Modular exoskeletal force feedback controller

Patent metadata

Field	Value
Publication number	US-9984541-B2
Application number	US-201615070962-A
Country	US
Kind code	B2
Filing date	Mar 15, 2016
Priority date	Feb 28, 2013
Publication date	May 29, 2018
Grant date	May 29, 2018

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 of the force feedback controller, 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; and
wherein the second module comprises a linear drive component configured to impart a linear force along a third axis substantially perpendicular to the first and second axes.

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

3. The force feedback controller of 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. The force feedback controller of claim 3 wherein the third module comprises a grip configured to couple to the hand of the user.

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

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

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

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

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

11. 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 of the grip module is configured to impart a force on the linear slide mechanism along a third axis substantially perpendicular to the first and second axes.

12. The force feedback controller of claim 11 , the linear slide mechanism further comprising a grip attachment configured to allow a grip to be attached to the linear slide mechanism.

13. The force feedback controller of claim 12 , further comprising a grip attached to the grip attachment of the linear slide mechanism.

14. The force feedback controller of claim 12 , wherein the grip module is configured to detect a type of the grip attached to the grip attachment.

15. The force feedback controller of claim 11 wherein the force imparted on linear drive component is configured to provide haptic feedback to a user of the force feedback controller.

16. The force feedback controller of claim 11 wherein the grip module is coupled to a first module coupled to an arm of the user.

17. 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 comprising an elastomeric element 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 angular movement between the first and second module and the twist module configured to prevent linear movement along the first axis.

18. The force feedback controller of claim 17 , wherein the first module further comprises a limb attachment configured to couple the first module to the limb of the user and wherein the second module further comprises a second limb attachment configured to couple the second module to the limb of the user.

19. The force feedback controller of claim 17 , wherein the twist module further comprises:
a first connector ring coupled to the first module;
a second connector ring coupled to the second module;
wherein the elastomeric element connects to the first and second connector rings; and
wherein the elastomeric element is positioned between the first and second connector rings, allowing rotational movement of the first and second connector rings around the first axis and preventing linear movement of the first and second connector rings along the first axis.

20. The force feedback controller of claim 17 , wherein the elastomeric element is comprised of high density polyethylene (HDPE).

Assignees

• Facebook Inc

Inventors

• Aviles Walter A
• Joutras Frank E

Classifications

• G06F3/016

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

• A61H1/0277

  Elbow · CPC title

• A61H2201/501

  connected to external computer devices or networks · CPC title

• A61H2201/5097

  wireless · CPC title

• G06F3/014

  Hand-worn input/output arrangements, e.g. data gloves · CPC title