Patent · US9703381B2 · B2 · US

Multimodal haptic device including a thermal and tactile display unit, system, and method of using the same

(11) Publication number

US9703381B2

(21) Application number

15/016,302

(22) Filing date

2016-02-05

(30) Priority date

2015-02-18

(43) Publication date

2017-07-11

(45) Date of grant

2017-07-11

(52) CPC

G06F Electric digital data processing: 3/016
A61B Diagnosis; surgery; identification: 34/30, 34/35, 34/74, 34/76, 5/4561
A61F Filters implantable into blood vessels; prostheses; devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents; orthopaedic, nursing or contraceptive devices; fomentation; treatment or protection of eyes or ears; bandages, dressings or absorbent pads; first-aid kits: 7/00
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: 2201/0207, 2201/0214, 2201/0228, 2201/0242, 2201/0264, 2201/0285, 2201/10, 2201/1635, 2201/1697, 2201/5012, 2201/5015, 2201/5043, 2201/5061, 2201/5071, 2201/5076, 2201/5082, 2201/5092, 2201/5097, 2205/06, 2205/065, 2230/04, 2230/06, 2230/20, 2230/202, 2230/30, 2230/42, 2230/50, 2230/60, 2230/65, 23/04, 9/0078
A63F Card, board, or roulette games; indoor games using small moving playing bodies; video games; games not otherwise provided for: 13/00, 13/285

(73) Assignee

ECOLE POLYTECHNIQUE FED LAUSANNE EPFL; ECOLE POLYTECHNIQUE FED DE LAUSANNE (EPFL)

(54) Title

Multimodal haptic device including a thermal and tactile display unit, system, and method of using the same

(57) Abstract

A multimodal haptic device operating as a closed-loop system, the device including a pipeline configured to allow a closed-loop flow of a fluid medium, a manifold operatively connected to the pipeline, the manifold having a pump and a valve to control and regulate a flow of the fluid medium along the pipeline, and a display unit operatively connected to the pipeline, the display unit having a tactile display and a valve operatively connected to the tactile display for regulating an efflux of the fluid medium from the tactile display into the pipeline.

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Claims (21)

A multimodal haptic device comprising: a first pipeline for circulating a first fluid, the first pipeline operatively connected to a first pump for controlling at least one of a pressure and a flow of the first fluid, the first fluid having a first temperature; a second pipeline for circulating a second fluid, the second pipeline operatively connected to a second pump for controlling at least one of a pressure and a flow of the second fluid, the second fluid having a second temperature; and a display unit operatively connected to the first and second pipeline and a valve, the display unit having a tactile display, the valve regulating flows of the first fluid and the second fluid between the tactile display and the first and second pipeline, to control both a temperature of the tactile display by mixing the first and second fluids, and a pressure exerted by the tactile display, wherein the first and second pipelines and the display unit are arranged to form a closed-loop fluid system.
The multimodal haptic device of claim 1, further comprising: a first container including the first fluid operatively connected to the first pipeline; and a second container including the second fluid operatively connected to the second pipeline.
The multimodal haptic device of claim 2, wherein the first container and the second container are coupled together with a Peltier element.
The multimodal haptic device of claim 1, wherein the first and second fluid are liquids.
The multimodal haptic device of claim 4, wherein the liquids are at least one of a water and a cooling aqueous solution.
The multimodal haptic device of claim 1, wherein the tactile display includes an inflatable chamber made of an elastic material.
The multimodal haptic device of claim 1, wherein the pipeline is made of an elastic material.
The multimodal haptic device of claim 1, further comprising: a sensor for detecting at least one of a physiological parameter of a user, and an environmental parameter.
The multimodal haptic device of claim 8, wherein the sensor is operatively connected to the display unit.
The multimodal haptic device of claim 8, wherein the sensor further includes a communication device for wirelessly transmitting at least one of the detected physiological parameter of the user and the environmental parameter to a data processing device.
The multimodal haptic device of claim 8, wherein the sensor further includes a communication device for wirelessly receiving a feedback input from a processing device to enable a control of the multimodal haptic device.
A wearable device including the multimodal haptic device of claim 1.
An MRI-compatible device including the multimodal haptic device of claim 1.
The multimodal haptic device of claim 1, further comprising: at least one of a garment and an exoskeleton, wherein the first and second pipelines and the display unit are incorporated within the at least one of the garment and the exoskeleton.
The multimodal haptic device of claim 1, wherein the display unit is configured to provide at least one of pressure feedback, tapping feedback, suction feedback, stretch feedback, texture feedback, humidity feedback, temperature feedback, pulse feedback, force feedback, and vibration feedback.
A method comprising the steps of: mounting a multimodal haptic device according to claim 1 onto a user; and operating the multimodal haptic device while mounted to the user, wherein the step of operating includes at least one of sport training, orthopaedics rehabilitation, remote surgery, embodiment in virtual reality settings, self-massage, self-relaxation, patient's mobilization, and counter conditioning for phobia treatment.
The multimodal haptic device of claim 2, further comprising: a sensor for detecting at least one of a physiological parameter of a user, a motion of a user, and an environmental parameter, wherein the sensor is operatively connected to at least one of the display unit, the first pump, and the second pump.
The multimodal haptic device of claim 2, wherein the display unit further includes an additional valve and a manifold arranged to be in fluid communication with the first and second pipeline.
The multimodal haptic device of claim 1, wherein the first pipeline and the second pipeline are coupled together with a Peltier element.
The multimodal haptic device of claim 1, wherein the second temperature is different from the first temperature.
The multimodal haptic device of claim 2, wherein the display unit further includes a first valve operatively connected between the first pipeline and the display unit, and a second valve operatively connected between the second pipeline and the display unit.

Citations (8)

US2003117371A1
US2006103634A1
US2008248836A1
US2009120105A1
US2014160044A1
US6384715B1
US6425764B1
WO2009061572A1

Record as JSON

{
  "publication_number": "US9703381B2",
  "country": "US",
  "kind": "B2",
  "title": "Multimodal haptic device including a thermal and tactile display unit, system, and method of using the same",
  "abstract": "A multimodal haptic device operating as a closed-loop system, the device including a pipeline configured to allow a closed-loop flow of a fluid medium, a manifold operatively connected to the pipeline, the manifold having a pump and a valve to control and regulate a flow of the fluid medium along the pipeline, and a display unit operatively connected to the pipeline, the display unit having a tactile display and a valve operatively connected to the tactile display for regulating an efflux of the fluid medium from the tactile display into the pipeline.",
  "claims": [
    "1. A multimodal haptic device comprising: a first pipeline for circulating a first fluid, the first pipeline operatively connected to a first pump for controlling at least one of a pressure and a flow of the first fluid, the first fluid having a first temperature; a second pipeline for circulating a second fluid, the second pipeline operatively connected to a second pump for controlling at least one of a pressure and a flow of the second fluid, the second fluid having a second temperature; and a display unit operatively connected to the first and second pipeline and a valve, the display unit having a tactile display, the valve regulating flows of the first fluid and the second fluid between the tactile display and the first and second pipeline, to control both a temperature of the tactile display by mixing the first and second fluids, and a pressure exerted by the tactile display, wherein the first and second pipelines and the display unit are arranged to form a closed-loop fluid system.",
    "2. The multimodal haptic device of claim 1, further comprising: a first container including the first fluid operatively connected to the first pipeline; and a second container including the second fluid operatively connected to the second pipeline.",
    "3. The multimodal haptic device of claim 2, wherein the first container and the second container are coupled together with a Peltier element.",
    "4. The multimodal haptic device of claim 1, wherein the first and second fluid are liquids.",
    "5. The multimodal haptic device of claim 4, wherein the liquids are at least one of a water and a cooling aqueous solution.",
    "6. The multimodal haptic device of claim 1, wherein the tactile display includes an inflatable chamber made of an elastic material.",
    "7. The multimodal haptic device of claim 1, wherein the pipeline is made of an elastic material.",
    "8. The multimodal haptic device of claim 1, further comprising: a sensor for detecting at least one of a physiological parameter of a user, and an environmental parameter.",
    "9. The multimodal haptic device of claim 8, wherein the sensor is operatively connected to the display unit.",
    "10. The multimodal haptic device of claim 8, wherein the sensor further includes a communication device for wirelessly transmitting at least one of the detected physiological parameter of the user and the environmental parameter to a data processing device.",
    "11. The multimodal haptic device of claim 8, wherein the sensor further includes a communication device for wirelessly receiving a feedback input from a processing device to enable a control of the multimodal haptic device.",
    "12. A wearable device including the multimodal haptic device of claim 1.",
    "13. An MRI-compatible device including the multimodal haptic device of claim 1.",
    "14. The multimodal haptic device of claim 1, further comprising: at least one of a garment and an exoskeleton, wherein the first and second pipelines and the display unit are incorporated within the at least one of the garment and the exoskeleton.",
    "15. The multimodal haptic device of claim 1, wherein the display unit is configured to provide at least one of pressure feedback, tapping feedback, suction feedback, stretch feedback, texture feedback, humidity feedback, temperature feedback, pulse feedback, force feedback, and vibration feedback.",
    "16. A method comprising the steps of: mounting a multimodal haptic device according to claim 1 onto a user; and operating the multimodal haptic device while mounted to the user, wherein the step of operating includes at least one of sport training, orthopaedics rehabilitation, remote surgery, embodiment in virtual reality settings, self-massage, self-relaxation, patient's mobilization, and counter conditioning for phobia treatment.",
    "17. The multimodal haptic device of claim 2, further comprising: a sensor for detecting at least one of a physiological parameter of a user, a motion of a user, and an environmental parameter, wherein the sensor is operatively connected to at least one of the display unit, the first pump, and the second pump.",
    "18. The multimodal haptic device of claim 2, wherein the display unit further includes an additional valve and a manifold arranged to be in fluid communication with the first and second pipeline.",
    "19. The multimodal haptic device of claim 1, wherein the first pipeline and the second pipeline are coupled together with a Peltier element.",
    "20. The multimodal haptic device of claim 1, wherein the second temperature is different from the first temperature.",
    "21. The multimodal haptic device of claim 2, wherein the display unit further includes a first valve operatively connected between the first pipeline and the display unit, and a second valve operatively connected between the second pipeline and the display unit."
  ],
  "cpc": [
    "G06F 3/016",
    "A61B 34/30",
    "A61B 34/35",
    "A61B 34/74",
    "A61B 34/76",
    "A61B 5/4561",
    "A61F 7/00",
    "A61H 2201/0207",
    "A61H 2201/0214",
    "A61H 2201/0228",
    "A61H 2201/0242",
    "A61H 2201/0264",
    "A61H 2201/0285",
    "A61H 2201/10",
    "A61H 2201/1635",
    "A61H 2201/1697",
    "A61H 2201/5012",
    "A61H 2201/5015",
    "A61H 2201/5043",
    "A61H 2201/5061",
    "A61H 2201/5071",
    "A61H 2201/5076",
    "A61H 2201/5082",
    "A61H 2201/5092",
    "A61H 2201/5097",
    "A61H 2205/06",
    "A61H 2205/065",
    "A61H 2230/04",
    "A61H 2230/06",
    "A61H 2230/20",
    "A61H 2230/202",
    "A61H 2230/30",
    "A61H 2230/42",
    "A61H 2230/50",
    "A61H 2230/60",
    "A61H 2230/65",
    "A61H 23/04",
    "A61H 9/0078",
    "A63F 13/00",
    "A63F 13/285"
  ],
  "assignees": [
    "ECOLE POLYTECHNIQUE FED LAUSANNE EPFL",
    "ECOLE POLYTECHNIQUE FED DE LAUSANNE (EPFL)"
  ],
  "filing_date": "2016-02-05",
  "publication_date": "2017-07-11",
  "grant_date": "2017-07-11",
  "priority_date": "2015-02-18",
  "application_number": "US-201615016302-A",
  "family_id": "56622343",
  "citations": [
    "US2003117371A1",
    "US2006103634A1",
    "US2008248836A1",
    "US2009120105A1",
    "US2014160044A1",
    "US6384715B1",
    "US6425764B1",
    "WO2009061572A1"
  ]
}

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