Pneumatic multichannel bionic hand teleoperation tactile force feedback device

Abstract

The invention discloses a pneumatic multi-channel bionic hand teleoperation tactile force feedback device which comprises a holding body frame used for being held by a hand. Movable supports are mounted at the positions, corresponding to the fingertips, of the front end of the holding main body frame, and fingertip air bags are arranged on the movable supports; the fingertip air bag is connected to the pneumatic servo control module, and the pneumatic servo control module is used for adjusting the inflation and deflation amount of the fingertip air bag according to a pressure sensing signal of the bionic manipulator end; the air bag is used for simulating a pressure sensing signal at the end of the bionic mechanical arm, the mode that a piezoelectric ceramic driver is combined with a wearable glove in the prior art can be replaced, the defects that in the prior art, the piezoelectric coefficient is low, the requirement for high driving voltage is met, and meanwhile the force sense immediacy sense of the hand is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of tactile force feedback of a bionic manipulator teleoperated robot, and in particular relates to a pneumatic multi-channel bionic manipulator teleoperated tactile force feedback device. Background Art

[0002] Tactile force feedback devices are an important basis for improving the telepresence of teleoperated robots, directly affecting the operating performance of teleoperated systems, and are widely used in surgical robots, mechanical exoskeletons, and space stations. In teleoperated bionic hand robots, tactile information is transmitted remotely to the operator, which is very important for identifying touch sensations and accurately controlling objects. Tactile feedback actuators are devices that transmit physical touch sensations to operators, and are gradually becoming a development trend in the field of semi-autonomous operation of bionic hand teleoperated robots in dangerous environments to replace manual labor.

[0003] Existing hand force feedback actuators often use piezoelectric ceramic drivers combined with wearable gloves and other carriers. They mainly rely on high-frequency vibration to transmit force feedback signals, and the sense of force presence is not strong. At the same time, the redundant wearable components often bring a bad experience to the operator. At the same time, this type of actuator needs to overcome the low piezoelectric coefficient and the requirement for high driving voltage. For example, the PMN-PT single crystal tactile driver has a displacement of only 37μm and a peak driving voltage of 150V. Summary of the invention

[0004] The purpose of the present invention is to provide a pneumatic multi-channel bionic hand remote control tactile force feedback device to replace the existing force feedback method based on piezoelectric ceramic drivers and wearable gloves, overcoming the low piezoelectric coefficient and the requirement for high driving voltage.

[0005] The present invention adopts the following technical scheme: a pneumatic multi-channel bionic hand remote control tactile force feedback device, comprising a gripping main body frame for hand gripping;

[0006] A movable support is installed at the front end of the grip body frame at a position corresponding to the fingertip of each finger, and a fingertip airbag is arranged on the movable support;

[0007] The fingertip airbags are connected to a pneumatic servo control module, which is used to adjust the inflation and deflation volume of the fingertip airbags according to pressure sensing signals at the bionic manipulator end.

[0008] Furthermore, a mounting groove for mounting a movable support is provided at a position corresponding to the front end of the grip body frame and each finger.

[0009] Furthermore, each mounting groove is provided with a second mounting hole;

[0010] A spring is arranged at the rear end of the movable support, and the other end of the spring is fixed in the second mounting hole.

[0011] Furthermore, a plurality of first mounting holes are provided in the mounting groove around the second mounting hole;

[0012] A plurality of guide columns are arranged at the rear end of the movable support;

[0013] Wherein, the first mounting hole is used to accommodate the guide column.

[0014] Further, the axis of the guide column is parallel to the axis of the spring.

[0015] Further, the fingertip airbag is in strip shape;

[0016] The fingertip airbag corresponding to the thumb tip is oriented in the front-to-back direction;

[0017] The fingertip airbags corresponding to the fingertips of the other fingers are oriented in the up-and-down direction.

[0018] Further, the air inlet and outlet of the fingertip airbag corresponding to the thumb tip is located at the front end;

[0019] The air inlet and outlet of the fingertip airbags corresponding to the fingertips of the other fingers are located at the lower end.

[0020] Furthermore, the top surface of the grip body frame is an arc-shaped surface.

[0021] Furthermore, a palm feedback airbag is arranged on the arc surface at a position corresponding to the palm position.

[0022] Furthermore, the palm feedback airbag is strip-shaped and extends in left and right directions.

[0023] The beneficial effects of the present invention are as follows: the present invention can replace the existing method of combining a piezoelectric ceramic driver with a wearable glove by using an airbag to simulate the pressure sensing signal at the end of a bionic manipulator, thereby overcoming the low piezoelectric coefficient and the requirement for a high driving voltage, and at the same time, improving the force sense of the hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic structural diagram of a pneumatic multi-channel bionic hand remote-operated tactile force feedback device in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of the main holding frame in an embodiment of the present invention;

[0026] Figure 3 It is a structural schematic diagram of a movable support in an embodiment of the present invention;

[0027] Figure 4 This is a reference schematic diagram of the usage status of an embodiment of the present invention.

[0028] Wherein: 10. Holding the main frame; 11. First mounting hole; 12. Second mounting hole;

[0029] 20. Movable support; 21. Fingertip airbag; 22. Guide column; 23. Spring;

[0030] 30. Palm feedback airbag;

[0031] 40. Hands. DETAILED DESCRIPTION

[0032] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] As the working environment of tele-operated robots in industrial application scenarios becomes more and more complex, and the precision and complexity of tasks performed become higher and higher, tactile feedback actuator technology is the key to improving the telepresence of tele-operated robots. Therefore, the bionic hand teleoperated tactile force feedback device based on integrated multi-pneumatic feedback components proposed in the present invention can effectively improve the power density and force telepresence of the force feedback device.

[0034] The present invention is oriented to the tactile feedback technology of a bionic hand teleoperated robot, and implements the force feedback task in the process of teleoperation of a bionic manipulator through an integrated multi-air-path pneumatic force feedback component.

[0035] Specifically, the present invention discloses a pneumatic multi-channel bionic hand remote control tactile force feedback device, such as Figure 1 and Figure 4 As shown, it includes a holding body frame 10 for holding by a hand 40; a movable support 20 is installed at the front end of the holding body frame 10 and at a position corresponding to the fingertip of each finger, and a fingertip airbag 21 is arranged on the movable support 20; the fingertip airbag 21 is connected to a pneumatic servo control module, and the pneumatic servo control module is used to adjust the inflation and deflation volume of the fingertip airbag 21 according to the pressure sensor signal at the end of the bionic manipulator.

[0036] The present invention uses an airbag to simulate the pressure sensing signal at the end of the bionic manipulator, which can replace the existing method of combining a piezoelectric ceramic driver with a wearable glove, overcomes the low piezoelectric coefficient and the requirement for a high driving voltage, and at the same time improves the force sense of the hand.

[0037] In this embodiment, a mounting groove for mounting the movable support 20 is provided at the corresponding position between the front end of the grip body frame 10 and each finger. Through the design of the mounting groove, the fingertip airbag 21 can match the surface of the grip body frame 10, so that the fingers can maintain a naturally bent state.

[0038] like Figure 2 and Figure 3As shown, each mounting groove is provided with a second mounting hole 12; a spring 23 is provided at the rear end of the movable support 20, and the other end of the spring 23 is fixed in the second mounting hole. By designing the mounting hole, a part of the spring 23 can be extended into and fixed in the second mounting hole 12, and the connection stability can be improved while the length of the extended part of the spring 23 can be adjusted, so that the fingertip airbag 21 and the surface of the grip body frame 10 can be more matched.

[0039] In addition, in order to improve the balance of the movable support 20, a plurality of first mounting holes 11 are provided in the mounting groove around the second mounting hole 12; a plurality of guide posts 22 are provided at the rear end of the movable support 20; wherein, the first mounting hole 11 is used to accommodate the guide posts 22. The axis of the guide posts 22 is parallel to the axis of the spring 23. After adding the guide posts 22, the cross section of the movable support 20 can be kept perpendicular to the axial direction of the spring 23 during the forward and backward movement of the movable support 20, that is, the forces at each position on the cross section are balanced, so as to prevent the angle change of the movable support 20 itself from affecting the touch of the fingertip airbag 21, and keep the contact surface between the fingertip airbag 21 and the fingertip stable.

[0040] In the present invention, the grip body frame 10 mainly integrates the key structural design of the grip mechanism. The main function of the grip body frame 10 is to provide the first mounting hole 11 and the second mounting hole 12 for supporting the movable support 20, and to provide a mounting position for the palm force feedback airbag. The first mounting hole 11 and the second mounting hole 12 are divided into 5 groups. The axial spatial angle, relative position, and movement stroke of the holes are designed with reference to the human hand skeletal kinematic model. The angles of the movable supports 20 corresponding to the index finger, middle finger, ring finger, and little finger along the movement direction of their mounting holes are 8°, 4°, and 10° respectively. The setting of this angle can ensure that the force feedback airbag always keeps close contact with the corresponding part of the hand during the process of holding the force feedback device, which conforms to the ergonomic design. Figure 4 Taking the iPod as an example, it shows good compatibility with the left palm of the human body.

[0041] The movable support 20 realizes kinematic coordination with the main grip frame 10 through four guide columns 22. The spring 23 is installed between the movable support 20 and the main grip frame 10 to provide the movable support 20 with a rebound force along the guide direction of the guide column. This design is intended to enable the movable support 20 to always keep close contact with the left hand of the human body in different hand positions. The fingertip force feedback airbags are installed in 5 airbag movable supports according to different partitions, and the force feedback airbag (palm) installation position is located in the depression of the palm part of the main grip frame.

[0042] The spring 23 and the guide column 22 work together to achieve a certain displacement and rebound effect of the airbag movable support along the direction of the guide column, which is used to ensure that the force feedback airbag always keeps close contact with the human hand to ensure that the force feedback effect is constant as the hand posture changes.

[0043] The addition of spring 23 may have a certain impact on the accuracy of force feedback, so after completing the assembly test, the feedback force of each air path should be calibrated to ensure the accuracy of force feedback. The specific calibration method is as follows: first, start the single-channel force feedback airbag (i.e., fingertip airbag) to enter the no-load pressure holding state, paste the pressure sensor on the surface of the force feedback airbag, and then hold the force feedback device tightly. The control system outputs a signal to make the force feedback airbag run at full load. At this time, when the pressure sensor reading is stable within the range of 45%-75% of the bionic hand end pressure sensor range, it can be considered that the channel can effectively perform tactile force feedback.

[0044] It should be noted that the force feedback airbag is a customized product. The airbag body and the air inlet are made of polyvinyl chloride material and are integrally formed. When working, the air inlet has both air intake and exhaust functions, requiring the bionic hand remote-operated tactile force feedback control system to have single-circuit pressure control capabilities.

[0045] As a specific implementation, the fingertip airbag 21 is strip-shaped; the fingertip airbag 21 corresponding to the thumb tip is oriented in the front-to-back direction; the fingertip airbag 21 corresponding to the other fingertips is oriented in the up-down direction. The air inlet and outlet of the fingertip airbag 21 corresponding to the thumb tip is located at the front end; the air inlet and outlet of the fingertip airbag 21 corresponding to the other fingertips is located at the bottom end.

[0046] The fingertip airbag 21 is fixed to the outside of the airbag movable support 20 by gluing. One end of the spring 23 is installed in the central large hole of the airbag movable support 20 by interference fit, and the other end is installed in the second installation hole 12 in the grip body frame 10 by interference fit. Four 35 guide columns 22 are connected to the airbag movable support 20 by threads, and the wire ends of the guide columns 22 are installed in the first installation hole 9 in the grip body frame 10.

[0047] When a person grasps the main frame 10, the force feedback airbag performs force feedback mapping according to the pressure sensing signal of the thin film pressure sensor assembly at the bionic manipulator end, and "transmits" the pressure at the bionic manipulator end to the human hand end, so that the remote operator can perceive the changes in the pressure signal at the slave end in real time.

[0048] Since the fingertips have a certain length, the fingertip airbags are designed to be similar in length to the fingertips, so that the fingertip airbags 21 can have more contact with the fingertips to increase the touch. Moreover, when the hand 40 is held, the thumb points forward and backward, and it and the four fingers point up and down, so in order to make the fingertip airbags 21 fit the fingertips better, the angle of the fingertip airbags 21 can be adjusted according to the specific finger angle of the operator.

[0049] In order to make the shape of the palm and the grip body frame 10 more consistent, the top surface of the grip body frame 10 is an arc-shaped surface, and this arc-shaped surface can also be made according to the operator's hand shape.

[0050] More specifically, a palm feedback airbag 30 is provided on the arc surface at a position corresponding to the palm position. The palm feedback airbag 30 is strip-shaped and runs in the left and right direction. The palm feedback airbag 30 can increase the palm touch of the operator, and combined with the other touches, the overall touch sense can be improved.

[0051] In summary, the present invention provides a bionic hand remote-controlled tactile force feedback device that integrates a multi-air-path pneumatic force feedback component and a gripping main body frame to solve the shortcomings of the existing piezoelectric ceramic driver combined with a wearable glove configuration force feedback system, which has a low piezoelectric coefficient and a high driving voltage requirement, and can expand and arrange the pneumatic servo channels according to the requirements of the work task.

[0052] Moreover, the bionic hand remote operation tactile force feedback device based on multi-channel pneumatic components proposed in the present invention integrates flexible sensing, pneumatic servo control system, and ergonomic grip mechanism design, which improves the force presence of the human hand in the bionic manipulator remote operation scenario, while ensuring the control accuracy, and improving the safety and versatility of the bionic manipulator remote operation system.

[0053] The present invention improves the force presence of the bionic manipulator remote control system while being compatible with more tactile force feedback scenarios. The thin film pressure sensor, pneumatic servo control module, and multi-path pneumatic force feedback component are all scalable and can be redistributed and parameter adjusted according to the actual force feedback scenario, and other sensors can be integrated to achieve multi-modal feedback effects.

[0054] It should be noted that in Figure 1 Currently, only fingertip force feedback airbags are installed at the airbag movable support of the middle part. In addition, airbags at the finger pulp, finger joints, etc. can be added according to the complexity of the bionic hand remote operation task. The installation method is the same as the airbag movable support 20 and the fingertip airbag 21.

[0055] In summary, the bionic hand remote-operated tactile force feedback device based on a multi-channel pneumatic component has a compact overall structure, stable working performance and low production cost.

Claims

1. A pneumatic multi-channel bionic hand remote control tactile force feedback device, characterized in that: It comprises a holding body frame (10) for holding by a hand (40); A movable support (20) is installed at the front end of the grip body frame (10) at a position corresponding to the fingertip of each finger, and a fingertip airbag (21) is arranged on the movable support (20); The fingertip airbag (21) is connected to a pneumatic servo control module, and the pneumatic servo control module is used to adjust the inflation and deflation volume of the fingertip airbag (21) according to a pressure sensing signal at the end of the bionic manipulator.

2. A pneumatic multi-channel bionic hand remote control tactile force feedback device as claimed in claim 1, characterized in that: A mounting groove for mounting the movable support (20) is provided at a position corresponding to the front end of the gripping main frame (10) and each finger.

3. A pneumatic multi-channel bionic hand remote control tactile force feedback device as claimed in claim 2, characterized in that: A second mounting hole (12) is provided in each mounting groove; A spring (23) is provided at the rear end of the movable support (20), and the other end of the spring (23) is fixed in the second mounting hole.

4. A pneumatic multi-channel bionic hand remote control tactile force feedback device as claimed in claim 3, characterized in that: A plurality of first mounting holes (11) are also provided in the mounting groove around the second mounting hole (12); A plurality of guide columns (22) are provided at the rear end of the movable support (20); Wherein, the first mounting hole (11) is used to accommodate the guide column (22).

5. The pneumatic multi-channel bionic hand remote control tactile force feedback device according to claim 4, characterized in that: The axis of the guide column (22) is parallel to the axis of the spring (23).

6. A pneumatic multi-channel bionic hand remote control tactile force feedback device as claimed in any one of claims 2 to 5, characterized in that: The fingertip airbag (21) is in a strip shape; The fingertip airbag (21) corresponding to the thumb tip is oriented in the front-to-back direction; The fingertip airbags (21) corresponding to the fingertips of the other fingers are oriented in an up-and-down direction.

7. The pneumatic multi-channel bionic hand remote control tactile force feedback device according to claim 6, characterized in that: The air inlet and outlet of the fingertip airbag (21) corresponding to the thumb tip is located at the front end; The air inlet and outlet of the fingertip airbags (21) corresponding to the fingertips of the remaining fingers are located at the lower end.

8. The pneumatic multi-channel bionic hand remote control tactile force feedback device according to claim 6, characterized in that: The top surface of the holding body frame (10) is an arc-shaped surface.

9. The pneumatic multi-channel bionic hand remote control tactile force feedback device according to claim 7, characterized in that: A palm feedback airbag (30) is arranged on the arc surface at a position corresponding to the palm position.

10. The pneumatic multi-channel bionic hand remote control tactile force feedback device according to claim 8, characterized in that: The palm feedback airbag (30) is strip-shaped and extends in the left and right directions.

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