Modular exoskeletal force feedback controller

Patent metadata

Field	Value
Publication number	US-2016196727-A1
Application number	US-201615070962-A
Country	US
Kind code	A1
Filing date	Mar 15, 2016
Priority date	Feb 28, 2013
Publication date	Jul 7, 2016
Grant date	—

Abstract

Portable force feedback controllers (PFFCs) are designed to be worn on a user's limb, track the movement of the user's limb, and provide force feedback capability. In some embodiments, the PFFCs may include interchangeable modules that can be quickly and easily connected and disconnected so that the PFFC may be easily modified for a particular application. In yet other embodiments, various PFFC modules are moveably coupled and have at least one degree of freedom so that the PFFC can accurately follow the natural movements of a user's limb.

First claim

What is claimed is:

1 . A force feedback controller comprising:
a first module comprising a plurality of rotational drive components, the rotational drive components configured to impart rotational forces on a second module, the forces imparted about a first axis and a second axis, the first axis being substantially perpendicular to the second axis; wherein the second module is coupled to the first module, the second module comprising a linear drive component configured to impart a linear force along a third axis, the third axis being substantially perpendicular to the first and second axes.

2 . A force feedback controller according to claim 1 , wherein the first module further comprises a limb attachment configured to couple said force feedback controller to a user.

3 . A force feedback controller according to claim 1 further comprising a third module coupled to the second module, the third module configured to impart the linear force to a user.

4 . A force feedback controller according to claim 3 wherein the third module is a grip module comprising a grip configured to couple to the hand of the user.

5 . A force feedback controller according to claim 1 wherein the second module is moveable in the first axis and second axis relative to the first module.

6 . A force feedback controller according to claim 5 wherein the first module is configured to impart rotational forces about the second module.

7 . A force feedback controller according to claim 1 wherein the second module further comprises a linear slide mechanism coupled to the linear drive component, the linear slide mechanism constrained to linear motion along the third axis.

8 . A force feedback controller according to claim 1 wherein the plurality of rotational drive components are configured to provide haptic feedback to a user of the force feedback controller.

9 . A force feedback controller according to claim 1 wherein the linear drive component is configured to provide haptic feedback to a user of the force feedback controller.

10 . A force feedback controller according to claim 1 wherein at least one rotational drive component comprises a motor, a pulley, and a belt.

11 . A force feedback controller according to claim 1 further comprising at least one sensor configured to measure the location of the first module relative to the second module.

12 . A force feedback controller comprising:
a grip module comprising a linear drive component, the grip module movable about a first axis and a second axis relative to a wrist of a user of the force feedback controller, the first axis being substantially perpendicular to the second axis; and a linear slide mechanism coupled to the grip module, wherein the linear drive component is configured to impart a force on the linear slide mechanism along a third axis substantially perpendicular to the first and second axes.

13 . A force feedback controller according to claim 12 , the linear slide mechanism further comprising a grip attachment configured to allow a grip to be attached to the linear slide mechanism.

14 . A force feedback controller according to claim 13 , further comprising a grip attached to the grip attachment of the linear slide mechanism.

15 . A force feedback controller according to claim 13 , wherein the grip module is configured to detect a type of the grip attached to the grip attachment.

16 . A force feedback controller according to claim 12 wherein the force imparted on linear drive component is configured to provide haptic feedback to a user of the force feedback controller.

17 . A force feedback controller according to claim 12 wherein the grip module is coupled to a second module coupled to an arm of the user.

18 . A force feedback controller comprising:
a first module coupled to a limb of the user of the force feedback controller; a second module coupled to a limb of the user of the force feedback controller; and a twist module coupled to the first module and the second module, the first and second module oriented along a first axis, and the twist module configured to allow rotational movement of the first and second module around the first axis and prevent linear movement along the first axis.

19 . A force feedback controller according to claim 18 , wherein the first module further comprises a limb attachment configured to couple the first module to the limb of the user.

20 . A force feedback controller according to claim 19 , wherein the second module further comprises a second limb attachment configured to couple the second module to the limb of the user.

Assignees

• Facebook Inc

Inventors

• Aviles Walter A
• Joutras Frank E

Classifications

• A61H2201/5097

  wireless · CPC title

• G06F3/016

  Input arrangements with force or tactile feedback as computer generated output to the user · CPC title

• A61H2201/165

  Wearable interfaces · CPC title

• A61H2201/0207

  heated · CPC title

• A61H2201/0107

  modular · CPC title