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Thumb carpometacarpal joint force feedback device

A wrist-metacarpal joint and force feedback technology, applied in the field of data gloves, can solve problems such as high price, complex system, 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 force feedback data gloves, such as high price, complex system, and difficult maintenance, and proposes a combination of an external potentiometer and a joint bidirectional active drive device, which can detect the motion 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 carpometacarpal joint force feedback device
  • Thumb carpometacarpal joint force feedback device
  • Thumb carpometacarpal joint force feedback device

Examples

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specific Embodiment approach 1

[0007] Specific implementation mode one: image 3 As shown, the thumb wrist metacarpal joint force feedback device includes a driving part 111, and the driving part 111 includes a motor 40 and a clutch device, and the clutch device is composed of a clutch device friction plate 41, a friction plate slide bar 42, a return pull The spring 43 and the clutch device cover 44 are composed of the friction plate slide bar 42 and the shaft of the motor 40. The two clutch device friction plates 41 are inserted into the two ends of the friction plate slide bar 42 respectively, and the two clutch device friction plates 41 are connected. Return extension spring 43 is arranged, and the shaft of clutch device cover 44 is inserted into motor 40, is sliding contact between the shaft of clutch device cover 44 and motor 40, and clutch device cover 44 is provided with transmission gear. Action implementation process: when the rotation speed of the motor 40 is higher than a certain value, the two f...

specific Embodiment approach 2

[0008] Specific implementation mode two: as figure 1 , figure 2 with image 3 As shown, the thumb wrist metacarpal joint force feedback device includes a palm base 102, a thumb distal knuckle base 3, a thumb proximal knuckle base 4, a thumb metacarpal knuckle base 5, a driving component 111, a potentiometer 18, Rocker arm 19, ball head 20, connecting rod 21 and reduction gear set 60. The thumb metacarpophalangine base 5 is fixed on the thumb metacarpophalangine of the human hand, the thumb metacarpophalangine base 5 adopts a "C" shape to surround the thumb metacarpophalangine, and the opening faces the side where the thumb is connected to the palm surface , the thumb metacarpophalangine base 5 is located at the back of the thumb metacarpophalangine with a rocker F, and the rocker F of the thumb metacarpophalangine base 5 is connected with the rocker 19 through the ball head 20 and the ball head buckle The rod 21 is connected by a spherical hinge, the shaft of the rocker ar...

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Abstract

The invention discloses a thumb carpometacarpal joint force feedback 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 detecting 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 detecting 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 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): B25J13/08B25J3/00
Inventor 苏茂
Owner 苏茂
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