Force feedback glove based on soft variable-stiffness joint drivers

A driver, variable stiffness technology, applied in the field of force feedback gloves, which can solve the problems of reducing the free space simulation simulation feedback experience, finger fatigue, increasing the weight of the gloves, etc.

Active Publication Date: 2019-01-22
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This kind of transmission mechanism introduces kinematic pair friction when transferring the torque / force of the driver to the fingers, which reduces the feedback experience of free space simulation, and the transmission mechanism increases the weight of the glove, which will cause finger fatigue when worn for a long time

Method used

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  • Force feedback glove based on soft variable-stiffness joint drivers
  • Force feedback glove based on soft variable-stiffness joint drivers
  • Force feedback glove based on soft variable-stiffness joint drivers

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Embodiment Construction

[0018] The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0019] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, ...

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PUM

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Abstract

The invention relates to a force feedback glove based on soft variable-stiffness joint drivers. The force feedback glove comprises the joint drivers which are arranged on joints of fingers and used for limiting motion of the finger joints. Each joint driver comprises a variable-stiffness sealing structures and an air pipe, wherein the air pipe communicates with the interior of the variable-stiffness sealing structure. A control system conducts air inflation or air extraction on the variable-stiffness sealing structures through the air pipes, and controls stiffness of the variable-stiffness sealing structures by controlling the air pressure in the variable-stiffness sealing structures. The joint drivers are directly mounted on the finger joints, the force feedback glove is designed througha principle of limiting joint movement to limit joint movement to simulate the feeling of finger grasping, and thus kinematic pair friction and the weight of a transmission mechanism are avoided.

Description

technical field [0001] The invention relates to a wearable force feedback device, in particular to a force feedback glove based on a soft variable stiffness joint driver. Background technique [0002] Existing force feedback gloves are usually composed of a driver and a transmission mechanism. For example, a force feedback glove used for virtual reality technology is disclosed in the invention application CN107927950A. There is also a bending control mechanism at each finger of the glove. The bending control mechanism It includes a motor and a toothed belt, and a second raised area is set up on the fingernails of the five fingertips of the coat. The motor is arranged in the second raised area, and the output shaft of the motor is connected with a gear shaft. The belt The gear shaft is meshed with the toothed belt. The toothed belt extends from the back of the hand to the fingertip along the length of the finger of the glove and then extends back to the palm around the finger...

Claims

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Application Information

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IPC IPC(8): A41D19/00G06F3/01
CPCA41D19/0024G06F3/014
Inventor 王党校张昱王子琦张玉茹
Owner BEIHANG UNIV
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