Patent ID: 7138976
Filing Date: 2006-11-21
Classification: G06F

Abstract:
1. A force feedback and sensing system for placement in a hand comprising: one or more actuator systems each connectable to a respective digit of said hand; said actuator system comprising a piston moveable within a double acting cylinder, said double acting cylinder comprises: an inner cylinder; an outer cylinder; said inner cylinder and said outer cylinder being seated on a bottom cylinder cap; a first inlet formed in a bottom portion of said outer cylinder; and a second inlet formed in said bottom cylinder cap and in communication with said inner cylinder, a palm base positioned on a palm of said hand, said actuator system being rotatably mounted to said palm base for providing two degrees of freedom or rotation of said actuator system; and one or more sensing systems each connectable to a respective one of said actuator systems, wherein air circulated upwardly from said first inlet between an inside surface of said outer cylinder and an outside surface of said inner cylinder an downwardly within said inner cylinder for compressing said piston and air circulated from said second inlet upwardly for extending said piston.