Abstract: A tracking sensor integration system presented herein collects sensor data obtained for each time frame by a plurality of sensors attached to a wearable garment placed on a user's hand. A controller coupled to the tracking sensor integration system calculates a measurement gain based at least in part on collected sensor data, and determines prediction for a pose of the user's hand for the current time frame using the collected sensor data and a plurality of estimation parameters for the current time frame. The controller then updates the estimation parameters for the current time frame, based in part on the measurement gain and the prediction for the pose of the user's hand. The controller determines an estimated pose for the user's hand, based in part on the updated estimation parameters and the collected sensor data.

Abstract: A method of creating localized haptic stimulations on a user includes a wearable device including a plurality of transducers that can each generate one or more waves that propagate away from the wearable device through a medium. The method includes activating two or more transducers of the plurality of transducers, selecting values for characteristics of waves to be generated by the two or more transducers based at least in part on a known impedance of the medium. The method further includes generating, by the two or more transducers, waves that constructively interfere at a target location to create a haptic stimulation on a user of the wearable device, the waves having the selected values.

Abstract: A method of creating haptic stimulations and anatomical information includes a wearable device including a plurality of transducers that can each generate one or more waves. The method includes activating one or more first transducers of the plurality of transducers based on an instruction received from a remote device. Waves generated by the activated one or more first transducers provide a haptic stimulation. The method further includes activating one or more second transducers of the plurality of transducers. Waves generated by the activated one or more second transducers provide anatomical information of a user of the wearable device when the waves are received by one or more transducers of the plurality of transducers.

Abstract: A fluidic device controls fluid flow in channel from a source to a drain. In some embodiments, the fluidic devices comprises a gate, a channel, and an obstruction. The gate comprises at least one chamber whose volume increases with fluid pressure. A high pressure state of the gate corresponds to a first chamber size and a low pressure state of the gate corresponds to a second chamber size that is smaller than the first chamber size. The obstruction controls a rate of fluid flow within the channel based on the fluid pressure in the gate. The obstruction induces at most a first flow rate of fluid in the channel in accordance with the low pressure state of the gate, and at least a second flow rate of the fluid in the channel in accordance with the high pressure state of the gate.

Abstract: A wearable device to be worn on a body part includes a magnetic field generator, a magnetic field sensor, and a controller. The controller instructs the magnetic field generator to generate a magnetic field, instructs magnetic field sensor to measure a sensor signal, and to determine a position of the body part based on the measured sensor signal. The magnetic field sensor can include multiple sensor elements with known or solved positions relative to one another. The wearable device can be a glove. The controller may determine a bend angle of a finger or an angle between two fingers.

Abstract: A wearable device to be worn on a body part includes deformation sensors and a controller. The controller instructs the deformation sensors to measure deformation forces. The controller determines a position of the body part based on the measured deformation forces and a transfer function that maps deformation forces to positions of a same or corresponding body part. The transfer function is generated based on measurements from calibration and deformation sensors to sense corresponding positions of the body part and deformation forces. A calibration sensor may include a magnetic field generator and a magnetic flux sensor. The wearable device may be a glove and the body part may be a hand.

Abstract: A fluidic device controls fluid flow in channel from a source to a drain. The fluidic device may be combined with other fluidic devices to form different types of logic devices g an inverter, OR gate, etc.). And the logic devices may be incorporated into an artificial reality system (e.g., as part of a haptic assembly). In some embodiments, a fluidic device includes a gate, a channel, and a wedge. The wedge controls a rate of fluid flow within the channel based on a fluid pressure in the gate. The wedge induces a first flow rate of fluid in the channel in accordance with a low pressure state of the gate, and a second flow rate of the fluid in the channel in accordance with a high pressure state of the gate, the second flow rate greater than the first flow rate.

Abstract: A control for a virtual reality (VR) system environment includes a portion and an additional portion each configured to contact different portions of a user's body. As one of the portions of the user's body moves towards the other potion of the user's body, the corresponding portion of the material contacting the moving portion of the user's body also moves towards the other portion of the material contacting the other portion of the user's body. Different positions of the portion and the additional portion relative to each other may correspond to different instructions that cause the VR system environment to perform different actions. In some embodiments, the control includes one or more feedback mechanisms providing the user with tactile feedback that simulates interactions with one or more virtual objects presented by the VR system environment.

Abstract: A deformation sensing apparatus comprises an elastic substrate, a first strain-gauge element formed on a first surface of the elastic substrate, and configured to output a first signal in response to a strain applied in a first direction, and a second strain-gauge element formed on a second surface of the elastic substrate opposite to the first surface, and configured to output a second signal in response to a strain applied in the same first direction.

Abstract: An input interface configured to be worn on a portion of a user's body includes tendons coupled to various rigid cuffs in the input interface. The tendons include one or more activation mechanisms that, when activated, retract the tendons, which repositions a rigid cuff into a position relative to the user's body that restricts or prevents some form of movement of the user's body. Various activation mechanisms may be included in the tendons in various embodiments.

Abstract: The disclosure describes a fluidic oscillator. The fluidic oscillator is configured to oscillate between a closed state and an open state. The fluidic oscillator comprises an oscillator conduit forming an oscillator chamber comprising an inlet and an outlet wherein the inlet and the outlet are configured to enable fluid flow through the oscillator chamber. An inner chamber of the oscillator chamber further includes a flexible element wherein a rate of fluid flow through the oscillator chamber results in a deformation in the flexible element. In other elements, the fluid oscillator further comprises two fluidic gates comprising a deformable chamber wherein changes in a control pressure of a control fluid in the deformable chamber results in a deformation in a volume of the oscillation chamber.

Abstract: An input interface configured to be worn on a portion of a user's body includes tendons coupled to various sections of the glove. A tendon includes one or more activation mechanisms that, when activated, prevent or restrict a particular range of motion. Additionally, a tendon may be coupled to a plate that is coupled to one or more additional tendon, so when an activation mechanism included in the tendon is activated, the one or more additional tendons coupled to the plate that are also coupled to the tendon move, stiffening the additional tendons as well as the tendon.

Abstract: A wearable device comprises one or more deformable signaling pathways wherein each deformable signaling pathway is configured to enable an electrical connection between two devices electrically connected to each other via the deformable signaling pathway. Deformable signaling pathways enable the conduction of electrical signals between various circuit elements similar to one or more circuit elements such as electronic traces or wires. A deformable signaling pathway includes one or more conductive elements surrounded by a conductive gel. Both the conductive gel and the one or more conductive elements are encased in an elastomeric shell. The elastomeric shell is attached to terminals (e.g., one on either end). The one or more connectors are attached to one another such that the one or more connectors span the length of the elastomeric shell and form a low resistance contact between the terminals of the deformable signaling pathway.

Abstract: A virtual reality (VR) headset includes an electronic display element that outputs image light via a plurality of sub-pixels that are separated from each other by a dark space. To mask the dark space between adjacent sub-pixels in the electronic display element, an optics block (e.g., a lens) in the VR headset oscillates or the electronic display element oscillates. For example, a piezoelectric material is coupled to the electronic display element or to the optics block. When a voltage is applied to the piezoelectric material, vibration of the piezoelectric material causes oscillation of the electronic display element or the optics block. The oscillation generates blur spots in the image light that mask the dark space between adjacent sub-pixels, with each blur spot corresponding to a blurred image of a sub-pixel in the image light.

Abstract: A wearable device (such as a glove or other control adapted to be worn on a portion of a body) includes multiple magnetic field generators at various locations on the wearable device and a magnetic flux sensor at a predetermined position relative to the wearable device. A position determines spatial positions of locations of the wearable device based on magnetic fields generated by various magnetic field generators and detected by the magnetic flux sensor. In some embodiments, the magnetic field generators have known positions relative to each other. Additionally, each magnetic field generator may generate a magnetic field in response to an input signal having a particular attribute, allowing the magnetic flux sensor to identify magnetic fields generated by different magnetic field generators.

Abstract: A system tracks movement of the VR input device relative to a portion of a user's skin, track movement of the VR input device relative to a physical surface external to the VR input device, or both. The system includes an illumination source integrated with a tracking glove coupled to a virtual reality console, and the illumination source is configured to illuminate a portion of skin on a finger of a user. The system includes an optical sensor integrated with the glove, and the optical sensor is configured to capture a plurality of images of the illuminated portion of skin. The system includes a controller configured to identify differences between one or more of the plurality of images, and to determine estimated position data based in part on the identified differences.

Abstract: A virtual reality system including a garment worn by a user, such as a glove, includes a jamming that jams movement of a portion of the user's body by increasing a rigidity of certain portions of the garment or by preventing a certain portion of the garment from expanding past a certain length. This allows the garment to simulate the physical sensation that occurs when the user touches an object. For example, to simulate the sensation of holding a coffee mug, the jamming mechanism prevents the user's fingers from curling after the user's fingers have reached a position equivalent to making physical contact with the coffee mug.

Abstract: A fluidic switch (or fluidic device) is provided. The fluidic switch includes: (i) a housing defining a cavity with a first opening and a second opening, the second opening being larger than the first opening, the cavity containing an elastic substance, (ii) a channel to transport a fluid from a source, across the first opening, to a drain, where the first opening opens into the channel, and (iii) an actuator to apply a force through the second opening to the elastic substance in the cavity when actuated, the force to displace a portion of the elastic substance into the channel to impede transport of the fluid through the channel.

Abstract: A wearable actuation device allows a user to interact with virtual objects in an AR or VR environment by providing force or haptic feedback. The wearable actuation device includes one or more actuator assemblies anchored to each of the user's fingers and a controller configured to communicate with a head mounted display. Embodiments of the actuator assembly include an electrorheological actuator, an optically driven actuator, and a piezo actuator sandwich assembly each of which is configured to undergo a reversible change in stiffness in response to an applied voltage or current. In one or more embodiments, the actuator assembly is configured to stiffen, elongate, compress in response to the application of a current or voltage waveform. In still other embodiments, the actuator assembly determines a measure of the current stress or strain being applied by the user on the virtual object.

Abstract: A fluidic device controls fluid flow in channel from a source to a drain. In some embodiments, the fluidic device comprises a channel and a gate. The channel is configured to transport a fluid from the source to the drain. The gate controls a rate of fluid flow in the channel in accordance with the fluid pressure within the gate. Specifically, the gate is configured to induce a first flow rate of the fluid in the channel in accordance with a low pressure state of the gate, and a second flow rate of the fluid in the channel in accordance with a high pressure state of the gate. In certain embodiments, the first flow rate is greater than the second flow rate. In alternative embodiments, the second flow rate is greater than the first flow rate.