Single-hand mechanical touch interaction force feedback glove

Abstract

The invention relates to a single-hand mechanical touch interaction force feedback glove which comprises a thumb mechanism assembly, a four-finger mechanism assembly, a steering engine limiting assembly and a base connecting assembly. The thumb mechanism assembly, the four-finger mechanism assembly and the steering engine limiting assembly are connected together through the base connecting assembly, and each of the thumb mechanism assembly and the four-finger mechanism assembly comprises a base connecting unit, a steering engine limiting unit, a free moving unit and a fingertip connecting unit; the glove assembly measures the bending angle of fingers through a limiting tension line, an angle potentiometer measures the transverse opening angle of the fingers, and a steering engine limits the action and position of the hand, so that the change of the free movement angle of the five fingers and the locking feedback of object grabbing are achieved. The mechanical tactile interaction force feedback glove solves the problems that existing hand interaction equipment is insufficient in wearing convenience and use flexibility and high in manufacturing cost, and low-price and high-quality manufacturing is achieved on the premise that wearing convenience, use flexibility, safety and reliability are guaranteed.

Description

Technical Field

[0001] The present invention relates to a hand tactile interaction device, and in particular to a single-hand mechanical tactile interaction force feedback glove. Background Art

[0002] The application of tactile feedback technology is particularly important in enhancing the ability of digital simulation, and can greatly make up for the shortcomings of current digital virtual interaction methods. In the existing technology, the interactive tactile feedback methods can be summarized into three categories of products. The first is force feedback interaction based on physical mechanisms, using mechanical connections or tension lines to achieve force feedback on fingers; the second is to let fingers feel force feedback through new materials; the third is to use pneumatic principles to achieve force feedback. However, these three methods have many problems, such as high prices, cumbersome wearing, and poor comfort, which limit their widespread promotion in the application field, making tactile simulation unable to better mobilize the tactile senses of the hands. Summary of the invention

[0003] The purpose of the present invention is to provide a one-hand mechanical tactile interactive force feedback glove to solve the above problems.

[0004] In order to achieve the above object, the technical solution of the present invention is as follows: A one-hand mechanical tactile interactive force feedback glove comprises a thumb mechanism assembly, a four-finger mechanism assembly, a steering gear limit assembly and a base connection assembly, wherein the thumb mechanism assembly, the four-finger mechanism assembly and the steering gear limit assembly are connected together through the base connection assembly. Both the thumb mechanism assembly and the four-finger mechanism assembly comprise a base connection unit, a steering gear limit unit, a free movement unit and a fingertip connection unit. When the thumb mechanism assembly and the four-finger mechanism assembly of the one-hand mechanical tactile interactive force feedback glove are active, the angles can be changed in the horizontal and vertical directions, the finger bending angle is measured by the limit tension line, and the lateral opening angle of the finger is measured by the angle potentiometer; in the vertical direction, the hand movement and position are limited by the steering gear limit unit, and the maximum bending angle is limited by the limiter, thereby realizing the change of the free movement angle of the five fingers and the locking feedback of grasping the object, that is, switching the free movement state and the locking feedback state.

[0005] Furthermore, the steering gear limiting unit, the free activity unit and the fingertip connecting unit are rotationally connected in sequence.

[0006] Furthermore, in the free activity state, the limit value of the servo limit unit is the smallest, the free activity unit and the fingertip connection unit can rotate flexibly, and the one-hand mechanical tactile interactive force feedback glove will not hinder the natural movement of the human hand.

[0007] Furthermore, in the locked feedback state, the servo limit unit provides resistance to restrict the flexible rotation of the thumb mechanism assembly and the four-finger mechanism assembly. When the user wears the one-handed mechanical tactile interactive force feedback glove to grasp an object, the servo in the servo limit unit controls the movement of the limiter and the limit gear, thereby driving the limit tension line to contract in the opposite direction, simulating the passive feedback force received by a human hand when grasping an object, allowing the user to intuitively perceive the grasping feeling of different virtual objects.

[0008] Furthermore, the free-movement unit measures the lateral opening angle of the finger connector by an angle potentiometer placed at the bottom of the fixed base, and the finger connector is connected to the restraint.

[0009] Furthermore, the servo limit unit includes a servo, a limit gear, a fixed base, a restraint, a limiter, a linear resistor and a limit tension line. The servo, the limit gear, the restraint, the limiter and the linear resistor are all fixed on the fixed base. The position sensor inside the servo is connected to the servo gear set, and the servo gear set is connected to the limit gear below, and the limit gear meshes with the limiter and interacts with each other. The limiter has a built-in card slot, which is covered by the linear resistor above, and the columnar elastic member is fixed inside the linear resistor. One end of the limit tension line is fixed on the elastic member by a metal buckle, so that the elastic member slides back and forth in the built-in card slot of the limiter.

[0010] Furthermore, the fingertip connection unit includes a finger connector, a fingertip fixing strap and a finger fixing strap. The finger connector extends along the finger direction and wraps the fingertip inward, and the finger connector is fixed to the finger through the finger fixing strap and the fingertip fixing strap. Four limit tension line connection holes are arranged on the finger connector, and the limit tension line connected to the elastic member reaches the end of the finger cap via the restrainer connection hole and the four limit tension line connection holes.

[0011] Furthermore, the base connection assembly includes a thumb base connection unit and a four-finger base connection unit, and the thumb base connection unit and the four-finger base connection unit are connected to each other in a "Y" shape. There are seven base unit connection ports on the top of the base connection assembly, and a base strap connection port is dispersed at each of the three end points. Three fixing straps pass through the base unit connection port and the base strap connection port, thereby fixing the base connection assembly on the back of the hand.

[0012] Furthermore, the finger connector has a wave structure at the first knuckle and the second knuckle, which helps the finger connector to be stretched following the bending movement of the hand and extend the bending length.

[0013] Furthermore, the servo limiting unit, the free activity unit and the fingertip connecting unit of the thumb mechanism assembly and the four-finger mechanism assembly are consistent.

[0014] Compared with the prior art, the beneficial effects of the present invention are mainly reflected in: (1) The mechanical tactile interactive force feedback gloves based on the steering gear servo drive can not only realize the natural movement of full gestures in free space, but also simulate the interaction with virtual objects in constrained space, meeting the diverse needs of users in different virtual scenes.

[0015] (2) The hand movement and position are limited by the servo limit unit. The bending angle is controlled by the limiter to simulate the locking feedback when grasping different objects, allowing users to perceive different materials and objects in the virtual world more realistically.

[0016] (3) Each finger is equipped with an independently controlled servo, allowing the user to individually control the interaction between each finger and the virtual environment. It also supports complex interactions between multiple fingers, improving the accuracy and diversity of the interaction.

[0017] (4) The fingertip connection unit of the glove has a size adjustment function. Combined with the Velcro-style wearing method, the finger connector is fixed on the finger through the finger fixing strap and the fingertip fixing strap, so that the glove can adapt to the hand shape of different users, enhancing the versatility of the device and user experience.

[0018] (5) The servo limit unit adopts a hard plastic structure, which can play a good role in fixing and supporting, and improve the structural support and stability of the fixed base.

[0019] (6) The finger connector made of soft TPU material can well match the bending angles of each finger joint, and can also fit softly on the skin surface without causing any damage to the fingers.

[0020] (7) The structural design achieves weight optimization and low-cost manufacturing while ensuring ease of wearing and flexibility of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of a one-hand mechanical tactile interactive force feedback glove.

[0022] Figure 2 This is an exploded view of a one-hand mechanical tactile interactive force feedback glove.

[0023] Figure 3 This is the steering gear limit unit diagram Figure 1 .

[0024] Figure 4 This is the steering gear limit unit diagram Figure 2 .

[0025] Figure 5 This is the exploded view of the limiter.

[0026] Figure 6 This is a schematic diagram of the fingertip connection unit.

[0027] Figure 7 Schematic diagram of the base connection unit.

[0028] The above drawings include the following reference numerals: 1. limit tension line; 2. angle potentiometer; 3. restrainer; 4. limiter; 5. linear resistor; 6. servo; 7. limit gear; 8. fixed base; 9. fingertip fixing strap; 10. finger connector; 11. finger fixing strap; 12. base; 13. limiter gear; 14. base strap connection port a; 15. base strap connection port b; 16. elastic member; 17. metal buckle; 18. limit tension line connection port Connection hole a; 19. Limiting tension line connection hole b; 20. Limiting tension line connection hole c; 21. Limiting tension line connection hole d; 22. Base strap connection port a; 23. Base unit connection port a; 24. Base unit connection port b; 25. Base unit connection port c; 26. Base unit connection port d; 27. Base unit connection port e; 28. Base unit connection port f; 29. ​​Base unit connection port g; 30. Base strap connection port b; 31. Base strap connection port c. DETAILED DESCRIPTION

[0029] In order to make the technical solutions and advantages in the embodiments of the present application more clearly understood, the exemplary embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than an exhaustive list of all the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0030] like Figure 1 A one-hand mechanical tactile interactive force feedback glove is shown, comprising a thumb mechanism component, a four-finger mechanism component, a servo limit component and a base connection component, wherein the thumb mechanism component, the four-finger mechanism component and the servo limit component are connected together through the base connection component.

[0031] like Figure 2 As shown in the exploded diagram of the force feedback glove, the thumb mechanism component and the four-finger mechanism component both include a base connection unit, a servo limit unit, a free movement unit and a fingertip connection unit. When the thumb mechanism component and the four-finger mechanism component of the one-hand mechanical tactile interactive force feedback glove are active, the angle can be changed in the horizontal and vertical directions. The finger bending angle is measured by the limit tension line, and the lateral opening angle of the finger is measured by the angle potentiometer; in the vertical direction, the hand movement and position are limited by the servo limit unit, and the maximum bending angle is limited by the limiter, so as to realize the change of the free movement angle of the five fingers and the locking feedback of the grasping object, that is, switching the free movement state and the locking feedback state. In the whole mechanism, the thumb mechanism component, the four-finger mechanism component and the base connection component are made of soft TPU material, and the servo limit component is made of PLA hard plastic structure.

[0032] like Figure 3 , 4 The schematic diagram of the steering gear limit unit shown in the figure includes a steering gear 6, a limit gear 7, a fixed base 8, a restrainer 3, a limiter 4, a linear resistor 5 and a limit tension line 1. The steering gear 6, the limit gear 7, the restrainer 3, the limiter 4 and the linear resistor 5 are all fixed on the fixed base 8. The position sensor inside the steering gear 6 is used to detect the actual angle position fed back by the computer system. The position sensor inside the steering gear 6 is connected to the steering gear set, and the steering gear set is connected to the limit gear 7. The limit gear 7 is meshed with the limiter gear 13, and the limit gear 7 drives the limiter gear 13 to move back and forth.

[0033] like Figure 5 As shown in the exploded view of the limiter, the limiter 4 has a built-in slot, which is covered by the linear resistor 5 above, and the columnar elastic member 16 is fixed inside the linear resistor 5. One end of the limit tension line 1 is fixed on the elastic member 16 by a metal buckle 17, which causes the elastic member 16 to slide back and forth in the built-in slot of the limiter 4, thereby controlling the limit tension line 1 to give the finger longitudinal bending and rotate to a specified angle position.

[0034] The free-movement unit comprises an angle potentiometer 2 and a finger connector 10. The angle potentiometer 2 is fixed to the bottom of the fixed base 8. The finger connector 10 is connected to the restraint 3. The angle potentiometer 2 measures the lateral opening angle of the finger.

[0035] like Figure 6 The schematic diagram of the fingertip connection unit shown in the figure includes a finger connector 10, a fingertip fixing strap 9 and a fingertip fixing strap 11. The finger connector 10 extends along the finger direction and wraps the fingertip inward. The finger connector 10 is fixed to the finger by the finger fixing strap 11 and the fingertip fixing strap 9. The finger connector 10 is provided with a limit tension line connection hole a18, a limit tension line connection hole b19, a limit tension line connection hole c20 and a limit tension line connection hole d21. The limit tension line 1 connecting the elastic member 16 passes through the connection hole of the restrainer 3 and the limit tension line connection hole a18, the limit tension line connection hole b19, the limit tension line connection hole c20 and the limit tension line connection hole d21 to reach the end of the finger cap.

[0036] like Figure 7The schematic diagram of the base connection unit shown in the figure shows that the base connection assembly includes a thumb base connection unit and a four-finger base connection unit, and the thumb base connection unit and the four-finger base connection unit are connected to each other in a "Y" shape. The base connection assembly is based on the base 12, and there are seven base unit connection ports on the top, including base unit connection port a23, base unit connection port b24, base unit connection port c25, base unit connection port d26, base unit connection port e27, base unit connection port f28, and base unit connection port g29. A base strap connection port is dispersed at each of the three end points of the base 12, including base strap connection port a22, base strap connection port b30, and base strap connection port c31. The first palm strap passes through the base strap connection port a22, the base unit connection port a23, the base unit connection port b24, the base unit connection port d26, the base unit connection port f28, the base strap connection port b30, and the base strap connection port a14 of the four-finger mechanism assembly; the second palm strap passes through the base unit connection port c25, the base unit connection port e27, the base strap connection port b15 of the four-finger mechanism assembly, and the base strap connection port a14 of the thumb mechanism assembly; the third palm strap passes through the base unit connection port g29, the base strap connection port c31, and the base strap connection port b15 of the thumb mechanism assembly, thereby fixing the base connection assembly on the back of the hand.

[0037] The four-finger mechanism components (index finger, middle finger, ring finger, and little finger) and the thumb mechanism component can adjust the size of the force feedback gloves through the fingertip fixing straps 9 and the finger fixing straps 11 on each finger component, so that the gloves can adapt to the hand shapes of different users, enhancing the versatility of the device and user experience.

[0038] In the free activity state, the limit value of the servo limit unit is the smallest, the servo 6 receives feedback from the computer, drives the limit gear 7 to engage the limiter gear 13 to rotate, the elastic member 16 moves toward the fingertips, the limit tension line 1 is not restricted, the free activity unit and the fingertip connection unit can rotate flexibly, and the one-hand mechanical tactile interactive force feedback gloves will not hinder the natural movement of the human hand.

[0039] In the locked feedback state, the servo limit unit provides resistance to restrict the flexible rotation of the thumb mechanism component and the four-finger mechanism component. When the user wears the one-hand mechanical tactile interactive force feedback glove to grasp an object, the servo 6 in the servo limit unit controls the movement of the limiter 4 and the limit gear 7, thereby driving the limit tension line 1 to contract in the opposite direction, simulating the passive feedback force received by the human hand when grasping an object, allowing the user to intuitively perceive the grasping feeling of different virtual objects. In addition, the finger connector 10 has a wave structure at the first and second knuckles, which helps the finger connector 10 to be stretched following the bending action of the hand and extend the bending length.

[0040] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0041] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A one-hand mechanical tactile interactive force feedback glove, comprising a thumb mechanism assembly, a four-finger mechanism assembly, a steering gear limit assembly and a base connection assembly, wherein the thumb mechanism assembly, the four-finger mechanism assembly and the steering gear limit assembly are connected together through the base connection assembly; The thumb mechanism assembly and the four-finger mechanism assembly both include a base connection unit, a servo limit unit, a free activity unit and a fingertip connection unit; When the thumb mechanism component and the four-finger mechanism component of the one-hand mechanical tactile interactive force feedback glove are active, the angles can be changed in the horizontal and vertical directions, the finger bending angle is measured by the limit tension line, and the lateral opening angle of the fingers is measured by the angle potentiometer; in the vertical direction, the hand movement and position are limited by the servo limit unit, and the maximum bending angle is limited by the limiter, so that the change of the free movement angle of the five fingers and the locking feedback of the grasped object can be realized, and the switching between the free movement state and the locking feedback state can be realized.

2. The one-hand mechanical tactile interactive force feedback glove according to claim 1, characterized in that: The steering gear limiting unit, the free activity unit, and the fingertip connection unit are rotatably connected in sequence; In the free activity state, the limit value of the servo limit unit is the smallest, the free activity unit and the fingertip connection unit can rotate flexibly, and the one-hand mechanical tactile interactive force feedback glove will not hinder the natural movement of the human hand; In the locked feedback state, the servo limit unit provides resistance to restrict the flexible rotation of the thumb mechanism assembly and the four-finger mechanism assembly. When the user wears the one-handed mechanical tactile interactive force feedback glove to grasp an object, the servo in the servo limit unit controls the movement of the limiter and the limit gear, thereby driving the limit tension line to contract in the opposite direction, simulating the passive feedback force received by human hands when grasping objects, allowing the user to intuitively perceive the grasping feeling of different virtual objects.

3. The one-hand mechanical tactile interactive force feedback glove according to claim 1, characterized in that: The free-moving unit is placed at the bottom of the fixed base, and the angle potentiometer measures the lateral opening angle of the finger connector, which is connected to the restraint device.

4. The one-hand mechanical tactile interactive force feedback glove according to claim 1, characterized in that: The steering gear limiting unit comprises a steering gear, a limiting gear, a fixed base, a restrainer, a limiter, a linear resistor and a limiting tension line. The steering gear, the limiting gear, the restrainer, the limiter and the linear resistor are all fixed on the fixed base.

5. The one-hand mechanical tactile interactive force feedback glove according to claim 1, characterized in that: The fingertip connection unit includes a finger connector, a fingertip fixing strap and a finger fixing strap. The finger connector extends along the finger direction and wraps the fingertip inwardly. The finger connector is fixed on the finger by the finger fixing strap and the fingertip fixing strap.

6. The one-hand mechanical tactile interactive force feedback glove according to claim 1, characterized in that: The base connection assembly includes a thumb base connection unit and a four-finger base connection unit. The thumb base connection unit and the four-finger base connection unit are connected to each other in a Y shape. There are seven base unit connection ports on the top of the base connection assembly, and a base strap connection port is dispersed at each of the three end points. Three fixing straps pass through the base unit connection port and the base strap connection port, thereby fixing the base connection assembly on the back of the hand.

7. The one-hand mechanical tactile interactive force feedback glove according to claim 3, characterized in that: The position sensor inside the servo is connected to the servo gear set, and the servo gear set is connected to the limit gear below. The limit gear meshes with and interacts with the limiter; the limiter has a built-in slot, which is covered by the linear resistor above, and the columnar elastic part is fixed inside the linear resistor. One end of the limit tension line is fixed on the elastic part by a metal buckle, causing the elastic part to slide back and forth in the built-in slot of the limiter.

8. The one-hand mechanical tactile interactive force feedback glove according to claim 4, characterized in that: Four limit tension line connection holes are arranged on the finger connector, and the limit tension line connected to the elastic member reaches the end of the finger cap via the restrainer connection hole and the four limit tension line connection holes.

9. The one-hand mechanical tactile interactive force feedback glove according to claim 4, characterized in that: The finger connector has a wave structure at the first knuckle and the second knuckle, which helps the finger connector to be stretched following the bending action of the hand and extend the bending length.

10. The one-hand mechanical tactile interactive force feedback glove according to claim 5, characterized in that: The servo limit unit, free activity unit and fingertip connection unit of the thumb mechanism assembly and the four-finger mechanism assembly are consistent.

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