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force transmission system

一种传送系统、旋转力的技术，应用在被动锻炼用器械、物理治疗、仪器等方向，能够解决力觉的方向不同、手部运动的范围受限、尺寸大等问题，达到准确力觉的效果

Active Publication Date: 2022-05-03
UNIST (ULSAN NAT INST OF SCI & TECH) +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this case, since the piston is connected to the finger through a rotating hinge, the direction of the force applied to the finger is not perpendicular to the hand, so there is a limitation that the direction is different from the direction of the force sense that the virtual object actually transmits
In addition, there is a problem that the range in which the hand can move is limited due to the length of the piston
[0004] Also, for a force-sensing transmission system that uses an external robot to transmit force to the hand, the user cannot move the arm freely because it is not in the form of being worn on the hand, and the user's mobility is limited due to the large size

Method used

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Embodiment Construction

[0026] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0027] figure 1 is a diagram illustrating a force sense transmission system according to an embodiment of the present invention. figure 2 is a diagram showing shapes of a driving link and a driven link according to an embodiment of the present invention.

[0028] refer to figure 1 , the force sense transmission system according to an embodiment of the present invention is a system for interacting with a virtual object by transmitting force generated from the virtual object to the end of a user's finger. In addition, the force-sense transmission system can also be used in the field of rehabilitation medicine. Here, the user can be not only a human but also a robot. In the following, in this embodiment, although the force sense transmission system is described as an example worn on the hand of the robot, it is obviously also possible to wear it on the hand of the u...

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Abstract

Since the force-sensing transmission system according to the present invention is constructed to have 6 degrees of freedom, it is possible to freely perform movements such as clenching and spreading of the hand, adduction and abduction of the fingers, etc., without hindering the movement of the fingers. At the same time the desired force is transmitted to the tip of the finger. In addition, the motion of the finger can be measured by estimating the position of the tip of the finger and the joint angle of the finger, and force sense can be transmitted more accurately based on this.

Description

technical field [0001] The present invention relates to a force-sense transmission system, and more particularly, to a force-sense transmission system capable of effectively transmitting force sense felt when touching a virtual object with a hand to a finger. Background technique [0002] The force sense transmission system refers to a system for interacting with a virtual object by transmitting force generated from the virtual object in virtual reality to a finger. In a force-sensing transmission system, it is necessary to be able to perform natural hand movements and to be able to accurately transmit forces generated from virtual objects to the user's hand. [0003] Existing force-sense transmission systems using air pressure are configured to transmit force to a user by adjusting the length of a piston. In this case, since the piston is connected to the finger through a rotary hinge, the direction of the force applied to the finger is not perpendicular to the hand, so th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F3/01
CPCG06F3/016G06F3/014G06F3/04815A61H2201/1207A61H1/0288A61H2201/5069A61H2201/50A61H2201/165A61H2205/067A61H2201/1638
Inventor 裴埈范李政洙赵仁晟朴演奎刘凡材
Owner UNIST (ULSAN NAT INST OF SCI & TECH)