A deformable material and a piece of garment made thereof

Abstract

There is provided a deformable material, comprising a structure comprising a plurality of deformable assemblies. Each of the deformable assemblies comprises at least two support members and an electrically bendable electrode, where the at least two support members are pivotably arranged in relation to each other. Each deformable assembly is connected to a respective electrical conductor through which an electrical actuation signal is providable to the electrically bendable electrode. The electrically bendable electrode is arranged to bend, and thereby change a rotation angle between the at least two support members of said each deformable assembly, responsive to the electrically bendable electrode being provided with the electrical actuation signal.

Description

[0001] A DEFORMABLE MATERIAL AND A PIECE OF GARMENT MADE THEREOF

[0002] TECHNICAL FIELD

[0003] Embodiments presented herein relate to a deformable material, a piece of garment, a computer program, an extended reality system, and a computer program product for providing haptic feedback in the extended reality system.

[0004] BACKGROUND

[0005] In general terms, haptic feedback can be defined as a technology used, for example, in the context of extended reality (XR) environments (which include virtual reality (VR), augmented reality (AR), and mixed reality (MR) systems), to stimulate the senses of touch and motion. Haptic feedback can be used for reproducing, in remote operation or in a computer simulation, sensations that would be felt by a user interacting directly with some physicalobjects.

[0006] XR offers an immersive experience by integrating virtual elements with the real world or by creating fully virtual spaces. Haptic feedback enhances the realism of these environments by providing users with tactile sensations that mimic the physical interaction with virtual objects. Despite its potential, current haptic feedback technologies face several challenges that limit their effectiveness and user experience in XR environments.

[0007] One of the challenges is the limitation in the range and fidelity of haptic feedback. Existing haptic devices, such as gloves, vests, or handheld controllers, often offer a narrow range of sensations. These sensations typically include basic vibrations, forces, or pressure, but lack the ability to accurately simulate the complex textures, shapes, or dynamic forces encountered in the real world. This limitation reduces the realism and immersion in XR environments, making interactions feel less authentic.

[0008] Another issue is the bulkiness and discomfort when using many haptic devices. To provide feedback, these devices often need to be held by the user, which can be cumbersome and physically restrictive, depending on their size, construction and / or design. Most of the available haptic devices are based on providing haptic feedback at the fingertips of the user, see for example Z. Zhakypov and A. M. Okamura, “FingerPrint: A 3-D Printed Soft Monolithic 4-Degree-of-Freedom Fingertip Haptic Device with Embedded Actuation,” 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft), Edinburgh, United Kingdom, 2022, pp. 938-944, doi: 10. 1109 / RoboSoft54090.2022.9762107. However, the sensory surface of a human hand reaches all the inner and outer hand surfaces. With particular respect to gloves, some issues concern the size and the mobility. Most gloves are bulky and heavy, whereas smaller or lighter gloves only provide limited haptic feedback. Still, most gloves only provide haptic feedback at the fingertips and provide haptic feedback only in terms of vibrations. The weight, size, and sometimes intrusive nature of these devices can lead to user discomfort, fatigue, and distraction, detracting from the overall XR experience. Moreover, such devices may require complex setups and calibration, further complicating their use and integration.

[0009] Power consumption and battery life are also concerns. Haptic feedback devices generally require significant power to operate, particularly when providing high-intensity or continuous feedback. This can lead to frequent battery replacements or recharges, interrupting the XR experience.

[0010] Finally, the high cost of developing and manufacturing sophisticated haptic feedback systems presents a barrier to widespread adoption. High-precision devices, capable of providing more nuanced and realistic feedback, often require expensive materials and advanced technologies, making them inaccessible to many users and limiting their availability.

[0011] Hence, there is still a need for improved technologies for haptic feedback.

[0012] SUMMARY

[0013] It is an object of the embodiments disclosed hereinafter to address the above-mentioned challenges in an effort to advance the state of haptic feedback technologies.

[0014] A particular object is to provide a piece of garment made of a material suitable for providing haptic feedback.

[0015] According to a first aspect there is therefore presented a a piece of garment at least partly made of a deformable material, the deformable material comprising a structure with a plurality of deformable assemblies.

[0016] Each of the deformable assemblies comprises at least two support members and an electrically bendable electrode, where the at least two support members are pivotably arranged in relation to each other in such a way that a rotation angle between them is changeable.

[0017] Each deformable assembly is connected to a respective electrical conductor through which an electrical actuation signal is providable to the electrically bendable electrode.

[0018] The electrically bendable electrode is arranged to bend, and thereby change the rotation angle between the at least two support members of said each deformable assembly, responsive to the electrically bendable electrode being provided with the electrical actuation signal.

[0019] Advantageously, the piece of garment is made of a lightweight material that can be reshaped in a controlled way.

[0020] In some embodiments, the rotation angle between the at least two support members has a value that depends on a magnitude of the electrical actuation signal. Advantageously, this enables the reshaping of the material present in the piece of garment to be varied.

[0021] In some embodiments, the rotation angle between the at least two support members for each of the deformable assemblies is selectively and independently changeable by the plurality of deformable assemblies being arranged to receive a respective electrical actuation signal for the rotation angle.

[0022] Advantageously, this enables different parts of the piece of garment made of the deformable material to be reshaped differently.

[0023] In some embodiments, each deformable assembly comprises a pre-stretched dielectric elastomer on which the support members are provided.

[0024] Advantageously, this enables the piece of garment partly made of the deformable material to be lightweight.

[0025] In some embodiments, each of the support members has a triangular, rectangular, square, or half circle shape, and the support members are arranged side by side in the deformable assemblies.

[0026] Advantageously, in this way the support members can be of different shapes, adding further flexibility to the deformable material present in the piece of garment.

[0027] In some embodiments, the longest side of each of the support members has a length of 4-20 mm.

[0028] Advantageously, in this way the support members can be of different sizes, adding further flexibility to the deformable material.

[0029] In some embodiments, the plurality of deformable assemblies comprise deformable assemblies of different sizes.

[0030] Advantageously, in this way the deformable assemblies can be of different sizes, adding further flexibility to the deformable material present in the piece of garment.

[0031] In some embodiments, the deformable material further comprising a first conductive layer and a second conductive layer, and the plurality of deformable assemblies are sandwiched between the first conductive layer and the second conductive layer.

[0032] Advantageously, this provides an efficient way to provide the electrical actuation signal to the deformable assemblies.

[0033] In some embodiments, the first conductive layer, the second conductive layer and the plurality of deformable assemblies form an arrangement, and the deformable material further comprises a first flexible non-conductive layer and a second flexible non-conductive layer, where the arrangement is sandwiched between the first and second flexible non-conductive layers. Advantageously, this provides an additional layer of protection.

[0034] In some embodiments, the plurality of deformable assemblies are non-uniformly distributed in the structure.

[0035] Advantageously, in this way the piece of garment can be customized for different purposes, adding further flexibility to the piece of garment.

[0036] In some embodiments, the plurality of deformable assemblies are distributed according to a recurring pattern in the structure.

[0037] Advantageously, in this way the piece of garment can be manufactured in an efficient manner.

[0038] In some embodiments, the structure is made from an expandable material.

[0039] Advantageously, this enables the piece of garment to be stretched out and shrunk as the deformable assemblies change shape.

[0040] Advantageously, by use of the aforementioned deformable material in the piece of garment, the haptic feedback can be spread throughout the piece of garment (such as a glove) and thus provide for a more detailed and refined feedback to the user. In some embodiments, the piece of garment is a glove, a headwear, a stocking, a shirt, a pair of trousers, or a bodysuit.

[0041] In some embodiments, the electrical actuation signal pertains to haptic feedback.

[0042] Advantageously, this enables haptic feedback to be provided to a user of the piece of garment.

[0043] A particular object is to provide an XR system in which the above-disclosed piece of garment can be used.

[0044] According to a third aspect there is therefore presented an XR system.

[0045] The XR system comprises an XR device wearable by a user and configured to display an XR environment for the user. The XR environment comprises a virtual surface touchable by the user, and the XR device is configured to supply a haptic feedback signal responsive to the user touching the virtual surface.

[0046] The XR system comprises a piece of garment according to the second aspect or any of its embodiments. The piece of garment is wearable by the user and connectable to the XR device. The electrical actuation signal is defined by the haptic feedback signal.

[0047] Advantageously, this XR system provides an immersive XR experience. In some embodiments, the electrical actuation signal, by means of the haptic feedback signal, is provided to change the rotation angle between the at least two support members of said each deformable assembly responsive to the user touching the virtual surface in the XR environment.

[0048] Advantageously, this enables haptic feedback to be provided to the user.

[0049] In some embodiments, the piece of garment forms a surface structure to be fitted around at least one body part of the user, and the structure, via the haptic feedback signal, is configured to mimic at least one of shape, texture and hardness of the virtual surface.

[0050] Advantageously, this enables immersive haptic feedback to be provided to the user.

[0051] A particular object is to provide a computer program for providing haptic feedback in the above-disclosed XR system.

[0052] According to a fourth aspect there is presented a computer program for providing haptic feedback in an XR system according to the third aspect or any of its embodiments.

[0053] The computer program comprises computer code which, when run on processing circuitry of the XR system, causes the XR device to display the XR environment for the user and to supply the haptic feedback signal responsive to the user touching the virtual surface in the XR environment.

[0054] The computer program comprises computer code which, when run on processing circuitry of the XR system, causes the piece of garment to receive the haptic feedback signal and to change the rotation angle between the at least two support members of said each deformable assembly in accordance with the electrical actuation signal as defined by the haptic feedback signal.

[0055] Advantageously, this computer program enables haptic feedback to be provided in the above-disclosed XR system.

[0056] Other objectives, features and advantages of the enclosed embodiments will be apparent from the following detailed disclosure, from the attached dependent claims as well as from the drawings.

[0057] Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a / an / the element, apparatus, component, means, module, step, etc." are to be interpreted openly as referring to at least one instance of the element, apparatus, component, means, module, step, etc., unless explicitly stated otherwise. The steps of any method disclosed herein do not have to be performed in the exact order disclosed, unless explicitly stated. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The inventive concept is now described, by way of example, with reference to the accompanying drawings, in which:

[0059] Fig. 1 is a schematic illustration of a deformable material to be used in a piece of garment

[0060] Fig. 2 schematically illustrates deformable assemblies as part of the deformable material;

[0061] Fig. 3 schematically illustrates one deformable assembly according to known technology;

[0062] Fig. 4 schematically illustrates the structure in the deformable material;

[0063] Fig. 5 schematically illustrates a deformable material used in a piece of garment according to an embodiment;

[0064] Fig. 6 schematically illustrates one deformable assembly according to an embodiment;

[0065] Fig. 7 schematically illustrates a piece of garment according to an embodiment;

[0066] Fig. 8 schematically illustrates an XR system according to an embodiment;

[0067] Fig. 9 is a flowchart of a method according to an embodiment;

[0068] Fig. 10 is a schematic diagram showing structural units of an XR system controller according to an embodiment;

[0069] Fig. 11 shows one example of a computer program product comprising computer readable storage medium according to an embodiment.

[0070] DETAILED DESCRIPTION

[0071] The inventive concept will now be described more fully hereinafter with reference to the accompanying drawings, in which certain embodiments of the inventive concept are shown. This inventive concept may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided by way of example so that this disclosure will be thorough and complete, and will fully convey the scope of the inventive concept to those skilled in the art. Like numbers refer to like elements throughout the description. Any step or feature illustrated by dashed lines should be regarded as optional.

[0072] As disclosed above there is still a need for improved technologies for haptic feedback.

[0073] In further detail, as also disclosed above, existing devices for providing sense haptics usually are not comfortable due to their weight and size, or they just focus on providing haptic feedback to only the fingertips of the user. To address these issues and more, a deformable material is disclosed which is used in at least a part of a piece of garment which is illustrated in Fig. 7. The deformable material can be deformed by means of actuators, hereinafter referred to as deformable assemblies, that can be partially or fully actuated by electrical actuation signals. Reference is here made to Fig. 1 showing a top view of a deformable material 100 according to an embodiment.

[0074] The deformable material 100 used in the piece of garment 700 comprises a structure 130 (see also Fig. 4). In turn, the structure 130 comprises a plurality of deformable assemblies 110 (see also Figs. 3, 5, and 6) which are known in the art. As will be disclosed next, by means of electrical stimulus being provided to the deformable assemblies 110, these deformable assemblies 110 enable the deformable material 100 to bend and deform.

[0075] Each of the deformable assemblies 110 comprises at least two support members, as is shown in further detail in Fig. 3. The at least two support members are pivotably arranged in relation to each other. Each of the deformable assemblies 110 further comprises an electrically bendable electrode, as is shown in further detail in Fig. 3. Each deformable assembly 110 is connected to a respective electrical conductor 120 through which an electrical actuation signal is providable to the electrically bendable electrode. The electrical conductor 120 is represented by a wire. In some embodiments, the electrical actuation signal pertains to haptic feedback.

[0076] The electrically bendable electrode is arranged to bend, and thereby change a rotation angle a (see, Fig. 4) between the at least two support members of each deformable assembly 110, responsive to the electrically bendable electrode being provided with the electrical actuation signal. As is shown below in Figs. 4, 5, and 6, which will be described below, the electrically bendable electrode is arranged to bend in a plane perpendicular to the plane in which the dielectric material is provided.

[0077] Further aspects of the deformable material 100 in the piece of garment of Fig. 7 will be disclosed next.

[0078] In Fig. 2 is illustrated, in terms of a top view, six deformable assemblies 210 arranged in a pattern 200. In this example, each of the support members has a triangular shape. However, the deformable assemblies 210 may also be of other shapes. In general, each of the support members may have a triangular, rectangular, square, or having the shape of a semi-circle sector. Shape combinations may also be possible, where one of the at least two support members may be triangular while the other may be square or rectangular, or where one of the support members may be triangular and the other the shape of a semicircle sector, etc. In another scenario, one of the support members of the at least two support members may be square or rectangular and the other support member may be the shape of a semi-circle sector, etc. Hence, in some embodiments, at least one of the deformable assemblies 210 comprises support members of mutually different shapes (e.g., one being triangular while the other is square, rectangular, or the shape of a semi-circle sector, etc.). One way for the at least two support members to be pivotably arranged in relation to each other, is for the at least two support members to be arranged side by side in the deformable assemblies 110, 210 (with the electrically bendable electrode attached to the support members at the sides where the support members are facing each other in each of the deformable assemblies 110, 210). That is, the electrically bendable electrode needs to be placed at a straight edge of the the support members to allow the electrically bendable electrode to bend. The electrically bendable electrode will, when energized, cause a pivoting or rotation of the support members in a rotation angle.

[0079] Further, although there are two support members in each of the deformable assemblies 210 there could be three or more support members in each of the deformable assemblies 210, as long as the shape and placement of the support members in the deformable assembly allow the electrically bendable electrode to be placed at a straight edge of the the support members to allow the electrically bendable electrode to bend.

[0080] In Fig. 3 is provided a perspective view of one deformable assembly 300 known in the art, which has two support members 310a, 310b connected via an electrically bendable electrode 320. The support members 310a, 310b are provided on a pre-stretched dielectric elastomer 330. Further details of the pre-stretched dielectric elastomer 330 will be disclosed below. In Fig. 3 is also shown a layer 340 that mirrors the support members 310a, 310b and the electrically bendable electrode 320 but where the electrically bendable electrode in the layer 340 has opposite polarity compared to the electrically bendable electrode 320. Assuming for illustrative purposes that the electrically bendable electrode 320 has positive polarity, the layer 340 will thus have negative polarity, and vice versa. The electrical actuation signal is in Fig. 3 schematically illustrated by the power source 350. In some examples, the deformable assemblies are composed of a pre-stretched dielectric elastomer with conductive carbon grease on both sides, which functions as electrically bendable electrodes 320, and a laser-cut PET film, which functions as support members 310a, 310b.

[0081] Further in this respect, the support members 310a, 310b, and thus the deformable assemblies 110, 210, 300 may come in different sizes. As a non-limiting example, the longest side of each of the support members 310a, 310b may have a length of 4-20 mm. Further in this respect, the size of the support members 310a, 310b may vary over the deformable material. Therefore, in some embodiments, the plurality of deformable assemblies 110, 210, 300 comprise deformable assemblies 110, 210, 300 of different sizes.

[0082] There may be different materials from which the deformable assemblies 110 are made. In some embodiments, as in Fig. 3, each deformable assembly 110, 210, 300, comprises a pre-stretched dielectric elastomer 330 on which the support members 310a, 310b are provided. An example of a pre-stretched dielectric elastomer 330 on which the support members 310a, 310b are provided is disclosed in the article by Sun, Y., Li, D., Wu, M. et al. “Origami-inspired folding assembly of dielectric elastomers for programmable soft robots,” Microsystems & Nanoengineering 8, Article number 37 (2022), https: / / doi.org / 10.1038 / s41378-022-00363-5, as available per 14 August 2024. According to this article, the electrical actuators are composed of a pre-stretched dielectric elastomer with conductive carbon grease on both sides, which functions as a stretchable conductive electrode, and a laser-cut polyethylene terephthalate (PET) film, which functions as a flexible support frame. By designing the shape of the PET frame, a wide range of 3D origami assemblies can be produced in a cost-effective and easy to process manner. However, in other embodiments, technologies such as shape memory alloys (SMA), electroactive polymers (EAP), or piezoelectric materials that can change shape or exert force when an electric current is applied are used for this purpose. For example, graphene could be used as a material for the deformable assemblies 110, 210, 300.

[0083] In Fig. 4 is provided a side view of part of the structure 400 in the deformable material 100 used in a piece of garment, such as the piece of garment 700 in Fig. 7. The illustrated part of the the structure 400 comprises three deformable assemblies. As illustrated, the deformable assemblies create a rotation angle a in off state (i.e., when no electrical actuation signal is applied, corresponding to a voltage of 0 V) and when a voltage is applied to it, each of the deformable assemblies is stretched, obtaining a flat surface. Thus, in general terms, the rotation angle a has a value that depends on the magnitude of the electrical actuation signal. In some examples, with no electrical actuation signal being applied, the rotation angle a may be in the order of 115-120 degrees, and as the magnitude of the electrical actuation signal increases, the rotation angle a will increase and eventually be equal to 180 degrees (for a voltage of 5-6 kV). Further, the rotation angle a can be set to different values for different individual deformable assemblies to simulate different kinds of surfaces. This can be used for replicating different environments such as rough surroundings (e.g., rocky surfaces) or flat ones (e.g., glass).

[0084] To activate each deformable assembly individually, a single electrical actuation signal for each deformable assembly is needed. Therefore, in some aspects, there are individual electrical actuation signals for selectively and independently changing the rotation angle a between the support members 310a, 310b of each deformable assembly 110, 210, 300. This implies that there is one respective electrical conductor 120 connected to each deformable assembly 110, 210, 300 for providing a respective electrical actuation signal to each deformable assembly 110, 210, 300. That is, in some embodiments, the rotation angle a for each deformable assembly 110, 210, 300 may be selectively and independently changeable. When the deformable assemblies are creating an angle (0V running in the circuit), the structure 400 needs to expand. Therefore, in some embodiments, the structure 130, 400 is made from an expandable material, such as a stretch fabric. In further detail, the structure 130, 400 may be made from be a high-performance fabric made from a combination of materials, such as polyester and spandex, or nylon and spandex. These fabrics have the durability, strength, and ability to stretch and recover.

[0085] Furthermore, in order use the deformable material in a piece of garment, such as the piece of garment in Fig. 7, further layers are be provided in the deformable material 100 to create a complete bendable structure. For example, with reference to the side view of the deformable material 500 in Fig. 5 (showing just one single deformable assembly 510) one flexible layer is provided on both sides of the deformable assemblies. This flexible material is non-conductive. This way, the user is protected from the electricity passing through the deformable assemblies when included in the deformable material 100 worn in a piece of garment. In particular, in some embodiments, the deformable material 100, 500 may further comprise a first flexible non-conductive layer 530a and a second flexible non-conductive layer 530a, and the deformable assemblies 510 are sandwiched between the first and the second flexible non-conductive layers 530a, 530b.

[0086] To induce the voltage needed to the specific deformable assemblies, a conductive positive layer (having an electrical conductor represented by a wire 130 to each deformable assembly) can be provided. This is illustrated in the side view of the deformable material 600 in Fig. 6 (showing just one single deformable assembly 610). In some embodiments (as in Fig. 6), the deformable material 100, 500, 600 further comprises a first conductive layer 620a and a second conductive layer 620b. The plurality of deformable assemblies 110, 210, 300, 510, 610 can then be sandwiched between the first conductive layer 620a and the second conductive layer 620b. In some aspects, the first conductive layer 620a, the second conductive layer 620b and the plurality of deformable assemblies 110, 210, 300, 510, 610 form an arrangement 640. In some embodiments, as disclosed above with reference to Fig. 5, the deformable material 100, 500 further comprises a first flexible non-conductive layer 530a and a second flexible non-conductive layer 530b, and the arrangement 640 is sandwiched between the first and the second flexible non-conductive layers 530a, 630a, 530b, 630b.

[0087] The first conductive layer 620a would thus be placed between the layer comprising the support members 310a, 310b and the electrically bendable electrode 320 and the first flexible non-conductive layer 530a, 630a. Likewise, the second conductive layer 620b would be placed between the layer 340 and the second flexible non-conductive layer 530b, 630b.

[0088] Further aspects of how the deformable assemblies 110, 210, 300, 510, 610 can be provided in the structure 130, 400 will be disclosed next.

[0089] As already stated, the structure 130, 400 comprises a plurality of deformable assemblies 110, 210, 300, 510, 610. Generally, the plurality of deformable assemblies 110, 210, 300, 510, 610 extend along two dimensions of a planar surface of the structure 130, 400. Thus, to create a large actionable surface, the pattern 200 of deformable assemblies 110, 210, 300, 510, 610 can be repeated throughout the structure 130, 400. Hence, in some embodiments, the plurality of deformable assemblies 110, 210, 300, 510, 610 may be distributed according to a recurring pattern 200 in the structure 130, 400. In this respect, the pattern 200 may or may not be the same throughout the structure 130, 400. That is, in some aspects, the distribution of the deformable assemblies 110, 210,300, 510, 610 may vary throughout the deformable material. In particular, in some embodiments, the plurality of deformable assemblies 110, 210, 300, 510, 610 may be non-uniformly distributed in the structure 130, 400. This enables specific actuator patterns to ensure good coverage of motion across the structure.

[0090] Reference is next made to Fig. 7 in which a piece of garment 700 is illustrated. Whereas the piece of garment 700 in Fig. 7 is a glove, the piece of garment 700 may alternatively be a headwear, a stocking, a shirt, a pair of trousers, or a bodysuit, just to mention a few examples. In Fig. 7 i deformable assemblies 710 are shown which are provided in the piece of garment 700. The deformable assemblies 110, 210, 300, 510, 610, 710 can be placed in the entire glove. This way, the feeling of the surface in the XR environment can be distributed across the entire hand. The piece of garment 700 is therefore at least partly made of a deformable material 100, 500, 600 according to any of the above-disclosed embodiments. Further, the piece of garment 700 might comprise some parts that are not made of the deformable material 100, 500, 600. Still further, as disclosed above, the plurality of deformable assemblies 110, 210, 300, 510, 610, 710 may be non-uniformly distributed in the structure 130, 400 and / or be distributed according to a recurring pattern 200 in the structure 130, 400. Taking a glove as an example, the longest side of each of the support members 310a, 310b may have a length of 5 mm in the deformable assemblies placed in the palm part of the glove, and the longest side may be smaller for the deformable assemblies placed in the fingertip parts of the glove and larger for the deformable assemblies placed in the dorsum part of the glove.

[0091] Reference is next made to Fig. 8 which illustrates an XR system 800 according to an embodiment.

[0092] The XR system comprises an XR device 810 wearable by a user. In the illustrative example of Fig. 8, the XR device 810 is a head-mounted display. The XR device 810 is configured to display an XR environment for the user. The XR environment is assumed to at least comprise a virtual surface touchable by the user. The XR device 810 is configured to supply a haptic feedback signal responsive to the user touching the virtual surface in the XR environment. The electrical actuation signal is defined by the haptic feedback signal.

[0093] The XR system 800 further comprises a piece of garment 830 according to any of the above disclosed embodiments. The piece of garment 830 is wearable by the user. In the illustrative example of Fig. 8, the piece of garment 830 is a glove. The piece of garment 830 is connectable to the XR device 810 over one or more links (with details relating thereto provided below).

[0094] At least part of the operation in the XR system may be controlled by an XR system controller 820. As in Fig. 8, the XR system controller 820 may be provided as a separate device (e.g., in a computer or server device). However, alternatively, the XR system controller 820 may be provided in the XR device 810 itself. As is understood, also further devices providing haptic feedback can be provided in the XR system 800 and ne worn by the user.

[0095] The XR device 810 and the piece of garment 830 (and the XR system controller 820) may be connected to each other over one or more links, either via a wired connection, such as a cable, or a wireless connection (via a device-to-device link, such as Bluetooth, via local wireless area network, or via a wide area (cellular) network). More details about the XR system 800 with respect to how the haptic feedback signal can be used to deform the deformable material 100, 500, 600 will be disclosed next.

[0096] The electrical actuation signal (i.e., the haptic feedback signal) is provided to change the rotation angle a between the at least two support members 310a, 310b of each deformable assembly responsive to the user touching the virtual surface in the XR environment.

[0097] The deformable material 100, 500, 600 may form a surface structure around the hands, arms, legs, or other parts of the body of the user, where the surface structure (via the haptic feedback signal) mimics the shape, texture, and / or hardness of the virtual surface. Particularly, in some embodiments, in some aspects, the piece of garment 700, 830 may form a surface structure (not to be confused with the structure 130, 400 of the deformable material 100, 500, 600 itself) to be fitted around at least one body part of the user. This surface structure, via the haptic feedback signal, is configured to mimic at least one of shape, texture and hardness of the virtual surface.

[0098] In Fig. 9 is provided a flowchart of a method for providing haptic feedback in an XR system 800 as disclosed above. The method can be provided as a computer program comprising computer code which is run on processing circuitry of the XR system 800. At least part of the computer code may be run on processing circuitry of the XR system controller 820.

[0099] S 102: The XR device 810 displays the XR environment for the user and supplies a haptic feedback signal responsive to the user touching the virtual surface in the XR environment.

[0100] S104: The piece of garment 700, 830 receives the haptic feedback signal and changes the rotation angle a between the at least two support members 310a, 310b of each deformable assembly 110, 210, 300, 510, 610, 710 in accordance with the electrical actuation signal (as defined by the haptic feedback signal).

[0101] Step SI 02 may then be entered again for an updated haptic feedback signal to be provided to the piece of garment 700, 800, as the user either stops touching the virtual surface (possibly in order to touch another virtual surface) or continue touching the virtual surface.

[0102] Fig. 10 schematically illustrates, in terms of a number of structural units, the components of an XR system controller 1000 according to an embodiment. Processing circuitry 1010 is provided using any combination of one or more of a suitable central processing unit (CPU), multiprocessor, microcontroller, digital signal processor (DSP), etc., capable of executing software instructions stored in a computer program product (as in Fig. 11), e.g. in the form of a storage medium 1030. The processing circuitry 1010 may further be provided as at least one application specific integrated circuit (ASIC), or field programmable gate array (FPGA).

[0103] Particularly, the processing circuitry 1010 is configured to cause the XR system controller to perform a set of operations, or steps, as disclosed above. For example, the storage medium 1030 may store the set of operations, and the processing circuitry 1010 may be configured to retrieve the set of operations from the storage medium 1030 to cause the XR system controller to perform the set of operations. The set of operations may be provided as a set of executable instructions.

[0104] Thus, the processing circuitry 1010 is thereby arranged to execute methods as herein disclosed. The storage medium 1030 may also comprise persistent storage, which, for example, can be any single one or combination of magnetic memory, optical memory, solid state memory or even remotely mounted memory. The XR system controller may further comprise a communications (comm.) interface 1020 at least configured for communications with the XR device and one or more pieces of garment. As such the communications interface 1020 may comprise one or more transmitters and receivers, comprising analogue and digital components. The processing circuitry 1010 controls the general operation of the XR system controller e.g. by sending data and control signals to the communications interface 1020 and the storage medium 1030, by receiving data and reports from the communications interface 1020, and by retrieving data and instructions from the storage medium 1030. Other components, as well as the related functionality, of the XR system controller are omitted in order not to obscure the concepts presented herein.

[0105] The XR system controller may be provided as a standalone device or as a part of at least one further device. For example, as disclosed above the XR system controller may be provided in the XR device. Alternatively, functionality of the XR system controller may be distributed between at least two devices, or nodes. Thus, a first portion of the instructions performed by the XR system controller may be executed in a first device, and a second portion of the of the instructions performed by the XR system controller may be executed in a second device; the herein disclosed embodiments are not limited to any particular number of devices on which the instructions performed by the XR system controller may be executed. Hence, the methods according to the herein disclosed embodiments are suitable to be performed by an XR system controller residing in a cloud computational environment. Therefore, although a single processing circuitry 1010 is illustrated in Fig. 10 the processing circuitry 1010 may be distributed among a plurality of devices, or nodes. The same applies to the computer program 320 of Fig. 11.

[0106] Fig. 11 shows one example of a computer program product 1110 comprising computer readable storage medium 1130. On this computer readable storage medium 1130, a computer program 1120 can be stored, which computer program 1120 can cause the processing circuitry 1010 and thereto operatively coupled entities and devices, such as the communications interface 1020 and the storage medium 1030, to execute methods according to embodiments described herein. The computer program 1120 and / or computer program product 1110 may thus provide means for performing any steps as herein disclosed.

[0107] In the example of Fig. 11, the computer program product 1110 is illustrated as an optical disc, such as a CD (compact disc) or a DVD (digital versatile disc) or a Blu-Ray disc. The computer program product 1110 could also be embodied as a memory, such as a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or an electrically erasable programmable read-only memory (EEPROM) and more particularly as a non-volatile storage medium of a device in an external memory such as a USB (Universal Serial Bus) memory or a Flash memory, such as a compact Flash memory. Thus, while the computer program 1120 is here schematically shown as a track on the depicted optical disk, the computer program 1120 can be stored in any way which is suitable for the computer program product 1110.

[0108] The inventive concept has mainly been described above with reference to a few embodiments. However, as is readily appreciated by a person skilled in the art, other embodiments than the ones disclosed above are equally possible within the scope of the inventive concept, as defined by the appended patent claims.

Claims

CLAIMS1. A piece of garment (700, 830) at least partly made of a deformable material (100, 500, 600), the deformable material (100, 500, 600) comprising: a structure (130, 400) with a plurality of deformable assemblies (110, 210, 300, 510, 610, 710), wherein each of the deformable assemblies (110, 210, 300, 510, 610, 710) comprises at least two support members (310a, 310b) and an electrically bendable electrode (320), where the at least two support members (310a, 310b) are pivotably arranged in relation to each other in such a way that a rotation angle (a) between them is changeable, wherein each deformable assembly (110, 210, 300, 510, 610, 710) is connected to a respective electrical conductor (120) through which an electrical actuation signal is providable to the electrically bendable electrode (320), and wherein the electrically bendable electrode (320) is arranged to bend, and thereby change the rotation angle (a) between the at least two support members (310a, 310b) of said each deformable assembly (110, 210, 300, 510, 610, 710), responsive to the electrically bendable electrode (320) being provided with the electrical actuation signal.

2. The piece of garment (700, 830) according to claim 1, wherein the rotation angle (a) between the at least two support members (310a, 310b) has a value that depends on a magnitude of the electrical actuation signal.

3. The piece of garment (700, 830) according to claim 1 or 2, wherein the rotation angle (a) between the at least two support members (310a, 310b) for each of the deformable assemblies (110, 210, 300, 510, 610, 710) is selectively and independently changeable by the plurality of deformable assemblies (110, 210, 300, 510, 610, 710) being arranged to receive a respective electrical actuation signal for the rotation angle (a).

4. The piece of garment (700, 830) according to any preceding claim, wherein each deformable assembly (110, 210, 300, 510, 610, 710) comprises a pre-stretched dielectric elastomer (330) on which the support members (310a, 310b) are provided.

5. The piece of garment (700, 830) according to any preceding claim, wherein each of the support members (310a, 310b) has a triangular, rectangular, square, or semi-circle shape, and wherein the support members (310a, 310b) are arranged side by side in the deformable assemblies (110, 210, 300, 510, 610,6. The piece of garment (700, 830) according to any preceding claim, wherein at least one of the deformable assemblies (110, 210, 300, 510, 610, 710) comprises support members (310a, 310b) of mutually different shapes.

7. The piece of garment (700, 830) according to any preceding claim, wherein the longest side of each of the support members (310a, 310b) has a length of 4-20 mm.

8. The piece of garment (700, 830) according to any preceding claim, wherein the plurality of deformable assemblies (110, 210, 300, 510, 610, 710) comprise deformable assemblies (110, 210, 300, 510, 610, 710) of different sizes.

9. The piece of garment (700, 830) according to any preceding claim, wherein the deformable material (100, 500, 600) further comprises a first conductive layer (620a) and a second conductive layer (620b) and wherein the plurality of deformable assemblies (110, 210, 300, 510, 610, 710) are sandwiched between the first conductive layer (620a) and the second conductive layer (620b).

10. The piece of garment (700, 830) according to claim 9, wherein the first conductive layer (620a), the second conductive layer (620b) and the plurality of deformable assemblies (110, 210, 300, 510, 610, 710) form an arrangement (640), wherein the deformable material (100, 500, 600) further comprises a first flexible non-conductive layer (630a) and a second flexible non-conductive layer (630b), and wherein the arrangement (640) is sandwiched between the first and second flexible non-conductive layers (630a, 630b).

11. The piece of garment (700, 830) according to any preceding claim, wherein the plurality of deformable assemblies (110, 210, 300, 510, 610, 710) are non-uniformly distributed in the structure (130, 400).

12. The piece of garment (700, 830) according to any preceding claim, wherein the plurality of deformable assemblies (110, 210, 300, 510, 610, 710) are distributed according to a recurring pattern (200) in the structure (130, 400).

13. The piece of garment (700, 830) according to any preceding claim, wherein the plurality of deformable assemblies (110, 210, 300, 510, 610, 710) extend along two dimensions of a planar surface of the structure (130, 400).

14. The piece of garment (700, 830) according to any preceding claim, wherein the structure (130, 400) is made from an expandable material.

15. The piece of garment (700, 830) according to any preceding claim, wherein the piece of garment (700, 830) is a glove, a headwear, a stocking, a shirt, a pair of trousers, or a bodysuit.1716. The piece of garment (700, 830) according to any of claims 1-3, wherein the electrical actuation signal pertains to haptic feedback.

17. An extended reality, XR, system (800) comprising: an XR device (810) wearable by a user and configured to display an XR environment for the user, wherein the XR environment comprises a virtual surface touchable by the user, and wherein the XR device (810) is configured to supply a haptic feedback signal responsive to the user touching the virtual surface; and a piece of garment (700, 830) according to any of claims 1-16 and wearable by the user, wherein the piece of garment (700, 830) is connectable to the XR device (810), and wherein the electrical actuation signal is defined by the haptic feedback signal.

18. The XR system (800) according to claim 17, wherein the electrical actuation signal, by means of the haptic feedback signal, is provided to change the rotation angle (a) between the at least two support members (310a, 310b) of said each deformable assembly (110, 210, 300, 510, 610, 710) responsive to the user touching the virtual surface in the XR environment.

19. The XR system (800) according to claim 17 or 18, wherein the piece of garment (700, 830) forms a surface structure to be fitted around at least one body part of the user, and wherein the structure, via the haptic feedback signal, is configured to mimic at least one of shape, texture and hardness of the virtual surface.

20. A computer program (1120) for providing haptic feedback in an extended reality, XR, system (800) according to any of claims 17 to 19, the computer program (1120) comprising computer code which, when run on processing circuitry of the XR system (800), causes: the XR device (810) to display the XR environment for the user and to supply the haptic feedback signal responsive to the user touching the virtual surface in the XR environment; and the piece of garment (700, 830) to receive the haptic feedback signal and to change the rotation angle (a) between the at least two support members (310a, 310b) of said each deformable assembly (110, 210, 300, 510, 610, 710) in accordance with the electrical actuation signal as defined by the haptic feedback signal.

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