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Human hand far knuckle joint force feedback unit

A technology of feedback unit and joint force, applied in manipulators, manufacturing tools, joints, etc., can solve the problems of high price of force feedback data gloves, difficult maintenance, and complex system.

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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  • Human hand far knuckle joint force feedback unit
  • Human hand far knuckle joint force feedback unit
  • Human hand far knuckle joint force feedback unit

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0007] Specific implementation mode one: as image 3 As shown, the force feedback unit of the far knuckle joints of the human hand 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. The clutch cover 44 is composed of the friction plate sliding rod 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 sliding bar 42, and the two clutch friction plates 41 are connected with a return 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 ove...

specific Embodiment approach 2

[0008] Specific implementation mode two: as figure 1 , figure 2 with image 3 As shown, the human hand distal knuckle force feedback unit 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 ball head 20 or the screw 24, and the angle sensor 18 is fixed in the hole seat P of the knuckle base 58 by a screw 36, The shaft of the angle sensor 18 in the hole seat P is fixedly connected to the rocker arm 19 by a screw 35, the gear axis on the rocker arm 19 coincides with the axis of rotation of the rocker arm, and the gear of the rocker arm 19 is reduced by deceleration. The gear set 60 is engaged with the gears of the driving part 111, the driving part 111 is installed on the knuckle base 58, the other end of the rocker arm 19 is fixed to the ball head 20, and the ball head 20 is connected to the corresponding measured Compon...

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Abstract

The invention discloses a human hand far knuckle joint force feedback unit, and relates to a device for detecting a human hand finger motion state and returning force stressed from a corresponding hand finger joint. The human hand far knuckle joint force feedback unit solves such defects as separation of a joint measurement mechanism and a force feedback mechanism, complex system, bloated structure, difficult maintenance, incapability of realizing two-way active driving and expensive cost in a traditional force feedback device; the joint measurement mechanism and the force feedback mechanism are integrated as a whole; and as a unique connecting mode and a skilful joint measurement point layout are adopted, when users use the equipment, detected fingers can keep the highest flexibility, the motion state can be precisely detected, the controlled hand finger joint and the corresponding operator finger joint can perform the same actions, and the hand stress condition in the specific working environment can be returned to operators so as to improve the immediacy sense of virtual reality or remote operation.

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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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J13/00
Inventor 苏茂
Owner 苏茂
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