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Device for bidirectional knuckle detection driving

A driving component and interaction technology, applied in the field of data gloves, can solve problems such as difficult maintenance, expensive force feedback data gloves, and complex systems

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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  • Device for bidirectional knuckle detection driving
  • Device for bidirectional knuckle detection driving
  • Device for bidirectional knuckle detection driving

Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0011] Specific implementation mode one: image 3 As shown, the device for two-way knuckle detection driving includes a driving part 111, and the driving part 111 includes a micro motor 40 and a clutch, and the clutch is pulled by a clutch friction plate 41, a friction plate slide bar 42, and a return The spring 43 and the clutch cover 44 are composed of the friction disc slide bar 42 and the shaft of the micro motor 40, and the two clutch friction plates 41 are inserted into the two ends of the friction disc slide bar 42 respectively. Position extension spring 43, clutch cover 44 is inserted into the axle of micromotor 40, is sliding contact between the axle of clutch cover 44 and micromotor 40, and clutch cover 44 is provided with transmission gear. Action implementation process: when the rotation speed of the micro motor 40 is higher than a certain value, the two clutch friction plates 41 overcome the pulling force of the return spring 43 and slide respectively to the two e...

specific Embodiment approach 2

[0012] Specific implementation mode two: as figure 1 , figure 2 and image 3 As shown, the phalanx base 4 is fixed on the phalanx of the human hand, the phalanx base 4 half surrounds the phalanx, the cross section surrounding the junction is "C" shape, and the opening faces the side where the phalanx does flexion and extension. On the side of the base, there are two holes H and K on the side of the base, and the positions of the two holes correspond to the two adjacent finger joints respectively. The bottom of the rocker arm 28 (embedded bearing 23) and the shaft of the angle sensor 18 are fixedly connected by screws 36, and the angle sensor 18 is fixed in the hole seat H of the knuckle base 4 by the gear box base 22 and the screws 35 , the axis of the gear on the rocker arm 28 coincides with the axis of rotation of the rocker arm, and the gear of the rocker arm 28 meshes with the gear of the driving part 111 through the cooperation of the reduction gear set 60, and the dri...

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Abstract

The invention relates to a device which is used for detecting the motion state of the fingers of a human hand and has the function of feeding back force borne by corresponding finger knuckles of the human hand, in particular to a device for bidirectional knuckle detection driving. The device aims at solving the problems that a knuckle measuring mechanism and a force feedback mechanism of an existing force feedback device are separated, the system is complex, the structure is overstaffed, maintenance is difficult, bidirectional active driving cannot be achieved, and the price is high. A knuckle detecting mechanism and a force feedback mechanism are integrated, and are arranged through a unique connecting mode and ingenious knuckle measuring points, when an operator uses the device, the detected finger can be kept flexible to the maximum degree, the motion state can be precisely detected, the corresponding finger knuckle of the controlled human hand can move consistently with the corresponding finger knuckles of the operator in a cooperating mode, and the stressing condition of the human hand in the specific work environment can be fed back to the operator so that the sense of immediacy of virtual reality or teleoperation can be enhanced.

Description

technical field [0001] The invention relates to a data glove 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 ef...

Claims

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Application Information

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IPC IPC(8): G06F3/01G06F3/0346B25J19/00B25J19/02
CPCG06F3/014B25J3/00B25J13/085
Inventor 苏茂
Owner 苏茂
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