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Thumb palm knuckle force feedback detection driving device

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

Inactive Publication Date: 2015-04-29
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 palm knuckle force feedback detection driving device
  • Thumb palm knuckle force feedback detection driving device
  • Thumb palm knuckle force feedback detection driving device

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0012] Specific implementation mode one: image 3 As shown, the thumb metacarpophalangeal 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 pulled by a clutch friction plate 41, a friction plate slide bar 42, and a return The spring 43 and the clutch cover 44 are composed of the friction disc slide bar 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 disc slide bar 42 respectively. Position extension spring 43, clutch cover 44 is inserted into the axle of micromotor 40, is sliding contact between the axle of clutch cover 44 and micromotor 40, and clutch cover 44 is provided with transmission gear. Action implementation process: when the rotation speed of the micro motor 40 is higher than a certain value, the two clutch friction plates 41 overcome the pulling force of the return spring 43 and slide resp...

specific Embodiment approach 2

[0013] Specific implementation mode two: as figure 1 , figure 2 and image 3 As shown, the thumb metacarpophalangeal joint force feedback detection driving device includes a palm base 102, a thumb metacarpophalangeal base 103, a driving component 111, an angle sensor 18, a rocker arm 19, a ball head 20, a connecting rod 21 and a reduction gear Group 60. The thumb metacarpophalangine base 103 is fixed on the thumb metacarpophalangine of the human hand, the thumb metacarpophalangine base 103 adopts a "C" shape to surround the thumb metacarpophalangine, and the opening faces the side where the thumb is connected to the palm, so The base 103 of the palm knuckle of the thumb is located at the back of the knuckle of the thumb and is provided with a rocker F. The rocker F and the rocker arm 19 of the base 103 of the palm knuckle of the thumb pass through the ball head 20 and the ball head buckle connecting rod 21 Cooperating spherical hinge connection, the shaft of the rocking ar...

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Abstract

The invention relates to a device for detection finger movement state of a human hand and having a function of feeding back force received by corresponding finger joints of a slave hand, in particular to a thumb palm knuckle force feedback detection driving device, and aims to solve the problem that an existing force feedback device is provided with a joint measuring mechanism and a force feedback mechanism which are separated, is complex in system, complicated in structure and difficult to maintain, cannot realize bidirectional active driving and is high in cost. The device integrates a joint detection mechanism with a force feedback mechanism, and an unique connecting mode and ingenious joint measuring point layout are adopted, so that when an operator uses the device, detected fingers can maintain flexibility to greatest extent; movement state can be detected accurately, so that corresponding finger joints of a controlled slave hand and corresponding finger joints of the operator can act coordinately, and stress condition of the slave hand in specific working environment can be fed back to the operator to enhance sense of immediacy of virtual reality or remote operation.

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): B25J19/00B25J3/00
Inventor 苏茂
Owner 苏茂
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