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Little finger joint force feedback device

A technology of feedback unit and joint force, applied in manipulators, manufacturing tools, etc., can solve problems such as complex systems, expensive force feedback data gloves, and difficult maintenance

Inactive Publication Date: 2015-05-20
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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Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0007] Specific implementation mode one: as image 3 As shown, the little finger joint force feedback unit includes a driving part 111, and 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, a clutch The cover 44 is composed of the friction plate slide bar 42 and the shaft of the micro motor 40, and the two clutch friction plates 41 are respectively inserted into the two ends of the friction plate slide bar 42, and the return tension spring 43 is connected between the two clutch friction plates 41. The clutch cover 44 is inserted into the shaft of the micro-motor 40, and the clutch cover 44 is in sliding contact with the shaft of the micro-motor 40, and the clutch cover 44 is provided with transmission gears. Action implementation process: when the rotation speed of the micro motor 40 is higher than a certain value, the two clutch friction plates 41 ov...

specific Embodiment approach 2

[0008] Specific implementation mode two: as figure 1 , figure 2 with image 3 As shown, the little finger joint force feedback unit includes a driving component 111 , an angle sensor 18 , a rocker arm 19 , a gear box cover 57 and a knuckle base 58 . The knuckle base 58 is provided with a hole seat P and a row of mounting holes R for the ball head 20 or the screw 24, and the angle sensor 18 is fixed in the hole seat P of the knuckle base 58 by a screw 36, The shaft of the angle sensor 18 in the hole seat P is fixedly connected to the rocker arm 19 by a screw 35, the gear axis on the rocker arm 19 coincides with the axis of rotation of the rocker arm, and the gear of the rocker arm 19 is reduced by deceleration. The gear set 60 is engaged with the gears of the driving part 111, the driving part 111 is installed on the knuckle base 58, the other end of the rocker arm 19 is fixed to the ball head 20, and the ball head 20 is connected to the corresponding measured Component con...

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Abstract

The invention discloses a little finger joint force feedback device, and relates to a device which is used for detecting the finger motion state of the hand of a person and can feed back force borne by a joint of the corresponding finger of the hand. The little finger joint force feedback device overcomes the shortcomings that a joint measurement mechanism and a force feedback mechanism of an existing force feedback device are separated, a system is complex, the structure is bloated, maintenance is difficult, bothway initiative driving cannot be achieved, and the price is expensive. A joint measurement mechanism and a force feedback mechanism are integrated together, and a unique connecting mode and the ingenious joint measurement point layout are adopted, so that when an operator uses the device, the detected finger can keep flexible to the maximum degree, the motion state can be accurately detected, a corresponding finger joint of the controlled driven hand and the corresponding finger joint of the operator move unanimously, the stress condition of the driven hand in the specific working environment can be fed back to the operator, and therefore the immediacy sense of the virtual reality or remote control is improved.

Description

technical field [0001] The invention relates to a device which detects the movement state of human fingers and has the function of two-way feedback force. 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 feedback function is the most effect...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00B25J21/02
Inventor 苏茂
Owner 苏茂
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