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Data glove thumb near-end joint detection apparatus

A detection device and data glove technology, applied in the field of data gloves, can solve the problems of high price, difficult maintenance and complex system of force feedback data gloves.

Inactive Publication Date: 2016-08-24
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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  • Data glove thumb near-end joint detection apparatus
  • Data glove thumb near-end joint detection apparatus

Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0007] Specific implementation mode one: image 3 As shown, the data glove thumb proximal joint detection device includes a driving part 111, and the driving part 111 includes a motor 40 and a clutch device. The extension spring 43 and the clutch device cover 44 are composed of the friction plate slide bar 42 and the shaft of the motor 40, and the two clutch device friction plates 41 are inserted into the two ends of the friction plate slide bar 42 respectively, and between the two clutch device friction plates 41 A return extension spring 43 is connected, and the clutch cover 44 is inserted into the shaft of the motor 40. The clutch cover 44 is in sliding contact with the shaft of the motor 40, and the clutch cover 44 is provided with transmission gears. Action implementation process: when the rotation speed of the motor 40 is higher than a certain value, the two friction plates 41 of the clutch device overcome the pulling force of the return tension spring 43 and slide to th...

specific Embodiment approach 2

[0008] Specific implementation mode two: as figure 1 , figure 2 and image 3 As 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 base 4 by the gea...

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Abstract

The invention discloses a data glove thumb near-end joint detection apparatus, relates to an apparatus for detecting a movement state of a finger of a human hand and feeding back force on a corresponding finger joint of a slave hand, and aims to overcome the shortcomings of separation of a joint measurement mechanism from a force feedback mechanism, complicated system, swollen structure, difficult maintenance, incapability of realizing bidirectional active driving, high price and the like of an existing force feedback apparatus. According to the data glove thumb near-end joint detection apparatus, the joint detection mechanism and the force feedback mechanism are integrated, and a unique connection mode and a skillful joint measurement point layout are adopted, so that when the apparatus is used by an operator, a detected finger can be kept flexible to the maximum extent; the movement state of the finger can be accurately detected, so that the corresponding finger joint of the controlled slave hand can act cooperatively and consistently with that of the operator; and a stress condition of the slave hand in a specific working environment can be fed back to the operator for enhancing the presence of virtual reality or teleoperation.

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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Patent Type & Authority Applications(China)
IPC IPC(8): G06F3/01G06F3/033
Inventor 苏茂
Owner 苏茂
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