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1. (WO2002007143) HAND FORCE FEEDBACK AND SENSING SYSTEM

Pub. No.:    WO/2002/007143    International Application No.:    PCT/US2000/019137
Publication Date: Jan 24, 2002 International Filing Date: Jul 13, 2000
IPC: G06F 3/00
Applicants: RUTGERS, THE STATE UNIVERSITY OF NEW JERSEY
BOUZIT, Mourad
BURDEA, Grigore, C.
Inventors: BOUZIT, Mourad
BURDEA, Grigore, C.
Title: HAND FORCE FEEDBACK AND SENSING SYSTEM
Abstract:
The present invention relates to a force feedback and sensing system for a hand (11) in which an actuator system (20) and sensing system (80) is coupled to a palm base (50) attached to the hand or a glove (12). The actuator system includes double acting actuators (22a, 22b, 22c and 22d) which provide force feedback against digits (13-17) of the hand to simulate a real experience a user would have if directly manipulating a real object. The actuators are rotatably mounted to the palm base through a two degrees of freedom rotation joint.