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Thumb force feedback detection driving device

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

Inactive Publication Date: 2015-06-03
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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  • Thumb force feedback detection driving device
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  • Thumb force feedback detection driving device

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0015] Specific implementation mode one: Figure 5 As shown, the thumb force feedback detection driving 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, The clutch cover 44 is composed of the friction plate sliding rod 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 plate sliding bar 42 respectively, and a return tension spring is connected between the two clutch friction plates 41 43. 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 4...

specific Embodiment approach 2

[0016] Specific implementation mode two: as figure 1 , figure 2 and Figure 5 As shown, the thumb force feedback detection driving device includes a palm base 102, a thumb far knuckle base 3, a thumb proximal knuckle base 4, a thumb metacarpophalangeal base 5, a driving part 111, an angle sensor 18, a rocker Arm 19, ball head 20, connecting rod 21 and reduction gear set 60. The thumb metacarpophalangine base 5 is fixed on the thumb metacarpophalangine of the human hand, the thumb metacarpophalangine base 5 adopts a "C" shape to surround the thumb metacarpophalangine, and the opening faces the side where the thumb is connected to the palm surface , the thumb metacarpophalangine base 5 is located at the back of the thumb metacarpophalangine with a rocker F, and the rocker F of the thumb metacarpophalangine base 5 is connected with the rocker 19 through the ball head 20 and the ball head buckle The spherical hinge that rod 21 cooperates is connected, and the axle of described...

specific Embodiment approach 3

[0017] Specific implementation mode three: as figure 1 , image 3 , Figure 4 and Figure 5As shown, the thumb proximal knuckle base 4 is fixed on the thumb proximal knuckle part of the human hand, the thumb proximal knuckle base 4 half surrounds the thumb proximal knuckle, and the cross section surrounding the junction is "C" shape, with an opening Facing the front side of the palm, there are two hole seats H and K at the position of the base on the outer side of the proximal knuckle of the thumb, and the positions of the two hole seats correspond to the metacarpophalangeal joint (MP) and interphalangeal joint of the thumb respectively (DIP). Thumb proximal knuckle base 4 and thumb metacarpophalangeal base 5 are hinged by rocking arm 28, connecting rod 26, rocking arm 27, and the bottom of said rocking arm 28 (embedded bearing 23) and the shaft of angle sensor 18 are passed through screw 36, the angle sensor 18 is fixed in the hole seat H of the thumb proximal knuckle bas...

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Abstract

The invention discloses a thumb force feedback detection driving device, and relates to a device capable of detecting the motion state of fingers and feeding back forces borne by corresponding finger joints of a slave hand. The device solves the problems that according to an existing force feedback device, a joint measuring mechanism and a force feedback mechanism are separated, a system is complex in structure and bloated, maintenance is difficult, bidirectional active driving cannot be achieved, and the price is high. According to the device provided by the invention, a joint detection mechanism and a force feedback mechanism are integrated, and a unique connecting manner and an ingenious joint measuring point layout are adopted, so that when an operator uses the device, detected fingers can be kept flexible to the greatest extent, the motion state can be precisely detected, and the motion of the corresponding finger joints of the controlled slave hand and the motion of the corresponding finger joints of the operator are coordinated consistently; and the force bearing conditions of the slave hand in the specific working environment can be fed back to the operator, so that the virtual reality or the remote operation immediacy sense 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): B25J3/00B25J19/00
Inventor 苏茂
Owner 苏茂
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