A kinesthetically enabled glove for providing kinesthetic feedback to a user are provided. The kinesthetically enabled glove incorporates various actuators configured to provide resistance to movement and/or to provide movement. Kinesthetic actuators employed include electroadhesive actuators, electromagnetic actuators, air-jamming actuators, and inertial mass actuators. The kinesthetic actuators are arranged in various portions of the kinesthetically enabled glove to provide force feedback at different locations. The kinesthetic glove may be employed during interaction with a computer system, providing a user with a more immersive experience.

FIELD OF THE INVENTION

Embodiments hereof relate to a kinesthetically enabled glove. In particular, embodiments hereof include a kinesthetically enabled glove, kinesthetic actuators associated therewith, and methods of actuating a kinesthetically enabled glove.

BACKGROUND OF THE INVENTION

The rising popularity of video games, virtual reality (VR), mixed reality (MR), and augmented reality (AR) systems has prompted users to seek ever more immersive experiences. Among such experiences are haptic and kinesthetic feedback, which engage user senses beyond the traditional audio and visual senses of a standard video game. Further, interacting with VR, MR, and AR environments through natural gestures and without the need for an explicit controller supplements the immersivity of the experience. Providing kinesthetic feedback in a system without a controller may be accomplished through kinesthetically enabled gloves. Conventional kinesthetically enabled gloves have required mechanical grounding to generate force feedback in the hand. To provide large mechanical forces, bulky and complex mechanisms have been required. Further, some conventional designs require the hands to grip or hold an object or device to transmit the force feedback.

Systems devices, and method consistent with embodiments described herein address these and other drawbacks that exist with conventional kinesthetically enabled gloves.

BRIEF SUMMARY OF THE INVENTION

Embodiments of the invention include a kinesthetically enabled glove. A kinesthetically enabled glove according to embodiments of the invention has kinesthetic actuators located in various portions of the glove to impart forces that either cause movement of or resist movement of the glove. In turn, a user wearing the glove experiences these forces either resisting movements of their hand or causing movements of their hand. When the kinesthetic actuators of the glove are selectively activated according to application content (e.g., VR, MR, AR, and/or traditional gaming), a user's immersive experience is greatly improved. As the user virtually interacts with objects and items within the application, the glove selectively provides force feedback to the user's hand in response to the content. Because kinesthetically enabled gloves according to embodiments herein can experience selective activation of different portions and are relatively compact and lightweight, the immersive experience is improved for the user.

In an embodiment, a wearable device for providing kinesthetic effects is provided. The wearable device includes a glove including five finger portions and a glove body and an actuator secured to the glove. The actuator is configured to receive a command signal indicative of a virtual interaction and provide a force, in response to the command signal, to execute at least one of a movement of the glove and a resistance to a movement of the glove.

In another embodiment, a method of providing kinesthetic feedback in a wearable device having a glove including five finger portions and a glove body is provided. The method includes receiving a command signal at an actuator secured to the glove and providing a force to execute at least one of a movement of the glove and a resistance to a movement of the glove in response to the command signal.

DETAILED DESCRIPTION OF THE INVENTION

Embodiments of the present invention are directed to kinesthetic actuators configured to provide ungrounded force feedback to a user of a wearable device. The kinesthetic actuators are ungrounded in the sense that they do not require a connection to a device or structure other than the wearable device. Exemplary embodiments of kinesthetic actuators are described herein with respect to a kinesthetically enabled glove configured to provide kinesthetic and force feedback effects. Description of non-limiting examples related to a kinesthetically enabled glove is provided. It is understood that kinesthetic force feedback devices, as discussed herein, may equally be applied to other wearable devices, including pants, shirts, socks, shoes, jackets, belts, and portions thereof, e.g., sleeves, legs, etc.

A kinesthetically enabled glove in accordance with embodiments includes an actuator(s) arranged to provide movement or resist movement of a glove and a user's hand within the glove. According to embodiments hereof, one or more actuators may be arranged within the finger portions, dorsal portion, and/or wrist portion of the glove to provide resistance to bending movements of the hand within the glove. In further embodiments, the one or more actuators may be arranged to provide a force on the glove to cause movement of the hand within the glove. The one or more actuators may be selectively actuated to provide resistance and/or movement in accordance with commands from an application running on a computer system, such as a VR, AR, and MR environments.

Embodiments described herein relate to devices and systems that include kinesthetically enabled glove(s) configured for connection with a computer system having a display device. Computer systems consistent with the present invention may be configured as a gaming console, a handheld gaming device, a personal computer (e.g., a desktop computer, a laptop computer, etc.), a smartphone, a tablet computing device, a television, an interactive sign, and/or other device that can be programmed to provide a haptic control signal. Such computer systems may include one or more processors (also interchangeably referred to herein as processors, processor(s), or processor for convenience), one or more memory units, audio and visual outputs, user input elements, a communication unit or units, and/or other components. Computer system processors may be programmed by one or more computer program instructions to carry out methods described herein. Communication units consistent with the present invention may include any connection device, wired or wireless, that may transmit or communicate with peripheral devices, including a kinesthetically enabled glove(s).

FIG. 1illustrates palmar and dorsal views of a kinesthetically enabled glove100according to an embodiment. The kinesthetically enabled glove100includes an inner body170and a glove body180. The glove body180forms the exterior of the kinesthetically enabled glove100. The inner body170forms an interior of the kinesthetically enabled glove100and is configured to contact the hand of a user. As illustrated inFIG. 1, the inner body170is a separate glove shaped portion secured to the glove body180, and may be a glove liner. In alternative embodiments, the inner body170may form only a portion of a glove shape, and may include, for example, finger segments but no palm covering, or a palm covering but no finger segments. In further embodiments, the inner body170may comprise an interior surface of the glove body180.

The kinesthetically enabled glove100includes five finger portions101, a palmar portion102, a dorsal portion103, and a wrist portion104. The kinesthetically enabled glove100may be provided as a pair, and similarly operated as a pair of kinesthetically enabled gloves. The kinesthetically enabled glove100further includes one or more actuator(s)110. The actuator110is configured to receive a command signal. In response to the command signal, the actuator110provides a force to either resist movement of the glove or cause movement of the glove. As illustrated inFIG. 1, the actuator110may be provided in a finger portion101of the kinesthetically enabled glove100. In alternative embodiments, the actuator(s)110may be provided in any or all of the finger portions101, as well as in the palmar portion102, the dorsal portion103, and/or the wrist portion104.

In accordance with embodiments hereof, the kinesthetically enabled glove100includes position trackers190. As illustrated inFIG. 1, position trackers190may be located on each of the finger portions101to track the location of that specific finger. In other examples, position trackers190may be located in other portions of the kinesthetically enabled glove100. Position trackers190may include active or passive tracking devices. For example, position trackers190may include actively powered tracking devices such as inertial sensors, e.g. accelerometers, and other tracking devices configured for active tracking of location. Position trackers190may also include passive tracking devices, such as RFID sensors, that may be tracked by external devices. Position trackers190may further include visual markers for tracking by an external camera. According to some embodiments, a kinesthetically enabled glove100is provided without position trackers190, and position sensing of the kinesthetically enabled glove100is accomplished entirely via the use of external devices, such as camera, radar, ultrasound, etc.

A wearer interacting with a system, for example, a VR, AR, MR system, or conventional display system, may wear the kinesthetically enabled glove(s)100to improve the immersive experience. The kinesthetically enabled glove100is configured to provide force feedback to the wearer of the glove, providing resistance to make it difficult to move the hand inside the kinesthetically enabled glove100and/or providing force to cause movement of the hand inside the kinesthetically enabled glove100. The kinesthetically enabled glove100is configured with at least one actuator110and may include an actuator located in any combination of the five finger portions101, the palmar portion102, the dorsal portion103, and the wrist portion104. Actuators110located in the finger portions101, for example, provide a force that moves or resists movement the user's fingers. Actuators110located in the palmar portion102provide a force that moves or resists movement of the palmar area of the hand, e.g., when grasping an object. Actuators110located in the dorsal portion103and/or the wrist portion104are configured to provide a force that moves or resists movement of the user's wrist, e.g., when rotating the hand.

The kinesthetically enabled glove100may be employed with a computer system150having one or more processors. The computer system150may include one or more processors108(also interchangeably referred to herein as processors108, processor(s)108, or processor108for convenience), one or more memory unit(s)120, communication unit112, user input element(s)111, audio and visual output(s)116, and/or other components. The processors108may be programmed by one or more computer program instruction stored in the memory unit(s)120. The functionality of the processor108, as described herein, may be implemented by software stored in the memory unit(s)120or another non-transitory computer-readable or tangible medium, and executed by the processor108. As used herein, for convenience, the various instructions may be described as performing an operation, when, in fact, the various instructions program the processors108to perform the operation. In other embodiments, the functionality of the processor may be performed by hardware (e.g., through the use of an application specific integrated circuit (“ASIC”), a programmable gate array (“PGA”), a field programmable gate array (“FPGA”), etc.), or any combination of hardware and software.

The various instructions described herein may be stored in the memory unit(s)120, which may comprise random access memory (RAM), read only memory (ROM), flash memory, and/or any other memory suitable for storing software instructions. The memory unit(s)120may store the computer program instructions (e.g., the aforementioned instructions) to be executed by the processor108as well as data that may be manipulated by the processor108.

The user input elements111may include any elements suitable for accepting user input. These may include buttons, switches, dials, levers, touchscreens, and the like. User input elements111may further include peripherally connected devices, such as mice, joysticks, game controllers, keyboards, and the like. According to embodiments hereof, the kinesthetically enabled glove100may function as a user input element111, for example, through position trackers190within the glove and/or one or more camera(s) used to track movement of the glove.

The communication unit112includes one or more devices or components configured for external communication. The communication unit112is configured for communication with the kinesthetically enabled glove100and the actuator(s)110located therein. The communication unit may include wired communication ports, such as USB ports, HDMI® ports, A/V ports, optical cable ports, and any other component or device configured to receive or send information in a wired fashion. The communication unit may further include wireless communication devices, such as BLUETOOTH® antennas, WI-FI® antennas, cellular antennas, infrared sensors, optical sensors, and any other device configured to receive and/or transmit information wirelessly.

The processor108is configured to provide a command signal to one or more of the kinesthetic actuators in the kinesthetically enabled glove100. The command signal may be provided in response to, in association with, or otherwise due to occurrences or actions in a computer application. The command signal may be provided in response to a virtual interaction in a VR, AR, or MR environment.

In a system making use of a kinesthetically enabled glove100, a camera160may be employed to track motion of a user's hand or other body parts. In embodiments, the camera160is located on the kinesthetically enabled glove100. In additional embodiments, the camera160is located in an off-hand position, e.g, remote from the kinesthetically enabled glove100, such as on a wearable device of the user or on a stationary mounting. The camera160communicates with the processor108of the computer system150, based on wired or wireless transmissions. The camera160tracks the motion of the user's hand or other body parts and thus permits the user to interact with a computer application, such as a VR, AR, or MR environment. Kinesthetic feedback provided via the kinesthetically enabled glove100is provided in response to tracked motions of the user's hand or other body parts. The feedback may be closed-loop feedback provided in response to virtual interactions detected via the camera160and/or may be provided in response to any other interaction that a user may have with the computer system150, as tracked and identified by the camera160.

FIG. 2illustrates an electroadhesive actuation mechanism for kinesthetically enabled gloves according to an embodiment. A kinesthetically enabled glove200ofFIG. 2includes a glove body280and an inner body270, similar to those discussed above with respect to the kinesthetically enabled glove100. The kinesthetically enabled glove200further includes finger portions201, a palmar portion (not shown), a dorsal portion203, and a wrist portion204. The kinesthetically enabled glove200may include any or all of the features discussed above with respect to kinesthetically enabled glove100, and may be configured to interact with a computer system150and a camera160similarly to kinesthetically enabled glove100. InFIG. 2, the kinesthetically enabled glove200includes an electroadhesive actuator210disposed within a finger portion201. One or more electroadhesive actuators210may be included in any number of the finger portions201or other areas of the kinesthetically enabled glove200. The electroadhesive actuator210of the kinesthetically enabled glove200operate via the generation of electroadhesive force. Electroadhesive actuation functions by creating an attraction, i.e., an electroadhesive force, when surfaces, e.g., surfaces of electroadhesive electrodes, located proximal or adjacent to one another are energized with an electric field. The electroadhesive electrodes include conductive electrodes secured to a substrate and arranged in an alternating pattern between positive and negative electrodes. When energized, i.e., supplied with power, the electroadhesive electrodes exhibit an attraction towards one another, and thus resist relative movement. This type of attraction is particularly efficacious when the relative movement is shear movement, as sliding the surfaces with respect to one another keeps them in proximity to and/or contact with each other, allowing the electroadhesive force to be maintained there between.

As illustrated inFIG. 2, the inner body270is a separate glove shaped portion secured to the glove body280, such as a glove liner. In alternative embodiments, the inner body270may form only a portion of a glove shape, and may include, for example, finger segments but no palm covering, or a palm covering but no finger segments. In further embodiments, the inner body270may comprise an interior surface of the glove body280.

AlthoughFIG. 2illustrates a single electroadhesive actuator210integrated into a finger portion201, multiple similar electroadhesive actuators210may be integrated into the kinesthetically enabled glove200in different locations. For instance, an electroadhesive actuator210, operating in the kinesthetically enabled glove200, may be integrated into each of the finger portions201, and/or may be included in one or more of the palmar portion (not shown), dorsal portion203, and/or wrist portion204.

The electroadhesive actuator210is integrated into the kinesthetically enabled glove200. The electroadhesive actuator210includes an inner portion220and an outer portion230configured for attraction to one another when activated. The inner portion220includes at least an inner electrode221and is configured to contact a finger of the wearer via inner securement222. The outer portion230includes at least an outer electrode231and is secured to the glove body280of the kinesthetically enabled glove200via outer securement232, for example, at a dorsal portion203or a wrist portion204. The inner electrode221and the outer electrode231are electroadhesive electrodes. An insulation layer225is included in the electroadhesive actuator210between the inner electrode221of the inner portion220and the outer electrode231of the outer portion230. The insulation layer225prevents the electrodes from shorting against one another. The insulation layer225may be secured to the inner electrode221or to the outer electrode231or to neither electrode. The kinesthetically enabled glove200is secured to the user via a glove securement portion265. The glove securement portion265may include, for example, a strap securable by Velcro™, one or more ties, one or more clasps, or other means for tightening and securing the glove in place on the user's arm or wrist. In further embodiments, the glove securement portion265may be provided at any location within or attached to the kinesthetically enabled glove200to secure to the kinesthetically enabled glove200to the user's wrist or hand.

As illustrated inFIG. 2, the inner portion220includes inner electrode221and inner securement222, while the outer portion230includes the outer electrode231and the outer securement232. The inner portion220and the outer portion230are arranged relative to one another such that the inner electrode221and the outer electrode231are located adjacent one another. The inner portion220and the outer portion230may be strips extending adjacent to one another along the length of the finger portion201of the kinesthetically enabled glove200. The inner securement222is a band configured for securement to a user's finger. In further embodiments, the inner securement222is cup shaped or tube shaped for securing to the user's finger. The outer securement232is a band configured to secure the outer electrode231to the kinesthetically enabled glove200. In alternative embodiments, the outer securement232may include stitches, adhesives, and/or other structures that secure the outer electrode231to the kinesthetically enabled glove200. The outer securement232may serve as a securement for outer electrodes231of multiple electroadhesive actuators210arranged in multiple finger portions201. The inner portion220and the outer portion230may further include supporting structural materials to which the inner electrode221and the outer electrode231are secured. Such material portions may include strips of material and/or tubes of material, such as cloth, rubber, plastic, etc. For example, each of the inner portion220and the outer portion230may include a supporting structural material secured, respectively, to the inner body270and the glove body280. The inner electrode221and the outer electrode231may be secured to the respective supporting structural material of the inner portion220and the outer portion230.

According to embodiments hereof, the inner portion220may be comprised of a part of or may be coupled to the inner body270and the outer portion230may be comprised of a part of or may be coupled to the glove body280. A finger area of the inner body270may function as the inner portion220of the electroadhesive actuator210and may have the inner electrode221secured thereto. The inner securement222may be formed from a fingertip of the inner body270. A finger portion201of the glove body280may function as the outer portion230of the electroadhesive actuator210and may thus have the outer electrode231secured thereto. The inner electrode221and the outer electrode231may be secured to the inner body270and glove body280, respectively, via stitches, adhesives, fabric portions, or any other suitable means.

When the electroadhesive actuator210is inactive, and no electrical field is provided to the inner electrode221and outer electrode231, the inner portion220and the outer portion230are free to slide with respect to each other as the user flexes and moves their fingers and/or hand with the kinesthetically enabled glove200. When the user bends a finger, the inner portion220moves forward relative to the outer portion230in the direction of arrow227, while the outer portion230undergoes little or no movement. When the electroadhesive actuator210is activated, an electroadhesive force is generated between the inner electrode221and the outer electrode231. The electroadhesive force creates a resistance to the free movement of the inner portion220and the outer portion230of the electroadhesive actuator210with respect to one another. The electroadhesive force serves to bias the inner electrode221and the outer electrode231against relative movement. The glove securement portion265secures the wrist portion204of the kinesthetically enabled glove200to the user's wrist. The resistance to free movement caused by the electroadhesive force makes it more difficult for a user to apply a bending movement to the finger portion201. When the user bends the finger portion201, the wrist portion204of the kinesthetically enabled glove200is not pulled towards the finger portion201because it is secured via the glove securement portion265. The electroadhesive effect may be selectively applied to one or more electroadhesive actuators210located in the kinesthetically enabled glove200and applied at varying strength levels, and thus may provide a variable resistance to bending in the finger portions201. An electroadhesive actuator210including an inner portion220with an inner electrode221and an inner securement222, outer portion230with an outer electrode231and an outer securement232, and an insulation layer225, may similarly be located in each of the other finger portions201of the kinesthetically enabled glove200. As illustrated inFIG. 2, the outer portion230is secured to the kinesthetically enabled glove200at the wrist portion204. In this embodiment, the length of the actuator210extends from the wrist portion204to the tip of the finger portion201.

The electroadhesive actuator210is illustrated inFIG. 2as including a pair of long and narrow electrode strips, extending between the tips of a finger portion201and the wrist portion204. The electroadhesive actuator210, and other electroadhesive actuators according to embodiments of the invention, are not limited to such a form factor. An electroadhesive actuator210may be provided in alternative form factors, as described below with respect toFIGS. 3-6.

FIG. 3illustrates a kinesthetically enabled glove200A including an electroadhesive actuator210A according to embodiments hereof. In the embodiment ofFIG. 3, an outer portion230A of the electroadhesive actuator210A includes an outer electrode231A and an outer securement232and is secured to the kinesthetically enabled glove200A via the outer securement232at a position extending up the arm of the user. For example, the kinesthetically enabled glove200A may include an extension portion240configured to extend past the wrist of the wearer. The extension portion240may be an extended cuff or a sleeve that extends up the user's arm. The extension portion240is secured to the user via the glove securement portion265. As described with respect toFIG. 2, the glove securement portion265may include various structures and materials and may be located anywhere within or attached to the kinesthetically enabled glove200A. An inner portion220A of the electroadhesive actuator210A includes an inner electrode221A and an inner securement222. The inner portion220A of the electroadhesive actuator210A is configured for contact with a finger of the user via the inner securement222. The outer portion230A may be secured to the extension portion240and the inner portion220A may extend along the outer portion230A into the extension portion240. Because each of the inner portion220A and the outer portion230A are longer than the inner portion220and the outer portion230of the embodiment ofFIG. 2, this embodiment increases the surface area between the inner portion220A and the outer portion230A of the electroadhesive actuator210A. In embodiments, the width of an inner portion and an outer portion may also be increased. The increased surface area permits the generation of increased attraction force between the inner portion220A and the outer portion230A of the electroadhesive actuator210A, which allows the kinesthetically enabled glove200A to impart greater resistance to a bending movement.

As discussed above with respect to electroadhesive actuator210and kinesthetically enabled glove200, in embodiments of the kinesthetically enabled glove200A the inner portion220A of the electroadhesive actuator210A may include a section of the inner body270to which the inner electrode221A is secured. The outer portion230A of the electroadhesive actuator210A may include a section of the glove body280to which the outer electrode231A is secured. The inner electrode221A and the outer electrode231A may be secured to the inner body270and glove body280, respectively, via stitches, adhesives, fabric portions, or any other suitable means. The inner securement222may include a band, a fabric cup, a tube, or any other suitable means of securing the inner portion220A to the user's finger. The outer securement232may include a band, stitching, adhesives, or any other suitable means of securing the outer portion230A to the glove body280.

The operation of the kinesthetically enabled glove200A is similar to that of the kinesthetically enabled glove200. When not activated, the electroadhesive actuator210A provides no active resistance to movement of the finger portion201in which it is located. Bending of the finger by the user causes relative movement of the inner portion220with respect to the outer portion230A in the direction indicated by arrow228. The relative movement is resisted by force generated by the electroadhesive attraction between the inner electrode221A and the outer electrode231A when the electroadhesive actuator210A is actuated via a command signal. Because the extension portion240is secured to the user's arm via the glove securement portion265, the outer securement232does not pull the extension portion240of the kinesthetically enabled glove200A towards the fingers.

FIG. 4illustrates a kinesthetically enabled glove200B including an electroadhesive actuator210B according to an embodiment. In the embodiment ofFIG. 4, an inner portion220B and an outer portion230B of the electroadhesive actuator210B are concentric tubes separated by an insulation layer225B. The inner portion220B includes at least an inner electrode221B and may include a material portion to which the inner electrode221B is secured. The outer portion230B includes at least an outer electrode231B and may include a material portion to which the outer electrode231B is secured. Further structural details of the inner portion220B and the outer portion230B of the electroadhesive actuator210B are provided below with respect toFIG. 5. The inner portion220B and the outer portion230B form concentric tubes, as do the electrode221B and the outer electrode231B. Disposing the inner electrode221B and the outer electrode231B concentrically permits a greater surface area between the electrodes, and thus allows for greater resistance to a bending movement of a finger positioned within the finger portion201. As illustrated inFIG. 4, the outer portion230B is secured to the finger portion201of the glove body280. The inner portion220B is configured for contact with a user's finger. As illustrated inFIG. 4, the inner portion220B is configured to surround or wrap around the user's finger and contact the finger at multiple locations around the circumference. In an embodiment, the inner portion220B makes continuous circumferential contact with the user's finger.

In further embodiments, the outer portion230B may be secured to the wrist portion204of the kinesthetically enabled glove200B or may be secured to an extension portion240similar to that discussed above with respect toFIG. 3. In such embodiments, the inner electrode221B and the outer electrode231B may form concentric tubes for only a portion of their length and may form parallel strips disposed in parallel with one another for the length between the end of the finger portion201and the point on the wrist portion204or extension portion240to which the outer portion230B is secured. The insulation layer225may similarly extend from the finger portion201, across the dorsal portion203, to the point at which the outer portion230B is secured at the wrist portion204or the extension portion240. The glove securement portion265is provided at the wrist portion204to secure the kinesthetically enabled glove200B to the hand of the user. As described with respect toFIG. 2, in embodiments, the glove securement portion265may include various structures and materials and may be located anywhere within or attached to the kinesthetically enabled glove200B.

According to embodiments hereof, the inner portion220B may form a tube closed at the end, thus permitting the fingertip to contact the inner portion220B at the closed end. In further embodiments, the concentric tubes formed by the inner portion220B and the outer portion230B may be configured to incompletely surround the finger. The inner portion220B and the outer portion230B may be configured to extend around the finger as any portion of an approximately circular tube, which may range from a completely circular cross-section, through a semi-circular cross-section, to a cross-section having less than 5 degrees of arc.

According to embodiments hereof, the inner portion220B and the outer portion230B of the electroadhesive actuator210B may be secured to and/or may be a part of an inner body270and a glove body280, respectively of the kinesthetically enabled glove200B. Thus, for example, the inner body270embodied as a glove liner of the kinesthetically enabled glove200B may have the inner electrode221B secured circumferentially around each finger segment and the glove body280may have the outer electrode231B secured circumferentially within each finger portion201. The insulation layer225B may be arranged circumferentially between the inner electrode221B and the outer electrode231B in such an arrangement. The insulation layer may be secured to the inner electrode221B, the outer electrode231B, or neither.

The operation of the kinesthetically enabled glove200B is similar to that of the kinesthetically enabled glove200. When not activated, the electroadhesive actuator210B provides no active resistance to movement of the finger portion201in which it is located. Bending of the finger by the user causes relative movement of the inner portion220B with respect to the outer portion230B in the direction indicated by arrow229. The relative movement is resisted by force generated by the electroadhesive attraction between the inner electrode221B and the outer electrode231B when the electroadhesive actuator210A is actuated via a command signal. The glove securement portion265serves to secure the kinesthetically enabled glove200B to the user's hand to prevent glove movement.

FIGS. 5A-5Care various cross-sectional views of the electroadhesive actuator210B ofFIG. 4, according to an embodiment. As illustrated inFIG. 5A, the electroadhesive actuator210B may be formed of concentric tubes with the outer portion230B being an outer tube and the inner portion220B being an inner tube.FIG. 5Bis a cross-sectional view of the outer portion230B separated from a remainder of the electrostatic actuator210B. As illustrated inFIG. 5B, the outer portion230B includes an outer electrode231B, an outer tube233, and, optionally, an insulation layer225B which may be attached to the outer electrode231B.FIG. 5Cis a cross-sectional view of the inner portion220B separated from a remainder of the electrostatic actuator210B. As illustrated inFIG. 5C, the inner portion220B includes an inner electrode221B, an inner tube223, and, optionally, an insulation layer225B, which may be attached to the inner electrode221B. The insulation layer225B may be included with either the inner portion221B or the outer portion231B, or both. The outer tube233may be formed by a segment of a finger portion201of the glove body280or may be a separate structure secured to the glove body280. The inner tube223may be formed by a segment of the inner body270or may be a separate structure secured to the inner body270.

FIG. 6illustrates an electroadhesive actuator210C for kinesthetically enabled gloves according to an embodiment. In the embodiment ofFIG. 6, the electroadhesive actuator210C is located in a dorsal portion203and a wrist portion204of a kinesthetically enabled glove200C. An outer portion230C of the electroadhesive actuator210C is secured to the kinesthetically enabled glove. As discussed with reference to the embodiments above, the outer portion230C may be integral with a glove body280. An inner portion220C of the electroadhesive actuator210C is configured for contact with the hand, wrist area or arm of a user, and is located at the dorsal portion203and/or wrist portion204of the kinesthetically enabled glove. The inner portion220C is configured to be secured to the hand, wrist area or arm of the user through the contact. The inner portion220C may be integral with or secured to the inner body270. The inner portion220C includes an inner electrode221C located adjacent to an outer electrode231C of the outer portion230C, with an insulation layer225C located there between. The inner electrode221C and the outer electrode231C are broad flat electroadhesive electrodes and are arranged such that at least a portion of one is adjacent to at least a portion of the other, with the insulation layer225C located between.

The inner and outer portions220C,230C respectively include distal ends224,234, respectively, located on ends closest to the finger portions201of the kinesthetically enabled glove200C and proximal ends226,236, respectively, located on ends closest to the dorsal portion203of the kinesthetically enabled glove200C. The inner portion220C is configured to contact the hand of the user, while the outer portion230C is configured to be anchored to the glove body280. The inner portion220C contacts the hand of the user at an opposite end of the kinesthetic actuator210C from the securement of the outer portion230C to the glove body280. The proximal end226of the inner portion220C may contact the hand and be anchored to the inner layer270near the wrist portion204of the kinesthetically enabled glove200C, while the distal end234of the outer portion230C is anchored to the glove body280near the dorsal portion203of the kinesthetically enabled glove200C. The glove securement portion265is provided at the wrist portion204to secure the kinesthetically enabled glove200C to the hand of the user. As described with respect toFIG. 2, in embodiments, the glove securement portion265may include various structures and materials and may be located anywhere within or attached to the kinesthetically enabled glove200C.

To facilitate relative movement when the hand bends at the wrist, the secured distal end234of the outer portion230C and the proximal end226of the inner portion220C are longitudinally separated and located on opposite sides of the wrist joint. In alternative embodiments, the inner portion220C and the outer portion230C may be secured instead at the proximal end224and the distal end236, respectively.

When the electroadhesive actuator210C is not activated, the user may move a hand freely within the glove, and the inner portion220C and the outer portion230C may move against or relative to each other with no electroadhesive resistance. As the hand bends forward at the wrist, the outer portion230C moves forward with the hand relative to the inner portion230C in the direction of arrow627. As the hand bends backwards at the wrist, the outer portion is also pulled away from the inner portion230C in the direction of the arrow627.

When the electroadhesive actuator210C is activated, the attraction between the inner portion220C and the outer portion230C provided by inner electrode221C and outer electrode231C provide resistance to the bending movement of the user's hand, as illustrated inFIGS. 7A and 7B.FIGS. 7A and 7Billustrate hands of a user along with the inner portion220C and the outer portion230C in isolation. The glove securement portion265serves to anchor the kinesthetically enabled glove200C to the user's hand to prevent glove movement during bending.

For example, as illustrated inFIG. 7A, bending the hand forward at the wrist causes the outer portion230C to move forward, or distally, relative to inner portion220C in the direction of arrow735. As the hand is bent forward or downward at the wrist, the electroadhesive actuator210C extends, stretches or increases in length, pulling the inner portion220C, secured at wrist, away from the outer portion230C, secured at the back of the hand. When the electroadhesive actuator210C is activated, the attraction between the inner portion220C and the outer portion230C creates resistance to shearing movement between the portions, and thus creates resistance to the forward or downward bending of the hand at the wrist. In another example, as illustrated inFIG. 7B, as the hand is bent backward or upward at the wrist, the electroadhesive actuator210C compresses or decreases in length, pushing the inner portion220C, secured at wrist, toward the outer portion230C, secured at the back of the hand. Stated another way, the outer portion230C, secured to the hand, is pushed in the direction of arrow736with respect to the inner portion220C. In a similar fashion as that described with respect toFIG. 7A, the electroadhesive actuator210C, when activated, resists this movement.

FIGS. 2-6illustrate various embodiments of a kinesthetically enabled glove equipped with an electroadhesive actuator. Although each ofFIGS. 2-6illustrate the kinesthetically enabled glove with a single electroadhesive actuator, the kinesthetically enabled gloves may be equipped with any combination of the electroadhesive actuators210,210A,210B,210C described above. For example, a kinesthetically enabled glove in accordance herewith may be equipped with five electroadhesive actuators, one in each finger, for providing resistance to bending and straightening of the respective finger associated with each and an electroadhesive actuator in a wrist or dorsal portion for providing resistance to wrist movements.

FIG. 8illustrates an electromagnetic actuator710for a kinesthetically enabled glove700according to an embodiment. As illustrated inFIG. 8, the kinesthetically enabled glove700includes finger portions701, a palmar portion (not shown), a dorsal portion703, and a wrist portion704. The kinesthetically enabled glove700includes an inner body770and a glove body780. The kinesthetically enabled glove700may include any or all of the features discussed above with respect to kinesthetically enabled glove100, and may be configured to interact with a computer system150and a camera160similarly to kinesthetically enabled glove100. The kinesthetically enabled glove700includes one or more electromagnetic actuators710. The electromagnetic actuators710each include an inner portion720configured for contact with the user and an outer portion730secured to the glove body780of the kinesthetically enabled glove700. The inner portion720and the outer portion730, as illustrated inFIG. 8, form concentric tubes on which the inner and outer electromagnets721,731, are secured. Each of the inner portion720and the outer portion730circumferentially surround a finger of the user. The inner portion720is configured to contact the user's finger at multiple circumferential locations. Thus, when the user moves a finger located inside the inner portion720, the finger's movements against the inner portion720cause the inner portion720to move relative to the outer portion730, which is secured to the glove body780. The inner portion720and the outer portion730are arranged such that the inner electromagnet721and the outer electromagnet731are opposed to one another, i.e., when the fingers are held in a neutral position, the inner electromagnet721and the outer electromagnet731aligned with one another, having substantial overlap in the cross-sections thereof. As shown inFIG. 8, the kinesthetically enabled glove700may be constructed as a glove within a glove, having an interior glove liner serving as the inner body770positioned within the glove body780. According to embodiments hereof, a segment or portion of the glove body780may also form the outer portion730of the electromagnetic actuator710, and a segment or a portion of the inner body770may form the inner portion720of the electromagnetic actuator710.

As illustrated inFIG. 8, the inner body770is a separate glove shaped portion secured to the glove body780, such as a glove liner. In alternative embodiments, the inner body770may form only a portion of a glove shape, and may include, for example, finger segments but no palm covering, or a palm covering but no finger segments. In further embodiments, the inner body770may comprise an interior surface of the glove body780.

According to additional embodiments, the inner portion720and the outer portion730accommodating the inner electromagnet721and the outer electromagnet731may be broad strips that do not surround the user's finger. The inner portion720may include a cap, a band, or other feature for securement to the user's finger. The outer portion may be secured to the glove body780via stitches, adhesives, and/or any other suitable means of securement. In embodiments in accordance herewith, a glove securement portion765is provided at the wrist portion704to secure the kinesthetically enabled glove700to the hand of the user. Similar to the glove securement portion265described with respect toFIG. 2, in embodiments, the glove securement portion765may include various structures and materials and may be located anywhere within or attached to the kinesthetically enabled glove700.

In embodiments in accordance herewith, a kinesthetically enabled glove700may include one or more electromagnetic actuators710located in one or more of the finger portions701, the dorsal portion703, and/or the wrist portion704. Electromagnetic actuators710arranged in the finger portions701provide resistance to the bending of the fingers, as explained below, while electromagnet actuators710located in the dorsal portion703and/or wrist portion704provide resistance to the bending of the hand at the wrist, as explained below.

The inner electromagnet721and the outer electromagnet731are each constructed of coils of wire arranged in a flat structure so as to fit within the structure of the glove. As used herein, flat refers to a structure having a height that is relatively small compared to a width and a length. For example, the average of the length and width of a flat structure electromagnet may be 10 times, 100 times, 1,000 times, 10,000 times or more the height of the flat structure. When activated through the application of an electrical current, the inner and outer electromagnets721,731each generate a magnetic field. When the electromagnets721,731are arranged in proximity to one another, the magnetic field of the inner electromagnet721and the magnetic field of the outer electromagnet731causes an electromagnetic attraction between the two electromagnets, as long as the electrical current is driven through the electromagnets in the appropriate direction.

When not activated, the magnetic actuator710provides no resistance to relative movement between the inner portion720and the outer portion730. As the fingers curl from a neutral position, the inner portion720, secured to the fingers, moves forward with the fingers relative to the outer portion730, which is secured to the glove body780. Arrow727indicates the direction of movement of the inner portion720when the fingers are curled, while the outer portion730exhibits little or no movement. When activated in response to a command signal, the magnetic actuator710generates an electromagnetic attraction between the inner electromagnet721and the outer electromagnet731. The electromagnetic attraction between the electromagnets721,731provides resistance to the relative movement between the inner portion720and the outer portion730to which the electromagnets721,731are secured. The resistance to the relative movement provides a resistance to the bending or curling of a finger portion701when the electromagnetic actuator710is arranged in the finger portion701. The glove securement portion765serves to secure the kinesthetically enabled glove700to the user's hand to prevent movement of the wrist portion704during use of the electroadhesive actuator710.

In some embodiments, the electroadhesive actuator210C may be arranged in a dorsal and/or wrist portion of the kinesthetically enabled glove700. When arranged in the dorsal portion703and/or wrist portion704of the kinesthetically enabled glove700, the electromagnetic actuator is arranged similarly to the electroadhesive actuator210C as shown inFIG. 6. Each of the inner portion720and the outer portion730are secured at opposite ends, with the secured portions being located at opposite sides of the wrist joint to facilitate movement during hand bending. That is, the inner portion720is secured at a proximal end thereof while the outer portion730is secured at a distal end thereof, or vice versa. Relative movement between the inner portion720and the outer portion730caused by bending the hand at the wrist is resisted by the application of power to the inner electrode721and the outer electrode731.

FIG. 9illustrates palmar and dorsal views of a kinesthetically enabled glove800equipped with an air jamming actuator810according to an embodiment. As illustrated inFIG. 9, the kinesthetically enabled glove800includes finger portions801, a palmar portion802, a dorsal portion803, and a wrist portion804. The kinesthetically enabled glove800includes a glove body880and an inner body870. The kinesthetically enabled glove800may include any or all of the features discussed above with respect to the kinesthetically enabled gloves100,200, etc. and may be configured to interact with a computer system150and a camera160similarly to kinesthetically enabled glove100. The kinesthetically enabled glove800includes an air jamming actuator810disposed in each of the finger portions801, and in other embodiments may also include one or more air jamming actuator810in the dorsal portion803, and/or wrist portion804. The kinesthetically enabled glove800further includes a vacuum source890for activating the air jamming actuators810. The vacuum source890may be, for example, a pump.

As illustrated inFIG. 9, the inner body870is a separate glove shaped portion secured to the glove body880, such as a glove liner. In alternative embodiments, the inner body870may form only a portion of a glove shape, and may include, for example, finger segments but no palm covering, or a palm covering but no finger segments. In further embodiments, the inner body870may comprise an interior surface of the glove body880.

FIG. 10illustrates an air jamming actuator810in accordance with an embodiment hereof. The air jamming actuator810operates to increase a stiffness of the actuator by “jamming” together numerous smaller pieces, such as layers or grains. The air jamming actuator810includes a flexible bag850or other type of container pneumatically connected to the vacuum source890. The flexible bag850is filled with a plurality of material layers851. In additional embodiments, the flexible bag may include small material pieces including granular particles, grains, and/or other pieces. The vacuum source890is configured to evacuate all or a portion of the air or other gas contained in the flexible bag850in response to the command signal provided by a processor. The gas evacuation causes the bag to compress the material layers851contained within. When forced together, the material layers851increase the stiffness of the flexible bag850, and thereby increase the stiffness of the actuator810.

The flexible bag850of the air jamming actuator810includes an inner surface820and an outer surface830, one or both of which are secured to the kinesthetically enabled glove800. The inner surface820may be secured to the inner body870while the outer surface830may be secured to the glove body880. The securement of the air jamming actuator810to the kinesthetically enabled glove800serves to maintain the position of the air jamming actuator810within the kinesthetically enabled glove800. When not activated, the air jamming actuator810provides no active resistance to movement of the hand within the kinesthetically enabled glove800. When activated in response to the command signal, the air jamming actuator810stiffens to resist bending. Accordingly, the air jamming actuators810located in the finger portions801resist a bending movement of the associated finger portions801. The air jamming actuator810may be activated when the fingers are in a neutral position to resist the curling of the fingers and/or may be activated when the fingers are in a curled position to resist the extension of the fingers. When located in a wrist portion804of the kinesthetically enabled gloves800, the air jamming actuator810is arranged to span the wrist joint of the user and is activated to resist a bending movement of the hand, either forward or backward at the wrist by creating stiffness across the dorsal portion803and the wrist portion804of the kinesthetically enabled glove800.

FIG. 11illustrates a kinesthetic moving mass actuator910for a kinesthetically enabled glove900according to an embodiment. As illustrated inFIG. 11, the kinesthetically enabled glove900includes a glove body980having finger portions901, a palmar portion (not shown), a dorsal portion903, and a wrist portion904. The kinesthetically enabled glove900optionally includes an inner liner970. The kinesthetically enabled glove900may include any or all of the features discussed above with respect to kinesthetically enabled gloves100,200etc., and may be configured to interact with a computer system150and a camera160similarly to kinesthetically enabled glove100. The kinesthetic actuator910is a moving mass actuator and is configured to provide a force to cause movement of the kinesthetically enabled glove900to which it is secured. The kinesthetic actuator910is secured to a dorsal portion903but may be secured to the wrist portion904of the kinesthetically enabled glove900in another embodiment. In embodiments in accordance herewith, a glove securement portion965may be provided at the wrist portion904to secure the kinesthetically enabled glove900to the hand of the user. Similar to the glove securement portion965described with respect toFIG. 2, in embodiments, the glove securement portion965may include various structures and materials and may be located anywhere within or attached to the kinesthetically enabled glove900.

According to an embodiment hereof, one or more kinesthetic actuators910may be secured to other portions of the kinesthetically enabled glove900. For example, kinesthetic actuators910may be secured to one or more finger portions901and/or to the palmar portion of the kinesthetically enabled glove900. The kinesthetic actuator910may operate to impart force to any portion of the kinesthetically enabled glove900to which it is secured, and thus cause movement.

The kinesthetic actuator910includes a moving mass912and a track913. The moving mass912is mounted to the track913which acts as a guide. The moving mass912is configured to slide or otherwise move back and forth along the track913. The kinesthetic actuator910further includes an accelerator914configured to accelerate the moving mass912along the track913when a command signal is received. The accelerator914may include, for example, a piezo-actuator configured to impart a force to the moving mass912, or any other type of actuator capable of imparting a force to the moving mass912. When the kinesthetic actuator910is activated by a command signal, the accelerator914causes the moving mass912to accelerate rapidly along the track913in one direction or the other. To accelerate the moving mass912, a force according to F=m*a must be applied. An equal and opposite force is imparted to the portion of the glove body980to which the kinesthetic actuator910is secured. This equal and opposite force causes the user to feel a push through the glove. The strength of the push is governed by a weight of the moving mass912and the rate at which it accelerates. The glove securement portion965may secure the kinesthetically enabled glove900to the user's hand or arm during activation of kinesthetic actuator910to ensure that the force of the kinesthetic actuator910is applied to the user, rather than the glove. In embodiments, the glove securement portion965may be omitted as some amount of glove movement may be acceptable.

During activation, the moving mass912is moved rapidly to one side of the track913, causing a force in the opposite direction of its travel. After activation, the moving mass912must be moved back to a central position on the track913to permit another haptic effect. Under some conditions, the moving mass912may be accelerated rapidly back to a central position on the track913to impart a force to the user in the opposite direction of the first force. This type of opposite force may be provided where a computer application with which the user is interacting requires such an opposite force. Where no opposite force is required, the moving mass912may be returned to the central position of the track913with a low acceleration. When the moving mass912moves with low acceleration, only a small force is imparted to the user through the kinesthetically enabled glove900, and the user may not perceive the small force or may easily ignore it. Thus, the mass912may be accelerated towards the central position of the track913slowly enough so as to be minimally tactilely perceptible or tactilely imperceptible to a wearer of the kinesthetically enabled glove900. The kinesthetic actuator910can thus be “reset” after an activation.

The kinesthetically enabled glove900may include one or more kinesthetic actuators910arranged in different configurations. For example, a first kinesthetic actuator910may be arranged on the dorsal portion903and have a track913oriented longitudinally with respect to the hand. The first kinesthetic actuator may thus impart a force to the kinesthetically enabled glove900in a longitudinal direction, as shown inFIG. 11. A second kinesthetic actuator910may be arranged on the dorsal portion903and have a track913oriented laterally with respect to the user's hand and thus may be configured to impart a force to the kinesthetically enabled glove900in a lateral direction, e.g., left or right across the user's body. Additional kinesthetic actuators910may be arranged on the finger portions901of the glove body980, laterally, longitudinally, or both. Kinesthetic actuators910arranged on the finger portions901may selectively impart forces to provide or cause movement of each finger portion901individually. Due to the smaller size of the finger portions901, the kinesthetic actuators910arranged thereon may be commensurately smaller.

FIGS. 2-11illustrate various embodiments of kinesthetically enabled glove(s) equipped with various actuators located in various positions. Embodiments of the kinesthetically enabled gloves may include any combination of these actuators. The actuators may be selected to provide a broad array of kinesthetic and force feedback sensations. For example, kinesthetically enabled gloves may include any combination of electroadhesive actuators210,210A,210B, etc., electromagnetic actuators710, and air jamming actuators810to provide resistance to bending movements of the fingers and bending movements of the wrist, while further including one or more kinesthetic actuators910to selectively provide force to the hands and/or fingers of a user through the kinesthetically enabled gloves. Each of a myriad of actuators located in the kinesthetically enabled gloves may be simultaneously and selectively operated to provide different kinesthetic actuations at different locations of the kinesthetic enabled gloves. For example, electroadhesive actuators210located in each of the fingers may be selectively actuated to cause resistance to bending in any selected number of fingers. At the same time, kinesthetic actuators910may provide movement or force to the kinesthetic enabled glove, e.g., at the back of the hand and/or in any of the fingers, including both those experiencing bending resistance and those not.

FIG. 12illustrates a process diagram for a method1000of actuating a kinesthetically enabled glove. The method1000includes steps for activating and operating kinesthetically enabled gloves according to embodiments.

In an operation1002, method1000includes receiving a command signal for actuating a kinesthetically enabled glove. The command signal may be received from an external computer system including a processor. The command signal includes instructions for the activation of one or more actuators associated with the kinesthetically enabled glove. As described above, the kinesthetically enabled glove may include an actuator of one or more types located in different portions of the glove to achieve different feedback results. The command signal may be received at any of multiple actuators associated with the glove and/or may be received by a processor of the kinesthetically enabled glove and rerouted to the intended actuator.

In embodiments, the command signal for actuating the kinesthetically enabled glove may be generated by the processor as part of a feedback process in response to information collected by a sensor or camera located remotely from the kinesthetically enabled glove, such as camera160. Thus, the kinesthetic effects may be produced according to information collected by an off-hand device with a location remote from the kinesthetically enabled glove.

In an operation1004, the method1000includes activating an actuator in response to the command signal. The actuator may be selected for activation in response to instructions included within the command signal. The selected actuator is determined according to a desired response to be achieved in the kinesthetically enabled glove, including resisting movement and/or causing movement of the glove. Movement resistance may be selectively targeted to occur in specific portions of the glove, e.g., the finger portions and/or wrist portion, based on the selection of actuators for activation and instructions included within the command signal. Movement may be caused in specific directions based on the actuator selected for activation and instructions included within the command signal.

In an operation1006, the method1000includes providing a force in response to the command signal to resist movement of a glove portion and/or to cause movement of the kinesthetically enabled glove. Resisting movement of a glove portion includes resisting a bending movement of one or more finger portions and/or resisting a bending movement of the wrist. Resisting the bending movement is executed through the activation of one or more actuators, including electroadhesive actuators, electromagnetic actuators, and air-jamming actuators. Causing movement of the glove may be executed through the activation of a kinesthetic moving mass actuator, and may be applied to the hand as a whole through a larger actuator and/or to the fingers individually through smaller actuators located directly on the fingers.

Accordingly, the method1000makes use of a kinesthetically enabled glove, as described herein, to selectively provide movement and resistance to movement at individual portions of the glove and thus, to individual portions of the user's hands. The kinesthetically enabled gloves, as discussed herein, may thus simultaneously provide bending resistance in one or more fingers and in the wrist while imparting movement to one or more fingers and the hand as a whole. Any such combination of movement and resistance to movement may be provided by embodiments of the kinesthetically enabled gloves as discussed herein.

Kinesthetic actuators for providing ungrounded force feedback are described herein with respect to kinesthetically enabled gloves. Kinesthetically enabled gloves are used in the description for explanatory purposes only, and the devices and methods described herein are not so limited. For example, kinesthetic actuators and actuation methods as described herein may equally be applied to other wearable devices, including, shirts, pants, belts, etc. For example, kinesthetic actuators described herein may be employed with a shirt or pants to resist movement of a user's arms or legs. A person of skill in the art will recognize that other examples are possible without departing from the scope of the invention.

ADDITIONAL DISCUSSION OF VARIOUS EMBODIMENTS

Embodiment 1 is a wearable device for providing kinesthetic effects, comprising:a glove including a plurality of finger portions and a glove body; andan actuator secured to the glove and configured to receive a command signal indicative of a virtual interaction, and provide a force, in response to the command signal, to execute at least one of a movement of the glove and a resistance to a movement of the glove.

Embodiment 2 includes the wearable device of embodiment 1, wherein:the actuator is located in at least one finger portion of the plurality of finger portions, andthe force provides the resistance to a movement of the glove which is a resistance to a bending movement of the at least one finger portion.

Embodiment 3 includes the wearable device of embodiments 1 or 2, wherein:the actuator includes an inner portion configured for contact with a finger of a wearer and having an inner electrode secured thereto and an outer portion being secured to the glove and having an outer electrode secured thereto, andthe inner electrode and the outer electrode are separated by an insulation layer, andthe inner electrode and the outer electrode are configured to provide an electroadhesive attraction in response to the command signal.

Embodiment 4 includes the wearable device of embodiment 3, wherein the electroadhesive attraction is the force providing the resistance to a bending movement of the at least one finger portion.

Embodiment 5 includes the wearable device of any one of embodiments 1 to 4, wherein the outer portion is secured to the glove body at a wrist portion of the glove body.

Embodiment 6 includes the wearable device of any one of embodiments 1 to 5, wherein the glove body further includes an extension portion configured to extend past a wrist of the wearer, the outer electrode of the outer portion of the actuator being secured to the glove body at the extension portion, and the inner electrode of the inner portion being configured to extend along the outer electrode of the outer portion into the extension portion.

Embodiment 7 includes the wearable device of any one of embodiments 1 to 6, wherein the inner portion of the actuator includes an inner tube and the outer portion of the actuator includes an outer tube, the inner tube being located inside the outer tube.

Embodiment 8 includes the wearable device of any one of embodiments 3 to 7, wherein the insulation layer is secured to the inner electrode.

Embodiment 9 includes the wearable device of any one of embodiments 1 to 7, wherein the insulation layer is secured to the outer electrode.

Embodiment 10 includes the wearable device of embodiment 1 or 2, wherein:the actuator includes an inner portion having an inner electromagnet and being configured for contact with a finger of a wearer and an outer portion having an outer electromagnet and being secured to the glove body, andthe inner electromagnet and the outer electromagnet are configured to provide the force via an electromagnetic attraction in response to the command signal.

Embodiment 11 includes the wearable device of any one of embodiments 1 to 10, further comprising a vacuum source configured to evacuate a gas in response to the command signal, wherein the actuator is an air-jamming actuator configured to provide the force when gas in the air-jamming actuator is evacuated by the vacuum source.

Embodiment 12 includes the wearable device of any one of embodiments 1 to 11, wherein:the actuator is located in the glove body, andthe force provides the resistance to a movement of the glove which is a resistance to a bending movement of the glove body.

Embodiment 13 includes the wearable device of any one of embodiments 1 to 11, wherein:the actuator is a moving mass actuator configured to provide the force; andthe force provides the movement of the glove.

Embodiment 14 is a method of providing kinesthetic feedback in a wearable device comprising a glove including a plurality of finger portions and a glove body, the method comprising:receiving a command signal at an actuator secured to the glove; andproviding a force, via the actuator, to execute at least one of a movement of the glove and a resistance to a movement of the glove in response to the command signal.

Embodiment 15 includes the method of embodiment 14, wherein the actuator is located in at least one finger portion of the plurality of finger portions, and the method further comprises providing the force to execute the resistance to a movement of the glove which is a resistance to a bending movement of the at least one finger portion.

Embodiment 16 includes the method of embodiment 14 or 15, further comprising providing, in response to the command signal, an electroadhesive attraction between an inner electrode secured to an inner portion of actuator and an outer electrode secured to an outer portion of the actuator, wherein the inner portion is configured for contact with a finger of a wearer and the outer portion is secured to the glove body.

Embodiment 17 includes the method of embodiment 16, further comprising providing the electroadhesive attraction as the force that executes the resistance to a bending movement.

Embodiment 18 includes the method of any one of embodiments 14 to 17, further comprising:activating an inner electromagnet secured to an inner portion of the at least one finger portion, the inner portion being configured for contact with a finger of a wearer, andactivating an outer electromagnet secured to an outer portion of the least one finger portion, the outer portion being secured to a glove body.

Embodiment 19 includes the method of any one of embodiments 14 to 18, further comprising activating an air-jamming actuator via evacuation of a gas by a vacuum source in response to the command signal.

Embodiment 20 includes the method of any one of embodiments 14 to 19, further comprising providing, in response to the command signal via the actuator located in the glove body, the force as resistance to the movement of the glove which is resistance to a bending movement of the glove body.

Embodiment 21 includes the method of any one of embodiments 14 to 19, further comprising providing, in response to the command signal via the actuator which is a moving mass actuator, the force to cause movement of the glove.

Thus, there are provided systems, devices, and methods of providing haptic and kinesthetic effects via one or more kinesthetically enabled gloves. While various embodiments according to the present invention have been described above, it should be understood that they have been presented by way of illustration and example only, and not limitation. It will be apparent to persons skilled in the relevant art that various changes in form and detail can be made therein without departing from the spirit and scope of the invention. Thus, the breadth and scope of the present invention should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the appended claims and their equivalents. It will also be understood that each feature of each embodiment discussed herein, and of each reference cited herein, can be used in combination with the features of any other embodiment. Stated another way, aspects of the above methods of rendering kinesthetic effects may be used in any combination with other methods described herein or the methods can be used separately. All patents and publications discussed herein are incorporated by reference herein in their entirety.