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Index finger force feedback device

A technology of force feedback and index finger, which is applied in instruments, electrical digital data processing, manipulators, etc., can solve the problems of expensive force feedback data gloves, complex systems, 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
Comparison scheme
Effect test

specific Embodiment approach 1

[0018] Specific implementation mode one: as figure 2 As shown, the index finger force feedback device 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, and a clutch cover 44. The friction plate slide bar 42 is fixedly connected to the shaft of the micro motor 40, the two clutch friction plates 41 are inserted into the two ends of the friction plate slide bar 42 respectively, and a return tension spring 43 is connected between the two clutch friction plates 41, and the clutch The 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 4...

specific Embodiment approach 2

[0019] Specific implementation mode two: as figure 1 , Figure 4 and Figure 5 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 . The bottom of metacarpophalangeal joint base 29 (embedded bearing 39) is affixed to the shaft of an angle sensor 18 by screws 36, and said metacarpophalangeal joint base 29 can rotate around the axis of bottom angle sensor 18. The outer edge of the base 29 bottom 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 another angle sensor 18 is fixed on the bottom of the metacarpophalangeal joint base 29 by a screw 35. In the hole seat L, the shaft of the angle sensor 18 and one end of the rocking arm 27 (embedded bearing 23) are fixedly connected by a screw 36, and t...

specific Embodiment approach 3

[0020] Specific implementation mode three: as figure 1 , Figure 6 and Figure 7 As shown, the joint detection driving mechanism 109 includes a driving component 111 , an angle sensor 18 , a rocker arm 19 , a gear case cover 51 , a gear case cover 52 and a knuckle base 53 . The knuckle base 53 is provided with a hole seat M and a row of mounting holes Q for ball heads 20 or screws 24, and the angle sensor 18 is fixed in the hole seat M of the knuckle base 53 by screws 36, The shaft of the angle sensor 18 in the hole seat M is fixedly connected with the rocking arm 19 by a screw 35, the gear axis on the rocking arm 19 coincides with the axis of the rocking arm rotation, and the gear of the rocking arm 19 is decelerated The gear set 60 is engaged with the gear of the driving part 111 , the driving part 111 is installed on the knuckle base 53 , and the other end of the rocker arm 19 is fixedly connected to the ball head 20 .

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Abstract

The invention provides an index finger force feedback device and relates to a device which can detect the finger motion states of the hands and feedback force exerted on the corresponding finger joints of the slave hand. In order to overcome the defects that as an existing force feedback device joint measuring mechanism and a force feedback mechanism are separated, a system is complex, the structure is complex, maintenance is difficult, bi-directional active driving can not be achieved, and price is high, a joint detecting mechanism and a force feedback mechanism are integrated into one, a unique connecting mode and ingenious joint measurement point layout are adopted, and an operator can move the detected fingers flexibly to the maximum degree when using the device; moreover, the motion states can be detected accurately, so that the corresponding controlled finger joints of the slave hand and the corresponding finger joints of the operator coordinate and act congruously, and the force exerted on the slave hand in the specific working environment can be fed back to the operator to enhance the immediacy sense of virtual reality or teleoperation.

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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IPC IPC(8): G06F3/01G06F3/0346B25J19/00B25J19/02
CPCG06F3/014B25J13/085G06F3/016
Inventor 苏茂
Owner 苏茂
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