A two-degree-of-freedom rope-driven finger force feedback device

Abstract

The invention provides a two-degree-of-freedom rope-driven finger force feedback device, which includes a hand support mechanism, a thumb movement mechanism, an index finger movement mechanism and a handle mechanism. The hand support mechanism includes a motor, a motor shaft sleeve, a slide 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, two connecting rods, a thumb bracket and a thumb fixing ring. The handle mechanism consists of a cylindrical grip, a pressure sensor, a flexible retaining strap, and a slider. The torque is transmitted between the rotating disk and the motor through a rope. The handle mechanism can move back and forth and reset itself. The invention overcomes the problems of high cost and non-adjustable traditional finger force feedback, and is compact to wear and has self-adaptive freedom; the rope transmission ensures that the feedback force is soft and real; through the mounted sensor, the hand posture, thumb and forefinger rotation angle and Grip force, middle finger contact force and other information.

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

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