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External-framework type bidirectional force feedback data glove

A technology of data glove and force feedback, applied in the field of data glove, can solve the problems of complex system, high price of force feedback data glove, difficult maintenance, etc.

Active Publication Date: 2013-06-19
苏茂
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the disadvantages of the existing force feedback data gloves, such as high price, complex system, and difficult maintenance, and proposes a combination of an external angle sensor and a joint two-way active drive device, which is used to detect the movement information of human hand joints. At the same time, it also converts the feedback force sensory information into a force or torque that directly acts on the human hand, which greatly simplifies the complex force feedback data glove system

Method used

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  • External-framework type bidirectional force feedback data glove
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  • External-framework type bidirectional force feedback data glove

Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0033] Specific implementation mode one: as figure 1 , figure 2 and image 3 As shown, the outer frame type two-way force feedback data glove includes a glove 101, a palm base 102, a thumb detection drive mechanism 103, an index finger detection drive mechanism 104, a middle finger detection drive mechanism 105, a ring finger detection drive mechanism 106, and a little finger detection drive mechanism. Mechanism 107 and metacarpophalangeal joint detection driving mechanism 108 . The outer frame type two-way force feedback data glove is suitable for most operators' hands of different sizes, so most of the components are preset with a plurality of installation holes arranged in a straight line, so that the operator can choose the appropriate one according to actual needs. Relevant components are installed in the position, so that the positions of each joint point of the data glove and each joint point of the operator's finger correspond to the best state. The glove 101 is ma...

specific Embodiment approach 2

[0034] Specific implementation mode two: as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the thumb detection drive mechanism 103 includes a thumb metacarpophalangeal base 5, a thumb proximal knuckle base 4 and a thumb distal knuckle base 3 hinged sequentially with the palm base 102, and every two adjacent bases Angle sensors 18 and drive components 111 for detecting joint movement information are installed at the hinges of the seat to detect the position and motion state of each knuckle of the thumb in three-dimensional space, and realize the force feedback function under the action of the drive component 111.

[0035] like Figure 4 As shown, the driving part 111 includes a micro motor 40 and a clutch, and the clutch is composed of a clutch friction plate 41, a friction plate slide bar 42, a return tension spring 43, and a clutch cover 44. The friction plate slide bar 42 and the micro motor 40 The two clutch friction plate...

specific Embodiment approach 3

[0039] Specific implementation mode three: as figure 1 , Figure 8 and Figure 9 As shown, the metacarpophalangeal joint detection driving mechanism 108 includes a driving component 111 , a rocker arm 27 , a metacarpophalangeal joint base 29 , a connecting rod 38 , a gear case cover 50 and two angle sensors 18 . Metacarpophalangeal joint base 29 bottoms (embedded bearing 39) and the axle of an angle sensor 18 are fixedly connected by screw 36, and described metacarpophalangeal joint base 29 can rotate around the axis of bottom angle sensor (18), and described palm The lower outer edge of the knuckle base 29 is provided with a gear 59, the axis of the gear 59 coincides with the axis of the angle sensor 18 at the bottom of the metacarpophalangeal joint base 29, and the other angle sensor 18 is fixed on the metacarpophalangeal joint base by a screw 35. In the hole seat L of 29, the shaft of the angle sensor 18 and one end of the rocker arm 27 (embedded bearing 23) are fixedly c...

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Abstract

The invention provides to an external-framework type bidirectional force feedback data glove and relates to a force feedback data glove which is used for detecting human figure moving status and is provided with a bidirectional active drive to feed back force borne by an auxiliary hand. The external-framework type bidirectional force feedback data glove aims to resolve the problems that an existing force feedback data glove is separated in measurement mechanism and feedback mechanism, complex in system, tumid in structure, difficult to maintain, unachievable in bidirectional drive, expensive in price and the like. According to the external-framework type bidirectional force feedback data glove, a joint detection mechanism is connected with a force feedback mechanism into a whole, a unique connecting mode and an ingenious joint measurement point layout are used, five fingers of a user are enabled to keep the maximum flexibility when the force feedback data glove is used, the moving status of each joints of the fingers can be detected accurately, the movement of each finger joint of the controlled auxiliary hand is enabled to be coordinated with the movement of a corresponding finger joint of an operator, the force bearing conditions of the auxiliary hand in a specific working environment can be fed back to the operator, and the immediacy sense of a virtual reality or a remote operation is enhanced.

Description

technical field [0001] The invention relates to a data glove which detects the movement state of human fingers and has the functions of bidirectional active driving and force feedback. Background technique [0002] Due to the development of science and technology, robots are gradually being used in an increasing range. As a reliable and mature robot, teleoperation robots are widely used in various dangerous, complex and inaccessible environments. It uses a very reliable control method, which is directly controlled by the operator's instructions. As the tasks performed by teleoperated robots become more and more complex, people put forward higher requirements for their flexibility while pursuing reliability, and it is necessary to implement teleoperation on complex manipulators to control the movement of multiple fingers of the manipulator. Multiple joints move together to achieve specific functions, which requires the use of data gloves, and the data glove with force feedba...

Claims

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Application Information

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IPC IPC(8): B25J21/02
Inventor 苏茂
Owner 苏茂
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