Exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function

An exoskeleton and force feedback technology, applied in manipulators, manufacturing tools, mechanical control devices, etc., can solve problems such as bloated structure, inability to distinguish between "contact" and "non-contact" modes, and strong friction.

Inactive Publication Date: 2009-06-10
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

2. Neither can achieve two-way active drive. It can only make the human hand produce stretching movement, and the movement comes from the human hand. Therefore, it can only realize the force feedback of the finger pulp, but cannot realize the force feedback of the back of the finger.
3. Bloated structure and low integration
4. In the case of force feedback, the "contact" and "non-contact" modes cannot be well distinguished
5. The use of rope transmission brings strong friction problems, which is not conducive to control

Method used

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  • Exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function
  • Exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function
  • Exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function

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Experimental program
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specific Embodiment approach 1

[0005] Specific implementation mode one: (see figure 1 with figure 2 ) This embodiment is composed of a motor drive system 101, an extensible exoskeleton mechanism 102 and fingertips 103, the output end of the motor drive system 101 is connected with the input end of the extensible exoskeleton mechanism 102, and the extensible exoskeleton The output end of the mechanism 102 is connected with the fingertip 103 .

specific Embodiment approach 2

[0006] Specific implementation mode two: (see Figure 1 ~ Figure 3 ) The motor driving mechanism 101 described in this embodiment is composed of a DC brushless motor 41, a motor fixing screw 42, a motor base 43, a motor base mounting screw 44, a motor output coupling 45, a motor base positioning pin 46, and a mounting pad cover 47 , gear box mounting screw 48, gear box mounting base 49, gasket 50, first frame 51, bevel gear fixing screw 52, ​​output bevel gear 53, inner sleeve 54, outer sleeve 55, sleeve fixing screw 56 , the output coupling 57 of the harmonic reducer and the harmonic reducer 58, the DC brushless motor 41 is fixed on the motor base 43 through the motor fixing screw 42, and the motor is connected between the reducer installation base 49 and the motor base 43 Seat installation screw 44, the edge place of reduction box installation base 49 rear ends is provided with reduction box installation screw 48, the rear portion of reduction box installation base 49 is pro...

specific Embodiment approach 3

[0007] Specific implementation mode three: (see figure 1 , figure 2 , Figure 4 with Figure 7 ) The extensible exoskeleton mechanism 102 of this embodiment consists of an input bevel gear 1, a second frame 81, a third frame 82, two first connecting plates 18, two second connecting plates 21, and a fingertip interface 15 , the first parallelogram linkage mechanism 2, the second parallelogram linkage mechanism 8, the third parallelogram linkage mechanism 14, the first wire rope transmission mechanism 5 and the second wire rope transmission mechanism 11, two first connecting plates 18 They are respectively arranged on both sides of the third frame 82, and the two second connecting plates 21 are respectively arranged on both sides of the second frame 81. The first parallelogram linkage mechanism 2 is composed of the first connecting rod 2- 1. The second connecting rod 2-2, the third connecting rod 2-3 and the fourth connecting rod 2-4 are composed, and the second parallelogra...

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Abstract

The invention discloses an exoskeleton finger with a finger tip position following and finger tip bidirectional feedback functions, which relates to a finger of a data glove with bidirectional active drive and force feed back functions. The invention aims to solve the drawbacks that the prior force-feedback data glove can not move without the cooperation of human fingers, can not realize bidirectional active drive, is bloated in structure and low in integration, can not well tell a 'contact' mode from a 'non-contact' mode during force feedback, has a serious friction problem and is inconvenient to control. The output end of a motor driving system of the exoskeleton finger is connected with the input end of an extendable exoskeleton mechanism. The output end of the extendable exoskeleton mechanism is connected with a finger tip force feedback device and a position following device to form a modularized force feedback finger. The exoskeleton finger has the advantages of realizing following positions where the finger of an operator moves and force feedback in a free space or a constrained space according to the operation of a following hand to improve the virtual reality and the sound-surround ambiance of remote control, along with more compact structure, high system bandwidth.

Description

technical field [0001] The invention relates to a data glove finger with bidirectional active drive and force feedback. Background technique [0002] At present, the commonly used force feedback data gloves at home and abroad mainly include the following types of Cyber-Grasp (force feedback data gloves), Sensor Glove II force feedback data gloves, force feedback data gloves CAS-Grasp of the Institute of Automation, Chinese Academy of Sciences, etc. These data The glove finger has the following disadvantages: one, it needs to cooperate with every knuckle of the hand finger to form a polygonal link mechanism to move. Two, can not realize two-way active drive can only make human hand produce stretching motion, and motion originates from human hand, therefore, can only realize the force feedback of finger pulp, can't realize the force feedback of finger back. Third, the structure is bloated and the integration level is low. 4. In the force feedback, the "contact" and "non-cont...

Claims

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Application Information

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IPC IPC(8): B25J13/08G05G1/00G06F3/01
Inventor 方红根谢宗武刘宏倪风雷赵京东朱映远孙奎
Owner HARBIN INST OF TECH
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