Remote control glove

Abstract

The application provides a remote control glove, which comprises a palm support assembly, a first constraint band and a flexible glove body, the palm support assembly comprises a fixedly connected support and a connecting piece, the support is made of plastic material, the glove body is fixedly connected with the connecting piece, the first constraint band is located in the palm region of the glove body and is connected with the palm support assembly to form a closed loop constraint on the glove body, and at least part of the connecting piece can be deformed with the tightening or loosening of the first constraint band. According to the remote control glove, the glove body is fixedly connected with the connecting piece, the palm support assembly is not easy to move because the glove body can be worn on the hand of a user, the connecting piece is passively deformed adaptively under the joint action of the glove body and the human hand, at least part of the connecting piece is fitted to the back curve of the human hand, and the palm support assembly is more stable and not easy to deviate.

Description

Technical Field

[0001] This utility model relates to the field of robot control technology, specifically to a remote-controlled glove. Background Technology

[0002] Force feedback teleoperation gloves allow users to receive force feedback during remote operation, greatly improving the realism and accuracy of the operation, and have therefore attracted widespread attention.

[0003] For force feedback teleoperated gloves, the palm support needs to be reliably fixed and conform to the shape of the back of the hand to support prolonged wear. This is crucial for ensuring stable operation and comfortable use. However, most current solutions on the market have certain shortcomings. In existing designs, the palm support is usually only fixed to the hand with straps or similar methods. This design results in a small contact area between the palm support and the back of the hand. During teleoperation, due to hand movements and the transmission of force, the palm support can easily shift relative to the back of the hand. After shifting, recalibration is required, which not only affects the continuity and efficiency of operation but also increases the burden on the user. During prolonged use, this unstable fixing method may also lead to hand fatigue and reduce the user experience. Utility Model Content

[0004] In view of this, the present invention aims to provide a remote control glove to solve the problem that the palm support component is prone to displacement in the prior art.

[0005] The remote control glove according to this application includes: a palm support assembly and a flexible glove body, the palm support assembly including a support member and a connector fixedly connected, the support member being made of a plastic material, the glove body and the connector being fixedly connected, and at least a portion of the connector being deformable.

[0006] The remote control glove according to this application also includes a first constraint strap, which is located in the palm area of ​​the glove body and connected to the palm support assembly to form a closed-loop constraint on the glove body.

[0007] Optionally, the support member has wearing holes on both sides, and the connector has a clearance notch at the position corresponding to the wearing hole, and the wearing hole is connected to the first restraint strap.

[0008] According to the remote control glove of this application, the support member is provided with a main body area and at least one thin-walled area connected to the main body area, the wall thickness of the thin-walled area being reduced relative to the wall thickness of the main body area.

[0009] Optionally, the thin-walled region includes a groove disposed on the side of the support member opposite to the connector.

[0010] According to the remote control glove of this application, the support member is provided with wearing holes on both sides, the connector is provided with a clearance notch at the position corresponding to the wearing hole, and the wearing hole is connected to the first restraint strap.

[0011] According to the remote control glove of this application, the support member and the connector are integrally formed, and the connector is attached to the inner surface of the support member and covers at least a portion of the outer surface of the support member.

[0012] According to the remote control glove of this application, the connector includes a first main body and a protrusion disposed on the periphery of the first main body. The thickness of the protrusion is greater than the thickness of the first main body. A threading hole is provided on the first main body. The threading hole is disposed along the inner side of the protrusion. The glove body is connected to the threading hole by a sewing thread.

[0013] Optionally, the glove body is provided with a positioning mark, which is used to indicate the connection position with the thread hole.

[0014] The remote control glove according to this application also includes a finger skeleton and a locking assembly. The support is connected to a guide, which is located on the side of the support opposite to the connector. The locking assembly is connected to the finger skeleton and can slide along the guide. The locking assembly includes at least one locking member. The guide has a plurality of spaced positioning portions arranged axially. The locking member is detachably connected to any of the positioning portions and can be disengaged by deformation.

[0015] Optionally, the stiffness of the support member, the connector, and the glove body decreases sequentially.

[0016] The technical solutions provided in this application have the following advantages compared with the prior art:

[0017] The remote-controlled glove provided in this application features a support component made of a plastic material that can transmit force. For example, it can form a rotational connection with other rigid components such as finger skeletons and arm rings through a connecting structure, providing an installation reference for the detection unit. The connector can both connect the support component and the glove body and deform under force. When the user wears the glove body, because the glove body is flexible, it can adapt to the shape of the user's hand, tightly wrapping the hand and exerting a certain pulling force on the connector fixedly connected to the glove body. Under the combined action of the glove body and the human hand, the connector passively undergoes adaptive deformation, at least partially conforming to the curved surface of the back of the human hand, increasing the contact area between the palm support component and the glove body. This makes the palm support component more stable and less prone to displacement when the user wears the remote-controlled glove. Thus, while avoiding hand displacement, the flexible glove body adapts to different users and ensures sufficient freedom of hand movement.

[0018] In addition, by increasing the contact area between the palm support component and the hand, the local pressure on the hand during operation is dispersed, improving the comfort of wearing for a long time. Through the cooperation between the glove body and the connector, the palm support component always maintains a stable position with the back of the hand during various hand movements, suppressing the problem of frequent adjustment or recalibration caused by the palm support component offset during remote operation. Attached Figure Description

[0019] Figure 1 The image shown is a perspective view of a remote-controlled glove according to some embodiments of this application.

[0020] Figure 2 As shown Figure 1 Enlarged view of point A in the middle.

[0021] Figure 3 The image shown is a front view of a remote-controlled glove according to some embodiments of this application.

[0022] Figure 4 The image shown is a perspective view of a remote-controlled glove according to some embodiments of this application from another angle.

[0023] Figure 5 The image shown is another perspective view of a remote-controlled glove according to some embodiments of this application.

[0024] Figure 6 As shown Figure 5 Enlarged view of point B in the image.

[0025] Figure 7 The image shown is a perspective view of a remote-controlled glove according to some embodiments of this application.

[0026] Figure 8 The image shown is a perspective view of a remote-controlled glove according to some embodiments of this application.

[0027] Figure label:

[0028] Palm support assembly 10, support member 11, second main body 111, thin-walled area 1111, wearing hole 1112, thumb support 112, connector 12, first main body 121, protrusion 122, first restraint strap 20, glove body 30, finger sleeve 31, deformation area 311, second restraint strap 312, mounting groove 313, finger skeleton 40, locking assembly 50, locking member 51, guide member 60, positioning part 61, tactile feedback assembly 70, force feedback assembly 80, arm ring 90. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] The following disclosure provides numerous different embodiments or examples for implementing various structures of the present invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0031] For ease of description, spatial relative terms may be used in the text to describe the relative position or movement of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "front," "back," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure undergoes a positional flip, orientation change, or change of motion, these directional indications will change accordingly. For instance, an element described as "below other elements or features" or "below other elements or features" will subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0032] like Figures 1-3 As shown, the remote control glove according to an embodiment of this application includes: a palm support assembly 10, a flexible glove body 30, and a first restraint strap 20. The palm support assembly 10 includes a support member 11 and a connector 12 fixedly connected. The support member 11 is made of a plastic material, and the glove body 30 is fixedly connected to the connector 12. At least a portion of the connector 12 is deformable.

[0033] The support component 11, made of plastic material, can perform the function of mechanical transmission. For example, it can form a rotational connection with other rigid components such as finger skeleton 40 and arm ring 90 through the connecting structure, providing an installation reference for the detection unit.

[0034] The support component 11 can be made of lightweight materials with a certain strength, such as aluminum alloy and plastic, to reduce the weight of the garment while ensuring rigidity. The edges of the support component 11 can be designed to avoid the contours of the back of the hand, based on the stress characteristics of the bones, thereby preventing stress concentration and discomfort caused by the user's wearing of the garment.

[0035] The stiffness of the connector 12 is less than that of the support 11, and the stiffness of the connector 12 is greater than that of the glove body 30. In other words, the stiffness of the support 11, the connector 12, and the glove body 30 decreases in that order. This allows the connector 12 to have a certain strength to connect with the support 11, and also to deform under stress to better adapt to the shape of the user's hand.

[0036] One side of the connector 12 is connected to the support 11, and the other side is fixed to the glove body 30, serving both as a connection and a means of adaptive deformation. The connector 12 can be made of an elastic material or a flexible structure. The elastic material can be silicone, thermoplastic elastomer, etc., while the flexible structure can be a thin metal sheet or plastic with pleats or a perforated mesh. The structure or material of the connector 12 allows it to adapt to external forces. The connector 12 can be designed with a biomimetic curvature to match the natural curve of the back of the hand. The biomimetic curvature can be designed to be small, so that when not worn, it is closer to a flat surface, thus adapting to different users and reducing discomfort for different users.

[0037] The connector 12 is fixedly connected to the support 11. Stable connection can be achieved by means of fitting, snap-fit, or injection molding, so as to ensure that it can follow the curvature of the back of the hand and maintain reliable linkage with the rigid support 11 during the transmission of force.

[0038] The flexible glove body 30 provides a comfortable wearing experience for the user and restrains the palm support component 10 to the back of the hand area. The flexible glove body 30 can conform to the palm and back of the hand. If the glove body 30 is a fingerless glove, it can also conform to the fingers.

[0039] The glove body 30 can be made of elastic knitted fabric, elastic fabric, or flexible polymer to allow it to bend and stretch naturally with hand movements. The glove body 30 can be designed in sections, for example, with an anti-slip layer or anti-slip texture on the inside of the palm to prevent slipping; in addition, a breathable perforated area can be provided on the back of the hand to improve wearing comfort; of course, elastic pleats can also be provided at the finger joints to reduce restriction during movement.

[0040] The glove body 30 can be a fingerless glove or a fingerless glove. When fingerless, it can be a three-finger, four-finger, or five-finger glove. For example, when the glove body 30 is three-finger, it can include the thumb, index finger, and middle finger. When it is four-finger, it can cover the four fingers other than the little finger.

[0041] When not under tension, the connector 12 can be formed into a flat plate, a plate with a regular curved surface, or a plate with a local rigid area. When the glove body 30 is worn, the connector 12 can deform at least partially to fit the curved surface of the user's back of hand due to the pulling action of the glove body 30. This ensures that the palm support component 10 is not easily displaced when worn, while reducing the structural complexity of the connector 12 and adapting to individual differences in the curved surface of the back of the hand of different users.

[0042] The first constraint band 20 is located in the palm area of ​​the glove body 30 and is connected to the palm support assembly 10 to form a closed-loop constraint. At least a portion of the connector 12 can adapt to the tightening or loosening of the first constraint band 20. The connector 12 is deformable as the first constraint band 20 tightens or loosens.

[0043] Under the combined pulling action of the glove body 30 and the first constraint strap 20, the connector 12 can at least partially deform to adapt to the curvature of the user's back of hand. This ensures that the palm support component 10 is not easily displaced when worn, while reducing the structural complexity of the connector 12 and adapting to individual differences in the curvature of different users' backs of hands.

[0044] The length of the first restraint strap 20 is adjustable. It can be elastic and self-adjusting, or it can be adjusted via a buckle or Velcro. The first restraint strap 20 connects to the palm support assembly 10 to form a closed-loop restraint on the glove body 30. When the user tightens the first restraint strap 20, the tension is transmitted to both sides of the support member 11, which can fix the position of the support member 11 and cause the connector 12 to deform to adapt to the curvature of the back of the hand. When relaxed, the connector 12 is also released, thus accommodating larger hands and adapting to the wearing needs of different hand shapes. The first restraint strap 20 can further enable the palm support assembly 10 to move synchronously with the hand movement during remote operation, reducing the offset or shaking of the support member 11 caused by insecure fixation. It achieves advantages such as adjustable tightness, self-adaptive fit to the back of the hand, and no displacement during operation, improving the user's comfort during long-term use.

[0045] In the above embodiments, the first restraint strap 20 includes Velcro straps, elastic bands, or buckle straps.

[0046] According to the remote control glove of this application embodiment, the connector 12 can connect the support member 11 and the glove body 30 and can also deform under force. When the user wears the glove body 30, since the glove body 30 is flexible, it can adapt to the shape of the user's hand and tightly wrap the hand, which plays a certain pulling role on the connector 12 fixedly connected to the glove body 30. The first constraint strap 20 is connected to the palm support assembly 10. By adjusting the length of the first constraint strap 20 to adapt to the hands of different users, the connector 12 passively undergoes adaptive deformation under the combined action of the first constraint strap 20 and the glove body 30, at least partially conforming to the curved surface of the back of the human hand, increasing the contact area between the palm support assembly 10 and the glove body 30, so that the palm support assembly 10 can be more stable and less prone to displacement when the user wears the remote control glove. Thus, while avoiding hand displacement, the flexible glove body 30 can adapt to different users and ensure sufficient freedom of hand movement.

[0047] In addition, by increasing the contact area between the palm support assembly 10 and the hand, the local pressure of the palm support assembly 10 on the hand during operation is dispersed, improving the comfort of wearing for a long time. Furthermore, through the cooperation of the glove body 30, the first restraint strap 20 and the connector 12, the palm support assembly 10 always maintains a stable position with the back of the hand during various hand movements of the user, suppressing the problem of frequent adjustment or recalibration caused by the deviation of the palm support assembly 10 during remote operation.

[0048] like Figure 3 As shown, in the remote control glove according to an embodiment of this application, the support member 11 is provided with a main body area and at least one thin-walled area 1111 connected to the main body area, and the wall thickness of the thin-walled area 1111 is reduced relative to the wall thickness of the main body area.

[0049] The main body maintains a standard wall thickness, forming a flat, rigid plate-like structure or a slightly convex curved plate-like structure. Its shape is adapted to the main bony contour of the back of the hand, and the edges can be rounded to prevent discomfort to the user.

[0050] The thin-walled region 1111 can be set in a relatively flat area in the center of the back of the hand, such as opposite the intercarpal space, and moderate bending can be achieved by local thinning. For example, a long strip of thin-walled region 1111 can be set in the center of the back of the hand along the direction from the carpal bones to the fingers; or the thin-walled region 1111 can be symmetrically set on the left and right sides with the midline of the back of the hand as the axis of symmetry.

[0051] The support member 11 has a main body area, which ensures the stability of the core load-bearing structure and avoids force feedback loss due to excessive deformation. At the same time, by setting at least one thin-walled area 1111, the wall thickness of the thin-walled area 1111 is reduced, so that the support member 11 has moderate flexibility in this area. It can be slightly bent under the pull of the first restraint band 20 to bulge in a curved shape that is close to the back of the hand. Although it will not completely fit the back of the hand, it can reduce the gap between the plate structure and the back of the hand, further reducing the possibility of displacement of the palm support component 10. At the same time, it can also distribute the local pressure during wear, making the support member 11 more ergonomic than a rigid flat structure, improving the comfort of wearing for a long time, and avoiding the feeling of pressure and restriction during exercise.

[0052] It is understandable that the support 11 can be made of metal, with the thin-walled area 1111 machined by CNC milling, or it can be made of plastic material, formed by injection molding or 3D printing.

[0053] like Figure 3 As shown, in some embodiments, the thin-walled region 1111 includes a groove disposed on the side of the support 11 opposite to the connector 12.

[0054] The groove usually extends along the direction of the bone suture on the back of the hand, and is usually close to the direction of finger extension. In this way, the support 11 can better adapt to the human hand bone and fit the back of the hand more easily. At the same time, by setting the thin-walled area 1111 as a groove, the deformation direction and position of the support 11 can be controlled. In this way, the deformation of the support 11 will bend in the direction of extension of the thin-walled area 1111.

[0055] For example, the groove can be designed as a single straight through groove, and is centered along the extension direction of the middle finger, with symmetrical rigid edges on both sides to maintain the support strength in the width direction. When the support member 11 is under force, it can bend uniformly along both sides of the groove.

[0056] For example, multiple parallel grooves can be provided on the support member 11, each row of grooves including multiple sub-grooves arranged in a straight line and spaced apart, each row of grooves corresponding to the main bones of the back of the hand.

[0057] Of course, guide ribs corresponding to the groove can also be provided on the side of the support member 11 near the connector 12. The guide ribs can further restrict the deformation direction of the support member 11, so that the support member 11 can only bend along both sides of the groove.

[0058] like Figure 2 and Figure 4As shown, in the remote control glove according to the embodiment of this application, the support member 11 is provided with wearing holes 1112 on both sides, and the connector 12 is provided with a clearance notch at the position corresponding to the wearing hole 1112. The wearing hole 1112 is connected to the first restraint strap 20.

[0059] The first restraint band 20 wraps around from the palm to both sides of the hand. The connector 12 has a clearance notch, which is opposite to the wearing hole 1112. The first restraint band 20 passes through the clearance notch into the wearing hole 1112. The support member 11 is connected to the first restraint band 20 through the wearing hole 1112. Because the rigidity of the support member 11 is greater than that of the connector 12, connecting the first restraint band 20 to the support member 11 can better constrain and fix the position of the palm support assembly 10.

[0060] According to the embodiments of this application, the remote control glove has a support member 11 and a connector 12 integrally formed. The connector 12 is attached to the inner surface of the support member 11 and covers at least part of the outer surface of the support member 11.

[0061] The support member 11 can be injection molded first, and then the connector 12 can be formed by secondary injection molding. This allows the connector 12 to fit completely against the inner surface of the support member 11 and cover at least part of the outer surface of the support member 11. This not only enhances the interfacial bonding force between the support member 11 and the connector 12, but also cushions the pressure on the back of the hand by forming the edge of the support member 11 through the edge wrapping formed by the connector 12.

[0062] For example, the outer surface of the support member 11 may be provided with positioning grooves that extend continuously or are spaced apart along the contour direction. The connector 12 is embedded in the positioning groove during injection molding. The depth of the positioning groove matches the thickness of the connector 12, so that while the connector 12 covers the outer surface of the support member 11, a mechanical lock is formed at the positioning groove, which can prevent the connector 12 and the support member 11 from sliding relative to each other.

[0063] The inner side of the support member 11 can also be provided with a barbed anchoring structure. When the connector 12 is injection molded, these anchoring structures are filled, which can improve the bonding force between the support member 11 and the connector 12, prevent the two from separating, and extend the service life.

[0064] Of course, the connector 12 can also wrap around the edge of the support 11 in sections, which ensures the connection strength between the two and reduces the overall weight of the remote control glove by hollowing out the non-covered area.

[0065] According to the remote control glove of this application embodiment, the support member 11 and the connector 12 are integrally formed, which enables the support member 11 and the connector 12 to form a gapless interface bond, which can significantly improve the interface bond strength between the support member 11 and the connector 12, and enable the connector 12 to more accurately follow the contour of the support member 11, thereby improving the user's wearing comfort and movement tracking.

[0066] like Figure 2 As shown, in the remote control glove according to the embodiment of this application, the connector 12 includes a first main body 121 and a protrusion 122 disposed around the periphery of the first main body 121. The thickness of the protrusion 122 is greater than the thickness of the first main body 121. A thread hole is provided on the first main body 121. The thread hole is disposed along the inner side of the protrusion 122. The glove body 30 is connected to the thread hole through a sewing thread.

[0067] The first main body 121 fits tightly against the inner side of the support member 11 and the outer side of the glove body 30, while the protrusion 122 on the periphery serves to strengthen the structure and improve the overall strength of the connection with the glove body 30. The thread hole is set along the inner side of the protrusion 122, so that the sewing thread can rely on the protrusion 122 to form a stable support when connecting, avoiding the breakage of the solid structure at the edge of the thread hole due to stress concentration, enhancing the connection reliability between the glove body 30 and the connector 12. In addition, it can also prevent the sewing thread from falling off or loosening during use, while facilitating sewing operations and improving assembly efficiency.

[0068] The thickness of the first main body 121 is thinner than that of the protrusion 122, which can reduce the amount of material used and maintain good flexibility, allowing it to adapt to hand movements and deform flexibly.

[0069] The protrusion 122 can be configured as an annular boss structure surrounding the edge of the first main body 121. Alternatively, the protrusion 122 can be configured as a wedge shape, with the thickness of the end away from the first main body 121 being greater than the thickness of the end connected to the first main body 121.

[0070] In some embodiments, the glove body 30 is provided with a positioning mark, which is used to indicate the connection position with the thread hole.

[0071] The positioning marks can directly indicate the key fixing area of ​​the thread hole, enabling quick alignment of the glove body 30 and the fixing point of the thread hole during sewing operations. This avoids thread deviation or uneven force caused by manual alignment errors. Furthermore, the precise positioning enhances the good effect of fixing the glove to the designated position of the thread hole, thereby improving manufacturing convenience while enhancing the durability and motion tracking of the remote control glove.

[0072] For example, the positioning marks can be made of the same material as the glove body 30 and distributed along the preset sewing path of the thread hole. They can be quickly aligned with the thread hole, so that the sewing thread position can be quickly aligned during sewing, thereby enhancing the bonding strength between the thread hole and the glove body 30.

[0073] For example, the positioning markers can also be color coatings, which can also quickly identify alignment.

[0074] like Figure 1 , Figure 3 , Figure 7 as well as Figure 8 As shown, the remote control glove according to an embodiment of this application further includes a finger skeleton 40 and a locking component 50. The support member 11 is connected to a guide member 60, which is located on the side of the support member 11 opposite to the connector 12. The locking component 50 is connected to the finger skeleton 40 and can slide along the guide member 60. The locking component 50 includes at least one locking member 51. The guide member 60 is provided with a plurality of spaced positioning portions 61 along the axial direction. The locking member 51 is detachably connected to any positioning portion 61 and can be disengaged by deformation.

[0075] The guide 60 is fixedly connected to the back of the hand skeleton, which can provide guidance for the movement of the finger skeleton 40, reduce the difficulty of adjustment and positioning, and ensure that the finger skeleton 40 can move in a preset direction to adapt to different finger lengths. The locking component 50 is connected to the finger skeleton 40, slides synchronously with the finger skeleton 40, and can be unlocked and locked by the deformation of the locking component 51.

[0076] When the user pulls or pushes the finger skeleton 40, the locking member 51 is elastically deformed by the pressure of the guide member 60, allowing the locking component 50 to slide along the guide member 60. When the finger skeleton 40 moves to the appropriate position, the locking member 51 engages with the corresponding positioning part 61 under the action of elastic force, forming a mechanical lock and preventing the finger skeleton 40 from moving arbitrarily, thereby fixing its extension length. When readjustment is needed, the user applies external force to disengage the locking member 51 from the constraint of the positioning part 61, allowing the finger skeleton 40 to slide again. In this way, through the cooperation of the locking member 51 and the positioning part 61, and the cycle of elastic deformation and reset, the extension length of the finger skeleton 40 can be adjusted and locked, ensuring that the remote control glove can accurately fit the hand size of different users, providing a stable structural foundation for subsequent action transmission and force tactile feedback.

[0077] The guide 60 can extend in a straight line along the length of the finger, or bend slightly with the natural curvature of the finger skeleton 40, that is, extend in a curve consistent with the inner curvature when the finger is naturally bent. When the locking member 51 slides on the curved guide 60, it can better fit the shape change when the finger is bent.

[0078] In the above embodiments, the positioning part 61 can be a groove or a limiting hole, and the guide 60 can be a guide rail or a cylindrical sleeve.

[0079] For example, the guide member 60 is a cuboid or approximately cuboid guide rail, and positioning parts 61 are provided on both sides of the guide rail. The positioning parts 61 are set in the shape of grooves. The locking member 51 of the locking component 50 is cuboid in shape and has an elastic buckle on the inner side. When the user adjusts the length of the finger skeleton 40, the buckle deforms under the action of pulling or pushing force to disengage from the positioning part 61. When it moves to the corresponding positioning part 61, it is embedded in the new positioning part 61 under the action of elastic force to form a mechanical lock.

[0080] In this configuration, all finger skeletons 40 except the thumb can be connected to a locking element 51; alternatively, each finger skeleton 40 can correspond to a locking element 51, with multiple guide elements 60 spaced apart, and each locking element 51 corresponding to a guide element 60. It is understood that by setting multiple locking elements 51, the extension length of the finger skeleton 40 can be adjusted individually for each user's finger. For example, when a user adjusts the length of their index finger, it will not affect the fixed position of the middle finger, ensuring that the main finger skeletons 40 or each finger skeleton 40 can accurately fit the user's finger size.

[0081] In some embodiments, at least one buckle is provided on the same side along the length direction of the locking member 51. That is, one, two or three buckles can be provided to avoid the locking member 51 from shifting due to the small force point.

[0082] like Figure 5 and Figure 6 As shown, in some embodiments, a finger sleeve 31 is provided on the inner side of the finger skeleton 40. The finger sleeve 31 has two first ends spaced apart in the circumferential direction. A deformation area 311 is also provided on the peripheral wall of the finger sleeve 31. The deformation area 311 can be deformed under force to change the distance between the two first ends.

[0083] A finger sleeve 31 is provided on the inner side of the finger skeleton 40. The finger sleeve 31 may be provided on the second finger joint, the third finger joint, and the fourth finger joint respectively; or the finger sleeve 31 may be provided on the third finger joint and the fourth finger joint respectively; or the finger sleeve 31 may be provided only on the fourth finger joint.

[0084] The finger sleeve 31 forms a cavity to accommodate the user's finger. When the finger is inserted into the cavity, the finger sleeve 31 has two circumferentially spaced first ends, meaning that the finger sleeve 31 is not closed in the circumferential direction. When a finger is inserted into the finger sleeve 31, the finger sleeve 31 elastically opens due to the radial compression of the finger, increasing the distance between the two first ends. After the inner wall of the finger sleeve 31 contacts the surface of the finger, the finger sleeve 31 applies a radial clamping force to the middle of the finger based on the elastic restoring force of the material, thereby constraining the user's finger. The two spaced first ends retain space for circumferential deformation of the finger sleeve 31, allowing the finger sleeve 31 to adapt to different finger sizes. When the finger moves, the finger sleeve 31 directly transmits the bending or stretching force to the finger skeleton 40, while allowing the finger sleeve 31 to produce a small radial expansion when the knuckle bends, avoiding movement restriction caused by closure.

[0085] When a finger is inserted, radial pressure first acts on the deformation zone 311, causing it to undergo controllable elastic deformation, reducing the insertion resistance of the finger, and causing the two first ends to expand outward, increasing the gap between the openings, which facilitates the rapid insertion of fingers of different thicknesses. After insertion, the deformation zone 311 generates a reverse contraction tendency due to the elastic recovery force of the material, so that the finger sleeve 31 applies a uniform radial clamping force to the finger. When the finger moves, the deformation zone 311 undergoes synchronous micro-deformation with the bending of the knuckle, reducing the discomfort of the finger, allowing the finger sleeve 31 to expand or contract slightly radially, eliminating frictional resistance and a feeling of restraint during movement, and ensuring that the force of bending or extending the finger is transmitted to the finger skeleton 40 through the finger sleeve 31.

[0086] The deformation zone 311 is circumferentially disposed between the two first ends. The deformation zone 311 can extend axially along the finger sleeve 31. The wall thickness of the deformation zone 311 is reduced, and its edge transitions to the main body of the finger sleeve 31 through an arc to avoid stress concentration leading to fracture. Textures can also be provided on the outer wall surface of the deformation zone 311. This reduces material thickness while maintaining a certain level of rigidity, preventing excessive deformation. The main body of the finger sleeve 31 maintains a certain level of rigidity, ensuring accurate transmission of the user's finger movements. The deformation zone 311 can be located on the side of the finger to ensure accurate movement transmission.

[0087] The deformable area 311 of the finger sleeve 31 is integrally formed with the main body of the finger sleeve 31, which can resist fatigue and improve service life. In some embodiments, the deformable area 311 and the non-deformable area 311 of the finger sleeve 31 are formed by injection molding in one step using a mold. Alternatively, a groove can be machined on the outer side of the finger sleeve 31 to form the deformable area 311. It is understood that the groove is located on the outer side of the finger sleeve 31 to reduce user discomfort.

[0088] like Figure 5 and Figure 6As shown, in some embodiments, at least one of the finger sleeves 31 is also provided with a second restraint band 312 and a tactile feedback component 70. The tactile feedback component 70 is used to communicate with the control module to provide tactile feedback to the user. The second restraint band 312 is connected to the finger sleeve 31 and its length can be adjusted to change the spacing between the two first ends.

[0089] When a user needs to wear remote control gloves, the length of the second restraint strap 312 can be adjusted to fit different user hands. When the user's fingers are thicker, the length of the second restraint strap 312 is increased, and the distance between the two first ends increases after the user puts them on, so that the finger sleeve 31 fits tightly against the fingers, preventing relative slippage between the fingers and the finger sleeve 31 due to large movements. When the user's fingers are thinner, the length of the second restraint strap 312 can be shortened, and the two first ends are pulled closer together under tension, reducing the distance between them, so that the finger sleeve 31 fits tightly against the fingers, preventing relative slippage between the fingers and the finger sleeve 31 due to large movements. When the finger sleeve 31 is provided with a deformation area 311, the finger sleeve 31 is also easier to tighten as the second restraint strap 312 shortens to fit thinner fingers.

[0090] Because the second constraint band 312 allows fingers of different thicknesses to make close contact with the finger sleeve 31, the haptic feedback component 70 can accurately transmit the vibration emitted by it at a specific vibration frequency to the user, so that the user can perceive the instructions issued by the control module in real time and avoid overload of the dexterous hand or robotic arm.

[0091] like Figure 6 As shown, in some embodiments, the inner wall of the finger sleeve 31 is provided with an installation groove 313. The tactile feedback component 70 includes a tactile sensor, a vibration motor, and a transmission post. The two ends of the transmission post are respectively connected to the output shaft of the tactile sensor and the vibration motor. The vibration motor generates vibration and transmits it to the tactile sensor through the transmission post. The tactile sensor is in contact with the surface of the finger skin and directly transmits the transmitted vibration to the user, allowing the user to perceive tactile feedback of a specific frequency or amplitude, such as collision feedback.

[0092] A buffer layer can be set at the bottom of the mounting slot 313 to ensure that vibration can be concentrated and transmitted to the user through the tactile contact head, avoiding the dispersion of vibration and resulting in unclear tactile feedback.

[0093] The vibration motor can be a linear vibration motor or an eccentric vibration motor, etc., and this application does not impose any restrictions.

[0094] In the above embodiments, the length of the second constraint strap 312 can be adjusted by Velcro, buckles, or sliding locks.

[0095] like Figure 1 , Figure 7 and Figure 8As shown, in the remote control glove according to the embodiment of this application, the support member 11 includes a second main body 111 and a thumb support 112. The thumb support 112 and the second main body 111 are detachably connected. The thumb support 112 is used to connect with the finger skeleton 40 corresponding to the thumb. The detachable connection between the thumb support 112 and the second main body 111 facilitates molding. The thumb support 112 does not need to be integrally molded with the support member 11, which can reduce mold design costs and injection molding difficulty.

[0096] The material used to make the thumb support 112 can be the same as the material used to make the support member 11. The thumb support 112 may include two segments connected in sequence, with a certain included angle between the two segments. One segment fits against the surface of the support member 11 and is fastened together by bolts. The guide member 60 can both support the finger skeleton 40 and allow the finger skeleton 40 to move along the guide member 60 to change the extension length. After the finger skeleton 40 moves to the desired position, it can be locked by the locking component 50.

[0097] like Figure 1 , Figure 5 and Figure 8 As shown, in the remote control glove according to an embodiment of this application, the support member 11 includes a second main body 111 and a connecting part. The second main body 111 and the connecting part are integrally formed. The connecting part is used for hinged arm ring 90, and the arm ring 90 is used for sleeved on the arm.

[0098] The adapter and arm ring 90 are hinged together, allowing the arm ring 90 to perform multi-directional movements such as palmar flexion, dorsiflexion, internal rotation, and external rotation with the wrist joint. This ensures that when the arm ring 90 moves with the wrist bone, the adapter synchronously drives the second main body 111 to adjust its posture, making the motion data collected by the angle detection unit closer to the real hand posture, thereby improving the accuracy of data collection and helping to control the dexterous hand in later training.

[0099] The second main body 111 may also be provided with a mounting housing, which defines an accommodating space for installing the control module.

[0100] like Figure 8 As shown, in the remote control glove according to the embodiment of this application, a force feedback component 80 is also provided on the support member 11 or the locking component 50. The finger skeleton 40 and the locking component 50 are rotatably connected. The output end of the force feedback component 80 is connected to the finger skeleton 40. The force feedback component 80 is used to communicate with the control module to provide the user with resistance opposite to the rotation direction of the finger skeleton 40.

[0101] The force feedback component 80 is communicatively connected to the control module. It can output resistance proportionally to the direction of rotation of the finger skeleton 40 according to the actual operation scenario. It can accurately simulate the reaction force of the hand when it comes into contact with an object, allowing the user to obtain realistic force feedback and avoiding overload of the robotic arm or dexterous hand, or damage to the object. At the same time, the rotational connection between the finger skeleton 40 and the locking component 50 provides a stable mechanical fulcrum for resistance transmission, ensuring that the direction of resistance corresponds precisely to the direction of finger movement, avoiding force feedback delay or deviation, and improving operation accuracy. By adjusting the resistance magnitude through the control module, it can be adapted to the mechanical characteristics of different operation objects, limiting the excessive rotation of the finger skeleton 40 and preventing operation errors.

[0102] For example, the drive unit includes a power unit and a reducer. The output shaft of the power unit is connected to the input end of the reducer, and the output end of the reducer is connected to the finger skeleton 40. When the control module receives a control signal from an external device, it sends speed and torque commands to the drive unit according to a preset force mapping model. The power unit drives the reducer to generate resistance opposite to the bending direction of the finger skeleton 40. This resistance is transmitted through the finger skeleton 40 to the flexible glove body and ultimately acts on the user's fingers, allowing the user to perceive a weight-bearing sensation similar to real grasping. The power unit can be a motor.

[0103] For example, when the external device is a dexterous hand, when the dexterous hand grasps an object, the force sensor of the dexterous hand detects the grasping force or the control current of the dexterous hand and feeds it back to the control module. The control module drives the force feedback component 80 to run or drives the tactile feedback component to vibrate at a specific frequency when a certain threshold is met, so that the user can perceive the grasping force and the operating range, and avoid overloading the dexterous hand.

[0104] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms such as “a,” “an,” etc., used herein may also refer to the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated, unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0105] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0106] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications or equivalent substitutions made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A remote-controlled glove, characterized in that, include: A palm support assembly and a flexible glove body, the palm support assembly including a fixedly connected support and a connector, the support being made of a plastic material, the glove body and the connector being fixedly connected, and at least a portion of the connector being deformable.

2. The remote-controlled glove according to claim 1, characterized in that, It also includes a first constraint band, which is located in the palm area of ​​the glove body and connected to the palm support assembly to form a closed-loop constraint on the glove body.

3. The remote control glove according to claim 2, characterized in that, The support member has wearing holes on both sides, and the connector has a clearance notch at the position corresponding to the wearing hole. The wearing hole is connected to the first restraint strap.

4. The remote-controlled glove according to claim 1, characterized in that, The support member is provided with a main body area and at least one thin-walled area connected to the main body area, wherein the wall thickness of the thin-walled area is reduced relative to the wall thickness of the main body area.

5. The remote control glove according to claim 4, characterized in that, The thin-walled region includes a groove disposed on the side of the support member opposite to the connector.

6. The remote-controlled glove according to claim 1, characterized in that, The support member and the connector are integrally formed, and the connector is attached to the inner surface of the support member and covers at least a portion of the outer surface of the support member.

7. The remote-controlled glove according to claim 1, characterized in that, The connector includes a first main body and a protrusion disposed around the periphery of the first main body. The thickness of the protrusion is greater than the thickness of the first main body. A thread hole is provided on the first main body. The thread hole is disposed along the inner side of the protrusion. The glove body is connected to the thread hole by a sewing thread.

8. The remote control glove according to claim 7, characterized in that, The glove body is provided with a positioning mark, which is used to indicate the connection position with the thread hole.

9. The remote-controlled glove according to claim 1, characterized in that, It also includes a finger skeleton and a locking assembly. The support is connected to a guide, which is located on the side of the support opposite to the connector. The locking assembly is connected to the finger skeleton and can slide along the guide. The locking assembly includes at least one locking member. The guide has a plurality of spaced positioning portions arranged axially. The locking member is detachably connected to any of the positioning portions and can be disengaged by deformation.

10. The remote-controlled glove according to any one of claims 1-9, characterized in that, The stiffness of the support, the connector, and the glove body decreases sequentially.

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