Multi-mode tactile feedback glove and dexterous manipulator control feedback system

Abstract

The invention provides a multi-mode tactile feedback glove and a dexterous manipulator control feedback system, the multi-mode tactile feedback glove comprises a force control motion capture glove fixed on the hand back, and the force control motion capture glove comprises a base; each finger assembly comprises a force control actuator installed on the base, and the force control actuators are configured to detect the angles of finger joints of a user in real time and output reverse torque; the adjustable connecting rod mechanism is connected with the force control actuator and the fingertip sleeve, and is used for mapping the finger movement of the user to the joint control of the dexterous manipulator and simulating the stress state of the manipulator through reverse torque feedback; the tactile feedback device is mounted in the fingertip sleeve and is configured to drive the flexible material to deform by applying adjustable voltage so as to generate adjustable tactile feedback; the high-voltage driving module is configured to convert an input low voltage into a high voltage to drive the tactile feedback device. Accurate control and vivid tactile feedback are provided for operation of the dexterous manipulator, and user experience and operation efficiency are remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the field of manipulator control, and in particular relates to a multimodal tactile feedback glove and a dexterous manipulator control feedback system. Background Art

[0002] In recent years, the emergence of embodied intelligence and the rapid development of general-purpose humanoid robots have made their application in industrial and domestic settings possible. As a key actuator for general-purpose humanoid robots, the humanoid dexterous hand has also become a focus of technological attention. However, current robotic hand control systems often lack effective tactile feedback mechanisms, making it difficult for operators to intuitively sense the interaction between the manipulator and the environment. This results in limited operational precision and a poor user experience.

[0003] Therefore, there is an urgent need for a device that can provide real-time feedback of tactile information. Summary of the Invention

[0004] In view of the above shortcomings of the prior art, the purpose of the present invention is to provide a multimodal tactile feedback glove and a dexterous manipulator control feedback system to solve the problem that most manipulator control systems lack an effective tactile feedback mechanism, making it difficult for operators to intuitively feel the interaction between the manipulator and the environment, resulting in limited operation accuracy and poor user experience.

[0005] To achieve the above and other related objectives, the present invention provides a multimodal tactile feedback glove for controlling a dexterous manipulator, comprising:

[0006] A force-controlled motion capture glove, a tactile feedback device, and a high-voltage drive module. The force-controlled motion capture module is fixed to the back of the hand and includes:

[0007] base;

[0008] A plurality of finger assemblies, the finger assemblies being mounted on the base, comprising:

[0009] force-controlled actuators, mounted on the base, each force-controlled actuator configured to detect the angle of a user's finger joint in real time and output a reverse torque;

[0010] An adjustable linkage mechanism connects the force-controlled actuator and the fingertip cover, and is used to map the user's finger motion to the joint control of the dexterous manipulator and simulate the force state of the manipulator through reverse torque feedback;

[0011] The tactile feedback device is installed in the fingertip cover and is configured to generate adjustable tactile feedback by applying an adjustable voltage to drive the flexible material to deform;

[0012] The high-voltage driving module is configured to convert an input low voltage into a high voltage to drive the tactile feedback device.

[0013] In one embodiment of the present invention, the adjustable linkage mechanism comprises:

[0014] a driving rod, one end of which is rotatably connected to the force-controlled actuator and rotates in a first direction;

[0015] a first connecting rod, one end of which is rotatably connected to the other end of the driving rod and rotates in a second direction;

[0016] a second connecting rod, wherein one end of the second connecting rod is rotatably connected to the other end of the first connecting rod, and the other end of the second connecting rod is rotatably connected to the fingertip cover and rotates in a first direction;

[0017] The first direction and the second direction are perpendicular to each other.

[0018] In one embodiment of the present invention, the lengths of the first connecting rod and the second connecting rod are adjustable.

[0019] In one embodiment of the present invention, the first connecting rod is a bent structure, and its bending direction is away from the direction of the back of the hand.

[0020] In one embodiment of the present invention, the tactile feedback device includes:

[0021] A liquid reservoir having a liquid storage cavity formed therein for storing liquid;

[0022] an electroosmotic drive unit, mounted on the liquid reservoir;

[0023] A flexible material layer is sealed and wrapped around the outside of the liquid reservoir and the electroosmotic drive unit. The high-voltage drive module drives the electroosmotic drive unit to make the liquid flow into and out of the liquid storage chamber, so as to drive the flexible material layer to deform and generate adjustable tactile feedback.

[0024] In one embodiment of the present invention, the electroosmotic driving unit comprises:

[0025] an insulating plate, wherein a through hole is formed on the insulating plate;

[0026] Glass fiber filter paper, wherein the glass fiber filter paper covers the through hole;

[0027] A first circuit board and a second circuit board are located on both sides of the insulating plate, wherein micropores are provided on the first circuit board and the second circuit board at positions corresponding to the glass fiber filter paper, and the micropores are connected to the liquid storage chamber;

[0028] The high-voltage driving module drives the first circuit board and the second circuit board to generate a pressure difference, so that the liquid flows into and out of the liquid storage chamber.

[0029] In one embodiment of the present invention, the high-voltage driving module is connected to the first circuit board and the second circuit board of the tactile feedback device, and includes: a boost module, a high-voltage switching chip and an MCU control unit. The boost module increases the voltage and supplies it to the high-voltage switching chip. The MCU control unit is used to output the switch value of each channel to the high-voltage switching chip to achieve control, thereby controlling the working mode of the tactile feedback device.

[0030] In one embodiment of the present invention, the working mode includes:

[0031] Static touch mode, which adjusts the duty cycle through high-frequency PWM to simulate different voltage amplitudes and control the steady-state deformation of the flexible material layer;

[0032] Dynamic vibration mode generates periodic square waves through low-frequency PWM to drive the flexible material layer to vibrate at high frequency.

[0033] The present invention also provides a dexterous manipulator control feedback system, comprising:

[0034] a dexterous hand module, including a sensor unit for detecting grasping force and contact status;

[0035] A multimodal tactile feedback glove for controlling a dexterous manipulator as described in any one of the above embodiments, electrically connected to the dexterous hand;

[0036] The multimodal tactile feedback glove is used to remotely control the dexterous hand module, trigger tactile feedback according to the sensor data of the sensor unit, and dynamically control the output mode of the high-voltage driver circuit board.

[0037] In one embodiment of the present invention, the logic for triggering tactile feedback of the multimodal tactile feedback glove includes:

[0038] When the sensor detects that the contact force is greater than 0, it starts the high voltage output and adjusts the duty cycle to make the flexible material layer bulge. The greater the contact force, the higher the duty cycle.

[0039] When the contact force disappears, a reverse voltage is applied or the output is disconnected to reset the flexible material layer.

[0040] The present invention proposes a multimodal tactile feedback glove and a dexterous manipulator control feedback system. Through a high-precision servo and an adjustable connecting rod mechanism, it achieves accurate capture of the user's finger movements and force feedback, improving the accuracy and naturalness of the operation. Among them, the design of the flexible finger cuffs and sponge pads improves wearing comfort and ensures fatigue-free use for long periods of time.

[0041] The present invention utilizes the electroosmosis effect and deformation amplification structure to achieve precise and adjustable tactile feedback, providing users with a richer and more realistic tactile experience. Its multi-layer insulation and voltage divider circuit design ensure user safety under high voltage.

[0042] The resonant boost circuit and synchronous rectification technology of this invention achieve efficient voltage conversion, improving system energy efficiency. PWM modulation and polarity switching functions support multiple tactile feedback modes, enhancing system flexibility and adaptability. Overcurrent protection and insulation monitoring functions ensure system stability and safety.

[0043] Through the above technical solutions, the multimodal tactile feedback gloves and their control feedback system of the present invention provide precise control and realistic tactile feedback for the operation of dexterous robotic arms, significantly improving user experience and operational efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 FIG. 1 is a schematic structural diagram of a multimodal tactile feedback glove according to an embodiment of the present invention.

[0046] Figure 2 FIG. 1 is a schematic structural diagram of a tactile feedback device in a multimodal tactile feedback glove according to an embodiment of the present invention.

[0047] Figure 3 FIG. 1 is an exploded view of a tactile feedback device in a multimodal tactile feedback glove according to an embodiment of the present invention.

[0048] Description of labels:

[0049] 100. Force-controlled motion capture glove; 110. Base; 120. Finger assembly; 121. Force-controlled actuator; 122. Adjustable linkage mechanism; 1221. Drive rod; 1222. First link; 1223. Second link; 123. Fingertip cover; 200. Tactile feedback device; 210. Liquid reservoir; 211. Liquid storage chamber; 220. Electroosmosis drive unit; 221. Insulating plate; 222. Glass fiber filter paper; 223. First circuit board; 224. Second circuit board; 230. Flexible material layer. DETAILED DESCRIPTION

[0050] The following describes the embodiments of the present invention through specific examples. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention.

[0051] It should be noted that the illustrations provided in this embodiment are only used to schematically illustrate the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0052] See also Figure 1 、 Figure 2 and Figure 3 As shown, the present invention proposes a multimodal tactile feedback glove and a dexterous manipulator control feedback system to solve the problem that most manipulator control systems lack an effective tactile feedback mechanism, making it difficult for operators to intuitively feel the interaction between the manipulator and the environment, resulting in limited operation accuracy and poor user experience. Specifically, the multimodal tactile feedback glove includes a force-controlled motion capture glove 100, a tactile feedback device 200, and a high-voltage drive module. The force-controlled motion capture glove 100 is fixed to the back of the hand and includes a base 110 and multiple finger assemblies 120. The base 110 provides support for the entire glove and is fixed to the back of the hand by Velcro straps. A sponge pad is provided inside to improve wearing comfort.

[0053] See also Figure 1 、 Figure 2 and Figure 3 As shown, in this embodiment, each finger assembly 120 is mounted on the base 110 and includes a force-controlled actuator 121, an adjustable linkage mechanism 122, and a fingertip cover 123. The force-controlled actuator 121, mounted on the base 110, detects the user's finger joint angle in real time and simulates the force state of the manipulator by outputting a reverse torque. The adjustable linkage mechanism 122 connects the force-controlled actuator 121 and the fingertip cover 123, responsible for mapping the user's finger motion to the joint control of the dexterous manipulator. For example, the force-controlled actuator 121 is a bus servo. There are five bus servos on the base 110, one for each finger, with a built-in high-precision encoder and torque sensor. The linkage mechanism connects the servo to the fingertip cover 123. The adjustable linkage length can adapt to the different user's finger joint lengths. The fingertip cover 123 is designed as a flexible structure to prevent hard materials from rubbing against the skin. When the dexterous hand grasps an object, the joint torque data is converted into a target current value for the servo through a control algorithm, driving the servo to output reverse resistance. For example, the Dynamixel XL330 bus servo can be used, which has a built-in 12-bit magnetic encoder (resolution ≤ 0.1°) and a torque sensor with a detection range of 0-0.5N·m. It can detect the user's finger joint angle in real time and transmit the data to the control module via the CAN bus to achieve motion capture and force feedback.

[0054] See also Figure 1 、 Figure 2 and Figure 3As shown, in this embodiment, the tactile feedback device 200 is installed in the fingertip cover 123. By applying an adjustable voltage to drive the deformation of the flexible material, adjustable tactile feedback is generated. The high-voltage driver module converts the input low voltage into a high voltage to drive the tactile feedback device 200. By accurately capturing the user's finger movements through the force-controlled motion capture glove 100, the tactile feedback device 200 works in conjunction with the high-voltage driver module to provide the operator with real-time, realistic tactile feedback, improving operational accuracy and immersion.

[0055] See also Figure 1 、 Figure 2 and Figure 3 As shown, in this embodiment, the adjustable linkage mechanism 122 includes a driving rod 1221, a first connecting rod 1222, and a second connecting rod 1223. One end of the driving rod 1221 is rotationally connected to the force control actuator 121 and rotates along a first direction. One end of the first connecting rod 1222 is rotationally connected to the other end of the driving rod 1221 and rotates along a second direction. One end of the second connecting rod 1223 is rotationally connected to the other end of the first connecting rod 1222, and the other end is rotationally connected to the fingertip cover 123 and rotates along the first direction, wherein the first direction and the second direction are perpendicular to each other. It can be understood that the first direction is the direction of rotation of the fingers when the hand is clenched and unfolded, and the second direction is the direction of lateral swing of the fingers, thereby accurately following the flexion and extension and lateral movement of the fingers, so that the structure can accurately map the finger movement to the joint control of the dexterous manipulator, ensure the accuracy and stability of the motion transmission, and improve the system response speed and control accuracy.

[0056] See also Figure 1 、 Figure 2 and Figure 3 As shown, in this embodiment, the lengths of the first and second connecting rods 1222, 1223 are adjustable. By adjusting the length of the connecting rods, the glove can be adapted to the lengths of different users' finger joints, meeting individual needs and enhancing user comfort and operational flexibility. For example, slots can be provided in the first and second connecting rods 1222, 1223, allowing the connecting rod lengths to be adjusted by adjusting the positions of the fastening bolts. Alternatively, the first and / or second connecting rods 1222, 1223 can be designed as telescopic structures to achieve length adjustment to accommodate differences in user finger lengths. This length adjustment feature enhances the versatility and adaptability of the glove, enabling users of different hand sizes to enjoy a good user experience and ensuring the accuracy of motion capture and force feedback.

[0057] See also Figure 1 、 Figure 2 and Figure 3As shown, in this embodiment, the first connecting rod 1222 is designed as a bent structure, with its bending direction away from the back of the hand. This design avoids interference between the connecting rod and finger movement, ensuring smooth finger movement while also improving the durability and stability of the connecting rod. The bent structure effectively prevents interference between the connecting rod and finger movement, ensuring natural and flexible finger movement, improving smooth operation, and extending the service life of the connecting rod.

[0058] See also Figure 1 、 Figure 2 and Figure 3 As shown, in this embodiment, the tactile feedback device 200 includes a liquid reservoir 210, an electroosmotic drive unit 220 and a flexible material layer 230. A liquid storage chamber 211 is formed inside the liquid reservoir 210 for storing liquid. The electroosmotic drive unit 220 is mounted on the liquid reservoir 210 and driven by a high-voltage drive module to allow liquid to flow in and out of the liquid storage chamber 211. The flexible material layer 230 is sealed and wrapped around the outside of the liquid reservoir 210 and the electroosmotic drive unit 220, and deforms under the action of liquid flow to generate adjustable tactile feedback. The liquid flow is controlled by the electroosmotic drive unit 220. When the liquid flows out of the liquid storage chamber 211, the flexible material layer 230 (e.g., silicone) is deformed to achieve precise and adjustable tactile feedback, providing users with a richer and more realistic tactile experience and enhancing the immersive feeling of the operation.

[0059] See also Figure 1 、 Figure 2 and Figure 3 As shown, in this embodiment, the electroosmotic drive unit 220 includes an insulating plate 221, a glass fiber filter paper 222, a first circuit board 223, and a second circuit board 224. The insulating plate 221 is formed with through-holes, which are covered by the glass fiber filter paper 222. The first and second circuit boards 223 and 224 are located on either side of the insulating plate 221. Micropores are provided at positions corresponding to the glass fiber filter paper 222, and the micropores are connected to the liquid storage chamber 211. The high-voltage drive module generates a pressure differential between the first and second circuit boards 223 and 224, allowing liquid to enter and exit the liquid storage chamber 211. This structure utilizes electroosmosis to precisely control liquid flow, enabling precise adjustment of the deformation of the flexible material layer 230, improving the accuracy and sensitivity of tactile feedback, and meeting different tactile requirements. For example, the high-voltage drive module applies +200V to the left first circuit board 223 and -200V to the right second circuit board 224, driving liquid from the liquid storage chamber 211 through the glass fiber filter paper 222 and into the right cavity, causing the flexible layer to bulge.

[0060] See also Figure 1 、 Figure 2 and Figure 3As shown, in this embodiment, the high-voltage driving module is connected to the first circuit board 223 and the second circuit board 224 of the tactile feedback device 200, and includes a boost module, a high-voltage switching chip and an MCU control unit. The boost module increases the voltage and supplies it to the high-voltage switching chip. The MCU processes the communication signal input by the Type-C interface to determine the working mode and outputs the switch value of each channel to the high-voltage switching chip to achieve control. For example, the boost module adopts a boost chip of model GSA12200HS-8, which is used to convert the input low voltage (12V) into a high voltage (200V) output with a conversion efficiency of ≥90%; the high-voltage switching chip adopts model HV512WG-G, which is connected to the boost module and supports fast switching of multi-channel high-voltage output (switching time <1ms); the MCU control unit adopts model ESP32-WROOM-32E-N4, which is configured to: receive external communication signals (such as sensor data of the sensor unit) through the Type-C interface, parse the tactile feedback mode (static The high-voltage switching module generates control signals based on the required modes and outputs the channel switching value to the high-voltage switching chip via the GPIO port. In static tactile mode, it outputs a high-frequency PWM signal (1-10kHz) that controls the equivalent voltage amplitude by adjusting the duty cycle. In dynamic vibration mode, it outputs a low-frequency switching signal (1-100Hz) that drives a periodic square wave to generate vibration or steady-state tactile feedback. Based on instructions from the MCU control unit, the high-voltage switching chip dynamically switches the output polarity (±200V) and channel on / off state to drive the deformation of the flexible material layer of the tactile feedback device 200. The multifunctional design of the high-voltage driver module enables efficient drive and precise control of the tactile feedback device 200, meeting the requirements of different tactile feedback modes and improving system performance and user experience.

[0061] In this embodiment, the high-voltage drive module also includes a protection circuit, which includes overcurrent protection, such as a current sampling resistor (0.1Ω) in conjunction with a comparator to shut down the output when a threshold (such as 0.5A) is triggered; and insulation monitoring, such as an optocoupler isolation feedback circuit to monitor the insulation impedance in real time and cut off the high voltage when an abnormality occurs. The high-voltage drive module in the present invention adopts a resonant boost circuit and synchronous rectification technology to achieve efficient voltage conversion and improve system energy efficiency; and through PWM modulation and polarity switching functions, it supports multiple tactile feedback modes, enhancing the flexibility and adaptability of the system; and implements overcurrent protection and insulation monitoring functions to ensure the stability and safety of the system.

[0062] See also Figure 1 、 Figure 2 and Figure 3As shown, in this embodiment, the high-voltage output mode includes a static tactile mode and a dynamic vibration mode. The static tactile mode adjusts the duty cycle through high-frequency PWM to simulate different voltage amplitudes, control the steady-state deformation of the flexible material layer 230, and simulate the tactile sensation of different hardnesses. For example, a constant voltage (such as 100V corresponds to 0.1N pressure) is used to simulate a stable contact force. The dynamic vibration mode generates a periodic square wave through low-frequency PWM to drive the flexible material layer 230 to vibrate at a high frequency, simulating dynamic tactile information such as the texture and vibration of the object surface. Through different high-voltage output modes, a rich variety of tactile feedback effects are achieved, allowing operators to more realistically perceive the interaction between the dexterous manipulator and the environment, improving the accuracy and immersion of the operation.

[0063] See also Figure 1 、 Figure 2 and Figure 3 As shown, in this embodiment, the dexterous manipulator control feedback system of the present invention includes a dexterous hand module and a multimodal tactile feedback glove. The dexterous hand module includes a sensor unit for detecting gripping force and contact status. The multimodal tactile feedback glove is electrically connected to the dexterous hand, used to remotely control the dexterous hand module, and trigger tactile feedback based on the sensor data of the sensor unit, dynamically controlling the output mode of the high-voltage drive module. The system realizes precise remote control and real-time tactile feedback of the dexterous manipulator, forming a closed-loop control, allowing the operator to intuitively feel the operating status of the manipulator, and improving the flexibility, stability and safety of the operation.

[0064] See also Figure 1 、 Figure 2 and Figure 3 As shown, in this embodiment, the logic for triggering tactile feedback in the multimodal tactile feedback glove is as follows: when the sensor detects a contact force greater than 0, it activates high-voltage output and adjusts the duty cycle to cause flexible material layer 230 to bulge; greater contact force results in a higher duty cycle. When the contact force disappears, reverse voltage is applied or the output is disconnected to reset flexible material layer 230. This rational tactile feedback triggering logic ensures real-time synchronization of tactile feedback with the actual force state of the dexterous manipulator, improving operational precision and naturalness while reducing the operator's learning curve.

[0065] It is understandable that the motion capture principle of the multimodal tactile feedback glove is: when the user's hand moves, the fingers bend to drive the connecting rod to push the servo steering wheel to rotate, and the servo encoder reads the angle change in real time (such as 0-90° range) and transmits it to the controller through the CAN bus. The controller maps the angle data to the target joint angle of the dexterous hand (linear or nonlinear mapping) to achieve synchronous movement. The force feedback principle is: the dexterous hand tactile sensor (such as FSR force sensitive resistor) detects the gripping force, and the controller converts it into the servo target current (such as 0-2A corresponding to 0-5N resistance). The servo outputs reverse torque through current closed-loop control, which is transmitted to the user's fingers through the connecting rod to form a "grip resistance feeling".

[0066] This paper proposes a multimodal tactile feedback glove and dexterous manipulator control and feedback system, featuring high-precision operation and control. The force-controlled actuator incorporates a high-precision encoder (resolution ≤ 0.05°) and a torque sensor, enabling synchronization between the user's hand and the dexterous manipulator with an error of ≤ ±0.5°. The electroosmotic tactile device, through PWM modulation and micropore pressure differential control, can accurately simulate contact forces of 0.1-0.25N. The overall system latency is less than 20ms, and the polarity switching time of the high-voltage drive module is less than 1ms, meeting the requirements of real-time interaction.

[0067] The present invention proposes a multimodal tactile feedback glove and a dexterous robotic arm control feedback system, which provide a realistic tactile feedback experience and can achieve static touch and dynamic vibration. Compared with traditional vibration motors, the tactile realism is improved by 60%, and the user's accuracy in identifying objects of different hardness is greater than 90%.

[0068] The present invention proposes a multimodal tactile feedback glove and a dexterous manipulator control feedback system, which has a high-voltage safety design and multi-layer insulation packaging to ensure user operation safety. The electroosmotic drive unit has a cycle life of more than 100,000 times, and the high-voltage drive module has a temperature rise of less than 15°C after 100 hours of continuous operation and a performance degradation of less than 3%.

[0069] The present invention proposes a multimodal tactile feedback glove and a dexterous manipulator control feedback system, which are universal and adaptable. The adjustable linkage mechanism supports users with different hand sizes and optimizes wearing comfort.

[0070] The multimodal tactile feedback gloves and their control feedback system provide precise control and realistic tactile feedback for the operation of dexterous robotic arms, significantly improving user experience and operational efficiency.

[0071] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

[0072] In the description herein, numerous specific details, such as examples of components and / or methods, are provided to provide a complete understanding of the embodiments of the present invention. However, those skilled in the art will recognize that embodiments of the present invention may be practiced without one or more of the specific details or with other devices, systems, assemblies, methods, components, materials, parts, etc. In other cases, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of the embodiments of the present invention.

[0073] Reference throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention, and not necessarily in all embodiments. Thus, various appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics of any specific embodiment of the invention may be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein are possible in light of the teachings herein and are considered part of the spirit and scope of the invention.

[0074] It should also be understood that one or more of the elements shown in the figures may also be implemented in a more separate or more integrated manner, or even removed because they are inoperable in certain circumstances or provided because they may be useful depending on the application.

[0075] In addition, unless otherwise expressly indicated, any marking arrows in the drawings should be regarded as illustrative only and not limiting. Furthermore, unless otherwise indicated, the term "or" as used herein is generally intended to mean "and / or." Where a term is unclear in providing separation or combination capabilities, the combination of components or steps will also be considered as indicated.

[0076] As used in the description herein and throughout the claims that follow, “a,” “an,” and “the” include plural references unless otherwise indicated. Likewise, as used in the description herein and throughout the claims that follow, the meaning of “in” includes “in” and “on” unless otherwise indicated.

[0077] The above description of the illustrated embodiments of the present invention (including that described in the Abstract) is not intended to be exhaustive or to limit the invention to the precise forms disclosed herein. Although specific embodiments of the present invention and examples of the present invention are described herein for illustrative purposes only, as those skilled in the art will recognize and appreciate, various equivalent modifications are possible within the spirit and scope of the present invention. As noted, modifications may be made to the present invention in light of the above description of the illustrated embodiments of the present invention, and such modifications will be within the spirit and scope of the present invention.

[0078] Systems and methods have been generally described herein in detail to facilitate understanding of the present invention. In addition, various specific details have been given to provide an overall understanding of embodiments of the present invention. However, those skilled in the relevant art will recognize that embodiments of the present invention may be practiced without one or more of these specific details, or with other devices, systems, accessories, methods, components, materials, parts, etc. In other cases, well-known structures, materials, and / or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the present invention.

[0079] Thus, although the invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are contemplated within the foregoing disclosure, and it should be understood that in some cases, some features of the invention will be employed without the corresponding use of other features without departing from the scope and spirit of the claimed invention. Thus, many modifications may be made to adapt a particular environment or material to the true scope and spirit of the invention. The invention is not intended to be limited to the specific terminology used in the claims below and / or to the specific embodiments disclosed as the best mode contemplated for carrying out the invention, but the invention is intended to include any and all embodiments and equivalents falling within the scope of the appended claims. Thus, the scope of the invention will be determined solely by the appended claims.

Claims

1. A multimodal tactile feedback glove for dexterous manipulator control, characterized in that: include: A force-controlled motion capture glove (100), a tactile feedback device (200) and a high-voltage drive module, wherein the force-controlled motion capture module (100) is fixed to the back of the hand and comprises: base (110); A plurality of finger assemblies (120), the finger assemblies (120) being mounted on the base (110), comprising: A force control actuator (121) is mounted on the base (110), each force control actuator (121) being configured to detect the user's finger joint angle in real time and output a reverse torque; An adjustable connecting rod mechanism (122) connects the force control actuator (121) and the fingertip cover (123), and is used to map the user's finger movement to the joint control of the dexterous manipulator and simulate the force state of the manipulator through reverse torque feedback; The tactile feedback device (200) is installed in the fingertip cover (123), and is configured to generate adjustable tactile feedback by applying an adjustable voltage to drive the deformation of the flexible material; The high-voltage driving module is configured to convert an input low voltage into a high voltage to drive the tactile feedback device (200).

2. The multimodal tactile feedback glove for dexterous manipulator control according to claim 1, characterized in that: The adjustable link mechanism (122) comprises: a driving rod (1221), one end of which is rotatably connected to the force-controlled actuator (121) and rotates in a first direction; a first connecting rod (1222), one end of which is rotatably connected to the other end of the driving rod (1221) and rotates in a second direction; a second connecting rod (1223), one end of the second connecting rod (1222) being rotatably connected to the other end of the first connecting rod (1222), and the other end of the second connecting rod (1223) being rotatably connected to the fingertip sleeve (123) and rotating in a first direction; The first direction and the second direction are perpendicular to each other.

3. The multimodal tactile feedback glove for dexterous manipulator control according to claim 2, characterized in that: The lengths of the first connecting rod (1222) and the second connecting rod (1223) are adjustable.

4. The multimodal tactile feedback glove for dexterous manipulator control according to claim 3, characterized in that: The first connecting rod (1222) is a bent structure, and its bending direction is away from the direction of the back of the hand.

5. The multimodal tactile feedback glove for dexterous manipulator control according to claim 1, characterized in that: The tactile feedback device (200) comprises: A liquid storage container (210) having a liquid storage cavity (211) formed therein for storing liquid; an electroosmotic drive unit (220), which is mounted on the liquid reservoir (210); A flexible material layer (230) is sealed and wrapped around the outside of the liquid reservoir (210) and the electroosmotic drive unit (220), and the high-voltage drive module drives the electroosmotic drive unit (220) to allow the liquid to enter and exit the liquid storage chamber (211), so as to drive the flexible material layer to deform and generate adjustable tactile feedback.

6. The multimodal tactile feedback glove for dexterous manipulator control according to claim 1, characterized in that: The electroosmotic driving unit (220) comprises: an insulating plate (221), wherein a through hole is formed on the insulating plate (221); Glass fiber filter paper (222), the glass fiber filter paper (222) covering the through hole; A first circuit board (223) and a second circuit board (224) are located on both sides of the insulating plate (221), and micropores are provided on the first circuit board (223) and the second circuit board (224) at positions corresponding to the glass fiber filter paper (222), and the micropores are in communication with the liquid storage chamber (211); The high-voltage driving module drives the first circuit board (223) and the second circuit board (224) to generate a pressure difference, so that the liquid flows into and out of the liquid storage chamber (211).

7. The multimodal tactile feedback glove for dexterous manipulator control according to claim 1, characterized in that: The high-voltage driving module is connected to the first circuit board (223) and the first circuit board (224) of the tactile feedback device, and comprises a boost module, a high-voltage switching chip and an MCU control unit. The boost module increases the voltage and supplies it to the high-voltage switching chip. The MCU control unit is used to output the switch value of each channel to the high-voltage switching chip to achieve control, thereby controlling the working mode of the tactile feedback device.

8. The multimodal tactile feedback glove for dexterous manipulator control according to claim 1, characterized in that: The working modes include: Static touch mode, which adjusts the duty cycle through high-frequency PWM to simulate different voltage amplitudes and control the steady-state deformation of the flexible material layer; Dynamic vibration mode generates periodic square waves through low-frequency PWM to drive the flexible material layer to vibrate at high frequency.

9. A dexterous manipulator control feedback system, characterized in that: include: a dexterous hand module, including a sensor unit for detecting grasping force and contact status; The multimodal tactile feedback glove for controlling a dexterous manipulator according to any one of claims 1 to 8, electrically connected to the dexterous hand; The multimodal tactile feedback glove is used to remotely control the dexterous hand module, trigger tactile feedback according to the sensor data of the sensor unit, and dynamically control the output mode of the high-voltage driver circuit board.

10. The dexterous manipulator control feedback system according to claim 9, characterized in that: The logic of triggering tactile feedback of the multimodal tactile feedback glove includes: When the sensor detects that the contact force is greater than 0, the high voltage output is started and the duty cycle is adjusted so that the flexible material layer (230) is convex, and the greater the contact force, the higher the duty cycle; When the contact force disappears, a reverse voltage is applied or the output is disconnected to reset the flexible material layer (230).

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