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Far knuckle force feedback device

A feedback device and joint technology, applied in the fields of instruments, electrical digital data processing, manipulators, etc., can solve the problems of complex system, difficult maintenance, and expensive force feedback data gloves, etc.

Inactive Publication Date: 2015-05-20
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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Experimental program
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Effect test

specific Embodiment approach 1

[0009] Specific implementation mode one: as Figure 5 As shown, the far knuckle force feedback device includes a driving part 111, and the driving part 111 includes a micro motor 40 and a clutch, and the clutch is composed of a clutch friction plate 41, a friction plate slide bar 42, a return tension spring 43, a clutch The cover 44 is composed of the friction plate slide bar 42 and the shaft of the micro motor 40, and the two clutch friction plates 41 are respectively inserted into the two ends of the friction plate slide bar 42, and the return tension spring 43 is connected between the two clutch friction plates 41. The clutch cover 44 is inserted into the shaft of the micro-motor 40, and the clutch cover 44 is in sliding contact with the shaft of the micro-motor 40, and the clutch cover 44 is provided with transmission gears. Action implementation process: when the rotation speed of the micro motor 40 is higher than a certain value, the two clutch friction plates 41 overcom...

specific Embodiment approach 2

[0010] Specific implementation mode two: as image 3 with Figure 4 As shown, the joint detection driving mechanism 100 includes a driving component 111 , an angle sensor 18 , a rocker arm 19 , a gear case cover 57 and a knuckle base 58 . The knuckle base 58 is provided with a hole seat P and a row of mounting holes R for the screws 24, the angle sensor 18 is fixed in the hole seat P of the knuckle base 58 by screws 36, and the hole seat The shaft of the angle sensor 18 in the P is fixedly connected with the rocking arm 19 by a screw 35, and the gear axis on the rocking arm 19 coincides with the axis of the rocking arm rotation, and the gear of the rocking arm 19 passes through the reduction gear set 60. Cooperate with the gear of the driving part 111 , the driving part 111 is installed on the knuckle base 58 , and the other end of the rocker arm 19 is fixedly connected to the ball head 20 .

specific Embodiment approach 3

[0011] Specific implementation mode three: as figure 1 , figure 2 , image 3 , Figure 4 with Figure 5 As shown, the far knuckle base 15 is fixed on the far knuckle position of the human hand. One end of the far knuckle base 15 is cylindrical surrounding the far knuckle, and the other end is hemispherical. The longitudinal section of the whole base It is "U"-shaped, with the opening facing the distal interphalangeal joint (DIP), and a rocker arm is arranged at the position where the base is located on the back of the far knuckle, and the rocker arm is perpendicular to the back of the knuckle where it is located. The rocker arm 19 of the joint detection driving mechanism 110 at the middle phalanx is connected to the base 15 of the far phalanx through a ball joint 20 and a spherical hinge that cooperates with a ball joint connecting rod 21. Action implementation process: When the operator’s distal interphalangeal joint (DIP) performs flexion and extension movements, the di...

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Abstract

The invention relates to a device for detecting the motion state of fingers of a human hand and feeding back stress borne by the corresponding knuckles of the hand, in particular to a far knuckle force feedback device. The far knuckle force feedback device aims at solving the problems that a joint measuring mechanism and a force feedback mechanism of an existing force feedback device are separated, the system is complex, the structure is overstaffed, maintenance is difficult, bidirectional active driving cannot be achieved, and the price is high. A joint detecting mechanism and the force feedback mechanism are integrated, and are arranged through a unique connecting mode and ingenious knuckle measuring points, when an operator uses the device, the detected finger can be kept flexible to the maximum degree, the motion state can be precisely detected, the corresponding knuckle of a controlled human hand can move consistent with the corresponding knuckles of the operator in a cooperating mode, and the stressing condition of the hand in the specific work environment can be fed back to the operator so that the sense of immediacy of virtual reality or teleoperation can be enhanced.

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...

Claims

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Application Information

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IPC IPC(8): G06F3/01G06F3/0346B25J19/00B25J19/02
CPCG06F3/016B25J3/00B25J13/085G06F3/0346G06F2203/0331
Inventor 苏茂
Owner 苏茂
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