초록 ▼

A feedback apparatus for an operator to control an effector that is remote from the operator to interact with a remote environment has a local input device to be manipulated by the operator. Sensors in the effector\s environment are capable of sensing the amplitude of forces arising between the effe

A feedback apparatus for an operator to control an effector that is remote from the operator to interact with a remote environment has a local input device to be manipulated by the operator. Sensors in the effector\s environment are capable of sensing the amplitude of forces arising between the effector and its environment, the direction of application of such forces, or both amplitude and direction. A feedback signal corresponding to such a component of the force, is generated and transmitted to the environment of the operator. The signal is transduced into a vibrotactile sensory substitution signal to which the operator is sensitive. Vibration producing apparatus present the vibrotactile signal to the operator. The full range of the force amplitude may be represented by a single, mechanical vibrator. Vibrotactile display elements can be located on the operator\s limbs, such as on the hand, fingers, arms, legs, feet, etc. The location of the application of the force may also be specified by the location of a vibrotactile display on the operator\s body. Alternatively, the location may be specified by the frequency of a vibrotactile signal.

대표청구항 ▼

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. at least one means for sensing

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. at least one means for sensing an amplitude of at least one force arising between the remote effector and the remote environment; b. means for generating a force feedback signal that corresponds to the amplitude 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 vibrotactile sensory substitution signal to which the operator is sensitive; and e. means for presenting said transduced sensory substitution signal to a vibrotactile system of the operator that is receptive to said vibrotactile sensory substitution signal such that a full range of force amplitude may be represented by said means for presenting said transduced vibrotactile sensory substitution signal.