Fingerstall type force feeling feedback generator

A finger-sleeve, force feedback technology, used in manipulators, manufacturing tools, etc., can solve the problems of incomplete grasping of the palm, complex control circuit, fatigue of hand capacity, etc., and achieve the effect of light weight, complex mechanical structure and simple control.

Inactive Publication Date: 2006-02-22
SOUTHEAST UNIV
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  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

The force feedback device installed on the arm is on the arm, so the hand can be opened and closed freely, but due to the complexity of the mechanism, the force feedback device is heavy, and it takes a long time to wear this force feedback data glove. After a long time of operation, the hands will feel tired, and the control circuit is relatively complicated, so the control circuit and drive motor should also be placed on the working platform
The size of the force feedback device installed on the palm can be made smaller, so the weight is lighter, but because the device is installed on the palm, the opening and closing of the hand is affected, and the palm cannot be fully gripped. In addition, whether it is pneumatic or hydraulic Yes, there must be a pressure source, and the control circuit is more complicated

Method used

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  • Fingerstall type force feeling feedback generator
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  • Fingerstall type force feeling feedback generator

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Embodiment Construction

[0016] A finger cuff type force feedback generator for force feedback data glove used to realize man-machine docking controlled by a teleoperated robot, comprising a fixed belt 1 connected with an electrically controllable hardness element, the electrically controllable hardness The element is made up of rubber sheath 5 and electrodes 31, 32, and electrodes 31, 32 are respectively arranged on both sides of rubber sheath 5, and electrorheological fluid is arranged in rubber sheath 5, and above-mentioned fixed band 1 can adopt the fingertip form ( Such as figure 1 As shown), it can also form a ring through the electric controllable hardness element connected with it, so as to be used on the data glove. A porous soft block 4 is arranged in the rubber sheath 5, and the electrorheological fluid is arranged in the porous soft block. In the hole of the body 4, the porous soft block 4 is a sponge block, the porous soft block 4 can also adopt other porous soft materials, and the electr...

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Abstract

The invention discloses a fingerstall-type force feedback generator for man-machine butting force feedback data pack glove for remote operation of robot, which contains a securing strap and a light-dependent hard element, the securing strap being equipped with the light-dependent hard element which comprises a rubber glove and electrodes, and the electrodes being separately equipped with the two sides of the rubber glove, in which is equipped with electrorheological liquid; the invented generator has a simple structure and the main component is the plate electrode braided out of soft-fine metal wire, and the requirement to machine precision and others is not strict; the control is easy; and the algorithm approach is simple, the force and electric field having a definite connection which is that the feedback force varies directly with the electric field stressed on the feedback force device.

Description

technical field [0001] The invention relates to a human-machine interface device for realizing remote operation robot control, in particular to a fingertip type force feedback generator for force feedback data gloves. Background technique [0002] With the widespread application of interactive teleoperated robots, a large number of human-machine interface devices with force feedback will be required. Data gloves and robot hand controllers are two common human-machine interface devices for teleoperated robots. Robot hand controllers are very effective human-machine interface devices for remote-operated robot control, but relatively speaking, the mechanical structure of the hand controller is Complicated, operating on a fixed platform limits the range of motion of the hand, and the operator will feel tired after a long time of operation. Traditional data gloves are generally able to accurately measure the angle of rotation of finger joints and the angle between fingers, and c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J21/02
Inventor 王爱民宋爱国戴金桥高龙琴
Owner SOUTHEAST UNIV
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