Abstract: This invention provides in a safe and effective manner the experience of observing potential collision obstacles or other hazard images to the human operator of an otherwise conventional vehicle, (such as an automobile or aircraft) moving in a normal manner in a natural environment (such as an outdoor test track). The invention incorporates in addition to the mobile vehicle, computer-based image generation devices, and position, velocity, acceleration, measurement instruments to enable the simulated visual hazard images, including operator perception of and response to those hazard images. Making the actual moving vehicle part of the simulated hazard encounter means the vestibular (motion) cues and visual cues of the natural environment are very realistic, while only the computer-generated hazard images imposed on the natural environment view are virtual.

Abstract: The invention uses an actual mobile vehicle whose operation is to be simulated, combined with computer-based image generation devices, and velocity, acceleration, and/or position measurement tools to improve the simulated operation of the vehicle, including perception of and response to hazards. Using the actual vehicle whose operation is to be simulated improves operator vestibular cues, visual cues, and motion fidelity, thereby producing a safer, less expensive means to produce the simulation.

Abstract: A feedback apparatus for an operator to control an effector that is remote from the operator to interact with a remote environment has a local input device to be manipulated by the operator. Sensors in the effector's environment are capable of sensing the amplitude of forces arising between the effector and its environment, the direction of application of such forces, or both amplitude and direction. A feedback signal corresponding to such a component of the force, is generated and transmitted to the environment of the operator. The signal is transduced into a vibrotactile sensory substitution signal to which the operator is sensitive. Vibration producing apparatus present the vibrotactile signal to the operator. The full range of the force amplitude may be represented by a single, mechanical vibrator. Vibrotactile display elements can be located on the operator's limbs, such as on the hand, fingers, arms, legs, feet, etc.

Abstract: A feedback apparatus for an operator to control an effector that is remote from the operator to interact with a remote environment has a local input device to be manipulated by the operator. Sensors in the effector's environment are capable of sensing the amplitude of forces arising between the effector and its environment, the direction of application of such forces, or both amplitude and direction. A feedback signal corresponding to such a component of the force, is generated and transmitted to the environment of the operator. The signal is transduced into an auditory sensory substitution signal to which the operator is sensitive. Sound production apparatus present the auditory signal to the operator. The full range of the force amplitude may be represented by a single, audio speaker. Auditory display elements may be stereo headphones or free standing audio speakers, numbering from one to many more than two.

Abstract: The invention is embodied in a manipulator for supporting and transmitting movement to a tool or the like comprising a base 10, a movable tripod tip 16 or plate 60 spaced from the base to which a tool may be attached, an elongated central spine 12, one end of which is attached to the tripod tip and the other pivotally mounted on the base, variable tension applying means comprising at least three cables 18 extending from the tripod tip to the base in a tripod configuration, and means 22, 24 at the base to continuously vary the length of each cable to vary its length.

Abstract: A pressure deformable body of a transducer is formed with a plurality of passage holes through which paths are established for a signal medium conducted thereto through a rigid base on which the body is mounted. Portions of the body material when loaded bulge into the passage holes causing constriction thereof to vary the intensity of the signal medium transmitted. The passage holes are spaced in an array arranged to distribute hole constriction in a load-pattern reproducing manner.