External-framework type bidirectional force feedback data glove

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

Active Publication Date: 2013-06-19
苏茂
View PDF7 Cites 38 Cited by
  • 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,

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • External-framework type bidirectional force feedback data glove
  • External-framework type bidirectional force feedback data glove
  • External-framework type bidirectional force feedback data glove

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0033] Specific implementation manner one: such as figure 1 , figure 2 with image 3 As shown, the outer frame type bidirectional force feedback data glove includes glove 101, palm base 102, thumb detection drive mechanism 103, index finger detection drive mechanism 104, middle finger detection drive mechanism 105, ring finger detection drive mechanism 106, and little finger detection drive The mechanism 107 and the metacarpophalangeal joint detection drive mechanism 108. The outer frame type two-way force feedback data glove can be suitable for most operators with different sizes of hands, so most parts are preset with multiple installation holes arranged in a straight line, so that the operator can choose the right one according to actual needs. Install the relevant components in the position to make the joint points of the data glove correspond to the positions of the joint points of the operator's fingers to reach the best state. The gloves 101 are made of flexible materia...

Example Embodiment

[0034] Specific implementation manner two: such as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Image 6 with Figure 7 As shown, the thumb detection driving mechanism 103 includes a thumb palm phalanx base 5, a thumb proximal phalanx base 4, and a thumb far phalanx base 3 hinged sequentially with the palm base 102, each of two adjacent bases An angle sensor 18 for detecting joint motion information and a driving part 111 are installed at the hinge joints to detect the position and motion state of each finger joint of the thumb in three-dimensional space, and realize the force feedback function under the action of the driving part 111.

[0035] Such as Figure 4 As shown, the driving component 111 includes a micro motor 40 and a clutch. The clutch is composed of a clutch friction plate 41, a friction plate sliding rod 42, a return tension spring 43, and a clutch cover 44. The friction plate sliding rod 42 and the micro motor 40 The two clutch friction plates 41 are re...

Example Embodiment

[0039] Specific implementation manner three: such as figure 1 , Figure 8 with Picture 9 As shown, the metacarpophalangeal joint detection drive mechanism 108 includes a driving component 111, a rocker 27, a metacarpophalangeal joint base 29, a connecting rod 38, a gear box cover 50 and two angle sensors 18. The bottom of the metacarpophalangeal joint base 29 (embedded bearing 39) is fixed to the axis of an angle sensor 18 by screws 36. The metacarpophalangeal joint base 29 can rotate around the axis of the bottom angle sensor (18). The lower outer edge of the knuckle base 29 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. The other angle sensor 18 is fixed to the metacarpophalangeal joint base by screws 35. In the hole seat L of 29, the shaft of the angle sensor 18 is fixed to one end of the rocker arm 27 (the embedded bearing 23) by a screw 36, and the gear axis on the r...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides to an external-framework type bidirectional force feedback data glove and relates to a force feedback data glove which is used for detecting human figure moving status and is provided with a bidirectional active drive to feed back force borne by an auxiliary hand. The external-framework type bidirectional force feedback data glove aims to resolve the problems that an existing force feedback data glove is separated in measurement mechanism and feedback mechanism, complex in system, tumid in structure, difficult to maintain, unachievable in bidirectional drive, expensive in price and the like. According to the external-framework type bidirectional force feedback data glove, a joint detection mechanism is connected with a force feedback mechanism into a whole, a unique connecting mode and an ingenious joint measurement point layout are used, five fingers of a user are enabled to keep the maximum flexibility when the force feedback data glove is used, the moving status of each joints of the fingers can be detected accurately, the movement of each finger joint of the controlled auxiliary hand is enabled to be coordinated with the movement of a corresponding finger joint of an operator, the force bearing conditions of the auxiliary hand in a specific working environment can be fed back to the operator, and the immediacy sense of a virtual reality or a remote operation is enhanced.

Description

technical field [0001] The invention relates to a data glove which detects the movement state of human fingers and has the functions of bidirectional active driving and force feedback. 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 feedba...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J21/02
Inventor 苏茂
Owner 苏茂
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap