Patent · US11816261B2 · B2 · US

Whole-body human-computer interface

(11) Publication number

US11816261B2

(21) Application number

18/154,824

(22) Filing date

2023-01-14

(30) Priority date

2013-07-05

(43) Publication date

2023-11-14

(45) Date of grant

2023-11-14

(51) IPC

A61H 1/02; A61H 3/00; A61H 3/06; A63F 13/21; A63F 13/212; A63F 13/24; A63F 13/285; A63F 13/98; B25J 11/00; B25J 9/00; G06F 3/01; G06F 3/16; G06T 19/00; G09B 9/00

(52) CPC

G06F Electric digital data processing: 3/013, 3/011, 3/012, 3/014, 3/015, 3/016, 3/162
A61H Physical therapy apparatus, e.g. devices for locating or stimulating reflex points in the body; artificial respiration; massage; bathing devices for special therapeutic or hygienic purposes or specific parts of the body: 1/024, 1/0244, 1/0266, 1/0277, 1/0281, 1/0285, 2003/063, 2201/0165, 2201/0228, 2201/5007, 2201/5043, 2201/5061, 2201/5069, 2201/5084, 2201/5092, 3/00
A63F Card, board, or roulette games; indoor games using small moving playing bodies; video games; games not otherwise provided for: 13/21, 13/212, 13/24, 13/285, 13/98
B25J Manipulators; chambers provided with manipulation devices: 11/003, 9/0006
G06T Image data processing or generation, in general: 19/006
G09B Educational or demonstration appliances; appliances for teaching, or communicating with, the blind, deaf or mute; models; planetaria; globes; maps; diagrams: 9/00

(73) Assignee

HaptX Inc

(72) Inventors

Jacob A. Rubin; Robert S. Crockett

(54) Title

Whole-body human-computer interface

(57) Abstract

A human-computer interface system having an exoskeleton including a plurality of structural members coupled to one another by at least one articulation configured to apply a force to a body segment of a user, the exoskeleton comprising a body-borne portion and a point-of-use portion; the body-borne portion configured to be operatively coupled to the point-of-use portion; and at least one locomotor module including at least one actuator configured to actuate the at least one articulation, the at least one actuator being in operative communication with the exoskeleton.

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Claims (24)

A control assembly for an interface garment, comprising: a pressurized fluid supply; at least one control valve, wherein each control valve is coupled to the pressurized fluid supply; and a controller configured to receive a user output state from a computer system, wherein the user output state represents a state of a user avatar in a simulated computer-mediated environment process, and in response operate at least one of the at least one control valve; wherein each control valve is configured to interface with at least one fluidic actuator of the interface garment.
The control assembly for the interface garment of claim 1, wherein the pressurized fluid supply is a pressurized liquid supply.
The control assembly for the interface garment of claim 2, wherein the pressurized liquid supply comprises one of water, glycol, and oil.
The control assembly for the interface garment of claim 2, wherein at least one control valve is configured to mix together two or more streams of liquid.
The control assembly for the interface garment of claim 1, wherein the pressurized fluid supply is a pressurized gas supply.
The control assembly for the interface garment of claim 5, wherein the pressurized gas supply comprises carbon dioxide, helium, or air.
The control assembly for the interface garment of claim 5, wherein the pressurized gas supply is coupled to a pressure limiter.
The control assembly for the interface garment of claim 1, wherein the at least one actuator is a tactile actuator.
The control assembly for the interface garment of claim 1, wherein the at least one actuator is a thermal actuator.
The control assembly for the interface garment of claim 1, wherein each control valve comprises an electromechanical actuator, a brushed DC motor, a brushless DC motor, an AC induction motor, an AC synchronous motor, or a voice coil actuator.
The control assembly for the interface garment of claim 1, wherein each control valve comprises a contractile material.
The control assembly for the interface garment of claim 1, wherein each control valve comprises a liquid that changes at least one of volume, phase, and viscosity when exposed to one of varying temperatures, electric currents, and magnetic fields.
The control assembly for the interface garment of claim 1, wherein each control valve is actuated by the thermal expansion or contraction of a solid-state material.
The control assembly for the interface garment of claim 1, wherein the control valve comprises a working fluid that undergoes a phase change to a gaseous state.
The control assembly for the interface garment of claim 1, wherein each control valve is located on a body of a user.
The control assembly for the interface garment of claim 1, wherein each control valve is located off a body of a user.
The control assembly for the interface garment of claim 1, wherein each control valve has a first port coupled to at least one fluidic actuator and is variably coupled to a second port or a third port.
The control assembly for the interface garment of claim 17, wherein the second port is coupled to a pressurized gas supply and the third port is coupled to an exhaust.
The control assembly for the interface garment of claim 1, wherein each control valve comprises a first valve having a first port coupled to a fluidic actuator and a second port coupled to the pressurized fluid supply and a second valve having a first port coupled to the fluidic tactile actuator and a second port coupled to an exhaust.
The control assembly for the interface garment of claim 1, wherein each control valve comprises a piloted element.
The control assembly for the interface garment of claim 1, wherein each control valve further comprises a force sensor or a pressure sensor.
The control assembly for the interface garment of claim 1, wherein each control valve comprises a first valve producing low-frequency, spatially localized stimuli sufficient to stimulate the Merkel-type (SA1) or Meissner-type (RA1) mechanoreceptors of a user's skin and a second valve producing high-frequency, spatially diffuse stimuli sufficient to stimulate the Ruffini-type (SA2) or Pacinian-type (RA2) mechanoreceptors of a user's skin.
The control assembly for the interface garment of claim 1, further comprising a heating device and a refrigeration device, wherein the heating device and the refrigeration device are coupled to the pressurized fluid supply.
The control assembly for the interface garment of claim 1, wherein the at least one fluidic actuator is a plurality of fluidic actuators, the control assembly further comprising a selector valve comprising a flow section element coupling one of the at least one control valve to a plurality of fluidic actuator ports in sequence.

Description

This application is a continuation of U.S. patent application Ser. No. 17/345,973, filed Jun. 11, 2021, which is a continuation of U.S. patent application Ser. No. 16/807,029, filed Mar. 2, 2020, now U.S. Pat. No. 11,061,472, issued Jul. 13, 2021, which is a continuation of U.S. patent application Ser. No. 16/245,145, filed Jan. 10, 2019, now U.S. Pat. No. 10,732,711, issued Aug. 4, 2020, which is a continuation of U.S. patent application Ser. No. 15/591,019, filed May 9, 2017, now U.S. Pat. No. 10,222,859, issued Mar. 5, 2019, which is a continuation of U.S. patent application Ser. No. 15/372,362, filed Dec. 7, 2016, now U.S. Pat. No. 9,904,358, issued Feb. 27, 2018, which is a continuation of U.S. application Ser. No. 14/981,414, filed Dec. 28, 2015, now U.S. Pat. No. 9,652,037, issued May 16, 2017, which is a continuation of International Application No. PCT/US14/44735, filed Jun. 27, 2014, which claims the benefit of Provisional Application No. 61/843,317 filed Jul. 5, 2013, all of which are incorporated in their entirety herein by reference.

The present invention relates generally to virtual reality human-machine interfaces, and more specifically to immersive virtual reality human-machine interfaces. Even more specifically, the present invention relates to immersive virtual reality human-machine interfaces with auditory, visual, proprioceptive, mechanoreceptive, thermoreceptive, and equilibrioceptive modalities.

Virtual reality systems are computer-based systems that provide experiences to a participant acting in a simulated environment that forms a three dimensional virtual world.

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Record as JSON

{
  "publication_number": "US11816261B2",
  "country": "US",
  "kind": "B2",
  "title": "Whole-body human-computer interface",
  "abstract": "A human-computer interface system having an exoskeleton including a plurality of structural members coupled to one another by at least one articulation configured to apply a force to a body segment of a user, the exoskeleton comprising a body-borne portion and a point-of-use portion; the body-borne portion configured to be operatively coupled to the point-of-use portion; and at least one locomotor module including at least one actuator configured to actuate the at least one articulation, the at least one actuator being in operative communication with the exoskeleton.",
  "claims": [
    "1. A control assembly for an interface garment, comprising: a pressurized fluid supply; at least one control valve, wherein each control valve is coupled to the pressurized fluid supply; and a controller configured to receive a user output state from a computer system, wherein the user output state represents a state of a user avatar in a simulated computer-mediated environment process, and in response operate at least one of the at least one control valve; wherein each control valve is configured to interface with at least one fluidic actuator of the interface garment.",
    "2. The control assembly for the interface garment of claim 1, wherein the pressurized fluid supply is a pressurized liquid supply.",
    "3. The control assembly for the interface garment of claim 2, wherein the pressurized liquid supply comprises one of water, glycol, and oil.",
    "4. The control assembly for the interface garment of claim 2, wherein at least one control valve is configured to mix together two or more streams of liquid.",
    "5. The control assembly for the interface garment of claim 1, wherein the pressurized fluid supply is a pressurized gas supply.",
    "6. The control assembly for the interface garment of claim 5, wherein the pressurized gas supply comprises carbon dioxide, helium, or air.",
    "7. The control assembly for the interface garment of claim 5, wherein the pressurized gas supply is coupled to a pressure limiter.",
    "8. The control assembly for the interface garment of claim 1, wherein the at least one actuator is a tactile actuator.",
    "9. The control assembly for the interface garment of claim 1, wherein the at least one actuator is a thermal actuator.",
    "10. The control assembly for the interface garment of claim 1, wherein each control valve comprises an electromechanical actuator, a brushed DC motor, a brushless DC motor, an AC induction motor, an AC synchronous motor, or a voice coil actuator.",
    "11. The control assembly for the interface garment of claim 1, wherein each control valve comprises a contractile material.",
    "12. The control assembly for the interface garment of claim 1, wherein each control valve comprises a liquid that changes at least one of volume, phase, and viscosity when exposed to one of varying temperatures, electric currents, and magnetic fields.",
    "13. The control assembly for the interface garment of claim 1, wherein each control valve is actuated by the thermal expansion or contraction of a solid-state material.",
    "14. The control assembly for the interface garment of claim 1, wherein the control valve comprises a working fluid that undergoes a phase change to a gaseous state.",
    "15. The control assembly for the interface garment of claim 1, wherein each control valve is located on a body of a user.",
    "16. The control assembly for the interface garment of claim 1, wherein each control valve is located off a body of a user.",
    "17. The control assembly for the interface garment of claim 1, wherein each control valve has a first port coupled to at least one fluidic actuator and is variably coupled to a second port or a third port.",
    "18. The control assembly for the interface garment of claim 17, wherein the second port is coupled to a pressurized gas supply and the third port is coupled to an exhaust.",
    "19. The control assembly for the interface garment of claim 1, wherein each control valve comprises a first valve having a first port coupled to a fluidic actuator and a second port coupled to the pressurized fluid supply and a second valve having a first port coupled to the fluidic tactile actuator and a second port coupled to an exhaust.",
    "20. The control assembly for the interface garment of claim 1, wherein each control valve comprises a piloted element.",
    "21. The control assembly for the interface garment of claim 1, wherein each control valve further comprises a force sensor or a pressure sensor.",
    "22. The control assembly for the interface garment of claim 1, wherein each control valve comprises a first valve producing low-frequency, spatially localized stimuli sufficient to stimulate the Merkel-type (SA1) or Meissner-type (RA1) mechanoreceptors of a user's skin and a second valve producing high-frequency, spatially diffuse stimuli sufficient to stimulate the Ruffini-type (SA2) or Pacinian-type (RA2) mechanoreceptors of a user's skin.",
    "23. The control assembly for the interface garment of claim 1, further comprising a heating device and a refrigeration device, wherein the heating device and the refrigeration device are coupled to the pressurized fluid supply.",
    "24. The control assembly for the interface garment of claim 1, wherein the at least one fluidic actuator is a plurality of fluidic actuators, the control assembly further comprising a selector valve comprising a flow section element coupling one of the at least one control valve to a plurality of fluidic actuator ports in sequence."
  ],
  "description_excerpt": "This application is a continuation of U.S. patent application Ser. No. 17/345,973, filed Jun. 11, 2021, which is a continuation of U.S. patent application Ser. No. 16/807,029, filed Mar. 2, 2020, now U.S. Pat. No. 11,061,472, issued Jul. 13, 2021, which is a continuation of U.S. patent application Ser. No. 16/245,145, filed Jan. 10, 2019, now U.S. Pat. No. 10,732,711, issued Aug. 4, 2020, which is a continuation of U.S. patent application Ser. No. 15/591,019, filed May 9, 2017, now U.S. Pat. No. 10,222,859, issued Mar. 5, 2019, which is a continuation of U.S. patent application Ser. No. 15/372,362, filed Dec. 7, 2016, now U.S. Pat. No. 9,904,358, issued Feb. 27, 2018, which is a continuation of U.S. application Ser. No. 14/981,414, filed Dec. 28, 2015, now U.S. Pat. No. 9,652,037, issued May 16, 2017, which is a continuation of International Application No. PCT/US14/44735, filed Jun. 27, 2014, which claims the benefit of Provisional Application No. 61/843,317 filed Jul. 5, 2013, all of which are incorporated in their entirety herein by reference.\n\nThe present invention relates generally to virtual reality human-machine interfaces, and more specifically to immersive virtual reality human-machine interfaces. Even more specifically, the present invention relates to immersive virtual reality human-machine interfaces with auditory, visual, proprioceptive, mechanoreceptive, thermoreceptive, and equilibrioceptive modalities.\n\nVirtual reality systems are computer-based systems that provide experiences to a participant acting in a simulated environment that forms a three dimensional virtual world.",
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  "assignees": [
    "HaptX Inc"
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  "inventors": [
    "Jacob A. Rubin",
    "Robert S. Crockett"
  ],
  "filing_date": "2023-01-14",
  "publication_date": "2023-11-14",
  "grant_date": "2023-11-14",
  "priority_date": "2013-07-05",
  "application_number": "US-202318154824-A",
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Record 617 of 8,000 in Patents full text (MLC-0201). Request the full dataset.