Far knuckle unit of data glove

Abstract

The invention discloses a far knuckle unit of a data glove, and relates to a device detecting motion states of human hand fingers and feeding back forces applied on corresponding finger joints of a slave hand. In order to overcome the shortcomings that an existing knuckle detection mechanism of a force feedback device is separated from a force feedback mechanism, system is complicated, structure is bulky, maintenance is difficult, bi-directional active driving cannot be achieved and cost is high, the knuckle detection mechanism is integrated with the force feedback mechanism, a unique connection method and a smart knuckle detecting point layout are adopted, the maximum flexibility of fingers to be detected can be maintained when an operator uses the far knuckle unit of the data glove, and the motion states can be accurately detected, so that the corresponding finger joints of the slave hand under control move consistently with the corresponding finger joints of the operator, and force bearing situation of the slave hand in a specific work environment can be fed back to the operator to enhance the sense of immediacy 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...

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 potentiometer and a joint bidirectional active drive device, which can detect the motion 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

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