Two-degree-of-freedom rope transmission type finger force feedback device

Abstract

The invention provides a two-degree-of-freedom rope transmission type finger force feedback device. The two-degree-of-freedom rope transmission type finger force feedback device comprises a hand support mechanism, a thumb movement mechanism, an index finger movement mechanism and a handle mechanism. The hand support mechanism comprises a motor, a motor shaft sleeve, a sliding rail and an IMU sensor. The thumb movement mechanism comprises a long rotating disc, a torque sensor, an angle sensor, a thumb sleeve, a pressure sensor, a two-bar linkage, a thumb bracket and a thumb fixing ring. The handle mechanism comprises a cylindrical grab handle, a pressure sensor, a flexible fixing band and a sliding block. Torque is transmitted between the rotating disc and the motor through a rope. The handle mechanism can move back and forth and self-reset. According to the two-degree-of-freedom rope transmission type finger force feedback device, the problems that traditional finger force feedback is high in cost and cannot be adjusted are solved, wearing is compact, and the self-adaptive freedom degree is achieved; rope transmission ensures that feedback force is smooth and real; and through the carried sensor, information such as hand postures, thumb and index finger rotating angles, grabbing force and middle finger contact force can be transmitted in real time.

Description

technical field [0001] The invention relates to the field of force feedback, in particular to a finger force feedback device, in particular to a two-degree-of-freedom rope-driven finger force feedback device. Background technique [0002] Virtual reality technology is developing rapidly. In virtual scenes, in order to enhance the interaction and immersion between users and the virtual world, haptic devices are often introduced to allow users to touch and operate virtual objects through haptic feedback. However, in most of the force feedback device solutions, the feedback provided is only the difference between presence and absence, and most of them are limited to the feedback force of the entire hand. A small number of exoskeleton gloves can generate force feedback to the fingers, but the structure is complex, the price is high, and most of them are steel connections, which lack adaptability to different hand shapes. [0003] In the field of teleoperation, the general syste...

AI Technical Summary

Problems solved by technology

Compared with the traditional force feedback mechanism, the present invention has the freedom of finger movement and feedback, overcomes the problem that pure rigid movement cannot be adjusted, the user wears it compactly and has adaptive freedom, and has better human-computer interaction

Images