Exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function

An exoskeleton and force feedback technology, applied in manipulators, manufacturing tools, mechanical control devices, etc., can solve problems such as bloated structure, inability to distinguish between "contact" and "non-contact" modes, and strong friction.
CN101450484AInactive Publication Date: 2009-06-10HARBIN INST OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
HARBIN INST OF TECH
Publication Date
2009-06-10
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses an exoskeleton finger with a finger tip position following and finger tip bidirectional feedback functions, which relates to a finger of a data glove with bidirectional active drive and force feed back functions. The invention aims to solve the drawbacks that the prior force-feedback data glove can not move without the cooperation of human fingers, can not realize bidirectional active drive, is bloated in structure and low in integration, can not well tell a 'contact' mode from a 'non-contact' mode during force feedback, has a serious friction problem and is inconvenient to control. The output end of a motor driving system of the exoskeleton finger is connected with the input end of an extendable exoskeleton mechanism. The output end of the extendable exoskeleton mechanism is connected with a finger tip force feedback device and a position following device to form a modularized force feedback finger. The exoskeleton finger has the advantages of realizing following positions where the finger of an operator moves and force feedback in a free space or a constrained space according to the operation of a following hand to improve the virtual reality and the sound-surround ambiance of remote control, along with more compact structure, high system bandwidth.
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Description

technical field

[0001] The invention relates to a data glove finger with bidirectional active drive and force feedback. Background technique

[0002] At present, the commonly used force feedback data gloves at home and abroad mainly include the following types of Cyber-Grasp (force feedback data gloves), Sensor Glove II force feedback data gloves, force feedback data gloves CAS-Grasp of the Institute of Automation, Chinese Academy of Sciences, etc. These data The glove finger has the following disadvantages: one, it needs to cooperate with every knuckle of the hand finger to form a polygonal link mechanism to move. Two, can not realize two-way active drive can only make human hand produce stretching motion, and motion originates from human hand, therefore, can only realize the force feedback of finger pulp, can't realize the force feedback of finger back. Third, the structure is bloated and the integration level is low. 4. In the force feedback, the "contact" and "non-cont...

Claims

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