Tactile feedback man-machine interface device

Abstract

A man-machine interface which provides tactile feedback to various sensing body parts is disclosed. The device employs one or more vibrotactile units, where each unit comprises a mass and a mass-moving actuator. As the mass is accelerated by the mass-moving actuator, the entire vibrotactile unit vibrates. Thus, the vibrotactile unit transmits a vibratory stimulus to the sensing body part to which it is affixed. The vibrotactile unit may be used in conjunction with a spatial placement sensing device which measures the spatial placement of a measured body part. A computing device uses the spatial placement of the measured body part to determine the desired vibratory stimulus to be provided by the vibrotactile unit. In this manner, the computing device may control the level of vibratory feedback perceived by the corresponding sensing body part in response to the motion of the measured body part. The sensing body part and the measured body part may be separate or the same body part.

Description

CROSS REFERENCE TO RELATED APPLICATIONS [0001] This application is a continuation of prior application Ser. No. 10 / 460,157, filed Jun. 16, 2003, which is a continuation application of U.S. application Ser. No. 10 / 186,342, filed on Jun. 27, 2002, abandoned; which is a continuation of prior U.S. application Ser. No. 09 / 838,052, filed on Apr. 18, 2001 now U.S. Pat. No. 6,424,333; which is a continuation of prior U.S. application Ser. No. 09 / 561,782, filed on May 1, 2000 now U.S. Pat. No. 6,275,213; which is a continuation of prior U.S. patent application Ser. No. 09 / 066,608, filed on Apr. 24, 1998 now U.S. Pat. No. 6,088,017; which is a continuation of U.S. patent application Ser. No. 08 / 565,102, filed Nov. 30, 1995, abandoned; and all of which are incorporated herein by reference.TECHNICAL FIELD [0002] This invention relates to a man-machine interface and in particular to an interface that provides tactile sensation to a user. BACKGROUND OF THE INVENTION [0003] Virtual reality (VR) is...

AI Technical Summary

Benefits of technology

[0018] As previously mentioned, state signals may relate to a physical or virtual state. When the state represents a physical condition, the subject invention includes a state measurement sensor which produces a state signal. This state measurement sensor may measure some property of the sensing body part. Recall that the body part associated with receiving the vibrotactile stimulation is called the sensing body part, the body part associated with producing the activating signal is called the measured body part. The signal processor may receive signals from this sensor such as a tactile, position, bend, velocity, acceleration or temperature sensor and generate an activating signal. In this way, the user may receive feedback based on his actions or physical state. For example, the vibrotactile device may be used to train the user to do some physical motion task. In this case, the position or motion of the body part which is to do the motion task is measured by the state measurement sensor and is also the sensing body part. Direct stimulation to the body part being trained enhances the training of the task. Complex actuation in the form of a function of different levels of frequency or amplitude may inform the user whether his actions are correct or incorrect; the level of correctness may correspond to the level of frequency or amplitude.

[0027] The subject invention may be used in combination with a sustained force feedback device as provided by Kramer in U.S. Pat. No. 5,184,319, Kramer in U.S. patent application Ser. No. 08 / 373,531 (allowed), Zarudiansky in U.S. Pat. No. 4,302,138, Burdea in U.S. Pat. No. 5,354,162, and Jacobus in U.S. Pat. No. 5,389,865. These patents and patent applications are incorporated herein by reference. Such a combination can give a higher frequency response than that capable of being generated by the sustained force feedback device and / or to reduce the cost and / or size of the full system. The subject invention may also be used in combination with other tactile feedback devices such as heating or cooling devices, bladder devices or voice coils.

Problems solved by technology

Unfortunately, the majority of existing commercial virtual reality systems use hand-sensing devices that provide no haptic feedback.

Unfortunately, most force feedback devices are cumbersome, heavy, expensive and difficult to put on and remove.

Many of the tactile feedback solutions are also cumbersome, complex and fragile.

Additionally, some of the tactile feedback devices described in the literature, such as small voice coils mounted to directly contact the skin, tend to numb the skin after only a few seconds of operation and then become ineffective as feedback devices.

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