US Patent 9468847 Tactile feedback gloves

The tactile feedback glove incorporates a plurality of pin actuators disposed inside the glove. Actuator pins point towards bottom surfaces of a user's hand inside the glove. A plurality of pivotally attached joint members is disposed inside the glove. The joint members are arranged proximately above top surfaces of a user's hand inside the glove. The pin actuators have a rectangular actuator body with bores sunk through a parallelepiped actuator body surface and arranged in a row-by-column matrix formation of solenoid cores in the bores. The pins slide up and down inside sleeves extending from the solenoid cores. The extent of each pin outside its respective bore is responsive to current flow in the solenoid core. The joint members are arranged above a user's intermediate, proximal, and distal phalanges. Motor control of the joint members determines the angular displacement of the joints directing and limiting hand motion inside the glove.