Apparatus for providing sensory substitution of force feedback

An apparatus for an operator to control an effector that is remote from the operator to interact with an environment that is also remote from the operator by operator manipulation of an input device in an environment local to the operator, said apparatus comprising:

• a. with respect to at least one force arising between the remote effector and the remote environment, said force acting along a direction, at least one means for sensing said direction of said at least one force;
• b. means for generating a force feedback signal that corresponds to the direction along which said sensed force acts, said force feedback signal being characterized by at least one component having a frequency and an amplitude;
• c. means for transmitting said force feedback signal from said remote environment to the location of said operator;
• d. means for transducing said force feedback signal into an auditory sensory substitution signal to which the operator is sensitive;
• and
• e. means for presenting said transduced auditory sensory substitution signal to the auditory system of the operator.

An apparatus for an operator to control an effector that is remote from the operator to interact with an environment that is also remote from the operator by operator manipulation of an input device in an environment local to the operator, said apparatus comprising:

• a. with respect to at least one force arising between the effector and the remote environment, said force acting at a location of the effector, at least one means for sensing said location at which said force acts;
• b. means for generating a feedback signal that corresponds to the location of said sensed force;
• c. means for transmitting said force feedback signal from said remote environment to the location of said operator;
• d. means for transducing said force feedback signal into a sensory substitution auditory signal to which the operator is sensitive;
• and
• e. means for presenting said transduced auditory sensory substitution signal to the auditory system of the operator.

An apparatus for an operator having an auditory system to receive information regarding an environment remote from the operator, said apparatus comprising:

• a. an input device located in an environment local to the operator;
• b. an effector located in the remote environment;
• c. means for generating a signal in response to manipulation of the input device;
• d. means for manipulating said effector in response to said signal representative of manipulation of the input device;
• e. at least one means for sensing forces arising between the effector and the remote environment;
• f. means for generating a force feedback signal representing a force that corresponds to said sensed force;
• g. means for transmitting said force feedback signal from said remote environment to the location of said operator;
• h. means for transducing said force feedback signal into a sensory substitution auditory signal to which the operator is sensitive;
• and
• i. means for presenting said transduced sensory substitution signal to the operator's auditory system.