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Thumb portion double-knuckle driver

A driver and thumb technology, applied in the field of data gloves, can solve the problems of high price, difficult maintenance and complex system of force feedback data gloves

Inactive Publication Date: 2018-03-06
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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  • Thumb portion double-knuckle driver
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  • Thumb portion double-knuckle driver

Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0007] Specific implementation mode one: image 3 As shown, the thumb part double-knuckle driver 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 tension spring 43. The clutch device cover 44 is composed of the friction plate slide bar 42 and the shaft of the motor 40. The two clutch device friction plates 41 are respectively inserted into the two ends of the friction plate slide bar 42. The two clutch device friction plates 41 are connected with Return extension spring 43, clutch device cover 44 is inserted into the shaft of 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 friction plates 41 of the clutch device ...

specific Embodiment approach 2

[0008] Specific implementation mode two: as figure 1 , figure 2 and image 3 As shown, the thumb double-knuckle driver includes a thumb far knuckle base 3 , a thumb proximal knuckle base 4 , a driving component 111 , an angle sensor 18 and a reduction gear set 60 . Described thumb far knuckle base 3 is fixed on the thumb far knuckle position of people's hand, and one end of thumb far knuckle base 3 is cylindrical around the thumb far knuckle, and the other end is hemispherical, and the longitudinal section of the whole base is It is "U" shaped, with the opening facing the interphalangeal joint (DIP) of the thumb, and a sliding groove is provided at the position where the base is located on the outer side of the distal knuckle of the thumb. The thumb far knuckle base 3 and the thumb proximal knuckle base 4 are hinged by a rocker arm 25, one end of the rocker arm 25 is embedded in the chute of the thumb far knuckle base 3, and is limited by a screw 24. The other end of the a...

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Abstract

The invention discloses a thumb portion double-knuckle driver and relates to a device for detecting the movement state of a distal knuckle of a hand thumb and feeding back force borne by a distal knuckle of a slave hand thumb. In order to overcome the defects that a knuckle measurement mechanism and a force feedback mechanism of an existing force feedback device are separated, the system is complex, the structure is not simple, maintenance is difficult, bidirectional active driving cannot be achieved and the price is high, a knuckle detection mechanism and a force feedback mechanism are integrated into a whole, the unique connection mode and the ingenious knuckle measurement point layout are adopted, when an operator uses the device, a detected finger can keep flexible to the greatest extent, the movement state can be detected accurately, the knuckle of a controlled slave hand can keep collaborative and consistent action with the corresponding knuckle of the operator, the borne force condition of the slave hand in the specific working environment can be fed back to the operator, and the virtual reality or teleoperation immediacy sense is enhanced.

Description

technical field [0001] The invention relates to a data glove which detects the movement state of the distal joint of the human thumb 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 f...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02
CPCB25J17/0266
Inventor 苏茂
Owner 苏茂
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