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Thumb two-head joint detecting device

A detection device and thumb technology, applied in the field of data gloves, can solve the problems of expensive data gloves, complex systems, and difficult maintenance.

Inactive Publication Date: 2016-08-24
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 data gloves such as high price, complicated system and difficult maintenance, and proposes a combination of an external angle sensor and a joint drive device, which will also feedback the movement information of the human hand joints. The returned force sense information is converted 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 two-head joint detecting device
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Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0006] Specific implementation mode one: as figure 1 with figure 2 As shown, the thumb double head joint detection device includes a thumb proximal knuckle base 4 , an angle sensor 18 , a rocker arm 19 , and a ball head 20 . The thumb proximal knuckle base 4 is fixed on the thumb proximal knuckle part of the human hand, the thumb proximal knuckle base 4 half surrounds the thumb proximal knuckle, the cross section surrounding the junction is "C" shape, and the opening faces the front of the palm On one side, there are two hole seats H and K at the position of the base on the outer surface of the proximal knuckle of the thumb, and the positions of the two hole seats correspond to the metacarpophalangeal joint (MP) and interphalangeal joint (DIP) of the thumb respectively . Thumb proximal knuckle base 4 and thumb metacarpophalangeal base 5 are hinged by rocking arm 28, connecting rod 26, rocking arm 27, and the bottom of said rocking arm 28 (embedded bearing 23) and the shaft ...

specific Embodiment approach 2

[0007] Specific implementation mode two: as figure 1 with figure 2 As shown, the other end of the rocking arm 25 (embedded bearing 23) is affixed to the shaft of the angle sensor 18 through a screw 36, and the angle sensor 18 is fixed on the thumb proximal knuckle base 4 by the gear box base 22 and the screw 35. In the hole seat K, the gear shaft center on the rocker arm 25 coincides with the shaft center of the rocker arm rotation. Action implementation process: when the interphalangeal joint (DIP) of the operator's thumb is flexing and extending, the rocker arm 25 is driven to rotate, so that the angle sensor 18 linked with the rocker arm 25 in the hole seat K can measure the interphalangeal joint of the operator's thumb. (DIP) Angle and state of flexion and extension.

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Abstract

The invention discloses a thumb two-head joint detecting device and relates to a device for detecting human hand finger movement states and feeding back force exerting on corresponding finger joints of a slave hand. In order to solve 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 cumbersome, maintenance is difficult, two-directional active drive cannot be achieved and the price is high, the joint measuring mechanism and the force feedback mechanism are integrated into a whole, and a unique connection way and an ingenious joint measurement point layout are adopted, so that when an operator uses the device, the detected finger can keep flexible to the greatest degree, all movement states can be precisely detected, the corresponding finger joints of the controlled slave hand and corresponding finger joints of the operator can act synergistically and consistently, the stress condition of the slave hand in the specific working environment can be fed back to the operator, and therefore virtual reality or telepresence of remote operation is enhanced.

Description

technical field [0001] The invention relates to a data glove for detecting the movement state of human fingers. 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 effective device for teleoperating the robot's ma...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08B25J3/00
Inventor 苏茂
Owner 苏茂
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