High-precision force feedback data glove

Abstract

The invention discloses a high-precision force feedback data glove which comprises a central controller, a hand back motor assembly, a motor control line set and a palm motor set which are connected with one another in a wiring mode. The central controller can control vertical movement and bending of all joints and finger sections and right movement and left movement on a plane by sending instructions to the hand back motor assembly and the palm motor assembly. In addition, the movement of each joint part and each finger section part can be accurately controlled, so that high-precision hand movement simulation is realized. A stepping motor rotates a sliding spiral shaft through a motor shaft to drive a linear position controller to do linear motion, so that fine control over hand joints and finger sections is achieved, in general, the data glove with the high-precision force feedback can remarkably improve the operation precision, and the operation efficiency is improved. And a powerful practical tool is provided for realizing personalized and customized product requirements.

Description

Technical Field

[0001] The invention relates to the field of VR (virtual reality) and is a data glove with high-precision force feedback. Background Art

[0002] In the context of modern technological development, people are gradually paying attention to the way of human-computer interaction, and force feedback technology is regarded as one of the important means to improve user experience. Force feedback technology provides real-time tactile feedback to users through hardware devices, allowing users to obtain a more realistic sensory experience during the interaction with the machine. At present, force feedback technology has been widely used in various fields, such as virtual reality (VR), augmented reality (AR), remote control robots, medical surgery simulation, etc. In these applications, data gloves are a common force feedback device that can simulate and control various joints and finger segments of the hand, providing a highly personalized operation experience.

[0003] Data gloves are designed mainly to accurately simulate and control the joints and finger segments of the hand. However, there are still some problems with existing data glove products. First, the accuracy and sensitivity of existing products often cannot meet the user's needs for delicate operations, which may affect the user experience in some high-precision application scenarios. Secondly, existing data glove products often have problems such as complex use and difficult settings, which requires users to spend a lot of time and energy during use. In addition, existing data glove products often have certain deficiencies in the accuracy and response speed of force feedback, which may also affect the user experience. Summary of the invention

[0004] The present invention provides a data glove with high-precision force feedback, which includes a central controller, a back-hand motor assembly, a motor control line group, and a palm motor group. The motor control line group is connected to the back-hand motor assembly and the palm motor group through the central controller to achieve movement control of various joints and finger segments of the hand. The central controller, the back-hand motor assembly, and the palm motor group are all connected to each other in a wiring manner, and the fine movement of the hand joints and finger segments is achieved through the coordination and control of the central controller.

[0005] As the present invention, the central controller can control the vertical movement and bending of each joint and finger segment, as well as the right and left movement on the plane by sending instructions to the back of hand motor assembly and the palm motor group. The back of hand motor assembly and the palm motor group receive instructions from the central controller through the motor control line group, wherein the back of hand motor controls the finger to move to the right through the control line, and the palm motor controls the finger to move to the left through the control line, thereby realizing the movement control of the hand in the horizontal direction.

[0006] Further preferably, the central controller contains a preset program for simulating finger movement and bending, which can be customized and modified by the user through an external device. This setting method facilitates the user to adjust and customize the operation method according to their own needs, thereby enhancing the user experience and practicality of the data gloves.

[0007] Further preferably, the back motor assembly and the palm motor assembly both include stepper motors, which rotate the sliding screw shaft through the motor shaft to drive the linear position controller to perform linear motion. In this process, the stepper motor drives the sliding screw shaft to rotate through the rotation of the motor shaft, and the rotation of the sliding screw shaft drives the linear position controller to perform linear motion, thereby achieving fine control of the hand joints and finger segments.

[0008] Further preferably: each joint part includes a finger joint, and each finger segment part includes a finger segment. Wherein, each joint part includes a first finger joint and a second finger joint, and each finger segment part includes a first finger segment, a second finger segment, and a third finger segment. Wherein, the first palm motor controls the bending of the first finger segment through the first finger segment control line running through the line position fixer. The second palm motor controls the bending of the second finger segment through the second finger segment control line running through the line position fixer. The third palm motor controls the bending of the third finger segment through the third finger segment control line running through the line position fixer. Wherein, the first back of hand motor controls the moving angle of the first finger segment through the first finger segment control line running through the line position fixer. The second back of hand motor controls the moving angle of the second finger segment through the second finger segment control line running through the line position fixer. The third back of hand motor controls the moving angle of the third finger segment through the third finger segment control line running through the line position fixer. The palm motor controls the bending of the finger segment through the finger segment control line running through the line position fixer, and the back of hand motor controls the moving angle of the finger segment through the finger segment control line running through the line position fixer. This design allows the movement of each joint and finger segment to be precisely controlled, achieving high-precision hand movement simulation.

[0009] Further preferably, the stepper motor rotates the sliding screw shaft through the motor shaft, and the sliding screw shaft performs linear motion under the guidance of the internal sliding screw thread, thereby realizing precise control of the motor control line group. This design utilizes the thread structure of the screw shaft, so that the rotation of the stepper motor can be converted into the linear motion of the sliding screw shaft, further improving the motion control accuracy of the data glove.

[0010] Further preferably, the method for realizing the wire-retracting function includes but is not limited to a stepper motor. This configuration enhances the applicability and compatibility of the data glove, enables the wire-retracting function to be realized by more types of motors, and provides a larger design and selection space.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: the unique technical solution used in the present invention has introduced a high-precision force feedback data glove, which can accurately control each joint and finger segment of the hand, significantly improve the operation accuracy and optimize the user experience. At the same time, the glove allows the user to customize and modify the simulation program of the central controller through an external device, achieving a high degree of personalized customization to meet the special needs of different users. These two innovative points together make the present invention have significant user appeal and commercial potential, and provide a powerful practical tool for realizing personalized and customized product needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a front structural schematic diagram of the present invention.

[0013] Figure 2 It is a schematic diagram of the bottom structure of the present invention.

[0014] Figure 3 It is a front cutaway schematic diagram of the motor assembly in the present invention.

[0015] Figure 4 It is a schematic diagram of the bottom surface of the motor assembly in the present invention.

[0016] In the figure: 1, simulated palm; 2, central controller; 3, first back of hand motor; 4, motor control line group; 5, limiter; 6, line position fixer; 7, first finger joint; 8, second finger joint; 9, first finger segment control line; 10, second finger segment control line; 11, third finger segment control line; 12, right control line; 13, left control line; 14, third palm motor; 15, first finger segment; 16, second finger segment; 17, third finger segment Segment; 18, motor housing; 19, motor shaft; 20, stepper motor; 21, line position controller; 22, line position controller limit column; 23, sliding screw shaft; 24, limit hole; 25, internal sliding thread; 26, line position controller housing; 27, internal sliding thread hole; 28, second back of hand motor; 29, third back of hand motor; 30, fourth back of hand motor; 31, first palm motor; 32, second palm motor; 33, fourth palm motor. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Example

[0019] The present invention provides a data glove with high-precision force feedback, which includes a central controller 2, a back-of-hand motor assembly (including a first back-of-hand motor 3, a second back-of-hand motor 28, a third back-of-hand motor 29 and a fourth back-of-hand motor 30) and a palm motor group (including a first palm motor 31, a second palm motor 32, a third palm motor 14 and a fourth palm motor 33). The motor control line group 4 is connected to the back-of-hand motor assembly and the palm motor group through the central controller 2 to realize the movement control of each joint and finger segment of the hand. Among them, the central controller 2, the back-of-hand motor assembly, and the palm motor group are all connected to each other in a wiring manner, and the fine movement of the hand joints and finger segments is realized through the coordination and control of the central controller 2. The wiring inside the data glove adopts a flat ribbon cable (FRC), which is marked to identify the motors they are connected to. All cables are placed in the inner layer of the glove to prevent the cables from being damaged or causing discomfort to the user.

[0020] In this embodiment, specifically: the central controller 2 can control the vertical movement and bending of each joint and finger segment, as well as the right and left movement on the plane by sending instructions to the back of the hand motor assembly and the palm motor group. Among them, the back of the hand motor assembly and the palm motor group receive instructions from the central controller 2 through the motor control line group 4, wherein the back of the hand motor moves the finger to the right through the control line, and the palm motor controls the finger to move to the left through the control line, thereby realizing the movement control of the hand in the horizontal direction. The motor used in the data glove is mainly a micro stepper motor, such as NEMA 08, to control the fine movement of the hand. This type of motor can be easily embedded in the data glove due to its small size, and its powerful output force is sufficient to provide fine force feedback.

[0021] In this embodiment, specifically: the central controller 2 contains a preset program for simulating finger movement and bending, and can be customized and modified by the user through an external device. This setting method is convenient for users to adjust and customize the operation mode according to their own needs, enhancing the user experience and practicality of data gloves. The central controller 2, such as Arduino or Raspberry Pi, controls the stepper motor through a PWM (pulse width modulation) signal. By changing the frequency and duty cycle of the PWM signal, the speed and position of the motor can be controlled. A simulation program is running on the central controller 2, and this program is written in a programming language such as Python or C++. The simulation program calculates the target position of the motor based on the input signal (which may come from a sensor or an external device), and sends an appropriate PWM signal to drive the motor to this position.

[0022] In this embodiment, specifically, the back of hand motor assembly and the palm of hand motor assembly both include a stepper motor 20, which rotates the sliding screw shaft 23 through the motor shaft 19 to drive the linear position controller 21 to perform linear motion. In this process, the stepper motor 20 achieves linear motion by rotating a leadscrew. The leadscrew rotates in a nut, and the nut converts the rotation of the motor into linear motion to control the movement of the hand.

[0023] In this embodiment, specifically: each joint part includes a finger joint, and each finger segment part includes a finger segment. Among them, each joint part includes a first finger joint 7 and a second finger joint 8, and each finger segment part includes a first finger segment 15, a second finger segment 16, and a third finger segment 17. Among them, the first palm motor 31 controls the bending of the first finger segment 15 through the first finger segment control line 9 that passes through the line position fixer 6. The second palm motor 32 controls the bending of the second finger segment 16 through the second finger segment control line 10 that passes through the line position fixer 6. The third palm motor 14 controls the bending of the third finger segment 17 through the third finger segment control line 11 that passes through the line position fixer 6. Among them, the first back of hand motor 3 controls the moving angle of the first finger segment 15 through the first finger segment control line 9 that passes through the line position fixer 6. The second back of hand motor 28 controls the moving angle of the second finger segment 16 through the second finger segment control line 10 that passes through the line position fixer 6. The third back of hand motor 29 controls the moving angle of the third finger segment 17 through the third finger segment control line 11 that passes through the line position fixer 6. The palm motor group (including the first palm motor 31, the second palm motor 32, the third palm motor 14 and the fourth palm motor 33) controls the bending of the finger segment through the finger segment control line running through the line position fixer 6, and the back of hand motor assembly (including the first back of hand motor 3, the second back of hand motor 28, the third back of hand motor 29 and the fourth back of hand motor 30) controls the movement angle of the finger segment through the finger segment control line running through the line position fixer 6. Due to the existence of the line position fixer 6, the line position can be accurately controlled, so that the bending and movement angle of the finger segment can be accurately adjusted according to the needs of the user.

[0024] In this embodiment, specifically: in addition to the stepper motor 20, a servo motor or a DC motor can also be used to realize the wire-reeling function. These motors have different working principles, but can all be used to realize precise position control. This increases the applicability and compatibility of the data glove, enables the wire-reeling function to be realized by more types of motors, and provides greater design and selection space.

[0025] Working principle or structural principle: The design of the data glove is mainly to accurately simulate and control the various joints and finger segments of the hand. In order to achieve this goal, the glove is equipped with a central controller 2, a back-of-hand motor assembly (including a first back-of-hand motor 3, a second back-of-hand motor 28, a third back-of-hand motor 29 and a fourth back-of-hand motor 30), a motor control line group 4 and a palm motor group (including a first palm motor 31, a second palm motor 32, a third palm motor 14 and a fourth palm motor 33). The glove can achieve fine movements of the hand through the coordinated work of these components. Among them, the central controller 2 is responsible for receiving input signals, calculating the target position, and sending instructions to the back-of-hand motor assembly and the palm motor group. These motor assemblies, through the motor control line group 4, can accurately control the various joints and finger segments of the hand to achieve bending and movement.

Claims

1. A high-precision force feedback data glove, characterized in that: include: A central controller (2), a back-of-hand motor assembly (3), a motor control line group (4), and a palm motor group (14); wherein the motor control line group (4) is connected to the back-of-hand motor assembly (3) and the palm motor group (14) through the central controller (2) to control the movement of various joints and finger segments of the hand.

2. The high-precision force feedback data glove according to claim 1, characterized in that: The central controller (2) controls the vertical movement and bending of each joint and finger segment, as well as the rightward and leftward movement on the plane by sending instructions to the back of hand motor assembly (3) and the palm motor assembly (14). The fourth back of hand motor (30) controls the rightward movement of the finger by controlling the right phase control line (12), and the fourth palm motor (33) controls the leftward movement of the finger by controlling the leftward control line (13), and the combination controls the movement in the horizontal direction.

3. The high-precision force feedback data glove according to claim 1, characterized in that: The central controller (2) contains a preset program for simulating finger movement and bending, and can be customized and modified by the user through an external device.

4. The high-precision force feedback data glove according to claim 1, characterized in that: The back-of-hand motor assembly (3) and the palm-of-hand motor assembly (14) both comprise a stepping motor (20), and the stepping motor (20) rotates a sliding screw shaft (23) via a motor shaft (19), thereby driving a linear position controller (21) to perform linear motion.

5. The high-precision force feedback data glove according to claim 1, characterized in that: Each joint part includes a first finger joint (7) and a second finger joint (8), and each finger segment part includes a first finger segment (15), a second finger segment (16), and a third finger segment (17). The first palm motor (31) controls the bending of the first finger segment (15) through a first finger segment control line (9) that passes through the line position fixer (6). The second palm motor (32) controls the bending of the second finger segment (16) through a second finger segment control line (10) that passes through the line position fixer (6). The third palm motor (14) controls the bending of the third finger segment (17) through a third finger segment control line (11) that passes through the line position fixer (6). The first back of hand motor (3) controls the moving angle of the first finger segment (15) through the first finger segment control line (9) that passes through the line position fixer (6). The second back of hand motor (32) controls the moving angle of the second finger segment (16) through the second finger segment control line (10) that passes through the line position fixer (6). The third back-of-hand motor (33) controls the movement angle of the third finger segment (17) via a third finger segment control line (11) that runs through the line position fixer (6).

6. The high-precision force feedback data glove according to claim 1, characterized in that: The stepper motor (20) rotates the sliding screw shaft (23) via the motor shaft (19), and the sliding screw shaft (23) performs linear motion under the guidance of the internal sliding screw thread (25), thereby achieving precise control of the motor control line group (4).

7. The stepper motor (20) according to claim 4, characterized in that: The method for realizing the wire-reeling function in the present invention includes but is not limited to the stepping motor (20).

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