Ground-based haptic interface comprising at least two decoupled rotary finger actuators

Abstract

The present invention concerns a ground-based haptic interface equipped with at least two decoupled rotary finger actuators adapted to be manipulated with the fingertips of a single hand of a user. For each finger actuator, means are included for measuring the angular position of the actuator or a for measuring the torque applied on the axis of rotation of the actuator. Each rotary finger actuator is associated with a control motor adapted to apply, on the axis of rotation of the actuator, a torque that is a function of the angular position of the actuator, or that controls the rotational position of the axis of rotation of the actuator as a function of the torque applied on this axis. The haptic interface can be used as a peripheral of a computer, for example, for interacting with a virtual environment. It can also be applied to the control or manipulation of real objects by being coupled, for example, with a robot or a manipulating arm. The interface also can be telemanipulated.

1 - 12 . (canceled)  
   
   
       13 . Ground-based haptic interface ( 1 ), comprising a case and at least two decoupled rotary finger actuators operatively disposed within the case, said case having at least two openings, said actuators being disposed to extend partially through the openings in the case so as to be capable of manipulation with the fingertips of a single hand.  
   
   
       14 . An interface according to  claim 13  characterized in that a first actuator and its corresponding opening is positioned such that the first actuator and its corresponding opening is positioned such that the second actuator can be manipulated with the thumb of the user's hand, and a second actuator can be manipulated with the index finger of the user's hand.  
   
   
       15 . An interface according to  claim 14  characterized in that the axis of rotation of the first actuator associated with the user's thumb is oriented transverse to the axis of rotation of the second actuator that can be manipulated with the user's index finger.  
   
   
       16 . An interface according to  claim 15  characterized in that it includes at least a third decoupled rotary finger actuator.  
   
   
       17 . An interface according to  claim 13  characterized in that it includes, for each finger actuator, means associated with the actuator or a torque applied on the axis of rotation of the actuator for measuring the angular position of the associated actuator.  
   
   
       18 . An interface according to  claim 14  characterized in that it includes, for each finger actuator, means associated with the actuator or a torque applied on the axis of rotation of the actuator for measuring the angular position of the associated actuator.  
   
   
       19 . An interface according to  claim 15  characterized in that it includes, for each finger actuator, means associated with the actuator or a torque applied on the axis of rotation of the actuator for measuring the angular position of the associated actuator.  
   
   
       20 . An interface according to  claim 16  characterized in that it includes, for each finger actuator, means associated with the actuator or a torque applied on the axis of rotation of the actuator for measuring the angular position of the associated actuator.  
   
   
       21 . An interface according to  claim 13  characterized in that the axis of rotation of each actuator is motorized.  
   
   
       22 . An interface according to  claim 14  characterized in that the axis of rotation of each actuator is motorized.  
   
   
       23 . An interface according to  claim 15  characterized in that the axis of rotation of each actuator is motorized.  
   
   
       24 . An interface according to  claim 16  characterized in that the axis of rotation of each actuator is motorized.  
   
   
       25 . An interface according to  claim 13  characterized in that it includes, for each rotary finger actuator associated control means for applying a torque on an axis of rotation of the associated actuator.  
   
   
       26 . An interface according to  claim 14  characterized in that it includes, for each rotary finger actuator associated control means for applying a torque on an axis of rotation of the associated actuator.  
   
   
       27 . An interface according to  claim 15  characterized in that it includes, for each rotary finger actuator associated control means for applying a torque on an axis of rotation of the associated actuator.  
   
   
       28 . An interface according to  claim 16  characterized in that it includes, for each rotary finger actuator associated control means for applying a torque on an axis of rotation of the associated actuator.  
   
   
       29 . An interface according to  claim 25  characterized in that the control means associated with each actuator is adapted to apply on the axis of rotation of the actuator a torque that is a function of the angular position of the actuator.  
   
   
       30 . An interface according to  claim 13  characterized in that it includes, for each rotary finger actuator, an associated control means for controlling the position of an axis of rotation of the actuator.  
   
   
       31 . An interface according to  claim 14  characterized in that it includes, for each rotary finger actuator, an associated control means for controlling the position of an axis of rotation of the actuator.  
   
   
       32 . An interface according to  claim 15  characterized in that it includes, for each rotary finger actuator, an associated control means for controlling the position of an axis of rotation of the actuator.  
   
   
       33 . An interface according to  claim 16  characterized in that it includes, for each rotary finger actuator, an associated control means for controlling the position of an axis of rotation of the actuator.  
   
   
       34 . An interface according to  claim 30  characterized in that the control means associated with each actuator is adapted to rotationally position the axis of rotation of the actuator as a function of the torque applied on the axis of rotation of the actuator.  
   
   
       35 . An interface according to  claim 34  characterized in that the control means associated with each finger actuator include a motor (M).  
   
   
       36 . An interface according to  claim 13  characterized in that the case includes a contact surface that is ergonomically adapted to the palm of the hand.  
   
   
       37 . An interface according to  claim 14  characterized in that the case includes a contact surface that is ergonomically adapted to the palm of the hand.  
   
   
       38 . An interface according to  claim 15  characterized in that the case includes a contact surface that is ergonomically adapted to the palm of the hand.  
   
   
       39 . An interface according to  claim 16  characterized in that the case includes a contact surface that is ergonomically adapted to the palm of the hand.