# US 11,907,429 B2 · Virtual reality glove > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,907,429 B2 - Document ID: US11907429B2 - Status: Granted - Kind: B2 - Application number: 18/121,928 - Filed: 2023-03-15 - Published: 2023-07-13 - Granted: 2024-02-20 - Earliest claimed: 2020-12-14 - Applicants: Jonathan P. Nieman - Inventors: Jonathan P. Nieman - Web page: https://patentgrep.com/patent/US11907429B2 ## CPC - G06F 3/016: {Input arrangements with force or tactile feedback as computer generated output to the user} - G06F 3/011: {Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00)} - G06F 3/014: {Hand-worn input/output arrangements, e.g. data gloves} - G06F 3/03: Arrangements for converting the position or the displacement of a member into a coded form - G06F 3/0346: with detection of the device orientation or free movement in a three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors - G06T 19/006: {Mixed reality (object pose determination, tracking or camera calibration for mixed reality G06T7/00)} - H04W 4/38: for collecting sensor information - H04W 4/80: Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract A system and apparatus for interacting with a virtual reality environment by means of a virtual reality glove comprising artificial muscles. A plurality of artificial muscles comprising individual artificial muscles operable to either expand or contract is embedded in or attached to a virtual reality glove. Individual artificial muscles are actuated in response to stimulus in the virtual reality environment such that a user wearing the virtual reality glove experiences resistance to virtual objects simulating a resistance the user would feel from a tangible object. ## Claims ### Claim 1 A virtual reality (VR) glove comprising: a power supply; at least one processor; at least one memory; a plurality of artificial muscles, wherein each artificial muscle of the plurality of artificial muscles includes at least one flexible sheet; and a scaffolding; wherein the plurality of artificial muscles are configured to increase stiffness or decrease stiffness; wherein the at least one processor is configured to receive at least one signal from at least one remote device; wherein the at least one processor is further configured to transmit a stimulus across the plurality of artificial muscles based on the at least one signal; wherein the plurality of artificial muscles are configured to expand or contract based on the stimulus; wherein a stiffness of the plurality of artificial muscles increases when contracted and the stiffness of the plurality of artificial muscles decreases when expanded; and wherein the scaffolding surrounds the VR glove, wherein the scaffolding is configured to not move when the plurality of artificial muscles contract or expand. ### Claim 2 (depends on 1) The VR glove of claim 1, wherein the plurality of artificial muscles include a plurality of twisted artificial muscles, wherein the plurality of twisted artificial muscles form a net or a web. ### Claim 3 (depends on 1) The VR glove of claim 1, wherein the plurality of artificial muscles include a plurality of twisted artificial muscles, wherein each twisted artificial muscle of the plurality of twisted artificial muscles include a fiber, wherein the fiber is twisted to create a coil. ### Claim 4 (depends on 1) The VR glove of claim 1, wherein the plurality of artificial muscles include a plurality of electroactive artificial muscles, wherein the plurality of electroactive artificial muscles are configured to contract when a voltage difference is applied to the plurality of electroactive artificial muscles, wherein the plurality of electroactive artificial muscles are configured to simulate immersing a hand in a substance. ### Claim 5 (depends on 1) The VR glove of claim 1, wherein the plurality of artificial muscles includes a first set of artificial muscles, a second set of artificial muscles, and a third set of artificial muscles, wherein the first set of artificial muscles is positioned between each finger of the VR glove, wherein the second set of artificial muscles is on a back side of each finger of the VR glove, wherein the third set of artificial muscles is positioned on a palm side of each finger of the VR glove. ### Claim 6 (depends on 1) The VR glove of claim 1, wherein the VR glove is configured to push and/or pull on a back of a hand of a user, a finger of the user, a fingertip of the user, and/or a palm of the user. ### Claim 7 (depends on 1) The VR glove of claim 1, wherein the VR glove is configured for at least 21 degrees of freedom. ### Claim 8 (depends on 1) The VR glove of claim 1, wherein the VR glove is configured for 27 degrees of freedom. ### Claim 9 (depends on 1) The VR glove of claim 1, further comprising a thermoelectric component, wherein the at least one processor is configured to activate the thermoelectric component, wherein the thermoelectric component is configured to apply a heating effect or a cooling effect to the VR glove. ### Claim 10 A virtual reality (VR) glove comprising: a power supply; at least one processor; at least one memory; a plurality of twisted artificial muscles, wherein each twisted artificial muscle of the plurality of twisted artificial muscles include a fiber, wherein the fiber is twisted to create a coil; wherein the plurality of twisted artificial muscles further include a material including a degree of internal alignment; wherein the at least one processor is configured to receive at least one activation signal; and wherein the at least one processor is configured to transmit a stimulus to at least one twisted artificial muscle of the plurality of twisted artificial muscles based on the at least one activation signal. ### Claim 11 (depends on 10) The VR glove of claim 10, wherein the material includes carbon nanotubes, cyclic olefin copolymer, elastomers polyethylene, and/or nylon. ### Claim 12 (depends on 10) The VR glove of claim 10, wherein the plurality of twisted artificial muscles are homochiral, wherein the fiber is configured to contract after receiving the stimulus, wherein the at least one twisted artificial muscle is configured to contract in response to the fiber contraction. ### Claim 13 (depends on 10) The VR glove of claim 10, wherein the plurality of twisted artificial muscles are heterochiral, wherein the fiber is configured to expand after receiving the stimulus, wherein the at least one twisted artificial muscle is configured to expand in response to the fiber extension. ### Claim 14 (depends on 10) The VR glove of claim 10, wherein the plurality of twisted artificial muscles include a tensile stroke of at least 30%. ### Claim 15 (depends on 10) The VR glove of claim 10, wherein the plurality of twisted artificial muscles include a first set of twisted artificial muscles and a second set of twisted artificial muscles, wherein the first set of twisted artificial muscles are positioned on a palm side of the VR glove, wherein the second set of twisted artificial muscles are positioned on a back side of the VR glove. ### Claim 16 (depends on 10) The VR glove of claim 10, further including a sheath around the plurality of twisted artificial muscles, wherein the sheath includes a polymer, wherein the sheath polymer is coated on the fiber, wherein the sheath polymer includes polyethylene oxide, tetrafluoroethylene, sulphonyl fluoride vinyl ether, or polyurethane. ### Claim 17 A virtual reality (VR) glove comprising: a power supply; at least one processor; and at least one memory; a plurality of artificial muscles, wherein each artificial muscle of the plurality of artificial muscles includes at least one flexible sheet; a first scaffolding positioned on a palm side of the VR glove; a second scaffolding positioned on a back side of the VR glove; wherein the first scaffolding and the second scaffolding are configured to not move when the plurality of artificial muscles expand or contract; wherein the at least one processor is configured to apply a stimulus to the plurality of artificial muscles based on an activation signal; wherein the plurality of artificial muscles are configured to contract or expand based on the stimulus. ### Claim 18 (depends on 17) The VR glove of claim 17, wherein the first scaffolding further includes a first plurality of anchor points, wherein the second scaffolding further includes a second plurality of anchor points, wherein the plurality of artificial muscles are configured to expand from the first plurality of anchor points and the second plurality of anchor points to the fingers, fingertips, and palm of the VR glove. ### Claim 19 (depends on 17) The VR glove of claim 17, wherein the at least one processor is further configured to activate at least one artificial muscle of the plurality of artificial muscles in response to the first stimulus, wherein the at least one processor is further configured to activate a different artificial muscle of the plurality of artificial muscles based on the second stimulus. ### Claim 20 (depends on 17) The VR glove of claim 17, wherein the VR glove is configured to push and/or pull on a back of a hand of a user, a finger of the user, a fingertip of the user, and/or a palm of the user.