Force feedback glove system for VR scenes and construction method thereof

Abstract

The present invention relates to a force feedback glove system for VR scenes, comprising a restraint sleeve, a data transmission unit, a first detection unit, a second detection unit, a third detection unit, a fourth detection unit and a fifth detection unit. The restraint sleeve is nested in the hand, the data transmission unit is nested in the restraint sleeve through a fixing plate, and each detection unit is arranged on the fixing plate. The force feedback glove system of the present invention adopts a snap-fit ​​wearing design, and the fixing plate is nested in the restraint sleeve, so that it is more convenient to wear. At the same time, each detection unit adopts a modular design, which can effectively improve the assembly, maintenance, customization and upgrading efficiency of each structural component of the product, and has the advantages of simple structure, convenient operation, etc. The force feedback glove system construction method of the present invention can sense the movement state of the hand in real time, and can realize accurate movement mapping and force feedback data transmission through built-in sensors and control systems.

Description

Technical Field

[0001] The present invention relates to the technical field of virtual reality and human-computer interaction, and in particular to a force feedback glove system for VR scenes and a construction method thereof. Background Art

[0002] As a highly simulated human-hand interaction device, force feedback gloves can significantly enhance the immersive experience and interactive operation in a virtual environment because they can simulate real tactile feedback. At present, the research focus in this field is mainly on optimizing the structural design of force feedback components, enhancing the realism of tactile feedback, and accurately simulating finger joint movements. However, due to the differences in hand size and shape, force feedback gloves need to fit the hands better, and the differences in hand size and shape between individuals make the product's compatibility indirectly affect the force feedback accuracy.

[0003] In view of this, it is necessary to propose a force feedback glove system for VR scenarios and its construction method. The product structure components follow the modular design concept, which not only allows designers to quickly realize the physical transformation of customized solutions according to different hand sizes by adjusting the component model parameters, but also allows the converted force feedback gloves to be quickly put on and conveniently switch hand operation modes during VR interaction, so as to maximize the wearing needs of the product. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a force feedback glove system for VR scenarios and a construction method thereof, which can sense the movement state of the hand in real time, and can achieve accurate motion mapping and force feedback data transmission through built-in sensors and control systems. At the same time, each detection unit adopts a modular design, which can effectively improve the combined assembly of various structural components of the product, and has the advantages of simple structure and easy operation.

[0005] The technical solution adopted by the present invention is a force feedback glove system for VR scenes, which includes a restraint sleeve, a data transmission unit, a first detection unit, a second detection unit, a third detection unit, a fourth detection unit and a fifth detection unit. The restraint sleeve includes a first restraint sleeve and a second restraint sleeve, and the second restraint sleeve is nested outside the first restraint sleeve; the data transmission unit includes a base plate, a fixed plate and a control main board, and the control main board is provided on the base plate. The first detection unit, the second detection unit, the third detection unit, the fourth detection unit and the fifth detection unit are arranged on the base plate in sequence, and the fixed plate is provided under the base plate, and the fixed plate is provided between the first restraint sleeve and the second restraint sleeve; the first detection unit, the second detection unit, the third detection unit, the fourth detection unit and the fifth detection unit respectively include a base, a column, a potentiometer, a curled spring sheet base, a curled spring sheet, a traction line seat, a traction rope and a limit block, the base is fixed on the base plate, the first end of the column is provided with a potentiometer, and the column and the potentiometer are both provided in the base, the curled spring sheet base is provided on the base, and the curled spring sheet A first base hole is provided in the middle of the spring base, a first fixing groove is provided in the base hole, and a fixing piece is provided in the first fixing groove, a spring box is provided on the first end surface of the curled spring base, and an opening groove and a spring box hole are respectively provided on the outer arc surface of the spring box, the curled spring is arranged in the spring box, and the curled spring includes a vertical plate portion, a curling portion and a fixing portion, a vertical plate portion is provided at the first end of the curled spring, the column passes through the first base hole, and the vertical plate portion of the curled spring is engaged in the groove of the first pillar on the column, and the curling portion is wound around the first pillar. In the spring box, the second end of the curled spring sheet is provided with a fixing portion, the fixing portion passes through the opening groove of the spring box and is engaged in the spring box hole of the spring box, the traction wire seat is buckled on the spring box, and the I-shaped fixed vertical plate on the traction wire seat is engaged in the groove of the first pillar on the column, the limit block is nested in the end of the thumb, the first end of the traction rope is fixed to the outer arc surface of the traction wire seat, and the second end of the traction rope passes through the first base rope threading hole on the curled spring sheet base, and is wrapped around the outer arc surface of the traction wire seat and connected with the first rope threading hole on the limit block.

[0006] Preferably, a first base hole is provided in the middle of the base, and a first groove is provided on one side of the first base hole, the column is provided in the first base hole, and the potentiometer is provided in the first groove.

[0007] Preferably, a threaded portion is provided in the middle of the column, a first support column is provided at the second end of the column, and a groove is provided in the middle of the first support column.

[0008] Preferably, the threaded portion of the column is threadedly connected to the fixing member, and a base rope threading hole is provided at the corner of the first end surface of the curled spring sheet base.

[0009] Furthermore, a spring box inner disk is provided on the first end face of the traction wire seat, and a straight-line fixed vertical plate is provided in the middle of the spring box inner disk, and a first support column and a second support column are symmetrically provided on both sides of the straight-line fixed vertical plate. The traction wire seat is buckled on the spring box, and the first support column and the second support column are respectively provided on both sides of the vertical plate part, and the straight-line fixed vertical plate is provided in the groove of the first pillar.

[0010] Preferably, a first rope threading hole is provided at the upper end of the limiting block, and a through hole adapted to the end of the thumb is provided at the center of the limiting block.

[0011] Furthermore, the data transmission unit also includes a cover plate, which covers the first detection unit, the second detection unit, the third detection unit, the fourth detection unit and the fifth detection unit. The potentiometers in the first detection unit, the second detection unit, the third detection unit, the fourth detection unit and the fifth detection unit are electrically connected to the control main board through terminal connectors and data cables.

[0012] Another aspect of the present invention provides a method for constructing a force feedback glove system for a VR scene, comprising the following steps:

[0013] S1. Use a 3D scanner to collect hand data and build a hand feature model;

[0014] S2. Classify the thumb tip size, thumb length and metacarpal width in the hand feature model, and use the preset function mapping relationship matrix to obtain the parameterized models of the first detection unit, the second detection unit, the third detection unit, the fourth detection unit and the fifth detection unit. The mapping function expression between the force feedback feature model and the hand feature model is:

[0015] M i →f j (F j )

[0016] Where M i is the force feedback characteristic model, F j M i The corresponding hand feature model;

[0017] S3, performing virtual simulation matching on the parameterized model and the hand feature model, and confirming the position layout of the data transmission unit, the first detection unit, the second detection unit, the third detection unit, the fourth detection unit, and the fifth detection unit;

[0018] S4, performing 3D printing manufacturing on the data transmission unit, the first detection unit, the second detection unit, the third detection unit, the fourth detection unit, and the fifth detection unit, and assembling them;

[0019] S5, wearing the first restraint sleeve and the second restraint sleeve in sequence, embedding the first detection unit, the second detection unit, the third detection unit, the fourth detection unit and the fifth detection unit between the first restraint sleeve and the second restraint sleeve through the fixing plate, and embedding the limit block in each detection unit at the end of the thumb;

[0020] S6, connecting the data transmission unit to the host, coordinating the interactive debugging between the VR all-in-one system and the VR interactive software, so that the virtual hand in the VR virtual environment forms a mapping relationship with each detection unit;

[0021] S7, each detection unit takes action, at which time the resistance and current in the potentiometer of each detection unit change, and the relevant data is transmitted to the internal virtual environment of the VR all-in-one system through the data transmission unit and the host. At this time, the virtual environment presents the grasping action of the virtual hand in the three-dimensional space.

[0022] The characteristics and beneficial effects of the present invention are:

[0023] 1. The force feedback glove system for VR scenes provided by the present invention and the construction method thereof divide the force feedback data transmission effect of each detection unit of the hand into three modules: rebound, traction and limit. The limit block is responsible for providing precise traction, and transmits the force to the curled spring sheet through the traction rope. Finally, the curled spring sheet smoothly transmits the force to each detection unit. This modular design not only optimizes the internal structure of the feedback device, but also simplifies the assembly and maintenance process of the product, thereby improving work efficiency.

[0024] 2. The force feedback glove system for VR scenes provided by the present invention and its construction method, the curled spring sheet is arranged in the curled spring sheet base, wherein the vertical plate portion of the curled spring sheet is engaged in the groove of the column, the curled portion of the curled spring sheet is wound around the column and arranged in the spring box, and the fixed portion of the curled spring sheet is fixed on the curled spring sheet base. The integrated design can not only facilitate the construction of a detection unit, but also greatly reduce the cost. Under the action of the curled spring sheet, the force feedback glove system can smoothly transmit motion, and has the advantages of simple structure, strong practicality, and easy operation.

[0025] 3. The force feedback glove system for VR scenes provided by the present invention and the construction method thereof can accurately obtain the physical data of the hand through 3D scanning technology, and provide suitable customized sizes for the traction and limit blocks. This method enables the feedback device to better fit the hand, improves the comfort and adaptability of the product, and allows everyone to enjoy a customized VR experience.

[0026] 4. The force feedback glove system for VR scenarios and the construction method thereof provided by the present invention have highly integrated design for each detection unit, and the data transmission unit and each detection unit are integrated on the bottom plate of the data transmission unit, which can not only effectively reduce the hand weight-bearing area, but also shorten the overall center of mass offset position of the product, reduce the burden on the hand, and improve the sports experience.

[0027] 5. The force feedback glove system for VR scenes provided by the present invention and the construction method thereof, in terms of wearing method, address the problem of weak adhesion between soft and hard materials, abandon the traditional glass glue hot-melt bonding method, and set a fixing plate under the bottom plate, and the fixing plate is nested between the first restraint sleeve and the second restraint sleeve, and adopts a snap-on wearing design, which not only makes it more convenient to wear the feedback device, but also allows the model parameters to be quickly adjusted in the VR scene experiment, while also reducing the probability of component damage of the feedback device during wearing, thereby improving the durability of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematic diagram of the overall structure of the force feedback glove system of the present invention;

[0029] Figure 2 is a top view of the force feedback glove system of the present invention;

[0030] Figure 3 is a front view of the force feedback glove system of the present invention;

[0031] Figure 4 is a side view of the force feedback glove system of the present invention;

[0032] Figure 5 is an exploded schematic diagram of the force feedback glove system of the present invention;

[0033] Figure 6 is a schematic diagram of an explosion of a detection unit of the present invention;

[0034] Figure 7 It is a structural schematic diagram of the curled spring sheet base of the present invention;

[0035] Figure 8 It is a structural schematic diagram of the traction wire seat of the present invention;

[0036] Fig. 9 It is a construction flow chart of the force feedback glove system of the present invention.

[0037] Fig. 10A and 10B They are schematic diagrams of the comparative relationship between the force feedback feature model and the hand feature model of the present invention.

[0038] Main reference numerals:

[0039] The restraint sleeve 100; the first restraint sleeve 101; the second restraint sleeve 102; the data transmission unit 200; the bottom plate 201; the fixing plate 202; the cover plate 203; the control main board 204; the first detection unit 300; the base 301; the first base hole 3011; the first groove 3012; the column 302; the threaded part 3021; ​​the first support column 302; the groove 3023; the potentiometer 303; the curled spring sheet base 304; the first base hole 3041; the first fixing groove 3042; the spring box 3043; the opening The slot 3044; the spring box hole 3045; the base rope threading hole 3046; the curled spring sheet 305; the vertical plate portion 3051; the curled portion 3052; the fixed portion 3053; the traction line seat 306; the spring box inner plate 3061; the straight fixed vertical plate 3062; the first support column 3063; the second support column 3064; the traction rope 307; the limit block 308; the first rope threading hole 3081; the second detection unit 400; the third detection unit 500; the fourth detection unit 600; the fifth detection unit 700. DETAILED DESCRIPTION

[0040] In order to fully describe the technical content, structural features, objectives and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.

[0041] A force feedback glove system for VR scenes according to the present invention, such as Figure 1 to Figure 5 As shown, it includes a restraint sleeve 100 , a data transmission unit 200 , a first detection unit 300 , a second detection unit 400 , a third detection unit 500 , a fourth detection unit 600 and a fifth detection unit 700 .

[0042] like Figure 5 As shown, the restraint sleeve 100 includes a first restraint sleeve 101 and a second restraint sleeve 102 . The first restraint sleeve 101 is embedded in the hand, and the second restraint sleeve 102 is embedded outside the first restraint sleeve 101 .

[0043] like Figure 5 As shown, the data transmission unit 200 includes a base plate 201, a fixing plate 202 and a control main board 204. The control main board 204 is provided on the base plate 201. The first detection unit 300, the second detection unit 400, the third detection unit 500, the fourth detection unit 600 and the fifth detection unit 700 are arranged in sequence on the base plate 201, and the fixing plate 202 is provided between the first restraining sleeve 101 and the second restraining sleeve 102.

[0044] like Figure 5As shown, the data transmission unit 200 also includes a cover plate 203, which covers the first detection unit 300, the second detection unit 400, the third detection unit 500, the fourth detection unit 600 and the fifth detection unit 700. The fixing plate 202 is arranged below the base plate 201. The potentiometers 303 in the first detection unit 300, the second detection unit 400, the third detection unit 500, the fourth detection unit 600 and the fifth detection unit 700 are electrically connected to the control main board 204 through terminal connectors and data cables.

[0045] like Figure 5 , Figure 6 and Figure 7 As shown, the first detection unit 300, the second detection unit 400, the third detection unit 500, the fourth detection unit 600 and the fifth detection unit 700 respectively include a base 301, a column 302, a potentiometer 303, a curled spring sheet base 304, a curled spring sheet 305, a traction line seat 306, a traction rope 307 and a limit block 308, the base 301 is fixedly arranged on the bottom plate 201, the first end of the column 302 is provided with a potentiometer 303, and the column 302 and the potentiometer 303 are both arranged in the base 301, and the curled spring sheet base 304 is provided with a potentiometer 303. The base 304 is buckled on the base 301, a first base hole 3041 is provided in the middle of the curled spring base 304, and a first fixing groove 3042 is provided at the base hole 3041, a fixing piece is provided in the first fixing groove 3042, a spring box 3043 is provided on the first end surface of the curled spring base 304, an opening groove 3044 and a spring box hole 3045 are provided on the outer arc surface of the spring box 3043, a curled spring 305 is provided in the spring box 3043, and the curled spring 305 includes a vertical plate portion 3051, a curling portion 3052 and a fixing portion 3053, a first end of the curled spring sheet 305 is provided with a vertical plate portion 3051, the column 302 passes through the first base hole 3041, and the vertical plate portion 3051 of the curled spring sheet 305 is engaged in the groove 3023 of the first pillar 3022 on the column 302, the curled portion 3052 is wound around the first pillar 3022 and arranged in the spring box 3043, and a second end of the curled spring sheet 305 is provided with a fixing portion 3053, the fixing portion 3053 passes through the opening groove 3044 of the spring box 3043 and is engaged in the spring box hole 3045 of the spring box 3043 In the figure, the traction wire seat 306 is buckled on the spring box 3043, and the I-shaped fixed vertical plate 3062 on the traction wire seat 306 is engaged in the groove 3023 of the first pillar 3022 on the column 302, the limit block 308 is nested at the end of the thumb, the first end of the traction rope 307 is fixed on the outer arc surface of the traction wire seat 306, and the second end of the traction rope 307 passes through the first base rope threading hole 3046 on the curled spring sheet base 304, and is wrapped around the outer arc surface of the traction wire seat 306 and connected with the first rope threading hole 3081 on the limit block 308.

[0046] like Figure 6 As shown, a first base hole 3011 is provided in the middle of the base 301 , and a first groove 3012 is provided on one side of the first base hole 3011 . The column 302 is provided in the first base hole 3011 , and the potentiometer 303 is provided in the first groove 3012 .

[0047] like Figure 6 As shown, a threaded portion 3021 is provided in the middle of the column 302 , a first support column 3022 is provided at the second end of the column 302 , and a groove 3023 is provided in the middle of the first support column 3022 .

[0048] like Figure 6 As shown, a first rope threading hole 3081 is provided at the upper end of the limiting block 308, and a through hole adapted to the end of the thumb is provided at the center of the limiting block 308.

[0049] like Figure 7 As shown, the threaded portion 3021 of the column 302 is threadedly connected to the fixing member, and a base rope threading hole 3046 is provided at the corner of the first end surface of the curled spring sheet base 304.

[0050] like Figure 8 As shown, the first end face of the traction wire seat 306 is provided with a spring box inner disk 3061, and a straight-line fixed vertical plate 3062 is provided in the middle of the spring box inner disk 3061, and the first support column 3063 and the second support column 3064 are symmetrically provided on both sides of the straight-line fixed vertical plate 3062. The traction wire seat 306 is buckled on the spring box 3043, and the first support column 3063 and the second support column 3064 are respectively provided on both sides of the vertical plate portion 3051, and the straight-line fixed vertical plate 3062 is provided in the groove 3023 of the first pillar 3022.

[0051] A second aspect of the present invention provides a method for constructing a force feedback glove system for a VR scene, comprising the following steps:

[0052] S1. Use a 3D scanner to collect hand data and build a hand feature model;

[0053] S2. The thumb tip size, thumb length and metacarpal width in the hand feature model are classified, and the parameterized models of the first detection unit 300, the second detection unit 400, the third detection unit 500, the fourth detection unit 600 and the fifth detection unit 700 are obtained by using a preset function mapping relationship matrix. The mapping function expression between the force feedback feature model and the hand feature model is:

[0054] M i →f j (F j )

[0055] Where M iis the force feedback characteristic model, F j M i The corresponding hand feature model;

[0056] S3, performing virtual simulation matching on the parameterized model and the hand feature model, and confirming the position layout of the data transmission unit 200, the first detection unit 300, the second detection unit 400, the third detection unit 500, the fourth detection unit 600 and the fifth detection unit 700;

[0057] S4, performing 3D printing manufacturing on the data transmission unit 200, the first detection unit 300, the second detection unit 400, the third detection unit 500, the fourth detection unit 600, and the fifth detection unit 700, and assembling them;

[0058] S5, wearing the first restraint sleeve 101 and the second restraint sleeve 102 in sequence, embedding the first detection unit 300, the second detection unit 400, the third detection unit 500, the fourth detection unit 600 and the fifth detection unit 700 between the first restraint sleeve 101 and the second restraint sleeve 102 through the fixing plate 202, and embedding the limit block in each detection unit at the end of the thumb;

[0059] S6, connecting the data transmission unit 200 to the host, coordinating the interactive debugging between the VR all-in-one system and the VR interactive software, so that the virtual hand in the VR virtual environment forms a mapping relationship with the first detection unit 300, the second detection unit 400, the third detection unit 500, the fourth detection unit 600 and the fifth detection unit 700 respectively;

[0060] S7, the first detection unit 300, the second detection unit 400, the third detection unit 500, the fourth detection unit 600 and the fifth detection unit 700 need to make corresponding actions. At this time, the resistance and current in the potentiometer of each detection unit change, and the relevant data are transmitted to the internal virtual environment of the VR all-in-one system through the data transmission unit 200 and the host. At this time, the virtual environment presents the grasping action of the virtual hand in the three-dimensional space.

[0061] like Figure 10A-10B As shown, based on the hand bones and joints reference parameters, Fig. 10A is the hand feature model, Fig. 10B It is the force feedback characteristic model. Fig. 10A It consists of five phalanges and joints. The thumb contains 2 phalanges, the other 4 fingers each contain 3 phalanges, and the palm contains 5 metacarpal bones, totaling 27 bones and 19 joints. Fig. 10A A total of four design requirement components are set, namely fingertip size A1, finger size A2, palm size A3 and wrist size A4. Fig. 10BIt consists of four structural parts, namely, the limit module B1, the traction module B2, the rebound module B3 and the drive module B4. Fig. 10A The four design requirements components and Fig. 10B The four structural components of the system are used to establish a customized design requirement mapping relationship, as shown in Table 1 below.

[0062] Table 1 Mapping relationship between hand and force feedback feature model components

[0063]

[0064]

[0065] Based on Table 1, a mapping model for force feedback feature model B to hand feature model A is constructed. The model maps the hand feature vector set F to the force feedback module parameter set M through a set of mapping functions. For a one-to-one mapping relationship, the force feedback module M i The parameters of the corresponding hand features F j The connection between them is determined by the mapping function M i →f j (F j ) is clearly expressed as:

[0066] M B1a =f Limit_thumbj (F A1a ),M B1b =f Limit_thumbj (F A1b ),......

[0067] Among them, F A1a ,F A1b are the fingertip size characteristics of the thumb and index finger respectively. B4 Its parameter value is determined by the wrist size A4, its placement position, and its bearing form is determined by the combined width of the five fingers, which can be expressed by the following mathematical expression:

[0068] M B4 =g dirve (∑w j F j )

[0069] Among them, g dirve is a function that processes multiple input features and synthesizes output module parameters, weight w j This reflects the importance of the influence of each finger size on the driving module. The specific mapping function will be determined based on the mechanical and structural analysis of the force feedback characteristic model.

[0070] The present invention divides the force feedback data transmission effect of each detection unit of the hand into three modules: rebound, traction and limit. The limit block is responsible for providing precise traction, transmitting the force to the curled spring sheet through the traction rope, and finally the curled spring sheet smoothly transmits the force to each detection unit. The modular design optimizes the internal structure of the feedback device, and further optimizes the assembly and maintenance process of the product to improve work efficiency. At the same time, through 3D scanning technology, the physical data of the hand is accurately obtained to provide a suitable customized size for the traction and limit block. This method enables the feedback device to better fit the hand and improves the adaptability of the product. In addition, each detection unit is highly integrated, and the data transmission unit and each detection unit are uniformly integrated on the bottom plate of the data transmission unit, which can not only effectively reduce the weight-bearing area of ​​the hand, but also shorten the offset position of the overall center of mass of the product, reduce the burden on the hand, and improve the sports experience. Furthermore, in terms of wearing method, in order to solve the problem of weak adhesion between soft and hard materials, the traditional hot-melt bonding method of glass glue is abandoned, and a fixing plate is set under the bottom plate, and the fixing plate is nested between the first restraint sleeve and the second restraint sleeve. A snap-on wearing design is adopted, which not only makes it more convenient to wear the feedback device, but also allows the model parameters to be quickly adjusted in the VR scene. At the same time, it also reduces the probability of component damage of the feedback device during wearing, thereby improving the durability of the product.

[0071] The above embodiments are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A force feedback glove system for VR scenes, characterized in that: The device comprises a restraining sleeve, a data transmission unit, a first detection unit, a second detection unit, a third detection unit, a fourth detection unit and a fifth detection unit. The restraint sleeve comprises a first restraint sleeve and a second restraint sleeve, wherein the second restraint sleeve is nested outside the first restraint sleeve; The data transmission unit includes a bottom plate, a fixing plate and a control main board, the bottom plate is provided with a control main board, the first detection unit, the second detection unit, the third detection unit, the fourth detection unit and the fifth detection unit are arranged in sequence on the bottom plate, the fixing plate is arranged below the bottom plate, and the fixing plate is arranged between the first binding sleeve and the second binding sleeve; The first detection unit, the second detection unit, the third detection unit, the fourth detection unit and the fifth detection unit respectively include a base, a column, a potentiometer, a curled spring sheet base, a curled spring sheet, a traction line seat, a traction rope and a limit block. The base is fixed on the bottom plate, a potentiometer is provided at the first end of the column, the column and the potentiometer are both arranged in the base, the curled spring sheet base is arranged on the base, a first base hole is provided in the middle of the curled spring sheet base, a first fixing groove is provided in the base hole, a fixing piece is provided in the first fixing groove, a spring box is provided on the first end face of the curled spring sheet base, and an opening groove and a spring box hole are respectively provided on the outer arc surface of the spring box; the curled spring sheet is arranged in the spring box, and the curled spring sheet includes a vertical plate portion, a curling portion and a fixing The fixed part, the first end of the curled spring sheet is provided with a vertical plate portion, the column passes through the first base hole, and the vertical plate portion of the curled spring sheet is engaged in the groove of the first pillar on the column; the curled portion is wrapped around the first pillar and is arranged in the spring box, and the second end of the curled spring sheet is provided with a fixing portion, the fixing portion passes through the opening groove of the spring box and is engaged in the spring box hole of the spring box; the traction wire seat is buckled on the spring box, and the I-shaped fixed vertical plate on the traction wire seat is engaged in the groove of the first pillar on the column; the limit block is nested in the end of the thumb, the first end of the traction rope is fixed to the outer arc surface of the traction wire seat, and the second end of the traction rope passes through the first base rope threading hole on the base of the curled spring sheet, and is wrapped around the outer arc surface of the traction wire seat and connected with the first rope threading hole on the limit block.

2. The force feedback glove system for VR scenes according to claim 1, characterized in that: A first base hole is arranged in the middle of the base, a first groove is arranged on one side of the first base hole, a column is arranged in the first base hole, and a potentiometer is arranged in the first groove.

3. The force feedback glove system for VR scenes according to claim 2, characterized in that: A threaded portion is arranged in the middle of the column, a first support column is arranged at the second end of the column, and a groove is arranged in the middle of the first support column.

4. The force feedback glove system for VR scenes according to claim 3, characterized in that: The threaded portion of the column is threadedly connected with the fixing piece, and a base rope threading hole is arranged at the corner of the first end surface of the curled spring sheet base.

5. The force feedback glove system for VR scenes according to claim 4, characterized in that: The first end face of the traction wire seat is provided with a spring box inner disk, and a straight-line fixed vertical plate is provided in the middle of the spring box inner disk. The first support column and the second support column are symmetrically provided on both sides of the straight-line fixed vertical plate. The traction wire seat is buckled on the spring box, and the first support column and the second support column are respectively provided on both sides of the vertical plate part. The straight-line fixed vertical plate is provided in the groove of the first pillar.

6. The force feedback glove system for VR scenes according to claim 5, characterized in that: The upper end of the limiting block is provided with a first rope threading hole, and the center of the limiting block is provided with a through hole adapted to the end of the thumb.

7. The force feedback glove system for VR scenes according to claim 1, characterized in that: The data transmission unit also includes a cover plate, which covers the first detection unit, the second detection unit, the third detection unit, the fourth detection unit and the fifth detection unit. The potentiometers in the first detection unit, the second detection unit, the third detection unit, the fourth detection unit and the fifth detection unit are electrically connected to the control main board through terminal connectors and data cables.

8. A method for constructing a force feedback glove system for VR scenes according to any one of claims 1 to 7, characterized in that: It includes the following steps: S1, establish hand feature model; S2. Classify the thumb tip size, thumb length and metacarpal width in the hand feature model, use the preset function mapping relationship matrix to obtain the parameterized models of the first detection unit, the second detection unit, the third detection unit, the fourth detection unit and the fifth detection unit, and establish the mapping function expression between the force feedback feature model and the hand feature model: M i →f j (F j ) Where M i is the force feedback characteristic model, F j M i The corresponding hand feature model; S3, performing virtual simulation matching on the parameterized model and the hand feature model, and confirming the position layout of the data transmission unit, the first detection unit, the second detection unit, the third detection unit, the fourth detection unit, and the fifth detection unit; S4, performing 3D printing manufacturing on the data transmission unit, the first detection unit, the second detection unit, the third detection unit, the fourth detection unit, and the fifth detection unit, and assembling them; S5, wearing the first restraint sleeve and the second restraint sleeve in sequence, embedding the first detection unit, the second detection unit, the third detection unit, the fourth detection unit and the fifth detection unit between the first restraint sleeve and the second restraint sleeve through the fixing plate, and embedding the limit block in each detection unit at the end of the thumb; S6, connecting the data transmission unit to the host, coordinating the interactive debugging between the VR all-in-one system and the VR interactive software, so that the virtual hand in the VR virtual environment forms a mapping relationship with the first detection unit, the second detection unit, the third detection unit, the fourth detection unit, and the fifth detection unit; S7, the first detection unit, the second detection unit, the third detection unit, the fourth detection unit and the fifth detection unit take action, the resistance and current in the potentiometer change, and the relevant data are transmitted to the internal virtual environment of the VR all-in-one system through the data transmission unit and the host, so that the virtual hand in the VR virtual environment can realize the grasping action in the three-dimensional space.

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