Stress feedback unit for joints of third finger and middle finger

A feedback unit and ring finger technology, applied in the field of functional devices, can solve problems such as complex systems, difficult maintenance, and expensive force feedback data gloves

Inactive Publication Date: 2015-07-01
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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  • Stress feedback unit for joints of third finger and middle finger
  • Stress feedback unit for joints of third finger and middle finger
  • Stress feedback unit for joints of third finger and middle finger

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Experimental program
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specific Embodiment approach 1

[0007] Specific implementation manner one: such as image 3 As shown, the middle finger force feedback unit of the ring finger includes a driving component 111, which includes a micro motor 40 and a clutch. The clutch consists of a clutch friction plate 41, a friction plate sliding rod 42, a return tension spring 43, The clutch cover 44 is composed of the friction plate sliding rod 42 and the shaft of the micro motor 40. The two clutch friction plates 41 are respectively sleeved at both ends of the friction plate sliding rod 42. A return tension spring is connected between the two clutch friction plates 41 43. The clutch cover 44 is sleeved into the shaft of the micro motor 40, the clutch cover 44 and the shaft of the micro motor 40 are in sliding contact, and the clutch cover 44 is provided with a transmission gear. Action implementation process: When the speed of the micro motor 40 is higher than a certain value, the two clutch friction plates 41 overcome the pulling force of...

specific Embodiment approach 2

[0008] Specific implementation manner two: such as figure 1 , figure 2 with image 3 As shown, the middle finger force feedback unit of the ring finger includes a driving component 111, an angle sensor 18, a rocker arm 19, a gear box cover 51, a gear box cover 52 and a knuckle base 53. The knuckle base 53 is provided with a hole seat M and a row of mounting holes Q for the ball head 20 or screws 24, and the angle sensor 18 is fixed in the hole seat M of the knuckle base 53 by screws 36, The shaft of the angle sensor 18 in the hole seat M is fixed to the rocker arm 19 by a screw 35, the gear axis on the rocker arm 19 coincides with the axis of the rocker arm rotation, and the gear of the rocker arm 19 is decelerated The gear set 60 meshes with the gears of the driving part 111, the driving part 111 is mounted on the knuckle base 53, the other end of the rocker arm 19 is fixedly connected to the ball head 20, and the ball head 20 is connected to the corresponding measured Compo...

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Abstract

A stress feedback unit for joints of a third finger and a middle finger relates to a device used for detecting movement state of fingers of a human hand and capable of feeding back stress of the corresponding finger joints of the hand. The invention aims to make up defects that a joint detecting mechanism and a stress feedback mechanism of a prior stress feedback device are separated with each other and a prior system is complex in structure, difficult to maintain, incapable of bidirectional driving and high in cost and the like, integrates the joint detecting mechanism and the stress feedback mechanism, and adopts a unique connection way and a skillful joint detection point arrangement, so that to-be-detected fingers of a user can keep flexibility to the largest extent when the user is using the device. Besides, the movement state of the fingers can be detected precisely, so that finger joints of a slave hand corresponding to the finger joints of the user can move exactly as the finger joints of the user and stress of the hand in a specific working environment can be fed back to the user for enhancing sense of immediacy of virtual reality or for remote operation.

Description

Technical field [0001] The invention relates to a device for detecting the movement state of the fingers of a human hand and having the function of bidirectional feedback force. Background technique [0002] Due to the development of science and technology, robots are gradually being used in a larger and larger range. As a reliable and mature robot, teleoperation robots are widely used in various dangerous, complicated and inaccessible environments. It uses a very reliable control method, which is controlled by the operator directly. As the tasks performed by teleoperated robots become more and more complex, people are pursuing reliability while also putting forward higher requirements for their flexibility. However, it is necessary to remotely operate complex manipulators and control the multiple fingers of the manipulator. Multiple joints coordinate movement together to achieve specific functions, which requires the use of data gloves, and the data gloves with force feedback f...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/18B25J13/08B25J19/02G06F3/01B25J21/02
Inventor 苏茂
Owner 苏茂
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