Abstract: A device for implementing a button click sensation on a touch surface without visually, audibly, or tactilely apparent motion of the surface is disclosed. The device includes a touch surface, a lateral vibration actuator configured to produce lateral vibrations of the touch surface, a friction controller configured to modulate a friction force between the touch surface and one or more appendages, and a touch sensing device configured to measure a location of a plurality of appendages on the touch surface. The device includes a control device configured to synchronize the friction force between the touch surface and at least one appendage of the plurality of appendages to the lateral vibrations produced by the lateral vibration actuator. The control device also applies a lateral force to the at least one appendage to emulate the sensation of a button click when the at least one appendage applies a pressing force to the touch surface that exceeds a threshold level.

Abstract: A method of moving a plurality of appendages of an operator in contact with a touch surface including the steps of measuring a plurality of locations when the touch surface is touched by the plurality of appendages, moving the touch surface in a swirling motion by one or more actuators coupled with the touch surface, controlling a voltage on each of a plurality of electrodes disposed below the touch surface, controlling an electrostatic normal force acting on each of the appendages by adjusting the voltage applied to each of the plurality of appendages by each electrode lying beneath the appendage, synchronizing the electrostatic normal force generated by the voltage applied to each of the plurality of appendages with the swirling motion by basing a frequency of the swirling motion on the frequency of application of the electrostatic normal force.

Abstract: A touch interface device includes a touch surface configured to be engaged by an object, first and second actuator assemblies operably connected to the touch surface, and a controller operably connected with the first and second actuator assemblies. The first actuator assembly displaces the touch surface in one or more lateral directions along the touch surface at a first frequency. The second actuator assembly displaces the touch surface in an angled direction that is one of at least obliquely or perpendicularly angled to the touch surface at a second frequency. The controller operates the first and second actuator assemblies so that the touch surface varies in engagement with the object to impart a force on the object that is along the touch surface.

Abstract: A method of moving a plurality of appendages of an operator in contact with a touch surface including the steps of measuring a plurality of locations when the touch surface is touched by the plurality of appendages, moving the touch surface in a swirling motion by one or more actuators coupled with the touch surface, controlling a voltage on each of a plurality of electrodes disposed below the touch surface, controlling an electrostatic normal force acting on each of the appendages by adjusting the voltage applied to each of the plurality of appendages by each electrode lying beneath the appendage, synchronizing the electrostatic normal force generated by the voltage applied to each of the plurality of appendages with the swirling motion by basing a frequency of the swirling motion on the frequency of application of the electrostatic normal force.

Abstract: A touch interface device comprising a touch surface, a first electrode coupled with the touch surface, a second electrode coupled with the touch surface, where when an appendage of an operator touches the touch surface above both the first electrode and the second electrode a first actuation electrical potential from the first electrode and a second actuation electric potential from the second electrode establish electric fields that pass from one of the first and second electrodes directly through the outermost layer of the appendage and return to the other of the first and second electrodes via the outermost layer of the appendage.

Abstract: A touch interface device including a touch surface, a sensor, one or more actuators, and a plurality of electrodes is disclosed. The sensor measures a plurality of locations when the touch surface is touched by a plurality of appendages of an operator. The one or more actuators are coupled with the touch surface and move the touch surface in a swirling motion. The electrodes are disposed below the touch surface. An electronic controller controls voltage on the electrodes and the voltage of each electrode is changeable over a portion of the swirling motion causing a change in electrostatic force acting in a direction normal to the touch surface on each of the plurality of appendages that touch the touch surface near the electrodes, and wherein distinct persistent shear force is applied to each of the respective plurality of appendages.

Abstract: A touch interface device includes a touch surface, a first electrode, and a second electrode. The first electrode is coupled with the touch surface. The first electrode also configured to receive a first haptic actuation electric potential. The second electrode is coupled with the touch surface. The second electrode also is configured to receive a different, second haptic actuation electric potential having an opposite polarity than the first haptic actuation potential. The first and second electrodes generate an electrostatic force that is imparted on one or more appendages of an operator that touches the touch surface above both the first electrode and the second electrode in order to generate a haptic effect.

Abstract: A touch interface device including a touch surface, a sensor, one or more actuators, and a plurality of electrodes is disclosed. The sensor measures a plurality of locations when the touch surface is touched by a plurality of appendages of an operator. The is one or more actuators are coupled with the touch surface and move the touch surface in a swirling motion. The electrodes are disposed below the touch surface. An electronic controller controls voltage on the electrodes and the voltage of each electrode is changeable over a portion of the swirling motion causing a change in electrostatic force acting in a direction normal to the touch surface on each of the plurality of appendages that touch the touch surface near the electrodes, and wherein distinct persistent shear force is applied to each of the respective plurality of appendages.

Abstract: A touch interface device includes a touch surface, an actuator, and an electrode. The actuator is coupled with the touch surface and is configured to move the touch surface in one or more directions. The electrode is coupled with the touch surface and is configured to impart a normal electrostatic force on one or more appendages of a human operator that engage the touch surface when an electric current is conveyed to the electrode. Movement of the touch surface by the actuator and the electrostatic force provided by the electrode are synchronized to control one or more of a magnitude or a direction of a shear force applied to the one or more appendages that engage the touch surface.

Abstract: A touch interface device includes a touch surface configured to be engaged by an object, first and second actuator assemblies operably connected to the touch surface, and a controller operably connected with the first and second actuator assemblies. The first actuator assembly displaces the touch surface in one or more lateral directions along the touch surface at a first frequency. The second actuator assembly displaces the touch surface in an angled direction that is one of at least obliquely or perpendicularly angled to the touch surface at a second frequency. The controller operates the first and second actuator assemblies so that the touch surface varies in engagement with the object to impart a force on the object that is along the touch surface.

Abstract: A touch interface device includes a touch surface, a first electrode, and a second electrode. The first electrode is coupled with the touch surface. The first electrode also configured to receive a first haptic actuation electric potential. The second electrode is coupled with the touch surface. The second electrode also is configured to receive a different, second haptic actuation electric potential having an opposite polarity than the first haptic actuation potential. The first and second electrodes generate an electrostatic force that is imparted on one or more appendages of an operator that touches the touch surface above both the first electrode and the second electrode in order to generate a haptic effect.

Abstract: A touch interface device includes a touch surface, an actuator, and an electrode. The actuator is coupled with the touch surface and is configured to move the touch surface in one or more directions. The electrode is coupled with the touch surface and is configured to impart a normal electrostatic force on one or more appendages of a human operator that engage the touch surface when an electric current is conveyed to the electrode. Movement of the touch surface by the actuator and the electrostatic force provided by the electrode are synchronized to control one or more of a magnitude or a direction of a shear force applied to the one or more appendages that engage the touch surface.

Abstract: A transmission or actuator offering multiple rotational outputs proportionate in speed to that of a common rotational input, each output according to its own ratio. The ratios are continuously variable between positive and negative values, including zero, and may be varied by electromechanical actuators under computer control. The transmission relates the output speeds one to another under computer control, and thus makes possible the establishment of virtual surfaces and other haptic effects in a multidimensional workspace to which the transmission outputs are kinematically linked. An example of such a workspace is that of a robotic or prosthetic hand.

Abstract: A pelvic support unit is coupled to a base by a powered vertical force actuator mechanism. A torso support unit, which is affixed to the patient independently of the pelvic support unit, is connected to the base by one or more powered articulations which are actuable around respective axes of motion. Sensors sense the linear and angular displacement of the pelvic support unit and the torso support unit. A control unit is coupled to these sensors and, responsive to signals from them, selectively control the displacement actuator and articulation(s).

Abstract: A system and method are presented to provide assist to a user by means of an exoskeleton with a controller capable of making the exoskeleton display active impedance. The exoskeleton assists the user by reducing the muscle effort required by the user to move his or her extremities. In one embodiment, a single-degree-of-freedom (1-DOF) exoskeleton assists a user with single-joint movement using an active impedance controller. In another embodiment, a multiple-degree-of-freedom (multi-DOF) exoskeleton assists a user with multiple-joint movement using an active impedance controller.

Abstract: A pelvic support unit is coupled to a base by a powered vertical force actuator mechanism. A torso support unit, which is affixed to the patient independently of the pelvic support unit, is connected to the base by one or more powered articulations which are actuable around respective axes of motion. Sensors sense the linear and angular displacement of the pelvic support unit and the torso support unit. A control unit is coupled to these sensors and, responsive to signals from them, selectively control the displacement actuator and articulation(s).

Abstract: A pelvic support unit is coupled to a base by a powered vertical force actuator mechanism. A torso support unit, which is affixed to the patient independently of the pelvic support unit, is connected to the base by one or more powered articulations which are actuable around respective axes of motion. Sensors sense the linear and angular displacement of the pelvic support unit and the torso support unit. A control unit is coupled to these sensors and, responsive to signals from them, selectively control the displacement actuator and articulation(s). Wheel modules are independently powered to both rotate and steer, and, responsive to the control unit, are capable of rolling the exercise device in a direction of travel intended by the patient.

Abstract: An apparatus and method for conveying sensory information from a distal location on a prosthetic limb, to a proximal location on the body of the wearer. The apparatus comprises a detector for mounting in a prosthesis and a stimulator for engaging the skin of the prosthesis wearer. Tactile, haptic and other information including surface-normal force, shear force, vibration, and/or temperature are sensed, conveyed, processed, and displayed, such that the wearer of the prosthetic has improved sensation and awareness from distal parts of a prosthetic, such as a fingertip.

Abstract: A system and method are presented to provide assist to a user by means of an exoskeleton with a controller capable of making the exoskeleton display active impedance. The exoskeleton assists the user by reducing the muscle effort required by the user to move his or her extremities. In one embodiment, a single-degree-of-freedom (1-DOF) exoskeleton assists a user with single-joint movement using an active impedance controller. In another embodiment, a multiple-degree-of-freedom (multi-DOF) exoskeleton assists a user with multiple-joint movement using an active impedance controller.

Abstract: An intelligent assist method and apparatus are disclosed. The intelligent assist method includes imparting a manual force to a suspended object, determining an angle at which the suspended object is manually forced, generating motorized power to move the object in accordance with the angle at which the suspended object is forced, and inputting a signal to continue the motorized power and enable the object to continue moving on accordance with the angle at which the suspended object is manually forced.