HAND FORCE FEEDBACK AND SENSING SYSTEM

摘要

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.