# US 12,118,147 B2 · Haptic device based on multimodal interface > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,118,147 B2 - Document ID: US12118147B2 - Status: Granted - Kind: B2 - Application number: 17/845,170 - Filed: 2022-06-21 - Published: 2022-10-13 - Granted: 2024-10-15 - Earliest claimed: 2019-12-23 - Assignees: Whoborn Inc. - Applicants: Whoborn Inc. - Inventors: Young Sik Bae - Web page: https://patentgrep.com/patent/US12118147B2 ## CPC - G06F 3/014: {Hand-worn input/output arrangements, e.g. data gloves} - A43B 3/34: with electrical or electronic arrangements - A43B 3/44: with sensors, e.g. for detecting contact or position - A43B 17/00: Insoles for insertion, e.g. footbeds or inlays, for attachment to the shoe after the upper has been joined - A43B 17/03: filled with a gas, e.g. air - A61B 5/015: {By temperature mapping of body part} - A61B 5/1036: {Measuring load distribution, e.g. podologic studies} - A61B 5/11: Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb {(A61B5/1038 takes precedence; motion detection to correct for motion artifacts in physiological signals A61B5/721)} - A61B 5/6806: {Gloves} - A61B 5/6807: {Footwear} - A61B 5/6825: {Hand} - A61B 5/6829: {Foot or ankle} - G06F 3/011: {Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00)} - G06F 3/016: {Input arrangements with force or tactile feedback as computer generated output to the user} - 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 - G06F 3/16: Sound input; Sound output (speech processing G10L) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - A43B: CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A grippable haptic device includes an input device that receives a user input, a 9-axis sensor that detects movement of a hand of the user, a vibrator that provides a tactile sensation to the user, and a motion sensor that detects whether the user grips the grippable haptic device. An insole-type haptic device includes an input device that receives a user input, a plurality of 9-axis sensors that detect movement of a foot of the user, a vibrator that provides a tactile sensation to a sole of the foot of the user, and a plurality of pressure sensors that are distributed across the insole-type haptic device and measure a pressure exerted at each position of the sole of the user. ## Claims ### Claim 1 A grippable haptic device configured to transmit a tactile sensation to the user according to extended reality (XR) contents, comprising: an input device that receives a user input from the user; a 9-axis sensor that detects movement of the hand of the user; a vibrator that provides a tactile sensation to the user; a motion sensor that detects whether the user grips the grippable haptic device; a communication module that transmits and receives data between the grippable haptic device and an extended reality (XR) processor in accordance with a protocol format; and a power source that supplies electrical power to the gripped haptic device, wherein the grippable haptic device has a substantially cylindrical shape and is attached to a glove, and wherein the protocol format has a mirror structure where same data are transmitted twice, enabling comparison of paired data among the data received during asynchronous communication between the grippable haptic device and the XR processor for data validation. ### Claim 2 (depends on 1) The grippable haptic device according to claim 1, wherein the input device is implemented as a button disposed on the grippable haptic device. ### Claim 3 (depends on 1) The grippable haptic device according to claim 1, wherein the vibrator provides the tactile sensation to the user by varying at least one of an intensity, a pattern, or a period of vibration according to the extended reality (XR) contents. ### Claim 4 (depends on 1) The grippable haptic device according to claim 1, wherein the motion sensor includes a proximity sensor that measures a distance between fingers of the user and the grippable haptic device. ### Claim 5 (depends on 1) The grippable haptic device according to claim 1, wherein the power source comprises at least one of a battery or a body energy harvesting device. ### Claim 6 (depends on 1) The grippable haptic device according to claim 1, further comprising: a temperature reproduction device that provides a predetermined temperature to the user. ### Claim 7 (depends on 1) The grippable haptic device according to claim 1, wherein the mirror structure includes Command MSB-Device Count MSB-Device Count LSB-Command LSB, Device ID-Packet size-Packets-Packet size-Device ID. ### Claim 8 (depends on 7) The grippable haptic device according to claim 7, wherein the Command includes a command flag (CmdFlag) that indicates whether or not reproduction data are allowed to be reproduced. ### Claim 9 (depends on 8) The grippable haptic device according to claim 8, wherein the grippable haptic device is used for training purposes, and wherein a trainer is allowed to limit the grippable haptic device worn by a trainee from moving outside of a specified location based on the command flag.