Four degrees of freedom wire driven man-machine interaction device capable of feeding back grasping force

Abstract

The invention discloses a four degrees of freedom wire driven man-machine interaction device capable of feeding back grasping force, comprising a static platform, four rigid wires, four wire driven mechanism, a forefinger stall, a thumb stall and an elastic wire. The four rigid wires are pairwise divided into two groups. The two groups of rigid wires are respectively bound on a point on the thumb stall and on a point on the forefinger stall. The two stalls are connected by the elastic wire. The elastic wire and the rigid wires are collinear on the binding points on the thumb stall and the forefinger stall. The joint force of the tension of the rigid wires and the elastic force of the elastic wire can provide the operators with four degrees of freedom force feedback. The device has the following advantages: the device adopts parallel structure and has large working space and high output force and moment; the device is driven by wires, is low in transmission structure inertia, low in possibility of interference occurrence among the wires and flexible in operation; the used wires have small quantity and simple structure; the device can simultaneously simulate plane three degrees of freedom sense of force and one degree of freedom sense of grasping without changing the structure of the device; and the device has strong universality and wide application field.

Description

technical field [0001] The invention relates to the field of human-computer interaction, in particular to a four-degree-of-freedom cable-driven human-computer interaction device with grasping force feedback. The device can not only simulate the three-degree-of-freedom force and moment generated when virtual objects moving on a plane collide with each other, but also can feedback the one-dimensional grasping force of two fingers when grasping the object. Background technique [0002] The force-sense human-computer interaction device is a device that provides the operator with a force-sense interaction experience. Force sensation is part of the human body's sense of touch. This feeling is mainly perceived by the sensory organs in the deep layers of human bones, joints and muscles. When people interact with the virtual reality environment, the operator feels the force when interacting with the virtual object, the shape and stiffness of the object, and even the movement of the...

AI Technical Summary

Problems solved by technology

The former mainly includes data arms and data gloves. This type of equipment is characterized by being able to track the multi-degree-of-freedom movement of the operator's arm or fingers, but it generally has the disadvantages of large size, heavy weight, and poor fidelity of force perception. It is generally used in master-slave operations of manipulators or robotic dexterous hands where realistic perception of interaction forces is required

[0004] Traditional force-sense interaction devices often can only simulate the force and force distance of one or more degrees of freedom generated when a moving object collides with other virtual objects, but cannot simultaneously simulate the grip generated when the operator grasps the moving object. force

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