Exoskeletal gloves with simultaneous finger position measurement and fingertip force feedback

Abstract

The present invention relates to exoskeletal gloves having functions of synchronous finger position measurement and fingertip force feedback, comprises a wrist wearing device on the back of hand and apinkie exoskeleton mechanism, a ring finger exoskeleton mechanism, a middle finger exoskeleton mechanism, an index finger exoskeleton mechanism and a thumb exoskeleton mechanism respectively fixed onthe wrist wearing device on the back of hand, wherein the joint length in the exoskeleton mechanism is adjustable. As can be seen from the technical proposal, the exoskeleton glove of the invention can simultaneously realize the synchronous measurement of the finger position and the feedback of the fingertip force, and has the advantages of simple structure, convenient control, safety and reliability.

Description

technical field [0001] The invention relates to the field of human-computer interaction wear, in particular to an exoskeleton glove with functions of synchronous finger position measurement and fingertip force feedback. Background technique [0002] With the wide application of human-computer interaction, the experience of human-computer interaction is becoming more and more important. As a wearable device, data gloves are used in the process of human-computer interaction. Traditional data gloves are generally able to measure the angle of the finger joints, and then control the execution manipulator through the measured pose. Traditional data gloves do not have the function of force feedback. The force feedback data glove can not only realize the master-slave control of the executive manipulator, but also can feed back the force of the end manipulator to the human hand through the force feedback device to achieve a better sense of presence. So as to carry out sophisticated ...

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Problems solved by technology

[0003] Traditional exoskeleton force feedback data gloves, such as: Chinese patent application with publication number CN100372503C discloses a kind of force feedback data gloves based on pneumatic artificial muscles, Cyber-grasp (force feedback data gloves), SensoerGloveII force feedback data gloves, etc., generally It has the following disadvantages: 1) In order to provide sufficient feedback force, the driving structure is relatively bloated, and most active force feedback methods have safety hazards; 2) Angle measurement, driving and exoskeleton mechanisms are separated, resulting in a more complicated structure; 3) When using Gloves must be tightly fixed to the operator's fingers, and the knuckles are subjected to additional force during movement and force feedback, which affects the sense of presence

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