Haptic Feedback Using Robotic Arms with Series Kinematics
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Solution Overview
Problem
Existing haptic feedback systems, particularly in virtual reality environments, struggle to provide immersive and collaborative experiences due to limitations in movement restriction and force application, using small robotic arms with parallel kinematics and slow sensors, which restrict their range and responsiveness.
Innovation Solution
A haptic feedback system utilizing full-size industrial robotic arms with series kinematics and high-frequency sensors, capable of movement with 6 degrees of freedom, attached to users at various points, including limbs and garments, to provide enhanced force and torque output and responsiveness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If small robotic arms with parallel kinematics are used, then device complexity is reduced, but operational range and force application capability are limited
Solution Approach 1:
The patent changes the fundamental parameters of the robotic arm system by transitioning from small-scale parallel kinematics to full-size series kinematics. This parameter change enables significantly larger operational ranges and improved force application capability, as series kinematics allows for greater mechanical advantage and extended reach compared to parallel configurations
2Speed
If slow sensors are used, then device complexity is reduced, but responsiveness is limited
Solution Approach 1:
The patent replaces traditional slow mechanical sensors with high-frequency sensors that can rapidly detect user movements and forces. This substitution enables the system to respond in real-time to user actions, achieving the necessary responsiveness for immersive haptic feedback while maintaining system simplicity through electronic rather than mechanical sensing
3Force
If limited force application is used, then safety is improved, but haptic immersion is reduced
Solution Approach 1:
The patent implements a closed-loop feedback system using high-frequency sensors to continuously monitor user movements and applied forces. This feedback enables the controller to dynamically adjust force application in real-time, increasing haptic immersion by applying stronger forces when safe, while automatically reducing forces when safety thresholds are approached, thus resolving the contradiction between immersion and safety
Data Source
AI summary
Methods and systems for improved haptic feedback using robotic arms are provided. In one embodiment, a haptic feedback system is provided that includes one robotic arm with at least one joint and one end effector. The end effector may be physically coupled to a user. The system may further include an external data connection to a computing device associated with an environment (e.g., a virtual environment, a physical environment). A controller may then be configured to receive force and torque information via the external data connection and role robotic arm based on the force and torque information to apply haptic feedback via the end effector to a user.