Touch force feedback glove based on virtual reality and rehabilitation training system

Abstract

The invention relates to a tactile force feedback glove based on virtual reality and a rehabilitation training system. The tactile force feedback glove comprises a hand back skeleton, a palm flexible supporting piece and a finger feedback unit. The finger feedback unit comprises a driving assembly, a traction assembly and a tactile feedback assembly, and the driving assembly, the traction assembly and the tactile feedback assembly are sequentially connected in a rotatable mechanical mode. The traction assembly applies acting force to the finger in the mode that the traction assembly is locally attached to the back of the finger and does not affect the movement of all finger joints so as to control the bending action of the finger, and in response to instruction information of the control module, the tactile feedback assembly applies tactile information to the finger in the mode that the tactile feedback assembly can be attached to a film of the fingertip. Under the combined action of the traction assembly and the tactile feedback assembly, the fingers receive force feedback and tactile feedback related to physical characteristics of a grabbed object in the virtual reality space. According to the touch force feedback glove, the palm side faces of the fingers are not bound at all, and therefore the fatigue feeling of a user in the using process is relieved.

Description

Technical Field

[0001] The present invention relates to the technical field of virtual reality, and in particular to a tactile force feedback glove and a rehabilitation training system based on virtual reality. Background Art

[0002] Smart gloves are devices worn on the hands that have advanced capabilities for sensing hand movements and gestures. They are built by integrating flexible sensing technology, micro-electromechanical systems, and advanced material science. These gloves are equipped with bend sensors, accelerometers, gyroscopes, pressure sensors, etc., to capture finger and wrist motion data in real time. Starting in the late 20th century, early smart gloves were mainly used to enhance interactive experiences, such as player motion capture in virtual reality and video games. With the rapid development of the Internet of Things (IoT) and wearable technology, smart gloves have broken through their initial application scope and are used in many new scenarios, including healthcare, industrial manufacturing, education and training, disability assistive devices, and sports training. Modern smart gloves can achieve more complex functions, such as evaluating hand dysfunction through fine movement detection, or translating sign language into speech and text to help the deaf communicate.

[0003] In the field of rehabilitation, the application of smart gloves is particularly eye-catching. Patients who have suffered a stroke or whose hand movements are limited due to trauma and surgery often need to restore hand function through a lot of repetitive exercises. Smart gloves can play an important role in this process. They can monitor the accuracy and flexibility of patients' hand movements and provide real-time data feedback to medical professionals. Some smart gloves are also equipped with software that can provide rehabilitation training in a gamified way, which not only makes the training more interesting, but also increases the motivation of patients to continue rehabilitation training. Smart gloves can also help record the patient's long-term recovery process so that doctors can adjust the rehabilitation plan according to the patient's actual situation and achieve personalized treatment. In addition, for patients with hand tremor symptoms (such as Parkinson's patients), the sensors in smart gloves can compensate for hand tremors and help patients stabilize their hands so that they can carry out daily activities such as eating and writing.

[0004] Gloves that provide force feedback are an advanced form of smart glove technology that not only monitors and captures hand movements, but also provides users with actual tactile sensations. Such gloves usually integrate tactile feedback technology, such as vibration motors, pneumatic muscles, or linear resonators, to simulate real-world tactile sensations.

[0005] Force feedback gloves are widely used in VR and AR to enhance the user's sense of immersion. By interacting with objects in the virtual environment, users can feel real tactile feedback, which significantly improves the realism of the experience. In remote control operations, force feedback gloves allow operators to feel tactile signals from a robotic arm or remote robot, which is very useful for fine manipulation, such as in dangerous environments or minimally invasive surgery. In rehabilitation training, force feedback gloves can simulate different tactile scenarios to help patients recover hand motor skills and adapt to different tactile stimuli. Force feedback gloves can be used to simulate various vocational skills training, such as surgery, mechanical maintenance, etc., to enhance learning effects by providing a real tactile experience. The gaming industry was one of the early adopters of force feedback technology, providing a more realistic gaming experience, especially in games that require fine manipulation and physical interaction. Force feedback gloves are also used in military simulation training, allowing soldiers to experience tactile feedback of weapon operation and battlefield tasks in a simulated environment. In some sports, force feedback gloves can be used to train athletes' grip strength and hand coordination, especially in sports that require precise hand control, such as golf, tennis or gymnastics.

[0006] For example, CN115644539A discloses an operation sensing glove combining tactile and force feedback, including a glove body, a finger motion collector, a soft damper, a flexible tactile actuator, a sensing feedback driver and a main controller, wherein the finger motion collector is used to measure finger motion parameters in real time; the soft damper is used to provide a damping sense and force feedback during the gripping process of the glove; the flexible tactile actuator is used to generate finger bending motion resistance and tactile feedback; the sensing feedback driver is used to drive the soft damper and the flexible tactile actuator, and dynamically set the driving parameters; the main controller is used to record the motion parameters and spatial posture in real time, and generate driving parameters according to the virtual operation / gripping state or the master-slave operation / gripping state. In this invention, a flexible tactile actuator is used to generate finger bending motion resistance and tactile feedback, and the formed finger bending resistance is small, and the finger cannot be accurately bent to the calculated bending action position.

[0007] For another example, CN103158162A discloses an external frame type bidirectional force feedback data glove. In order to solve the shortcomings of the existing force feedback data gloves, such as the separation of the joint measurement mechanism and the force feedback mechanism, the complex and bloated system structure, the difficulty in maintenance, the inability to achieve bidirectional active drive, and the high price, the invention integrates the joint detection mechanism and the force feedback mechanism into one, and adopts a unique connection method and a clever layout of joint measurement points, so that when the operator uses the data glove, the five fingers can maintain maximum flexibility, the movement state of each finger joint can be accurately detected, so that each finger joint of the controlled slave hand can move in coordination with the corresponding finger joint of the operator, and the force condition of the slave hand in a specific working environment can be fed back to the operator to enhance the sense of presence of virtual reality or remote operation. When the control system has a force feedback signal, the driving component in the socket N starts, and applies a force in the same or opposite direction to the rocker arm in its moving direction through the cooperation of the reduction gear set. At the same time, the control system uses the corresponding mathematical algorithm to continuously output and correct the size of the driving force according to the change of the joint angle detected by the angle sensor in the socket A, and promotes or hinders the movement of the wrist-metacarpal joint (CP) of the thumb to realize the force feedback function of the joint. However, the invention uses a mechanical structure to control the bending movement of the finger joints, which will make the weight and volume of the hand joint position larger, and the overall hand feels heavy and not light enough.

[0008] For another example, CN114779943A discloses a force feedback glove and control method, comprising: a glove body and a power module arranged on the glove body; the power module comprises: a force output unit arranged on the glove body; a drawstring, the first end of which is connected to the output end of the force output unit, and the second end of which has a connection portion corresponding to the knuckle; a fixing portion corresponding to the knuckle is arranged on the finger portion of the glove body, and a traction force is provided to the drawstring through the force output unit to limit the knuckle movement; a locking structure is arranged on the glove body for fixing or releasing the drawstring; a tension measurement structure is arranged on the glove body for detecting the traction tension transmitted by the drawstring when pulling the knuckle, and controlling the unlocking action of the locking structure based on the traction tension. Although the invention uses the rope body to pull the bending action of the finger joint, it does not associate the bending of the hand and the tactile feedback with the object characteristics of the grasped object, so that the user can only feel the force of grasping the object, but cannot feel the material of the grasped object. Therefore, the force feedback applied to the hand by the glove is not real enough, that is, the authenticity is poor. The force feedback glove in this system transmits traction force through the pull rope and uses a locking structure to control the release of the rope to adjust the finger movement. However, this method has certain shortcomings in terms of accuracy, comfort and system integration. Although the force feedback glove can provide certain force feedback, it has certain limitations in terms of accuracy and real-time performance. At the same time, the slight deviation of the traction rope is very sensitive to the hand, causing the rope to easily deviate in angle; it is easy to be damaged when exposed to the outside, resulting in poor reliability.

[0009] For another example, CN115390662A discloses a force feedback virtual reality glove based on senseless FOC. The force feedback virtual reality glove is composed of a transmission rod, a rotating shaft, a connecting rope, a motor, an FPGA chip, an MCU single-chip computer and a line communication module arranged on the glove, and forms a senseless FOC system with a host computer. The host computer inputs the force feedback data of the object into the MCU single-chip computer through the difference of objects in the virtual world to configure the parameters of the senseless FOC in the FPGA development board, and finally controls the motor to achieve precise control of the force feedback at the finger. However, the force feedback virtual reality glove in the invention needs to cover both hands, which is very troublesome to wear and requires human assistance. If you are not careful, it may cause damage to the equipment. This design may hinder the natural movement of the fingers and cause discomfort in the hands when bending. The overall structure of the glove may affect the natural bending of the fingers and reduce the wearing comfort. No matter how accurately the force feedback data is calculated, the resistance and obstruction formed by the glove body to the bending of the fingers cannot be eliminated. The covering design of the glove also increases the volume and weight, making the wearing experience not light enough. This is particularly unfavorable for virtual reality applications used for a long time, and may cause users to feel tired. In this technical solution, the glove includes multiple mechanical components such as transmission rods, rotating shafts and connecting ropes, which increases the complexity of the overall structure. The complex mechanical structure not only increases the difficulty of manufacturing and maintenance, but may also affect the reliability of the system. The traction rope will wear out during long-term use, resulting in unstable or inaccurate force feedback. This wear problem is particularly evident in frequently used virtual reality applications, which may require regular replacement and maintenance. Since the tension of the traction rope is transmitted mechanically, the force feedback effect on different fingers may be inconsistent. This unevenness will affect the user's tactile experience, making some fingers unable to feel the expected force feedback.

[0010] As shown above, no matter how the current force feedback gloves are designed, the mechanical structure for applying bending control to the finger joints is relatively large, and they feel heavy when attached to the finger joints. In addition, current gloves are generally worn in a way that fully covers both hands, which seriously affects the flexibility and tactile perception of the finger joints. How to provide a semi-covered, lightweight force feedback glove and rehabilitation training system that does not hinder the movement of the finger joints, and how to enable users to obtain a more realistic tactile feeling corresponding to the grasped object through force feedback are technical problems that the present invention hopes to solve.

[0011] In addition, on the one hand, there are differences in understanding among those skilled in the art; on the other hand, the applicant studied a large number of documents and patents when making the present invention, but due to space limitations, not all details and contents are listed in detail. However, this does not mean that the present invention does not have the characteristics of these prior arts. On the contrary, the present invention already has all the characteristics of the prior art, and the applicant reserves the right to add relevant prior art to the background technology. Summary of the invention

[0012] At present, due to the limitation of technical conditions, the VR peripherals used in the existing virtual reality rehabilitation training are ordinary VR glasses and force feedback gloves. The actions such as clicking, moving and dragging of the hand model in the virtual scene are all completed by the user controlling the force feedback gloves. The hand is an important transmission part for patients to make decisions, and effective and correct force feedback and muscle memory are required. At present, the grasping operation of the virtual hand model is realized by the user wearing a force feedback glove, but the source of the tactile feedback of the user's hand in reality is unnatural, so this tactile feedback is wrong, not only can the correct muscle memory not be obtained, but the training effect is also greatly reduced. Therefore, the present invention provides a VR glove with tactile feedback function. When used in surgical training, it can more realistically restore the doctor's hand movement and tactile feedback during the operation, which is conducive to the doctor's better memory of the training process, so as to be applied to actual surgery.

[0013] In view of the shortcomings of the prior art, the present invention provides a tactile force feedback glove based on virtual reality from a first aspect, comprising a hand back skeleton, a palm flexible support and a finger feedback unit. The hand back skeleton is a skeleton formed by splicing according to the physiological structure of the hand back and allowing the metacarpophalangeal joint to move freely, and is provided with a control module; the palm flexible support and the hand back skeleton are spliced ​​to form a glove body that can be worn on the palm; the finger feedback unit comprises a driving component, a traction component and a tactile feedback component that are sequentially connected in a rotatable mechanical manner, and the driving component is embedded in the joint skeleton of the hand back skeleton, wherein, when the driving component controls the length of the traction component, the traction component applies a force to the finger in a manner of partially attaching to the back of the finger and not affecting the movement of each finger joint to control the bending action of the finger, and in response to the instruction information of the control module, the tactile feedback component applies tactile information to the finger in the form of a film that can be attached to the fingertip, and under the joint action of the traction component and the tactile feedback component, the finger receives force feedback and tactile feedback related to the physical characteristics of the grasped object in the virtual reality space.

[0014] First, the tactile force feedback glove of the present invention is not a fully enclosed glove in structure. When it is worn on the hand, the palm is exposed and the palm side of the fingers is not restrained. Therefore, the glove does not hinder the bending direction of the fingers. The bending action of the fingers of the hand can be precisely adjusted and accurate force feedback can be formed.

[0015] Second, the present invention combines the hand back skeleton with the palm flexible support to form a wearable device that conforms to the physiological structure, making the user's hand movements in the virtual environment more natural. The design of the glove allows the metacarpophalangeal joints and all finger joints to move freely, thereby reducing the user's fatigue during use and improving the comfort and flexibility of operation.

[0016] Compared with the force feedback gloves disclosed in CN114779943A and CN115390662A, the present invention introduces a lightweight exoskeleton support system to replace the traditional traction rope, which brings the following advantages:

[0017] (1) In terms of lightweight exoskeleton support: The present invention adopts a lightweight exoskeleton support structure to replace the traditional traction rope. The exoskeleton support system is made of lightweight and high-strength materials and is tightly integrated with the glove body to provide stable mechanical support for the fingers. The exoskeleton support system has components that dock with the joints of the fingers, which can simulate the natural movement of the joints and provide necessary force feedback. This design reduces the dependence on traditional pull ropes and improves the uniformity and comfort of force feedback.

[0018] (2) In terms of integration of tactile feedback components: The tactile electrode membrane in the glove of the present invention is provided with a hollow portion at the fingertips, so that the optical fiber sensor can directly sense the physical characteristics of the fingertips. The optical fiber sensor is installed at the part connected to the exoskeleton support system and can accurately measure the pressure or deformation of the fingertips. These data are processed in real time by the microprocessor to adjust the intensity and mode of tactile feedback.

[0019] (3) In terms of optimized data processing and feedback mechanism: The pressure data collected by the fiber optic sensor is processed instantly by the microprocessor to ensure the accuracy and timeliness of the feedback. Based on the processing results, the system can quickly adjust the force feedback of the exoskeleton support to achieve a more natural tactile experience.

[0020] (4) In terms of comfort and responsiveness: The exoskeleton support structure made of lightweight materials significantly reduces the overall weight of the gloves and improves wearing comfort. The force feedback provided by the exoskeleton support system is more uniform and accurate, improving the user's interactive experience and tactile realism in virtual reality.

[0021] Obviously, the present invention significantly improves the comfort of gloves and the accuracy of tactile feedback by introducing a lightweight exoskeleton support system to replace the traditional traction rope. The exoskeleton support structure provides stable and uniform force feedback, while the integration of tactile electrode membrane and optical fiber sensor further optimizes the accuracy and real-time of tactile experience. These not only improve the user's comfort and interactive effect, but also reflect the advantages of the present invention in virtual reality tactile feedback technology.

[0022] According to a preferred embodiment, the traction assembly is composed of a stretchable traction rope, the traction rope includes a first traction part and a second traction part that are rotatably connected to each other, the first traction part and the second traction part correspond to the proximal phalanx and the middle phalanx of the finger respectively, and the second traction part is rotatably connected to the tactile feedback assembly, wherein the traction rope corresponding to the thumb includes the first traction part, the first traction part is rotatably connected to the tactile feedback assembly, and the length of the traction rope changes based on the driving change of the driving assembly. The traction assembly is composed of a stretchable traction rope, and the length can be dynamically adjusted according to the driving change of the driving assembly, so that the bending action of the finger is more precise.

[0023] According to a preferred embodiment, each traction part of the traction assembly is formed by a traction rope in a manner of constructing a deformable geometric structure, and the length of the traction part of the traction rope is related to the deformation of the geometric structure. The geometric structure design of the traction rope enables it to adapt to the natural movement of the fingers without affecting the joint movement, ensuring that the user can obtain accurate force feedback and tactile feedback during training. This innovative design can effectively simulate various grasping actions and improve the user's muscle memory and movement coordination.

[0024] According to a preferred embodiment, the connection between the first traction part and the second traction part of the traction rope, and the connection between the second traction part and the tactile feedback component are all connected by a connecting rod, and a distance sensor is provided at at least one end of the connecting rod. The distance sensor is communicatively connected with the control module and sends the relative distance value between each finger joint and the fixed position of the wrist; the control module analyzes and determines the hand movement and its posture based on the relative distance value of each finger joint.

[0025] According to a preferred embodiment, the connection between the first traction part and the second traction part of the traction rope, and the connection between the second traction part and the tactile feedback component are all connected by a connecting rod, and a pressure sensor is provided at at least one end of the connecting rod. The pressure sensor is communicatively connected with the control module and sends the pressure value of each finger joint; the control module analyzes and determines the hand movement and its posture based on the pressure value of each finger joint.

[0026] By introducing distance sensors and pressure sensors between the traction part and the tactile feedback component, the relative position and pressure changes of each finger joint of the hand can be monitored in real time. These data are analyzed by the control module, making the recognition of hand movements and postures more accurate, and promoting the synchronization of user movement feedback and real perception in the virtual environment. This real-time feedback mechanism significantly improves the accuracy and effectiveness of hand training, helping users better master various hand operation skills.

[0027] According to a preferred embodiment, the tactile feedback component includes a tactile electrode film, which is prefabricated into a shape corresponding to the physiological structure of the fingertip. The area of ​​the tactile electrode film that contacts the fingertip is provided with a tactile feedback element, which implements tactile feedback by feeding back physical stimulation that can stimulate neural tactile sensation to the finger.

[0028] The tactile feedback component is attached to the fingertips in the form of a film, providing users with tactile information corresponding to virtual objects, enhancing the immersion and real experience in virtual reality. The design of this component allows users to feel tactile feedback that matches the characteristics of physical objects when performing actions such as grabbing, thereby effectively improving the realism and accuracy of training. This enhanced tactile feedback helps patients better form muscle memory during rehabilitation training, thereby improving rehabilitation results.

[0029] According to a preferred embodiment, the tactile electrode film in the tactile feedback component is provided with a hollow portion at a position corresponding to the nail, and an optical fiber sensor is extendedly provided on the connecting rod between the second traction portion and the tactile feedback component, and the sensing area of ​​the optical fiber sensor matches the hollow portion, so that the optical fiber sensor collects physical characteristics of the fingertips.

[0030] The hollow design in the tactile feedback component allows the tactile electrode film to better match the physical characteristics of the fingertips, and the application of fiber optic sensors enhances the real-time monitoring capability of the physical characteristics of the fingertips. Fiber optic sensors can accurately collect pressure and deformation data of the fingertips, thereby providing more detailed and realistic tactile feedback. This design not only improves the accuracy of tactile information, but also provides users with a more intuitive perception of operations in a virtual reality environment, thereby improving the effect and experience of rehabilitation training.

[0031] The present invention provides a rehabilitation training system based on virtual reality from a second aspect, comprising a virtual reality device, a processor and a tactile force feedback glove. The virtual reality device is used to construct a virtual reality space and form a virtual hand in the virtual reality space that is consistent with the hand posture in the real space; the processor is used to form force feedback data corresponding to the tactile force feedback glove according to the physical characteristics and force points of the virtual hand and the grasping object in the virtual reality space; the tactile force feedback glove is used to apply physical stimulation and finger bending action to the hand in response to the force feedback data, and the finger receives force feedback and tactile feedback related to the physical characteristics of the grasping object in the virtual reality space. The tactile force feedback glove comprises a back of hand skeleton, a palm flexible support and a finger feedback unit. The back of hand skeleton is a skeleton formed by splicing according to the physiological structure of the back of hand and allows the metacarpophalangeal joint to move freely, and is provided with a control module; the palm flexible support and the back of hand skeleton are spliced ​​to form a glove body that can be worn on the palm; the finger feedback unit comprises a driving component, a traction component and a tactile feedback component that are sequentially connected in a rotatable mechanical manner, and the driving component is embedded in the joint skeleton of the back of hand skeleton. When the driving component controls the length of the traction component, the traction component applies force to the finger in a manner of partially adhering to the back of the finger without affecting the movement of each finger joint to control the bending movement of the finger. In response to the command information of the control module, the tactile feedback component applies tactile information to the finger in the form of a film that can be attached to the fingertips. Under the joint action of the traction component and the tactile feedback component, the finger receives force feedback and tactile feedback related to the physical properties of the grasped object in the virtual reality space.

[0032] The rehabilitation training system of the present invention can achieve consistency between the postures of the virtual hand and the real hand, thus improving the immersion and effectiveness of the training. The force feedback data generated by the processor based on the physical characteristics of the virtual grasping object can accurately simulate the interactive experience in the real environment. This highly consistent feedback mechanism enables users to obtain a real sense of touch and coordination of movements during rehabilitation training, thus promoting the formation of muscle memory and improving the rehabilitation effect.

[0033] According to a preferred embodiment, in a rehabilitation training system based on virtual reality, the traction component is composed of a stretchable traction rope, the traction rope includes a first traction part and a second traction part rotatably connected to each other, the first traction part and the second traction part correspond to the proximal phalanx and the middle phalanx of the finger respectively, and the second traction part is rotatably connected to the tactile feedback component, wherein the traction rope corresponding to the thumb includes a first traction part, the first traction part is rotatably connected to the tactile feedback component, and the length of the traction rope changes based on the driving change of the driving component.

[0034] The stretchable design of the traction component allows the fingers to move more naturally and flexibly when performing various movements. By aligning the first and second traction parts with the proximal and middle phalanges of the fingers, users can get a more realistic movement experience during rehabilitation training. This dynamic responsiveness not only helps improve the flexibility and strength of the fingers, but also promotes the range of motion of the joints. Overall, this design greatly improves the effectiveness of rehabilitation training and helps users recover hand function faster.

[0035] According to a preferred embodiment, in a rehabilitation training system based on virtual reality, the tactile feedback component includes a tactile electrode film, which is prefabricated into a shape corresponding to the physiological structure of the fingertips, and the area of ​​the tactile electrode film that contacts the fingertips is provided with a tactile feedback element, which implements tactile feedback by feeding back physical stimulation that can stimulate neural tactile sensation to the fingers.

[0036] The prefabricated tactile electrode film in the tactile feedback component matches the physiological structure of the fingertips, making the tactile feedback more personalized and accurate. The tactile feedback element can directly transmit tactile information to the fingers in the form of physical stimulation to stimulate the nerve tactile sense. This delicate tactile experience not only enhances the user's immersion in the virtual reality environment, but also effectively helps users form correct movement memory and feedback during training. By providing real tactile feedback, the system significantly improves the fun and effectiveness of rehabilitation training, thereby improving user participation and rehabilitation effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a structural schematic diagram of the hand back angle of the tactile force feedback glove provided by the present invention;

[0038] Figure 2 It is a schematic structural diagram of the side angle of the tactile force feedback glove provided by the present invention;

[0039] Figure 3 It is a structural schematic diagram of the palm angle of the tactile force feedback glove provided by the present invention;

[0040] Figure 4 is a schematic structural diagram of the tactile force feedback glove provided by the present invention from another side angle;

[0041] Figure 5 is a schematic diagram of the use state of the tactile force feedback gloves provided by the present invention;

[0042] Figure 6 is a color structural schematic diagram of the tactile force feedback gloves provided by the present invention;

[0043] Figure 7 is a schematic diagram of the tactile force feedback glove provided by the present invention grabbing an object in a virtual reality space;

[0044] Figure 8 This is a first test schematic diagram of the grasping action of the tactile force feedback glove provided by the present invention in a virtual reality space;

[0045] Fig. 9 is a second test schematic diagram of the grasping action of the tactile force feedback glove provided by the present invention in a virtual reality space;

[0046] Fig.10 It is a schematic diagram of the structure of the hardware connection of the rehabilitation training system provided by the present invention;

[0047] Fig.11 It is a logical principle diagram of the rehabilitation training system provided by the present invention.

[0048] Reference numerals list

[0049] 100: tactile force feedback glove; 101: outer shell frame on the back of the hand; 102: joint frame; 103: tactile electrode film; 1031: hollow part; 1032: electrode film body; 104: optical fiber sensor; 105: traction rope; 1051: first traction part; 1052: second traction part; 106: control module; 107: power management module; 108: outer shell frame in the back of the hand; 109: driving motor; 110: palm frame; 111: soft filling part; 112: pressure sensor; 113: distance sensor; 114: connecting rod; 115: pulley assembly; 200: processor; 300: virtual reality device. DETAILED DESCRIPTION

[0050] The following is a detailed description with reference to the accompanying drawings.

[0051] The names and corresponding positions of the various joints of the hand are described below.

[0052] Metacarpophalangeal Joints (MCP Joints): These joints connect the metacarpal bones in the palm of the hand to the proximal phalanges of the fingers. Each finger has one MCP joint, for a total of five.

[0053] Proximal Interphalangeal Joints (PIP Joints): These joints are located in the middle part of the fingers and connect the proximal and middle phalanges.

[0054] Distal Interphalangeal Joints (DIP Joints): These joints are located at the ends of the fingers and connect the middle phalanx to the distal phalanx. All fingers except the thumb have DIP joints.

[0055] Trapeziometacarpal Joint of the Thumb: This is the base joint of the thumb, connecting the carpometacarpal bone and the first metacarpal bone of the thumb, allowing a wide range of motion of the thumb.

[0056] Interphalanggeal Joint of the Thumb: This is the second joint of the thumb, located at the base of the thumb, allowing the thumb to flex and extend.

[0057] Example 1

[0058] At present, due to the limitation of technical conditions, the VR peripherals used in the existing virtual reality rehabilitation training are ordinary VR glasses and force feedback gloves. The actions such as clicking, moving and dragging of the hand model in the virtual scene are all completed by the user controlling the force feedback gloves. The hand is an important transmission part for patients to make decisions, and effective and correct force feedback and muscle memory are required. At present, the grasping operation of the virtual hand model is realized by the user wearing a force feedback glove, but the source of the tactile feedback of the user's hand in reality is unnatural, so this tactile feedback is wrong, not only can the correct muscle memory not be obtained, but the training effect is also greatly reduced. Therefore, the present invention provides a VR glove with tactile feedback function. When used in surgical training, it can more realistically restore the doctor's hand movement and tactile feedback during the operation, which is conducive to the doctor's better memory of the training process, so as to be applied to actual surgery.

[0059] In view of the shortcomings of the prior art, this embodiment provides a tactile force feedback glove 100 based on virtual reality, such as Figures 1 to 6 The tactile force feedback gloves based on virtual reality provided in this embodiment can also be a tactile force feedback device.

[0060] like Figures 1 to 6 As shown, the virtual reality-based tactile force feedback glove 100 of the present invention includes a hand back skeleton, a palm flexible support member and a finger feedback unit.

[0061] like Figures 1 to 6 As shown, the hand back skeleton is a skeleton formed by splicing according to the physiological structure of the hand back and allowing the metacarpophalangeal joint to move freely, and a control module 106 is arranged inside the skeleton. The palm flexible support member and the hand back skeleton are spliced ​​to form a glove body that can be worn on the palm. The entire part of the hand back skeleton is made of flexible material. A rigid skeleton is embedded in the shell skeleton 108 in the hand back to maintain its shape. The hand back skeleton can be adjusted as needed to adapt to the palm size of different users.

[0062] based on Figure 1 The limitations of the black and white image display are provided Figure 6 For Figure 1 The corresponding colored line drawings are intended to further and more realistically show the structure of the tactile force feedback glove 100. Figures 1 to 6 As shown, the back of the hand skeleton includes a back of the hand shell skeleton 101, five joint skeletons 102 and a back of the hand middle shell skeleton 108. The joint skeleton 102 is rotatably connected to the back of the hand shell skeleton 101 and the back of the hand middle shell skeleton 108. Preferably, a convex structure is provided at a position close to the metacarpophalangeal joint on the back of the hand middle shell skeleton 108 to form a space for accommodating components. A power management module 107 and a power supply corresponding to each driving component are embedded in the space. The tactile force feedback glove 100 requires a stable power supply to drive each mechanism to work. The power supply system can adopt a rechargeable battery or an external power supply.

[0063] like Figures 1 to 6 As shown, the palm flexible support member includes a palm frame 110 and a soft filling part 111. The palm frame 110 is connected to the outer shell frame 108 in the back of the hand and forms a hole that allows each finger to pass through. When worn, each finger passes through the hole between the palm frame 110 and the outer shell frame 108 in the back of the hand, so that the outer shell frame 108 in the back of the hand reaches the back of the hand, and the palm frame 110 is opposite to the inner side of the palm at the metacarpophalangeal joint to support the palm. The soft filling part 111 is arranged in the abductor pollicis brevis area and the abductor digiti minimi area on the inner side of the palm to form a flexible support for the inner side of the palm.

[0064] Preferably, the palm frame 110 is also provided with a driving assembly for controlling the opening and closing of the palm. When the driving mechanism contracts, the palm will naturally open; when the driving mechanism extends, the palm will naturally clench.

[0065] The palm drive components work in conjunction with the finger drive components. When the fingers bend to grasp a virtual object, the palm drive components will also contract accordingly, tightening the palm to provide a more realistic grasping feeling.

[0066] Specifically, firstly, the force feedback tactile sensation at the palm is connected to the back of the hand, so when grasping objects, the fingers are limited and the palm can serve as the core mechanism of the glove; secondly, it can be combined with a micro inflatable airbag to simulate the touch of soft objects to a certain extent.

[0067] For example, inflatable airbags are used as the driving components of the palm. These airbags can be made of soft and durable materials, and will expand when inflated to open the palm; when deflated, they will shrink to close the palm. The design of the airbags should ensure that they can provide sufficient force when inflated, while not hindering the user's hand movement.

[0068] Pneumatic muscle technology is used to simulate object feedback forces in virtual reality. Pneumatic artificial muscles composed of latex tubes and fiber mesh will contract when inflated, thus simulating object feedback forces in virtual reality to enhance the overall tactile experience.

[0069] Preferably, multiple inflatable airbags are arranged in the palm area of ​​the palm, and the inflation amount of the airbags is adjusted to simulate different virtual object contact feelings. This design can provide natural tactile feedback while maintaining the flexibility of the palm.

[0070] A sophisticated air pressure control system is configured to manage the inflation and deflation process of the pneumatic bladders and pneumatic muscles to ensure accurate and consistent feedback.

[0071] The driving components of the fingers and palm need to be coordinated through the control module 106 to ensure that their movements are synchronized. For example, when the fingers are bent, the airbags in the palm will also adjust the air pressure accordingly to simulate a more realistic grip. Preferably, force sensors are installed in the palm and finger areas to monitor the hand posture and strength in real time. The response of the driving components is adjusted through the feedback of the force sensors to ensure that the virtual touch is accurately matched with the actual operation.

[0072] The driving principle of the palm part is that the airbag is injected with air through a small air pump, and the change in air pressure will cause the airbag to expand or contract, thereby controlling the opening and closing degree of the palm. This inflation mechanism provides smooth force feedback and can be precisely adjusted by the electronic control unit. The pneumatic muscles contract or relax by inflation and deflation, thus simulating the tactile feedback of objects. This is suitable for force feedback of fingers and can be combined with the airbag system of the palm to provide a more comprehensive tactile experience.

[0073] Further preferably, the flexible material surface of the palm needs to be detachable to support the operation of the inflatable airbags and pneumatic muscles while maintaining the stability and lightness of the structure. The inflatable airbags should be evenly distributed in the palm area of ​​the palm to ensure uniform tactile feedback. The pneumatic muscles can be designed to be embedded in the fingers and palm area to enhance force feedback. The connecting parts are configured to be rotatably connected to withstand the deformation force of the inflatable and pneumatic muscles while ensuring the freedom and comfort of hand movements.

[0074] Preferably, the tactile force feedback glove 100 of the present invention is also provided with a wrist fixing member. The wrist fixing member is connected to the soft filling part 111 of the palm part through a flexible connecting member. The flexible connecting member allows the wrist to rotate and bend naturally. The wrist fixing member also includes a fixing component for fixing the glove on the wrist of the user. This fixing component can ensure that the glove will not fall off or shift during use.

[0075] When the user rotates or bends the wrist, the flexible connector will deform accordingly to adapt to the wrist movement. The deformation of the flexible connector will not affect the force feedback of the palm and fingers, maintaining their independence and stability.

[0076] A three-dimensional coordinate sensor is embedded in the wrist fixture. The three-dimensional coordinate sensor is used to obtain the three-dimensional coordinate position of the hand's force point and locate the operated object in the virtual picture after three-dimensional modeling.

[0077] like Figures 1 to 6 As shown, the tactile force feedback glove 100 includes five finger feedback units. Each finger can wear a finger feedback unit. Preferably, each joint skeleton 102 is connected to a finger feedback unit in a rotatable mechanical manner.

[0078] The finger feedback unit includes a driving component, a traction component and a tactile feedback component which are connected in a rotatable mechanical manner in sequence. The driving component is embedded in the joint skeleton 102 of the hand back skeleton. When the driving component controls the length of the traction component, the traction component applies force to the finger in a manner of partially adhering to the back of the finger without affecting the movement of each finger joint to control the bending action of the finger. In response to the instruction information of the control module 106, the tactile feedback component applies tactile information to the finger in the form of a film that can be attached to the fingertip. Under the joint action of the traction component and the tactile feedback component, the finger receives force feedback and tactile feedback related to the physical characteristics of the grasped object in the virtual reality space.

[0079] First, the tactile force feedback glove 100 of the present invention is not a fully enclosed glove in structure. When it is worn on the hand, the palm is exposed and the palm side of the fingers is not restrained. Therefore, the glove does not hinder the bending direction of the fingers. The bending action of the fingers of the hand can be precisely adjusted and accurate force feedback can be formed.

[0080] Second, the present invention combines the hand back skeleton with the palm flexible support to form a wearable device that conforms to the physiological structure, making the user's hand movements in the virtual environment more natural. The design of the glove allows the metacarpophalangeal joints and all finger joints to move freely, thereby reducing the user's fatigue during use and improving the comfort and flexibility of operation.

[0081] Preferably, the driving component can be a driving motor 109. The driving motor 109 is embedded in the joint skeleton 102. Figures 1 to 6As shown, a pulley assembly 115 for adjusting the length of the traction assembly is provided outside the joint skeleton 102. The pulley assembly 115 is connected to the drive motor 109, so that the pulley rotation angle is controlled by the drive motor 109. The drive motor 109 is electrically connected to the control module 106 to drive according to the instructions of the control module 106. The drive assembly can also be a linear drive or a pneumatic actuator. When the drive assembly receives a control signal, it drives the knuckle to bend or extend.

[0082] According to a preferred embodiment, Figures 1 to 6 As shown, the traction assembly is composed of a stretchable traction rope 105. The traction rope 105 is made of 3D printing material to ensure comfort and flexibility. Since each finger includes multiple bendable segments, the traction rope 105 includes a first traction part 1051 and a second traction part 1052 that are rotatably connected to each other. The first traction part 1051 and the second traction part 1052 of the traction rope 105 are connected by a connecting rod 114. The connection between the second traction part 1052 and the tactile feedback assembly is connected by a connecting rod 114. In other words, the connecting rod 114 is respectively provided at the positions corresponding to the back of the distal interphalangeal joint and the proximal interphalangeal joint. Preferably, the connecting rod 114 is an extendable metal connecting rod, or an extendable flexible connecting rod. This multi-segment design allows the traction assembly to bend naturally at multiple joints of the finger. All 3D printing materials are lightweight materials, the purpose of which is to minimize the volume and weight of accessories.

[0083] like Figures 1 to 6 As shown, the first traction part 1051 and the second traction part 1052 correspond to the proximal phalanx and the middle phalanx of the finger respectively. The second traction part 1052 is rotatably connected to the tactile feedback component. The difference is that based on the physiological structure of the thumb, the traction rope 105 corresponding to the thumb includes the first traction part 1051. The first traction part 1051 is rotatably connected to the tactile feedback component at the interphalangeal joint of the thumb. The first traction part 1051 is rotatably connected to the pulley assembly 115 at the carpometacarpal joint of the thumb.

[0084] The length of the traction rope 105 varies based on the driving change of the driving assembly. The traction assembly is composed of a stretchable traction rope 105, which can dynamically adjust the length according to the driving change of the driving assembly, so that the bending action of the finger is more precise.

[0085] According to a preferred embodiment, Figures 1 to 6As shown, each traction part of the traction assembly is formed by a traction rope 105 in a manner of constructing a deformable geometric structure. The length of the traction part of the traction rope 105 is related to the deformation of the geometric structure. Specifically, the width of the structure of the traction rope 105 is close to the width of the back of the finger. The length of the structure of the traction rope 105 is close to the length of the finger joint. At the finger joint, the traction rope 105 is a connecting rod 114. The finger section between two finger joints is usually called a finger joint. The connecting rod 114 connects two traction ropes 105 corresponding to the finger joints in a rotatable manner.

[0086] Preferably, the traction rope 105 is manufactured by 3D printing. The following will describe in detail the ductility advantage of 3D printing in manufacturing the traction rope 105 in the traction assembly.

[0087] First, through 3D printing, complex geometric shapes can be designed and manufactured, such as honeycomb structures, corrugated structures or other deformable structures, which can significantly improve the ductility and flexibility of the traction rope 105. At the same time, the traction length of the traction rope 105 is related to the deformation of the geometric structure. Through 3D printing technology, it can be ensured that each traction part can evenly distribute the pressure when subjected to force, avoiding local stress concentration, thereby improving the overall durability and tensile performance.

[0088] Secondly, 3D printing technology allows for fine control of material properties. When designing the traction rope 105, 3D printing materials with good ductility, such as thermoplastic polyurethane (TPU) or flexible photosensitive resin, can be selected. These materials have excellent elasticity and recovery. By adjusting printing parameters such as layer thickness, filling density, and printing speed, the hardness and elastic modulus of the traction rope 105 can be precisely controlled.

[0089] Therefore, 3D printing technology demonstrates significant ductility advantages in manufacturing the traction rope 105 through precise manufacturing of complex geometric structures, fine control of material properties, rapid prototyping, and efficient material utilization. These advantages improve the performance and durability of the traction rope 105 in the traction assembly.

[0090] When the driving component drives the first finger joint to bend, the subsequent finger joints will also bend accordingly due to the action of the flexible connecting rod. This linkage relationship allows the entire finger to bend naturally, simulating the bending action of a real finger.

[0091] like Figures 1 to 6 As shown, at least one end of the connecting rod 114 is provided with a distance sensor 113. The distance sensor 113 is connected to the control module 106 for communication and sends the relative distance value between each finger joint and the wrist fixed point position. The control module 106 analyzes and determines the hand movement and its posture based on the relative distance value of each finger joint.

[0092] According to a preferred embodiment, Figures 1 to 6 As shown, the first traction part 1051 and the second traction part 1052 of the traction rope 105, and the connection between the second traction part 1052 and the tactile feedback component are all connected through a connecting rod 114. A pressure sensor 112 is provided at at least one end of the connecting rod 114. The pressure sensor 112 is connected to the control module 106 for communication and sends the pressure value of each finger joint. The control module 106 analyzes and determines the hand movement and its posture based on the pressure value of each finger joint.

[0093] By introducing the distance sensor 113 and the pressure sensor 112 between the traction part and the tactile feedback component, the relative position and pressure changes of each finger joint of the hand can be monitored in real time. These data are analyzed by the control module 106, making the recognition of hand movements and postures more accurate, and promoting the synchronization of the user's movement feedback and real perception in the virtual environment. This real-time feedback mechanism significantly improves the accuracy and effectiveness of hand training, helping users better master various hand operation skills.

[0094] According to a preferred embodiment, Figures 1 to 6 As shown, the tactile feedback component includes a tactile electrode film 103. The tactile electrode film 103 is prefabricated into a shape corresponding to the physiological structure of the fingertip. The area of ​​the tactile electrode film 103 that contacts the fingertip is provided with a tactile feedback element. The tactile feedback element implements tactile feedback in a manner of feeding back physical stimulation that can stimulate the tactile sense of the nerve to the finger.

[0095] The tactile feedback elements are, for example, components such as a retractor and a heating device embedded in the tactile electrode film 103. When the tactile feedback elements receive control signals, they will generate tactile feedback of different intensities and modes, such as vibration, pressure, etc.

[0096] The tactile feedback component is attached to the fingertips in the form of a film, providing users with tactile information corresponding to virtual objects, enhancing the immersion and real experience in virtual reality. The design of this component allows users to feel tactile feedback that matches the characteristics of physical objects when performing actions such as grabbing, thereby effectively improving the realism and accuracy of training. This enhanced tactile feedback helps patients better form muscle memory during rehabilitation training, thereby improving rehabilitation results.

[0097] According to a preferred embodiment, the tactile electrode film 103 in the tactile feedback component includes an electrode film body 1032 and a tactile feedback element. The electrode film body 1032 is prefabricated into a shape that matches the fingertip structure. The electrode film body 1032 is provided with a hollow portion 1031 at a position corresponding to the nail of the fingertip. An optical fiber sensor 104 is provided in an extended manner on the connecting rod 114 between the second traction portion 1052 and the tactile feedback component. The sensing area of ​​the optical fiber sensor 104 matches the hollow portion 1031, so that the optical fiber sensor 104 collects the physical characteristics of the fingertip.

[0098] Preferably, the tactile electrode film 103 may also be composed of a thin film electrode array, which may generate vibration or deformation through electrical signals to simulate tactile feedback. The tactile electrode film 103 may provide stimulation of different intensities and frequencies to simulate sensations such as touch, pressure, and vibration. For example, the tactile electrode film provides feedback in the following manner.

[0099] Electrical stimulation: The application of a small electric current to the skin to simulate the sensation of touch or pressure.

[0100] Mechanical vibration: Produces tiny vibrations to simulate the feeling of touch or vibration.

[0101] Deformation: Tactile feedback is generated by changing the surface shape of the membrane, allowing users to feel the presence of an object.

[0102] Specifically, the tactile electrode film 103 can control the strength and specific position of the feedback to accurately simulate the touch feeling. According to the specific situation of the pressure change, the feedback strength can be dynamically adjusted to provide weak to strong tactile stimulation and increase the sense of reality.

[0103] The optical fiber sensor 104 is used to collect the physical characteristics of the fingertips, such as deformation or pressure of the fingertips. In the present invention, the optical fiber sensor 104 is used as a pressure sensor. The optical fiber sensor 104 can provide high-precision tactile information and is very sensitive to small deformation changes. The optical fiber sensor 104 measures the physical characteristics through the changes in the optical signal and converts it into a value that can be used to adjust the glove traction system.

[0104] The optical fiber sensor 104 should be mounted on the connecting rod 114. The connecting rod 114 is connected to the tactile feedback assembly. The sensing area of ​​the optical fiber sensor 104 matches the hollow portion 1031 on the tactile electrode film 103, which ensures that the optical fiber sensor 104 can accurately sense the physical characteristics of the fingertip.

[0105] Therefore, the optical fiber sensor 104 senses the physical characteristics of the fingertips by monitoring the changes in light intensity, thereby providing accurate tactile feedback. The control module 106 processes the data of the optical fiber sensor 104, calculates the pressure value, and converts it into the traction force of the glove to achieve the desired force feedback effect.

[0106] Preferably, the hollow portion 1031 may also be provided with a tactile feedback electrode film having heat energy and vibration functions. The optical fiber sensor 104 on the upper portion of the fingertip is intended to enhance the tactile feedback experience in virtual reality and also serves as a force support point for the connecting rod 114 .

[0107] The hollow portion 1031 design in the tactile feedback component enables the tactile electrode film 103 to better match the physical characteristics of the fingertips, and the application of the optical fiber sensor 104 enhances the real-time monitoring capability of the physical characteristics of the fingertips. The optical fiber sensor 104 can accurately collect the pressure and deformation data of the fingertips, thereby providing more detailed and realistic tactile feedback. This design not only improves the accuracy of tactile information, but also provides users with a more intuitive perception of operations in a virtual reality environment, thereby improving the effect and experience of rehabilitation training.

[0108] When the user tries to hold an object in the virtual environment, the virtual reality device 300 sends a command to the control module 106 of the tactile force feedback glove 100. The control module 106 activates the linear actuator of the back of the hand. The linear actuator pushes the skeleton structure of the back of the hand to contract inward, simulating the gripping action of the palm. The sensor of the back of the hand detects the degree of contraction of the skeleton structure and feeds back the signal to the control module 106. The control module 106 adjusts the action of the linear actuator according to the signal fed back by the sensor to ensure that the degree of gripping of the back of the hand matches the size and shape of the virtual object.

[0109] At the same time, the control module 106 activates the corresponding linear actuator of the finger feedback unit according to the instruction. The linear actuator pushes the knuckle forward through the traction rope 105 or the connecting rod 114 to simulate the bending action of the finger. The bending of the knuckle causes the tension of the traction rope 105 or the connecting rod 114 to change, and the pressure sensor detects this change and feeds back the signal to the control system. The control module 106 adjusts the action of the linear actuator according to the signal detected and fed back by the pressure sensor to achieve precise control of the degree of finger bending. At the same time, the force generated by the linear actuator is transmitted to the knuckle through the connecting rod 114, simulating the force feedback effect such as the resistance or gravity of the object on the finger.

[0110] Specifically, the control module 106 controls the starting traction timing and stopping traction timing of the traction rope 105 and the change of the traction force applied to the traction rope 105 according to the preset traction force threshold and displacement threshold.

[0111] Traction force threshold: used to determine when the traction rope 105 starts to pull. When the user's finger starts to approach the virtual object and generates initial traction, if the traction force detected by the pressure sensor reaches or exceeds the predetermined traction force threshold, the control module 106 starts the pulling action of the traction rope 105 by controlling the linear drive.

[0112] Displacement threshold: used to determine when to stop pulling. When the finger has reached the expected bending degree and matches the size and shape of the virtual object, the distance sensor will feedback accurate position information. If the joint displacement detected by the distance sensor reaches or exceeds the predetermined displacement threshold, the control module 106 will stop the pulling action of the traction rope 105 by controlling the linear drive.

[0113] In a virtual reality environment, the personalized determination of displacement thresholds and traction thresholds is an important step in achieving a realistic interactive experience. In terms of personalized determination of the traction threshold, the control module 106 first performs an initial force measurement, and measures the finger grip strength of the user when holding physical objects of different shapes and sizes through a pressure sensor to determine the user's force range. Then, through a series of dynamic tests, the changes in the user's force when holding different objects are recorded. In the simulation operation training stage, the user interacts with different virtual objects in the virtual environment, and the system records the finger traction data, especially the traction changes in different actions such as holding, squeezing, and releasing. After statistically analyzing these data, the control module 106 uses the analysis results to establish a personalized traction model for each user to determine a suitable traction threshold. In the initial setting stage, the traction threshold is applied to the virtual reality system, and fine-tuned by collecting user feedback to ensure that the tactile feedback provided by the traction threshold is more realistic and comfortable.

[0114] Specifically, when obtaining the initial reading, the control module 106 records the initial traction force F of each joint of each finger when the user holds different objects. i，j，0 When the user performs different actions (holding, squeezing, releasing), the traction force F of each joint of each finger is recorded. i，j，t The change in traction force is: ΔF i，j =F i，j，t -F i，j，0 (1).

[0115] Summarize and analyze the traction change data ΔF under different scenarios i，j .

[0116] The formula for calculating the traction threshold of each finger is:

[0117] In the above formula, F i，j，0 F is the initial traction force of the jth joint of the i-th finger when the user holds different objects. i，j，t ΔF is the traction force of the jth joint of the ith finger when the user performs different actions (holding, squeezing, releasing). i，j is the change of traction force at the jth joint of the ith finger. f，i is the personalized traction threshold of the ith finger. m i is the number of joints of the ith finger.

[0118] In terms of personalized determination of displacement thresholds, the control module 106 on the force feedback glove obtains detailed geometric data of the user's hand and the accurate position and range of motion of each joint through the user's initial calibration step. Subsequently, through simulated operation training, the user interacts with virtual objects of different sizes and shapes in the virtual environment, and records the displacement data of the user's fingers, including the bending angle and bending speed of each joint. The control module 106 uses a machine learning algorithm to analyze this data and establish a personalized finger displacement model for each user to determine the appropriate displacement threshold. In the initial setting stage, the displacement threshold is applied to the virtual reality system and fine-tuned by collecting user feedback to ensure that the displacement threshold conforms to the user's natural finger movement habits.

[0119] Specifically, when wearing the force feedback gloves, the initial position P of each joint of the user's hand is recorded. i，j，0 , to obtain the initial position. Measure and record the maximum and minimum displacement ranges of the user's finger in different directions.

[0120] Through simulated operation training, users can interact with virtual objects of different sizes and shapes in a virtual environment, and record the displacement data of the user's fingers, including the bending angle and bending speed of each joint. In this process, the displacement data of the user's fingers in different actions are recorded. i，j，t . Record the bending angle θ of each joint in different actions i,j，t . Record the bending speed ω of each joint in different actions i，j，t The displacement change of each finger is: ΔP i，j =P i，j，t -P i，j，0 (3).

[0121] The calculation formula for the displacement threshold of each finger is:

[0122] mi is the number of joints of the ith finger.

[0123] After determining the displacement threshold and the traction threshold, the control module 106 can control the force feedback process. In a virtual reality environment, when a user tries to hold a virtual sphere while wearing force feedback gloves, the control module 106 controls the user's fingers in detail.

[0124] First, the control module 106 receives the initial data of each distance sensor, each pressure sensor, and each linear actuator to ensure that the force feedback glove is in an initial state, and the control module 106 is ready for action recording.

[0125] When the user starts to move his fingers and tries to hold the virtual sphere, the control module 106 enters the motion detection stage. The pressure sensor monitors the traction force on the traction rope 105 in real time. When the traction force reaches the traction force threshold, the control module 106 records the finger movement and starts the next operation. At this time, the distance sensor collects the joint position information of each finger, and the control module 106 determines the current position and movement trajectory of the finger through these data. The optical fiber sensor 104 on the tactile electrode film 103 collects finger deformation information and provides additional auxiliary data for the control module 106. Subsequently, the linear drive starts to pull the traction rope 105 under instruction, causing the finger to begin to bend.

[0126] During the pulling process, the control module 106 continuously monitors the data of the pressure sensor and analyzes the pressure change amplitude of the traction rope 105. When the pressure change reaches or exceeds the preset percentage, the control module 106 adjusts the traction force in a timely manner to ensure that the degree of finger bending matches the size and shape of the virtual sphere. In this process, if it is detected that the pressure change amplitude exceeds the maximum change amplitude previously monitored, and the degree of excess reaches or exceeds the preset percentage, the control module 106 will determine the time point at this time as a key point, and provide force feedback through the tactile electrode film 103, so that the user feels that the surface of the virtual sphere has been touched.

[0127] For example, when the user's finger is about to touch the surface of the virtual sphere, the control module 106 detects that the pressure change exceeds the preset traction threshold. At this time, the tactile electrode film 103 will be controlled and immediately perform the following operations:

[0128] The tactile electrode film 103 transmits weak current through electrical stimulation, which is sensed through the skin, allowing the user to feel the presence of touch.

[0129] The tactile electrode film 103 begins to vibrate at a certain frequency, simulating the feeling of touch or slight collision.

[0130] The surface of the tactile electrode film 103 is deformed to simulate the surface shape of a sphere, providing a realistic tactile sensation.

[0131] When the finger bends to a predetermined displacement threshold, it indicates that the finger position matches the size and shape of the virtual sphere, and the control module 106 stops the pulling action of the linear actuator. If there is a slight deviation in the data of the pressure sensor and the distance sensor after stopping, the control module 106 will make fine adjustments to ensure that the user's experience of holding the virtual sphere is more realistic. Through these steps, the control module 106 can accurately control the movement and tactile feedback of the user's fingers, allowing the user to obtain a real tactile experience in the virtual reality environment. The real-time monitoring and adjustment mechanism throughout the process ensures the realism and accuracy of the interaction in the virtual environment.

[0132] In the above process, real-time monitoring ensures that the control module 106 can respond quickly to changes in the user's movements; at the same time, accurate data is provided for analysis to ensure the real-time and accuracy of the feedback. By monitoring the amplitude of pressure changes, the control module 106 can identify the key moment when the user touches the surface of the virtual object. The identification of key points improves the accuracy of tactile feedback, allowing users to feel that their fingers have touched the surface of the virtual sphere. Using the tactile electrode film 103 to provide force feedback, the tactile feedback allows the user to feel the existence and shape of the virtual object, improving the immersion of the virtual reality experience. This feedback makes the user's experience more real and credible.

[0133] The various parts of the tactile force feedback glove 100 realize the tactile feedback function through precise mechanical design and linkage. When the virtual reality game device sends an instruction, the control module 106 will drive the corresponding driving mechanism to produce an action. These actions are transmitted to the fingers, palm and wrist through the connecting rod 114, the skeleton and other structures, so that the entire tactile force feedback glove 100 can simulate real hand movements and tactile feelings. At the same time, the tactile feedback element of the tactile force feedback glove 100 will also produce corresponding tactile feedback effects according to the instructions, providing users with a realistic tactile experience.

[0134] For example, the process by which the control module 106 calculates hand postures and movements based on the data sent by various sensors is as follows.

[0135] D represents the relative distance value of finger i. P represents the pressure value of finger i. θ i represents the angle of finger i. F represents the force vector of finger i.

[0136] The process of calculating hand pose.

[0137] Calculate the angle θ of each finger joint based on the data from the distance sensor i Assume the length of the finger joint is L i .

[0138] θ i =arccos(D i / L i ).

[0139] Calculate the force vector F of each finger joint io The force value is proportional to the pressure value:

[0140] F i = k·P io where k is the proportionality constant.

[0141] The hand posture is calculated based on the angles and force vectors of each finger. For example, a weighted average method is used to calculate:

[0142]

[0143] d i Refers to the position vector of finger i in the hand coordinate system.

[0144] Determine the hand movements.

[0145] Based on the calculated posture A, the type of hand movement can be determined. For example, if the hand posture is close to a predefined posture (such as making a fist, stretching, etc.), the specific movement of the hand can be determined.

[0146] Assume that the distance sensor data is: D1=20mm; D2=22mm; D3=25mm; D4=23mm.

[0147] Assume that the pressure sensor data is: P1=5N; P2=6N; P3=7N; P4=4N.

[0148] Assume that for all fingers, the theoretical length L i =30mm; proportional constant k=1.

[0149] The joint angles are calculated as:

[0150]

[0151] The feedback traction force value is:

[0152] F1=1·5=5N;

[0153] F2=1·6=6N;

[0154] F3=1·7=7N;

[0155] F4=1·4=4N.

[0156] like Figure 7 As shown, when the hand is not in contact with the virtual object in the virtual reality environment, the processing unit 200 does not send information related to tactile feedback to the control module 106 of the tactile force feedback glove 100. When the hand is in contact with the virtual object in the virtual reality environment, the processing unit 200 sends information related to tactile feedback to the control module 106 of the tactile force feedback glove 100, and the control module 106 of the tactile force feedback glove 100 starts to apply traction to the fingers based on the change in contact conditions. When the hand completely grasps the virtual object, the tactile force feedback glove 100 applies force to the corresponding fingers based on the contact point between the palm and the virtual object, so that the hand generates a tactile sensation of contacting the virtual object.

[0157] like Figure 8 As shown in Figure 1, users perform a simple object throwing test in a virtual reality environment. Fig. 9As shown, the user performs an archery test in a virtual reality environment. During this process, the user feels the force feedback of the continuous processes of drawing the bow, shooting the arrow, and releasing the arrow through the tactile force feedback glove 100, that is, the tactile sense of drawing the bow, the tactile sense of shooting the arrow, and the tactile sense of not being subjected to force after releasing the arrow.

[0158] For example, in the virtual reality (VR) game ALEX, users need to explore a virtual world full of interactive elements. In order to enhance the immersion and realism of the game, the tactile force feedback glove 100 has become an indispensable tool. This example will elaborate on the application of the tactile force feedback glove in the ALEX game, especially in the information interaction process and the adaptive changes of the mechanical structure.

[0159] (1) Command reception and synchronization.

[0160] When the user performs actions such as grabbing and pushing in the ALEX game, the VR system captures these actions and sends the corresponding instructions to the control system of the VR force feedback gloves via a wireless connection.

[0161] After receiving the instruction, the control module 106 of the tactile force feedback glove 100 will immediately analyze and prepare to drive the corresponding mechanical structure to perform the action.

[0162] (2) Generation of tactile feedback.

[0163] According to the instructions sent by the virtual reality device 300, the driving components (such as micro vibrators, pneumatic actuators, etc.) of the tactile force feedback glove 100 start working. The tactile feedback is generated through the finger contact part of the 3D printed material to simulate the texture, shape and weight of the object in the game. For example, when the user tries to grab a virtual stone, the tactile force feedback glove 100 will produce a corresponding sense of weight and roughness, enhancing the user's immersive experience.

[0164] (3) Feedback loop and adjustment.

[0165] After the user feels the tactile feedback provided by the tactile force feedback glove 100, the user will adjust his or her movements according to the feedback. This real-time feedback mechanism enables the user to interact with the virtual environment more accurately.

[0166] The virtual reality device 300 will update the state of the virtual environment in real time according to the user's actions, and continue to send new instructions to the control module 106 of the tactile force feedback glove 100, forming a closed feedback loop.

[0167] Example 2

[0168] This embodiment is a further improvement on Embodiment 1, and the repeated contents will not be repeated here.

[0169] This embodiment provides a rehabilitation training system based on virtual reality. This embodiment can also provide a surgical operation training system based on virtual reality.

[0170] The present invention provides a rehabilitation training system based on virtual reality, such as Fig.10 and Fig.11 As shown, it includes a virtual reality device 300, a processor 200 and a tactile force feedback glove 100. The virtual reality device 300 is used to construct a virtual reality space and form a virtual hand in the virtual reality space that is consistent with the hand posture in the real space. The processor 200 is used to form force feedback data corresponding to the tactile force feedback glove 100 according to the physical characteristics and force points of the virtual hand and the grasped object in the virtual reality space. The tactile force feedback glove 100 is used to apply physical stimulation and finger bending actions to the hand in response to the force feedback data. The fingers receive force feedback and tactile feedback related to the physical characteristics of the grasped object in the virtual reality space. Figures 1 to 6 As shown, the tactile force feedback glove 100 includes a hand back skeleton, a palm flexible support and a finger feedback unit. The hand back skeleton is a skeleton formed by splicing according to the physiological structure of the hand back and allowing the metacarpophalangeal joint to move freely, and a control module 106 is arranged inside the hand back skeleton. The palm flexible support and the hand back skeleton are spliced ​​to form a glove body that can be worn on the palm. The finger feedback unit includes a drive component, a traction component and a tactile feedback component that are sequentially connected in a rotatable mechanical manner. The drive component is embedded in the joint skeleton 102 of the hand back skeleton. When the drive component controls the length of the traction component, the traction component applies a force to the finger in a manner of partially attaching to the back of the finger and not affecting the movement of each finger joint to control the bending action of the finger. In response to the instruction information of the control module 106, the tactile feedback component applies tactile information to the finger in the form of a film that can be attached to the fingertip. Under the joint action of the traction component and the tactile feedback component, the finger receives force feedback and tactile feedback related to the physical characteristics of the grasped object in the virtual reality space.

[0171] The rehabilitation training system of the present invention can achieve consistency between the virtual hand and the real hand posture, thereby improving the immersion and effectiveness of the training. The force feedback data generated by the processor 200 according to the physical characteristics of the virtual grasping object can accurately simulate the interactive experience in the real environment. This highly consistent feedback mechanism enables users to obtain real touch and movement coordination during rehabilitation training, which promotes the formation of muscle memory and the improvement of rehabilitation effect.

[0172] According to a preferred embodiment, Figures 1 to 6As shown, in the rehabilitation training system based on virtual reality, the traction component is composed of a stretchable traction rope 105, and the traction rope 105 includes a first traction part 1051 and a second traction part 1052 which are rotatably connected to each other, the first traction part 1051 and the second traction part 1052 respectively correspond to the proximal phalanx and the middle phalanx of the finger, and the second traction part 1052 is rotatably connected to the tactile feedback component, wherein the traction rope 105 corresponding to the thumb includes the first traction part 1051, and the first traction part 1051 is rotatably connected to the tactile feedback component, and the length of the traction rope 105 changes based on the driving change of the driving component.

[0173] The stretchable design of the traction assembly allows the fingers to move more naturally and flexibly when performing various movements. By aligning the first traction part 1051 and the second traction part 1052 with the proximal phalanx and the middle phalanx of the finger, the user can get a more realistic motion experience during rehabilitation training. This dynamic response capability not only helps to improve the flexibility and strength of the fingers, but also promotes the range of motion of the finger joints. Overall, this design greatly improves the effectiveness of rehabilitation training and helps users recover hand function faster.

[0174] According to a preferred embodiment, in a rehabilitation training system based on virtual reality, Figures 1 to 6 As shown, the tactile feedback component includes a tactile electrode film 103, which is prefabricated into a shape corresponding to the physiological structure of the fingertip. The area of ​​the tactile electrode film 103 that contacts the fingertip is provided with a tactile feedback element, which implements tactile feedback by feeding back physical stimulation that can stimulate the tactile nerve to the finger.

[0175] The prefabricated tactile electrode film 103 in the tactile feedback component matches the physiological structure of the fingertips, making the tactile feedback more personalized and accurate. The tactile feedback element can directly transmit tactile information to the finger in the form of physical stimulation to stimulate the nerve tactile sense. This delicate tactile experience not only enhances the user's sense of immersion in the virtual reality environment, but also effectively helps the user form correct action memory and feedback during the training process. By providing real tactile feedback, the system significantly improves the fun and effectiveness of rehabilitation training, thereby improving user participation and rehabilitation effects.

[0176] It should be noted that the above-mentioned specific embodiments are exemplary, and those skilled in the art can come up with various solutions inspired by the disclosure of the present invention, and these solutions also belong to the disclosure scope of the present invention and fall within the protection scope of the present invention. Those skilled in the art should understand that the present invention specification and its drawings are illustrative and do not constitute a limitation on the claims. The scope of protection of the present invention is defined by the claims and their equivalents. The present invention specification contains multiple inventive concepts, such as "preferably" and "according to a preferred embodiment", which means that the corresponding paragraph discloses an independent concept, and the applicant reserves the right to file a divisional application based on each inventive concept.

Claims

1. A tactile force feedback glove based on virtual reality, characterized in that: include: Hand back skeleton: a skeleton formed by splicing according to the physiological structure of the hand back and allowing the metacarpophalangeal joints to move freely, which is provided with a control module (106); Palm flexible support: spliced ​​with the back of hand skeleton to form a glove body that can be worn on the palm, The finger feedback unit comprises a driving component, a traction component and a tactile feedback component which are connected in sequence in a rotatable mechanical manner, wherein the driving component is embedded in the joint frame (102) of the back of the hand frame. Wherein, when the driving component controls the length of the traction component, the traction component applies force to the finger in a manner of partially adhering to the back of the finger without affecting the movement of each finger joint to control the bending movement of the finger. In response to the instruction information of the control module (106), the tactile feedback component applies tactile information to the finger in the form of a film that can be attached to the fingertip, Under the joint action of the traction component and the tactile feedback component, the finger receives force feedback and tactile feedback related to the physical characteristics of the grasped object in the virtual reality space.

2. The tactile force feedback gloves based on virtual reality according to claim 1, characterized in that: The traction assembly is composed of a stretchable traction rope (105). The traction rope (105) comprises a first traction part (1051) and a second traction part (1052) which are rotatably connected to each other, the first traction part (1051) and the second traction part (1052) respectively correspond to the proximal phalanx and the middle phalanx of the finger, and the second traction part (1052) is rotatably connected to the tactile feedback component. The traction rope (105) corresponding to the thumb comprises a first traction portion (1051), and the first traction portion (1051) is rotatably connected to the tactile feedback component. The length of the traction rope (105) varies based on the driving change of the driving assembly.

3. The tactile force feedback gloves based on virtual reality according to claim 1 or 2, characterized in that: Each traction part of the traction assembly is formed by a traction rope (105) in a manner of constructing a deformable geometric structure. The length of each traction portion of the traction rope (105) is related to the deformation of the geometric structure.

4. The tactile force feedback gloves based on virtual reality according to any one of claims 1 to 3, characterized in that: The connection between the first traction part (1051) and the second traction part (1052) of the traction rope (105), and the connection between the second traction part (1052) and the tactile feedback component are all connected via a connecting rod (114), and at least one end of the connecting rod (114) is provided with a distance sensor (113). The distance sensor (113) is connected to the control module (106) for communication and transmits the relative distance value between each finger joint and the fixed point position of the wrist; The control module (106) analyzes and determines the hand movement and posture based on the relative distance values ​​of each finger joint.

5. The tactile force feedback gloves based on virtual reality according to any one of claims 1 to 4, characterized in that: The connection between the first traction part (1051) and the second traction part (1052) of the traction rope (105), and the connection between the second traction part (1052) and the tactile feedback component are all connected via a connecting rod (114), and at least one end of the connecting rod (114) is provided with a pressure sensor (112). The pressure sensor (112) is connected to the control module (106) for communication and transmits the pressure value of each finger joint; The control module (106) analyzes and determines the hand movement and posture based on the pressure values ​​of each finger joint.

6. The tactile force feedback gloves based on virtual reality according to any one of claims 1 to 5, characterized in that: The tactile feedback component comprises a tactile electrode film (103), wherein the tactile electrode film (103) is prefabricated into a shape corresponding to the physiological structure of the fingertip. The area of ​​the tactile electrode film (103) in contact with the fingertip is provided with a tactile feedback element. The tactile feedback element implements tactile feedback in a manner of feeding back physical stimulation capable of stimulating tactile nerves to the finger.

7. The tactile force feedback gloves based on virtual reality according to any one of claims 1 to 6, characterized in that: The tactile electrode film (103) in the tactile feedback component is provided with a hollow portion (1031) at a position corresponding to the nail. An optical fiber sensor (104) is provided on the connecting rod (114) between the second traction part (1052) and the tactile feedback component in an extended manner. The sensing area of ​​the optical fiber sensor (104) matches the hollow portion (1031), so that the optical fiber sensor (104) collects physical characteristics of the fingertip.

8. A rehabilitation training system based on virtual reality, characterized in that: include: Virtual reality device (300): constructing a virtual reality space and forming a virtual hand in the virtual reality space that is consistent with the hand posture in the real space; The processor (200) generates force feedback data corresponding to the tactile force feedback glove (100) according to the physical characteristics and force points of the virtual hand and the grasped object in the virtual reality space, A tactile force feedback glove (100) applies physical stimulation and finger bending action to the hand in response to the force feedback data, and the fingers receive force feedback and tactile feedback related to the physical characteristics of the grasped object in the virtual reality space; Wherein, the tactile force feedback glove (100) comprises: Hand back skeleton: a skeleton formed by splicing according to the physiological structure of the hand back and allowing the metacarpophalangeal joints to move freely, which is provided with a control module (106); Palm flexible support: spliced ​​with the back of hand skeleton to form a glove body that can be worn on the palm, The finger feedback unit comprises a driving component, a traction component and a tactile feedback component which are connected in sequence in a rotatable mechanical manner, wherein the driving component is embedded in the joint frame (102) of the back of the hand frame. Wherein, when the driving component controls the length of the traction component, the traction component applies force to the finger in a manner of partially adhering to the back of the finger without affecting the movement of each finger joint to control the bending movement of the finger. In response to the instruction information of the control module (106), the tactile feedback component applies tactile information to the finger in the form of a film that can be attached to the fingertip, Under the joint action of the traction component and the tactile feedback component, the finger receives force feedback and tactile feedback related to the physical characteristics of the grasped object in the virtual reality space.

9. The virtual reality-based rehabilitation training system according to claim 8, characterized in that: The traction assembly is composed of a stretchable traction rope (105). The traction rope (105) comprises a first traction part (1051) and a second traction part (1052) which are rotatably connected to each other, the first traction part (1051) and the second traction part (1052) respectively correspond to the proximal phalanx and the middle phalanx of the finger, and the second traction part (1052) is rotatably connected to the tactile feedback component. The traction rope (105) corresponding to the thumb comprises a first traction portion (1051), and the first traction portion (1051) is rotatably connected to the tactile feedback component. The length of the traction rope (105) varies based on the driving change of the driving assembly.

10. The virtual reality-based rehabilitation training system according to claim 8 or 9, characterized in that: The tactile feedback component comprises a tactile electrode film (103), wherein the tactile electrode film (103) is prefabricated into a shape corresponding to the physiological structure of the fingertip. The area of ​​the tactile electrode film (103) in contact with the fingertip is provided with a tactile feedback element. The tactile feedback element implements tactile feedback in a manner of feeding back physical stimulation capable of stimulating tactile nerves to the finger.

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