Heather M Culbertson

US Patent:

20210041955, Feb 11, 2021

Filed:

Oct 29, 2020

Appl. No.:

17/083804

Inventors:

- Stanford CA, US
Sean Follmer - Palo Alto CA, US
Heather Culbertson - Los Angeles CA, US

International Classification:

G06F 3/01
A63F 13/24
A63F 13/285

Abstract:

A device to simulate kinesthetic pad opposition grip forces and weight for grasping virtual objects in a virtual reality is provided. The device includes a base, a sliding part, a braking mechanism and a swinging part with linear resonant actuators (e.g. voice coil actuators). The sliding part is connected with the base through a first prismatic joint which allows for single degree of freedom pinching motions for grasping an object. The swinging part connected to the sliding part and the base through revolute joints. The brake mechanism is used to create a grasping force. The linear resonant actuators provide both touch sensation at initial contact and sensation of weight when lifting the object.

US Patent:

20190114017, Apr 18, 2019

Filed:

Oct 12, 2018

Appl. No.:

16/158589

Inventors:

- Stanford CA, US
Sean Follmer - Palo Alto CA, US
Heather Culbertson - Los Angeles CA, US

International Classification:

G06F 3/041
G06F 3/01
G06F 3/0354
G06T 19/00

Abstract:

A device to simulate kinesthetic pad opposition grip forces and weight for grasping virtual objects in a virtual reality is provided. The device includes a base, a sliding part, a braking mechanism and a swinging part with linear resonant actuators (e.g. voice coil actuators). The sliding part is connected with the base through a first prismatic joint which allows for single degree of freedom pinching motions for grasping an object. The swinging part connected to the sliding part and the base through revolute joints. The brake mechanism is used to create a grasping force. The linear resonant actuators provide both touch sensation at initial contact and sensation of weight when lifting the object.