Abstract:
A toroidal actuator is responsive to a teleoperator for providing haptic feedback responsive to a curvature or articulated movement applied to a gripped object. The toroidal actuator surrounds an operator member such as a finger, and is responsive to pneumatic pressure for increasing telepresence force defined by resistance encounter against a teleoperated robotic claw. As the teleoperated claw grips an object, increased pneumatic pressure in the toroidal actuator tends to elongate the toroidal shape in a linear manner and oppose a curvature force applied by an inserted operator finger. Resistive force is based on soft sensing of the gripped object, thus the toroidal actuator applies an increasing resistive force to curvature as the robotic claw closes around a gripped object by solenoid regulated air pressure. A typical assembly includes at least 3 toroidal actuators for two digits and a thumb of an operator.

Description:
RELATED APPLICATIONS 
       [0001]    This application claims the benefit under 35 U.S.C. §119(e) of U.S. Provisional Patent Application No. 62/331,531, filed May 4, 2016, entitled “HERO GLOVE” incorporated herein by reference in entirety. 
     
    
     BACKGROUND 
       [0002]    Increased development in robotics technology has allowed for more capable robotic systems to perform more dexterous tasks in remote conditions that may be too dangerous for humans. Such tasks often include object grasping and manipulation, as can be seen in industrial assembly lines, space exploration, search and rescue systems, and military applications where robot manipulators can be used for hazardous material handling. To allow for the control of remote systems to perform unstructured and non-repetitive tasks, robot teleoperation is still more suitable over fully autonomous robots as it allows for the human user to be in direct control over the system. Teleoperation allows human operators to properly interact with the slave robot and manipulate objects located in remote environments. Similar to teleoperation, telepresence allows for sensory information from the environment to be communicated back to the user to impart a feeling of physical presence at the remote site. Haptic feedback is an example of such telepresence, which recreates the sense of touch by applying mechanical forces, vibration, or motions to the user based on sensory readings from the remote robotic system. 
       SUMMARY 
       [0003]    A toroidal actuator is responsive to a teleoperator for providing haptic feedback responsive to a curvature or articulated movement applied to a gripped object. The toroidal actuator surrounds an operator member such as a finger, and is responsive to pneumatic pressure for increasing telepresence force defined by resistance encountered against a teleoperated robotic claw or member. As the teleoperated claw grips an object, increased pneumatic pressure in the toroidal actuator tends to elongate the toroidal shape in a linear manner and oppose a curvature force applied by an inserted operator finger. Resistive force is based on soft sensing of the gripped object, thus the toroidal actuator applies an increasing resistive force to curvature as the robotic claw closes around a gripped object by solenoid regulated air pressure. Fingertip actuators at one end of the toroidal actuator engage an operator fingertip for haptic feedback of a touch sensation. A completed assembly includes at least 3 toroidal actuators for two digits and a thumb of an operator, fingertip actuators, and three positioning sensors on an operator&#39;s arm for disposing robotic members positioning the claw. 
         [0004]    Configurations herein are based, in part, on the observation that haptic feedback has become popular for increasing realism and effectiveness of robotic systems by providing perceptible feedback for technical and/or delicate operations such as hazardous, medical or concealed locations. Unfortunately, conventional approaches for haptic feedback are one dimensional or linear, providing information about contact, but unable to reflect gradual increases of feedback force as in a curved or articulated member contacting an object, particularly a resilient object that offers deflection in response to external manipulation. Accordingly, configurations herein substantially overcome the shortcomings of electric, vibratory, or linear haptic feedback by providing a toroidal actuator that surrounds an operator member such as a finger, and is responsive to pneumatic pressure for increasing internal pressure in the toroidal shape for tending to dispose the toroid, and a concentric void securing the finger, in a linear position to provide resistance to additional curvature or articulated movement of the finger. 
         [0005]    A particular feature of the toroidal actuator is to provide haptic feedback to the user using the force exerted on the robot&#39;s end-effector as sensory data. To provide accurate, realistic feedback, soft robotics technology is employed to create toroidal shaped pneumatic actuators that inflate and thereby provide resistance on the user&#39;s finger joints. In creating this resistance in the user&#39;s joints using the air filled toroid, the toroidal actuator simulates the sensation of grabbing a nondeformable object in the user&#39;s hand. In order to replicate the sense of touch on the robot&#39;s finger tips and palm, air-filled silicone domes inflate up when the robot touches an object. 
         [0006]    In a particular example as disclosed herein, a telepresence operator device includes a teleoperator for detecting movement of a slave manipulator responsive to an operator, and an interface to the slave manipulator for transmitting the detected movement and receiving telepresence signals from the slave manipulator. One or more toroidal actuators attached to the teleoperator engages a user&#39;s fingers and is responsive to the telepresence signals for providing haptic feedback based on the slave manipulator, such that the haptic feedback is indicative of a compressive resistance force from a robotically gripped object. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0007]    The foregoing and other objects, features and advantages of the invention will be apparent from the following description of particular embodiments of the invention, as illustrated in the accompanying drawings in which like reference characters refer to the same parts throughout the different views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention. 
           [0008]      FIG. 1  is a context diagram of a robotics environment suitable for use with the present invention; 
           [0009]      FIG. 2  is a perspective view of the toroidal actuator in the environment of  FIG. 1 ; 
           [0010]      FIGS. 3A and 3B  show the toroidal actuator in an extended and retracted state; 
           [0011]      FIG. 4  shows as exploded view of a toroidal actuator of  FIGS. 2-3B ; 
           [0012]      FIG. 5  shows a plurality of toroidal actuators in an operator glove assembly; 
           [0013]      FIG. 6  shows a perspective view of the glove assembly of  FIG. 5   
           [0014]      FIG. 7  shows the glove of  FIG. 5  being used to grip an object; and 
           [0015]      FIG. 8  shows a full operator telepresence arm assembly using the glove assembly of  FIGS. 6 and 7 . 
       
    
    
     DETAILED DESCRIPTION 
       [0016]    Configurations below depict an example implementation of the toroidal actuator in a telepresence environment used for gripping an object. Alternate configurations may employ other uses of the toroidal, fluidic activation for providing haptic feedback. Haptic feedback is particularly beneficial for precision robotics designed for teleoperation. 
         [0017]    Teleoperation is the process of operating a vehicle or system over a distance using human intelligence, where the human user (operator) is the person who monitors the operated machine and makes the needed control actions. This distance can vary from micromanipulation, operating with a scale of several centimeters, to space applications where the range spans millions of kilometers. The main function of a teleoperation system is to assist the operator in performing and accomplishing complex and uncertain tasks in hazardous and less structured environments, such as space, nuclear plants, battlefield, surveillance, and underwater operations. A typical teleoperation system usually composes of two robot teleoperators that are connected mechanically, electrically or wirelessly in a manner that allows the human operator to control one of the teleoperators, called the master, to generate commands that map to the remote slave manipulator, called the slave. 
         [0018]    The teleoperator is thus a machine that enables the human user or operator to sense, grasp, and mechanically manipulate objects from a distance. In general, any tool that extends a person&#39;s mechanical action beyond her reach is considered to be a teleoperator. A telerobot is a subclass of a teleoperator, which may be defined as a robot that accepts instructions from a distance, generally from a human operator and performs live actions at a distant environment through the use of sensors or other control mechanisms. A telerobot usually has sensors and effectors for manipulation and mobility, such that the human operator may communicate with both. Telemanipulation refers to when a slave robot arm or system, usually in a remote and/or dangerous environment, tracks the motion of the master manipulator or follows commands accordingly. Telemanipulation is divided into two strongly coupled processes; the interaction between the operator and the master device, and the interaction between the remote slave device and its environment. 
         [0019]    In the example below,  FIG. 1  is a context diagram of a robotics environment  100  suitable for use with the present invention. Referring to  FIG. 1 , a telepresence operator device  102  includes a teleoperator  110  for detecting movement of a slave manipulator  112  responsive to the operator  102 . An interface  114  to the slave manipulator  112  is operable for transmitting the detected movement and receiving telepresence signals  116  from the teleoperator  112 . The operator device  102  transmits teleoperative signals  118  to the teleoperator  112 , and includes one or more toroidal actuators  150 - 1  . . .  150 - 3  ( 150  generally) responsive to the telepresence signals  116  for providing haptic feedback based on the slave manipulator  112 . The haptic feedback is indicative of a compressive resistance force from a robotically gripped object. Any suitable wired or wireless mechanism may be employed for the telepresence and teleoperator signals  116 ,  118 . A human agent  101  is typically in communication with the operator device  102  for detecting movement and providing the haptic feedback. 
         [0020]      FIG. 2  is a perspective view of the toroidal actuator  150  in the environment of  FIG. 1 . Referring to  FIGS. 1 and 2 , the toroidal actuator  150  is responsive to fluidic pressure for providing haptic feedback from a teleoperated robotic member, the haptic feedback defined by increasing fluidic pressure indicative of a compressive resistance force from a robotically gripped object. In the example shown, the toroidal actuator  150  takes the form of an elongated cylindrical shape having a tubular void defining an elongated cavity  152  or void adapted for insertion of a digit (finger) of a user. The toroidal actuator  150  is a fluidically sealed, tubular shape that tends towards a rigid, linear orientation from increased internal pressure. A deformable orientation, such as from an articulated user digit, is permitted at a lower pressure, and the toroidal actuator resists curvature as pressure is increased. A supply tube  156  is configured to provide air pressure or other fluidic medium for increasing pressure in the toroidal actuator  150 . 
         [0021]    The toroidal actuator  150  includes an elongated body adapted to contain the pressurized fluid (air), and the elongated cavity  152  is concentrically disposed within the elongated body  154 . The elongated cavity  152  is adapted to define a linear cavity or shape responsive to increased fluidic pressure, such that a force required to manipulate the elongated cavity in an annular shape is proportional to the fluid pressure. In other words, as the air pressure in the toroidal actuator  150  increases, the elongated shape tends towards a linear orientation. Other fluidic approaches, such as hydraulic response, may be employed. An inserted user member  160 , or digit, therefore, will encounter increased resistance to an articulation or “bend” as the pressure increases to simulate resistance from a gripped object. A curvature sensor such as an optical tube  170  provides teleoperative signals  118  to the robotic teleoperator  112  via an optical signal  172 . In the example configuration, the curvature sensor is an optical sensor disposed at an end of a light diffusing tube, 
         [0022]      FIGS. 3A and 3B  show the toroidal actuator  150  in an extended ( FIG. 3A ) and retracted state ( FIG. 3B ). Referring to  FIGS. 2-3B , the toroidal actuator  150  is responsive to the fluid pressure  162  for exerting a straightening force, shown by arrow  164 , on a user member  160  (finger or digit) inserted within a void or cavity  152  in the toroidal actuator  150 . As discussed above, the toroidal actuator  150  defines an elongated cavity  152 , such that the cavity  152 ′ may maintain a curved shape at a lower fluid pressure and assume a linear shape  152 ″ in response to increasing fluid pressure as air pressure  162  inflates the toroidal actuator  150 . The toroidal actuator  150  is therefore configured to exert a force on an object in the cavity to conform to the linear shape. In the disclosed approach, the object is a user&#39;s finger and the response is based on resistance from a robotically gripped object. 
         [0023]    The telepresence signals  116  initiate haptic feedback for inflating the toroidal actuator  150  from increased pressure. This is in response to teleoperator signals emanating from the optical tube  170  adjacent the toroidal actuator  150 . The optical tube  170  is flanked by an emitter  174  and optical sensor  176 . The intensity of received light transmitted from the emitter  174  to the optical sensor  176  diminishes proportionally with the curvature, as light transmission erodes around the curve. The optical signal  172  driving the robotic gripping motion is based on the intensity of light received by the optical sensor  176  and diminishes with an increased articulation angle  178 . 
         [0024]    In this manner, the toroidal actuator  150  is configurated for curvature sensing of an inserted member  160 , such that the interface  114  is adapted to transmit the curvature as the detected movement, in which the pressure in the toroidal actuator  150  increases based on sensed resistance force from a robotically gripped object, now discussed further below. 
         [0025]      FIG. 4  shows an exploded view of a toroidal actuator of  FIGS. 2-3B . Referring to  FIGS. 2 and 4 , the toroidal actuator  150  is disposed between a proximal frame  210  and a distal frame  212 . The generally tubular shape of the toroidal actuator  150  may take a more rectangular form in response to a shape of the frames  210 ,  212 , however the elongated cavity  152  operates similarly with respect to the member  160  inserted into a proximal end  220 . The inserted member extends to a distal end  222  where the member  160  communicates with an end actuator  230 . The end actuator  230  provides haptic feedback to a fingertip portion  160 ′ of the member  160 . 
         [0026]      FIG. 5  shows a plurality of toroidal actuators in an operator glove assembly. In a particular configuration, the toroidal actuators  150  are arranged in an assembly including two digits  150 - 1 ,  150 - 2  and a thumb  150 - 3 , form an integrated assembly with the operator device  102  to correspond to slave members  250 - 1  . . .  250 - 3  driven from the slave manipulator. The integrated assembly forms a Haptic Exoskeletal Robot Operator (HERO) glove assembly suited for a human user hand. 
         [0027]      FIG. 6  shows a perspective view of the glove assembly of  FIG. 5 . Referring to  FIGS. 5 and 6 , the operator device  102  is above a wrist position of a user for enabling insertion of fingers into the toroidal actuators  150 - 1  and  150 - 2  and a thumb into toroidal actuator  150 - 3 . The dimensions of the toroidal actuators  150  in the example of  FIG. 6  is such that the fingers  150 - 1 ,  150 - 2  have a length roughly 3 times the width and the thumb actuator  150 - 3  is about twice as long as it is wide. Other suitable dimensions may be employed. 
         [0028]      FIG. 7  shows the glove of  FIG. 5  being used to grip an object. Referring to  FIGS. 4, 5 and 7 , the slave members  250  have closed around a robotically gripped object  260 . Touch sensors  252 - 1  . . .  252 - 3  disposed at the ends of respective slave members  250  sense contact and pressure with the grasped object  260 . 
         [0029]    Each of the toroidal actuators  150  is responsive based on soft sensing of the robotic actuator operating as the slave member  250  responsive to curvature of the toroidal actuator  150 . The fluidic pressure in the toroidal actuator  150  increases in response to an increased force signal from the robotic actuator. Soft touch sensors  252 , which return a variable or proportional signal indicative of a grasp pressure, are used to define a pressure for the toroidal actuators  150 . 
         [0030]    Each of the toroidal actuators  150  is responsive to a solenoid valve driven by a PWM (pulse width modulation) for exerting the fluidic pressure. Pressure to the toroidal actuators is controlled by solenoid valves  151 - 1  . . .  151 - 3  and managed via pulse width modulation (PWM) or other suitable control to attain the desired pressure and resistance. The solenoid valves  151  are configured to vary the pressure in the toroidal actuators  150  to simulate the sense of touch. Curvature sensors  170  and inertial measurement units are used to capture the glove&#39;s pose to control the slave robot, or teleoperator  112 . 
         [0031]    Contact sense denoting an initial contact may be separated from the variable force response provided by the toroidal actuators. Each of the toroidal actuators  150  may have an end actuator  230 - 1  . . .  230 - 3  disposed at a distal end  212  of the toroidal actuator  150 . As indicated above, each toroidal actuator  150  further includes a proximal end  210  adapted for insertion of an operator member  160 , such that the end actuator  230  is adapted for communication with the operator member  160  and responsive to robotic contact with the robotically gripped object  260 . The end actuator  230  may provide a vibratory stimulus, a mild electrical signal, or other stimuli to a fingertip end of the inserted member  160 . It should be emphasized that the “touch” sensation provided by the end actuators  230  may be distinct from the proportional response of the toroidal actuator  150  response to the soft touch sensors  252 , as the touch sensation is a Boolean relation, while the toroidal actuator  150  provides an increasing force as the slave member  150  grip is increased. 
         [0032]      FIG. 8  shows a full operator telepresence arm assembly using the glove assembly of  FIGS. 6 and 7 . The glove assembly defining the operator device  102  as in  FIG. 6  may be combined with a robotic positioning apparatus for disposing the teleoperator “claw” including the slave members  250 . The toroidal actuator  150  is coupled to a robotic master, such that the teleoperated robotic member is responsive to the robotic master for positioning the teleoperated robotic member in communication with the robotically gripped object.  260 . Positioning sensors  180 - 1  . . .  180 - 3  sense movement of a user&#39;s upper arm, lower arm and wrist for translating movement, and dispose the slave members  250  of the teleoperator  112  to correspond to the detected arm movements. 
         [0033]    While the system and methods defined herein have been particularly shown and described with references to embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention encompassed by the appended claims.