Wolverine: a wearable haptic interface for grasping in virtual reality
AssigneeThe Board of Trustees of the Leland Stanford Junior University
InventorsElliot W. Hawkes, Inrak Choi, Sean Follmer
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Abstract
A mobile, wearable haptic device (the Wolverine) designed for simulating the grasping of objects in a virtual reality interface is disclosed. The Wolverine renders a force directly between the thumb and at least one finger to simulate opposition type grasps of the objects. Mechanical design, control strategy, and performance analysis of the Wolverine system are disclosed.
Claims23
A device for simulating a grasping by a hand of an object in a virtual environment, the device comprising:
- a base, which mounts on the thumb of the hand;
- at least one connected rod comprising a sliding mount connected to at least one fingertip, wherein the sliding mount comprises a brake configured to lock onto the at least one connected rod;
- and
- an exoskeleton structure, which connects the thumb and the at least one fingertip.
A method for simulating a grasping by a hand of an object in a virtual environment, the method comprising:
- installing a device comprising:
- a base, which mounts on the thumb of the hand;
- at least one connected rod comprising a sliding mount connected to at least one fingertip, wherein the sliding mount comprises a brake configured to lock onto the at least one connected rod;
- and
- an exoskeleton structure, which connects the thumb and the at least one fingertip;
- and
- moving the hand comprising the installed device toward the object in the virtual environment;
- and
- grasping the object in the virtual environment, such that the device generates kinesthetic feedback thereby simulating a real world grasping sensation.
Dependencies are inferred from the claim text.