback device comprising:
a fabric material configured to be worn by a user;
a matrix made of an elastic polymer, the matrix including a void that (i) includes at least one fluidic actuator and (ii) is not fluidically coupled with a positionally adjacent void of a plurality of voids included in the matrix;
one or more position sensors configured to monitor positional data used to a determine a position of the haptic feedback device within a three-dimensional sp

Assignees

• Meta Platforms Tech Llc

Inventors

• Keller Sean Jason
• Trutna Tristan Thomas

Classifications

• G06F3/011

  Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00) · CPC title

• B81C1/00119

  Arrangement of basic structures like cavities or channels, e.g. suitable for microfluidic systems · CPC title

• B81C2201/034

  Moulding · CPC title

• F16K2099/008

  Multi-layer fabrications · CPC title

• F16K2099/0082

  Microvalves adapted for a particular use · CPC title