Abstract: A robot mechanism is provided with a parallel link including a first output base, a first parallel link mechanism disposed on a first side of the first output base, and a second parallel link mechanism and an end effector disposed on a second side of the first output base. The first parallel link mechanism includes a first driver that generates a linear motion output and a second driver that generates a linear motion output. A tilting link mechanism including a mass body that generates a second moment load in a direction to reduce a first moment load exerted on the first parallel link mechanism by the weight of the second parallel link mechanism and the end effector is connected to the first driver and the second driver.

Abstract: A door opening device comprising a multi-directional head and a telescoping pole is provided. The multi-directional head allows the operator to choose the angle when opening the door and the telescoping pole allows the operator to remain at a distance away from the doorway while operating the doorknob. By allowing an operator to remain around a corner when opening a door, an armed and cornered individual is less able to harm the operator by shooting through the door.

Abstract: A power transmission drive includes a force amplifier configured to increase power output of at least one motor. The force amplifier includes a first pulley set and a second pulley set, each pulley set including at least one floating pulley and at least one fixed pulley. The first pulley set and the second pulley set are coupled to one or more motors by a corresponding force amplification fiber in tension. Actuation of the one or more motors actuate the first pulley set and the second pulley set. The first pulley set and the second pulley set transmit the force applied by the one or more motors to an output component.

Abstract: An assembly of links and motorized joint unit comprises two or more links. The links have a tubular body, one or both ends of the tubular body being an open end. A motorized joint unit has a first portion received in the open end of the tubular body of a first of the links so as to be secured relative to the first of the links. A second portion is rotatable relative to the first portion by actuation of the motorized joint unit, the second portion received in the open end of the tubular body of a second of the links, the motorized joint unit secured relative to the second of the links. A protective sleeve has a tubular body mounted over part of the motorized joint unit to cover a gap between the first and the second of the links, the protective sleeve having a rigid annular member and a flexible annular member, the flexible annular member foldable onto the rigid annular member.

Abstract: Exemplary embodiments relate to applications for soft robotic actuators in the manufacturing, packaging, and food preparation industries, among others. Methods and systems are disclosed for fixing target objects and/or receptacles using soft robotic actuators, for positioning target objects and/or receptacles, and/or for diverting or sorting objects. By using soft robotic actuators to perform the fixing, positioning, and/or diverting, objects of different sizes and configurations may be manipulated on the same processing line, without the need to reconfigure the line or install new hardware when a new object is received.

Abstract: A mechanical teleoperated device for remote manipulation includes a slave unit having a number of slave links interconnected by a plurality of slave joints; an end-effector connected to the slave unit; a master unit having a corresponding number of master links interconnected by a plurality of master joints; and a handle connected to a distal end of the master unit. The device further includes first device arranged to kinematically connect the slave unit with the master unit, second device arranged to kinematically connect the end-effector with the handle, and a mechanical constraint device configured to ensure that one master link of the master unit is guided along its longitudinal axis so that the corresponding slave link of the slave unit always translates along a virtual axis parallel to the longitudinal axis of the guided master link in the vicinity of the remote manipulation when the mechanical teleoperated device is operated.

Abstract: The present disclosure provides a soft poly-limb system, comprising a first actuator segment, a second actuator segment, and a third actuator segment forming the soft poly-limb. Each of the first actuator segment, the second actuator segment, and the third actuator segment may comprise a plurality of ring reinforced actuators. The soft poly-limb system may further comprise a control system whereby a user may control the soft poly-limb.

Abstract: A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several articulated surgical instruments and robotic systems for surgery or other applications involving remote manipulation, it enables the design of a novel fully mechanical surgical instrument, which offer the advantages of conventional laparoscopy (low cost, tactile feedback, high payload capacity) combined with the advantages of single port surgery (single incision, scarless surgery, navigation through several quadrants of the abdominal cavity) and robotic surgery (greater degrees of freedom, short learning curve, high stiffness, high precision, increased intuition).

Abstract: A deflection element (10) for robot arms has two arm braces that are pivotally mounted on a joint mechanism. In order to create a universally useable deflection element, the two arm braces (12) are each mounted on a support structure (20) of the joint mechanism by means of an arm joint (18), and the two arms braces (12) are coupled to a connecting element (22) between the two arm joints (18), said connecting element (22) being movable relative to the support structure (20); furthermore, at least one actuating element (50; 51), which moves the connecting element (22) and thus pivots the arm braces (12) between the end positions thereof, is arranged between the support structure (20) and the connecting element (22).

Abstract: A soft robotic actuator is disclosed. The actuator includes a first portion with a substantially constant profile and a second portion with a regularly varying profile, and bends in a pressure-dependent fashion as the internal pressure within the actuator is increased or decreased.

Abstract: The present invention relates to an instrument for surgery and, more specifically, to an instrument for surgery which can be manually operated in order to be used for laparoscopic surgery or various types of surgery.

Abstract: An actuator includes a plurality of chambers comprised of an extensible material, the chambers having interior side walls and exterior walls, wherein at least a portion of the interior side wall is separated from an interior side wall of an adjacent chamber; and a strain limiting base; and a channel that fluidically interconnects the plurality of chambers, wherein the interior walls are configured to be more compliant than the exterior walls.

Abstract: The invention relates to a method for monitoring a functional state of a pressure-driven actuator which comprises an actuator compartment defined at least in portions by a flexibly deformable wall, the actuator being actuated by applying pressure to the actuator compartment by means of an operating pressure supply, a work process being carried out to actuate the actuator, which process is accompanied by the actuator transitioning from a starting configuration to an end configuration. The pressure the pressure applied to the actuator compartment is measured depending on time by means of a sensor apparatus during the transition from the starting configuration to the end configuration. The invention also relates to a pressure-driven actuator.

Abstract: Exemplary embodiments relate to applications for soft robotic actuators in the manufacturing, packaging, and food preparation industries, among others. Methods and systems are disclosed for fixing target objects and/or receptacles using soft robotic actuators, for positioning target objects and/or receptacles, and/or for diverting or sorting objects. By using soft robotic actuators to perform the fixing, positioning, and/or diverting, objects of different sizes and configurations may be manipulated on the same processing line, without the need to reconfigure the line or install new hardware when a new object is received.

Abstract: In one embodiment, a method is disclosed for a robotic arm. The method includes pitching a linkage assembly having a plurality of links coupled in series together to constrain movement of a tool along an insertion axis; and enabling movement of the linkage assembly about a pitch axis with a strap drive-train coupled thereto using an electro-mechanical strap stack routed between a first link and a second link. The electro-mechanical strap stack includes a drive strap coupled to the linkage. The drive strap moves the linkage assembly.

Abstract: A fluidic robotic actuator configured to assume at least a neutral position, the fluidic robotic actuator includes a first and second plate defining respective planar portions that are disposed in parallel planes in the neutral position. The fluidic robotic actuator also includes a plurality of elongated bellows extending between the first and second plates, the bellows each having a central main axis that is parallel to the central main axis of the other bellows in the neutral position, the main axis of the bellows being perpendicular to the parallel planes of the first and second plates in the neutral position, the bellows being coupled to the first and second plates at respective first and second ends of the bellows.

Abstract: An elongate flexible steerable guidewire for facilitating placement of a medical implement is described having a proximal section, an intermediate section, and a distal steerable section. In embodiments the distal steerable section comprises a plurality of rotatable swivel members, and an elongate directional tip extending distally from the distalmost swivel member. At least one manipulation wire is secured to the swivel members and extends proximally to the proximal section. Axial movement of manipulation wires rotates the swivel members, thereby curving the guidewire and deflecting the directional tip. An actuator or handle may be incorporated with the guidewire. Methods include placing medical implements in target regions. Exemplary applications include guiding and placement of electrical leads in the spine, and placement of angioplasty devices in the vasculature.

Abstract: A solar actuator comprises a top coupler, a bottom coupler, and a plurality of fluidic bellows actuators, wherein a fluidic bellows actuator of the plurality of fluidic bellows actuators moves the top coupler relative to the bottom coupler.

Abstract: An example robot actuator utilizing a differential pulley transmission is provided. As an example, a differential pulley actuator includes input drive gears for coupling to a motor and timing pulleys coupled together through the input drive gears. Rotation of the input drive gears causes rotation of a first timing pulley in a first direction and rotation of a second timing pulley in a second direction opposite the first direction. The actuator also includes multiple idler pulleys suspended between the timing pulleys and the output pulley, and the multiple idler pulleys are held in tension between the timing pulleys via a first tension-bearing element and the output pulley via a second tension-bearing element. The first tension-bearing element loops around the timing pulleys and the multiple idler pulleys. The output pulley couple to a load, and is configured to apply motion of the multiple idler pulleys to the load.

Abstract: In order to reduce the calculation in robotic arm allocation, the invention provides a spherical linkage type surgical robotic arm, which includes a first curved bar having a first axis center and a second axis center, a second curved bar being equal to the first curved bar in length and having a third axis center and a fourth axis center, the third axis center in coincidence with the first axis center, a third curved bar having a fifth axis center and a sixth axis center and being pivoted to the second curved bar, and a fourth curved bar having a seventh axis center and an eighth axis center and being pivoted to the third curved bar and the first curved bar, thereby reducing the calculation burden and facilitating control and allocation.

Abstract: A locomotion subassembly for a biped robot is disclosed. The locomotion subassembly includes several unique energy transfer mechanisms and arrangements for efficiently powering the motion of the robot.

Abstract: A motor-driven articulated haptic interface arm includes a frame; an arm linked to the frame and rotationally mobile about an axis; and a motor including a rotor, which delivers at least one maximum resistant torque about the axis opposing at least part of forces applied to the arm by its environment. A main transmission transmits to the arm the resistant torque about the axis and includes a capstan-type cable reducer. The arm includes elements for evaluating the resistant torque transmitted to the arm by the motor; braking rotation of the arm about the axis; activating the brake when the maximum resistant torque is reached by the motor; evaluating, after activation of the brake, the forces transmitted to the arm by the environment, including determining a deformation of the transmission under the forces; and deactivating the brake when the deformation goes below a predetermined threshold value.

Abstract: A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several articulated surgical instruments and robotic systems for surgery or other applications involving remote manipulation, it enables the design of a novel fully mechanical surgical instrument, which offer the advantages of conventional laparoscopy (low cost, tactile feedback, high payload capacity) combined with the advantages of single port surgery (single incision, scarless surgery, navigation through several quadrants of the abdominal cavity) and robotic surgery (greater degrees of freedom, short learning curve, high stiffness, high precision, increased intuition).

Abstract: A bendable, telescopic, and flexible mechanical structure comprises: a distal-end structure body, a proximal-end structure body, and a middle connecting body. The distal-end structure body comprises a distal-end spacing disc, a distal-end locking disc and a structure bone. The proximal-end structure body comprises a proximal-end spacing disc, a proximal-end locking disc and the structure bone. The middle connecting body comprises pipe fixing plates and a pipe. The distal-end structure body is connected to the proximal-end structure body through the middle connecting body. One end of the structure bone is fixed on the proximal-end locking disc. Then, the structure bone passes through the proximal-end spacing disc, the middle connecting body and the distal-end spacing disc sequentially, and is fixed on the distal-end locking disc.

Abstract: An instrument for carrying out medical interventions, including a tubular shaft running lengthwise along a shaft longitudinal axis, an instrument head, wherein the instrument head is supported on the tubular shaft in such a way as to be pivotable about an instrument head pivot axis, and at least part of the instrument head is rotatable about an instrument head longitudinal axis, and a wheel gear arrangement for moving the instrument head, wherein at least part of the instrument head can be driven by the wheel gear arrangement for the rotation about the instrument head longitudinal axis, and wherein the instrument head can be driven by the wheel gear arrangement for the pivoting about the instrument head pivot axis.

Abstract: A soft material retractor includes at least two soft actuators, each actuator having at least one pressurizable interior space, wherein the actuator has a first flexible resting state and a second stiffer pressurized state; and a flexible sheet spanning the actuators such that the actuators can be spaced apart from each other by a distance selected to displace a volume of material of a body cavity. The retractor can be uses for holding open wounds or incisions, with trochars, or to displace anatomical features such as organs within a body cavity.

Abstract: A rotation suppressing device 1 includes: a body 10; a shaft 20 extending outward from the body 10 and configured to rotate about a first rotation axis A1; a rotation part 30 configured to rotate about a second rotation axis A2 together with the shaft 20; a capture part 40 fixed to the rotation part 30 and configured to capture space debris D; a braking part 50 configured to suppress rotation of the shaft 20; and a body rotation suppressing part 60 configured to suppress rotation of the body 10 occurring when the braking part 50 operates.

Abstract: A treatment tool of which a treatment unit operates with a driving force generated from a driving source includes a driving force transmission member that is connected to the driving source, a connecting portion that is formed in the treatment unit, that is connected to the driving wire, that is supplied with the driving force from the driving source via the driving force transmission member, and that converts the driving force into movement of the treatment unit, and a member for detecting amount of movement that is moved by the connecting portion.

Abstract: A surgical instrument according to the invention, particularly a robot-guided surgical instrument, has a shaft end (1), a tool holder (2), which is mounted on the shaft end so as to be able to rotate about a yaw axis (G), and a tool (3) with a main lever (3A), in particular a blade and/or jaw, which is mounted on the tool holder so as to rotate about a pitch axis (N), and a gear transmission with a drive wheel (31), which is mounted on the tool holder so as to be rotatable about an input gear axis (G) by a driving means (200), and, in force-fit and/or form-fit connection therewith, an output wheel (30), which is mounted on the tool holder so as to rotate about an output gear axis (N) and by means of which the tool is rotatable about the pitch axis, or a wraparound transmission with a drive wheel, which is mounted on the tool holder so as to be rotatable about an input gear axis by a driving means, an output wheel, which is mounted on the tool holder so as to be able to rotate about an output gear axis and by

Abstract: Disclosed is a manipulator including a wire driving actuator to bend base and terminal sections of a joint assembly in multiple directions by a base section wire and a terminal section wire. The terminal section driving wire is operatively connected to the base section driving wire such that the terminal section driving wire is moved by a distance equal to a movement distance of the base section driving wire. Accordingly, it is possible to prevent bending of the terminal section upon bending the base section.

Abstract: A manipulator includes an arm, a plurality of servo motors, a plurality of servo amplifiers, and at least one bellows container. The arm includes a plurality of joints and links. The plurality of the servo motors are disposed in a first space in the arm and capable of driving each of the plurality of the joints. The plurality of the servo amplifiers are disposed in the first space and each of the plurality of the servo amplifiers controls each of the plurality of the servo motors. The at least one bellows container with one closed end which is positioned away from the arm and another open end includes a second space which is connected to the first space at the open end. In the manipulator, each of the first space and the second space is filled with oil, and each of the plurality of the servo amplifiers is connected with a cable for serial communication or power-line carrier communication.

Abstract: Disclosed herein is a robot arm including a first joint portion connected to an end portion of a wire and operable to rotate when the wire is pulled, a second joint portion connected to the first joint portion through a link, and a wire guide composed of a rotational plate rotatably installed at the second joint portion and a pair of idle rollers provided to continuously contact the rotational plate, in which the wire passes between the idle rollers.

Abstract: A medical manipulator comprises a distal end working unit including a gripper as an end effector, an operating unit for operating the distal end working unit, a coupling interconnecting the distal end working unit and the operating unit, and an attitude changing mechanism for changing an attitude of the distal end working unit. When the operating unit is operated by an operator, the end effector is mechanically operated by a transmitting member. The attitude changing mechanism is operated by a bending drive source and a rotational drive source, which are operated when the operating unit is operated by the operator.

Abstract: A steerable tube (100), comprising a hollow elongate tubular member (1) having a proximal end (2), distal end (3), a wall surface disposed between said proximal (2) and distal end (4), a bend-resistive zone (6) flanked by a proximal bendable zone (4) that forms a controller and a distal bendable zone (5) that forms an effector that moves responsive to movements of the controller, whereby the wall of the tubular member (1) in the bend-resistive zone (6) comprises a structure that is a plurality of longitudinal slits (7), forming a plurality of longitudinal strips (8, 8?), the wall of the tubular member (1) in the proximal bendable zone (4) and the distal bendable zone (5) comprises a structure that is a plurality of longitudinal wires (9, 9?, 10, 10?), at least one strip (8) is in connection with a wire (9) in the proximal bendable zone (4) and a wire (10) in the distal bendable zone (5), such that translation by said wire (9) in the controller is transmitted via the strip (8) to said wire (10) in the effector

Abstract: As an example, a differential pulley actuator includes input drive gears for coupling to a motor and timing pulleys coupled together through the input drive gears. Rotation of the input drive gears causes rotation of a first timing pulley in a first direction and rotation of a second timing pulley in a second direction opposite the first direction. The actuator also includes multiple idler pulleys suspended between the timing pulleys and the output pulley, and the multiple idler pulleys are held in tension between the timing pulleys via a first tension-bearing element and the output pulley via a second tension-bearing element. The first tension-bearing element loops around the timing pulleys and the multiple idler pulleys. The output pulley couple to a load, and is configured to apply motion of the multiple idler pulleys to the load.

Abstract: The present invention generally provides methods and devices for controlling movement of an end effector, and in particular for causing mimicked motion between an input tool and an end effector during a surgical procedure. In an exemplary embodiment, a surgical system is provided having a master assembly with an input tool and a slave assembly with an end effector. The master assembly and the slave assembly can be coupled together by a mechanical assembly that is configured to mechanically transfer mimicked, rather than mirrored, motion from the input tool to the end effector. A floating frame is also provided and can be utilized with the surgical system. The floating frame can have a counterbalance that allows the surgical system to “float” above a patient and provide a weightless feel to movement of the surgical system. The floating frame can provides additional degrees of freedom for movement of the surgical system.

Abstract: The present invention generally provides methods and devices for controlling movement of an end effector, and in particular for causing mimicked motion between an input tool and an end effector during a surgical procedure. In an exemplary embodiment, a surgical system is provided having a master assembly with an input tool and a slave assembly with an end effector. The master assembly and the slave assembly can be coupled together by a mechanical assembly that is configured to mechanically transfer mimicked, rather than mirrored, motion from the input tool to the end effector. A floating frame is also provided and can be utilized with the surgical system. The floating frame can have a counterbalance that allows the surgical system to “float” above a patient and provide a weightless feel to movement of the surgical system. The floating frame can provides additional degrees of freedom for movement of the surgical system.

Abstract: A robotic arm module includes a chassis having at least one arm pod. At least one arm connected to the chassis is movable between a stowed position within the at least one arm pod and a deployed position extending from the at least one arm pod. Each arm has a gripping mechanism for gripping articles of work. An attachment structure is configured to allow a host robot to grip and manipulate the robotic arm module. An electrical interface is configured to receive electronic signals in response to a user moving remote manipulators. The electronic signals cause the at least one arm to mimic the movement of the user moving the remote manipulators.

Abstract: A joint torque augmentation system includes linkage assembly configured to couple to a user. Linkage assembly includes a unidirectional link and a device joint. The linkage assembly is worn by a user or is configured to couple to footwear. An actuator is coupled to the linkage assembly to provide a torque at a joint of the user. A sensor is coupled to the user to measure a position of the user. A control system is coupled to the sensor and actuator. A phase of gait for the user is determined by the control system based on the position measured by the sensor. The actuator produces a tension force on the linkage assembly during a first phase of gait. A compliant element is coupled between the actuator and linkage assembly. The compliant element is tuned based on a load carried by the user.

Abstract: The anthropomorphic force-reflective master arm is a light, anthropomorphic, back-drivable, six degree of freedom (DOF) master arm designed to control the motion of a remote slave device having arbitrary structure. Three of the link members are rotationally coupled to each other to form a handle, such that axes of rotation of each of the handle link members intersects at the user's hand position. The kinematics of the master arm is simplified to two independent sub-systems, which are the hand position and hand orientation.

Abstract: A control device that controls grip of an object is disclosed. The control device includes: detecting means for detecting a slip of the object and outputting a slip detection value; change-value calculating means for calculating, on the basis of the slip detection value, a change value for changing a command value, which sets gripping force for the object, to magnitude for resting the object; suppression-value calculating means for calculating, on the basis of the slip detection value, a suppression value for suppressing the command value to necessary minimum magnitude for resting the object; and setting means for setting the magnitude of the command value on the basis of the change value and the suppression value.

Abstract: In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.

Abstract: A driving force transmission mechanism for transmitting a driving force from a driving source has the following arrangement. That is, the driving force transmission mechanism includes a linear or rod-shaped flexible manipulation wire, an inner pipe serving as a flexible guide member in which the manipulation wire is inserted, an outer pipe provided radially outside the inner pipe and configured to suppress deformation of the inner pipe.

Abstract: A remote manipulation arm comprising a master arm (5) mechanically separated from a slave arm (1) with the slave arm comprising a tubular segment and a manipulation tool 12 at one end thereof and further comprising an interface system including a control portion (7) and a mechanical power portion (8) for driving the slave arm (1) through a mechanical transmission (26,27) of the slave arm wherein the mechanical power portion (8) comprises a stationary motor, a stationary casing, a drum attached to the tubular segment and a transmission capable of rotating the tubular segment (3) and wherein the remote manipulation arm further comprises a winder (32) of electrical cables leading to control motors and a circular arc shaped part between the drum and a cylindrical portion of the stationary casing.

Abstract: An input device includes a handle coupled to a base by a linkage. The handle is manually movable relative to the base to provide a position input. The linkage has a plurality of links including a redundant link that permits internal motion of the linkage such that the linkage can move without moving the handle relative to the base. When a distance between the handle and a handle stop position is less than a threshold distance, a handle stop applies a first load to the handle. A drive system applies a second load to the redundant link responsive to the first load to create internal motion of the linkage that increases a distance between the handle and a handle stop position. The second load may be proportional to a cosine of an angle between a handle axis of motion and a redundant link axis of motion.

Abstract: A joint tong apparatus for a radiation shielding facility. A spherical ball has a through-hole. An inner spherical socket and an outer spherical socket are installed in a hole formed in a partition between a radiation-shielded room and a control room so as to enclose the spherical ball on inner and outer sides. A bar is inserted and coupled into and to the through-hole of the spherical ball. An inner joint assembly has a first housing coupled to a shielded room-side end of the bar and a first pivot member pivotably mounted on a free end of the first housing. An outer joint assembly having a second housing coupled to a control room-side end of the bar and a second pivot member pivotably mounted on a free end of the second housing. The apparatus further includes a tong assembly, a handle assembly, a tong manipulation cable, and a pair of pivot manipulation cables.

Abstract: A biologically inspired climbing device with toes and spines is provided. The device has toes capable of moving independently from each other. Each toe distinguishes a compliant linkage, which has non-compliant parts and compliant parts. Spines are distributed over each of the toes. The spines have a diameter that is less than or equal to a diameter of an asperity of a surface. The toes with spines could be arranged into one or more feet. The feet could then be organized in legs enabling the device to climb a surface in a gait pattern. The device uses low power and is quiet, leaves no traces or tracks behind, works well on smooth, rough, uneven, porous and dirty surfaces, and is able to carry and support its own body weight.

Abstract: A robotic hand with finger assemblies to better simulate human hand form factors and gestures. For each finger assembly, the robotic hand includes a finger drive assembly that is operable to selectively apply tension to four elongated and flexible tension elements (e.g., steel cable). Each of the finger assemblies includes a set of links or link members that are actuated or moved by the selective tensioning/movement of the tension elements by the drive assembly. The links are interconnected with pivotal joints such that they have three degrees-of-freedom, and the finger assembly includes a set of pulleys that are supported on the links and that are arranged to provide support and to guide the tension elements through the finger assembly. The tension elements preferably extend only partially about any one of the pulleys, whereby the finger assembly utilizes “n+1” actuation with non-helical wrapping of the tension elements.

Abstract: A Sensor glove is an instrument, in the same way that a piano is an instrument. The Sensor glove is purchased and the owner then learns to use it and the sensors therein to develop the performance of a sound, character or model, or to “conduct” or “play” the sensor movements and experience the response of the model in real time. Several performers with a number of the Sensor glove can control over 200 motors or hundreds of control points on a character at one time, manipulate audio data, or computer images etc. The characteristics of the sensors on the gloves can be adjusted to the needs and demands of the wearer or the many performer and wearers in those venues where multiple performers are used with many gloves to control or produce the motions and sounds of many distinct characters in a screen play.

Abstract: The present invention provides remote interfacing utilising haptic technology. In a first aspect there is provided a haptic grasping interface comprising a plurality of finger interaction points, with actuators connected at one end to an actuator control mechanism. The mechanism is mounted remotely from the grasping interface, inverse to the finger interaction points, for manipulation of these points. The grasping points comprise pulleys which route the actuators through a cable tension and transmission system. A second aspect provides haptic augmentation to an operator, which indicates to the operator the state of a control input to a controlled device. A third aspect provides a means of simulating motion where haptic feedback is provided to a user in correspondence with the movement of the user within a pod environment.