Wearable dynamic force feedback device based on adjustable damping and direction self-adaption

Abstract

The invention relates to the technical field of haptic feedback simulation, in particular to a wearable dynamic force feedback device based on adjustable damping and direction adaptation. The wearable dynamic force feedback device based on adjustable damping and direction self-adaption comprises a resistance simulation assembly and a hand supporting assembly, the resistance simulation assembly is connected with one end of a traction rope, the hand supporting assembly comprises a supporting frame, a plurality of rocker arms and a plurality of driving pieces, the rocker arms are rotationally matched with the supporting frame, wire passing grooves are formed in the rocker arms, and the driving pieces are arranged in the wire passing grooves. The wire passing grooves in the multiple rocker arms are at least partially overlapped. The other end of the traction rope sequentially penetrates through the overlapped part of the plurality of wire passing grooves and then is connected with the handle; the driving piece is connected with the rocker arm and used for driving the rocker arm to rotate. According to the feedback device provided by the invention, the traction rope is used for providing force feedback, so that the action of a user is not limited, and the activity range is greatly expanded; compared with rigid connection equipment, the traction rope is used for providing force feedback, the structure is lighter, and the production cost is lower.

Description

Technical Field

[0001] This invention relates to the field of force-tactile feedback simulation technology, and in particular to a wearable dynamic force feedback device based on adjustable damping and orientation adaptation. Background Technology

[0002] Force feedback simulation devices are commonly used in fields such as virtual reality to simulate dynamic tactile feedback of limbs (mainly hands), that is, to provide corresponding resistance when limbs move, so that users can feel force feedback similar to that during real operation.

[0003] There are many corresponding design solutions for different limb parts (such as fingers, arms, and legs). This patent relates to the arm movement part. There are some ready-made products that can be referenced, the mainstream being desktop stand type with a rigid support, capable of simulating damping changes in different directions. Existing technologies mostly use rigid linkages to provide force feedback. The advantage is a high upper limit of the force that can be loaded, but the disadvantages are a small range of limb movement, insufficient lightweight design, and high cost. If force feedback is required to provide when swinging the arm, the device structure needs to be enlarged. Summary of the Invention

[0004] This invention provides a wearable dynamic force feedback device based on adjustable damping and adaptive direction to solve the problems of large size, heavy weight, high production cost and small range of motion in existing technologies.

[0005] This invention provides a wearable dynamic force feedback device based on adjustable damping and orientation adaptation, comprising: A resistance simulation component, wherein the resistance simulation component is connected to one end of a traction rope; A hand support assembly, the hand support assembly comprising: Support frame; Multiple rocker arms are provided, which are rotatably engaged with the support frame. Each rocker arm is provided with a wire groove, and the wire grooves on the multiple rocker arms overlap at least partially. The other end of the traction rope passes through the overlapping portion of the multiple wire grooves in sequence and is then connected to the handle. Multiple drive components are connected to the rocker arm. The drive components are used to drive the rocker arm to rotate, so that the rocker arm drives the traction rope to move, and the traction rope feeds the force back to the resistance simulation component.

[0006] According to the present invention, a wearable dynamic force feedback device based on adjustable damping and adaptive direction is provided. The hand support assembly includes two rocker arms and two driving members. The rocker arms are arc-shaped, one end of the rocker arm is rotatably engaged with the support frame, and the other end of the rocker arm is connected to the corresponding driving member.

[0007] According to the present invention, a wearable dynamic force feedback device based on adjustable damping and adaptive direction is provided, wherein when the overlapping portion of the two wire grooves moves along the length direction of one of the rocker arms, the other end of the traction rope moves along the length direction of one of the rocker arms.

[0008] According to the present invention, a wearable dynamic force feedback device based on adjustable damping and adaptive direction is provided, wherein the driving component is a servo motor, the housing of the servo motor is connected to the support frame, and the rotating shaft of the servo motor is connected to the other end of the rocker arm.

[0009] According to the present invention, a wearable dynamic force feedback device based on adjustable damping and orientation adaptation is provided, wherein the hand support component further includes: An arm fixation component is provided, which is connected to the support frame and is used to fix the arm.

[0010] According to the present invention, a wearable dynamic force feedback device based on adjustable damping and adaptive direction is provided, wherein the arm fixing member has a groove structure, the arm fixing member is fastened to the arm, and the inner wall curvature of the arm fixing member is adapted to the curvature of the arm.

[0011] According to the present invention, a wearable dynamic force feedback device based on adjustable damping and orientation adaptation is provided, wherein the resistance simulation component includes: A coil, with one end of the traction rope wound around the coil; A variable damper, the shaft of which is connected to the coil, is used to adjust the damping magnitude when the coil is winding up and unwinding. A drive motor is provided, the shaft of which is connected to the coil. The drive motor is used to drive the coil to rotate for winding or unwinding when the variable damper is not working, so that the traction rope is in a loose state when no resistance needs to be simulated, and in a tense state when resistance needs to be simulated, depending on the position of the user's hand.

[0012] According to the present invention, a wearable dynamic force feedback device based on adjustable damping and direction adaptation is provided, wherein the variable damper, the coil, and the drive motor are coaxially arranged.

[0013] According to the present invention, a wearable dynamic force feedback device based on adjustable damping and orientation adaptation is provided, wherein the resistance simulation component further includes: The housing, the variable damper, the coil and the drive motor are all located inside the housing, and the housing is provided with a threading hole through which the traction rope passes.

[0014] According to the present invention, a wearable dynamic force feedback device based on adjustable damping and adaptive direction is provided, wherein the edge of the threading hole is set to a rounded corner.

[0015] The wearable dynamic force feedback device based on adjustable damping and adaptive direction provided by this invention provides force feedback by using a traction rope, which greatly expands the user's range of motion and makes their movements unrestricted. Compared with rigid connection devices, the force feedback provided by the traction rope is lighter and has a lower production cost. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the wearable dynamic force feedback device based on adjustable damping and direction adaptation provided by the present invention.

[0018] Figure 2 This is one of the structural schematic diagrams of the hand support component provided by the present invention.

[0019] Figure 3 This is the second structural schematic diagram of the hand support component provided by the present invention.

[0020] Figure 4 This is a schematic diagram of the resistance simulation component provided by the present invention.

[0021] Figure label: 100. Resistance simulation component; 110. Coil; 120. Variable damper; 130. Drive motor; 140. Housing; 141. Wire hole; 200. Hand support component; 210. Support frame; 220. Rocker arm; 221. Wire channel; 230. Drive component; 240. Traction rope; 250. Arm fixing component. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0023] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0025] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0026] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0027] The following is combined Figures 1-4 The specific structure of the wearable dynamic force feedback device based on adjustable damping and orientation adaptation according to the present invention is described.

[0028] like Figure 1 and Figure 2 As shown, the wearable dynamic force feedback device based on adjustable damping and adaptive direction includes a resistance simulation component 100 and a hand support component 200. The resistance simulation component 100 is connected to one end of the traction rope 240. The hand support component 200 includes a support frame 210, multiple rocker arms 220, and multiple drive members 230. The rocker arms 220 are rotatably engaged with the support frame 210. The rocker arms 220 are provided with wire grooves 221, and the wire grooves 221 on the multiple rocker arms 220 overlap at least partially. The other end of the traction rope 240 passes through the overlapping part of the multiple wire grooves 221 in sequence and is connected to the handle. The drive member 230 is connected to the rocker arm 220 and is used to drive the rocker arm 220 to rotate, so that the rocker arm 220 drives the traction rope 240 to move, and the force is fed back to the resistance simulation component 100 by the traction rope 240.

[0029] The wearable dynamic force feedback device based on adjustable damping and orientation adaptation provided by this invention has the following advantages: First, the use of the traction rope 240 eliminates the spatial limitations imposed by traditional rigid connection devices, allowing users to move freely within a wider range. This flexible connection method not only enhances the user experience but also enables the device to adapt to various complex and changing environmental conditions, providing more realistic and natural force feedback simulations for immersive technologies such as virtual reality and augmented reality.

[0030] Secondly, compared to traditional rigid connection devices, the wearable dynamic force feedback device based on adjustable damping and adaptive direction provided by this invention is much lighter and more portable. This is mainly due to the lightweight characteristics of the traction rope 240 and the optimization of the overall structure. The lightweight device not only reduces the burden on the user and lowers the fatigue that may result from prolonged wear, but also increases the device's portability, making it convenient for users to use in different scenarios and further expanding the device's application range.

[0031] Furthermore, by reducing reliance on complex mechanical structures and lowering the difficulty and cost of manufacturing processes, feedback devices become more competitive in the market. This not only facilitates the large-scale production and widespread adoption of feedback devices but also allows more users to enjoy advanced force feedback technology at a lower cost.

[0032] In one embodiment of the present invention, such as Figure 2 and Figure 3As shown, the hand support component 200 includes multiple rocker arms 220, each with identical structure and dimensions. Each rocker arm 220 can adjust the angle of the traction rope 240 relative to the hand, providing appropriate force angle simulation. Increasing the number of rocker arms 220 significantly improves the accuracy of force angle simulation. Each rocker arm 220 can independently drive the traction rope 240, thereby achieving accurate simulation of forces in different directions. The more rocker arms 220 there are, the more accurate the force angle simulation the device can provide, and the more delicately it can reproduce various complex force feedback scenarios. The movement of the hand driving the handle is complex and varied; multiple rocker arms 220 can work collaboratively, providing corresponding force feedback based on the actual movement trajectory and posture of the hand. This better simulates force interaction in a real environment, enhancing the realism and immersion of the user experience.

[0033] In one embodiment of the present invention, such as Figure 2 and Figure 3 As shown, the hand support assembly 200 includes two rocker arms 220 and two drive members 230. The rocker arms 220 are arc-shaped, with one end rotatably engaged with the support frame 210 and the other end connected to the corresponding drive member 230. This structural design allows the rocker arms 220 to rotate flexibly within a certain range, thus adapting to force feedback requirements in different directions. Cable guides 221 extend along the length of the rocker arms 220, and the planes containing the two cable guides 221 are perpendicular. The two rocker arms 220 can provide force simulation in two vertical directions. The two rocker arms 220 can apply force in two vertical directions respectively, thereby simulating forces in multiple directions in space. In this way, the feedback device can more comprehensively and accurately simulate force feedback in various directions in a real environment, greatly enhancing the realism and immersion of the user experience.

[0034] In one embodiment of the invention, when the overlapping portion of the two cable grooves 221 moves along the length direction of one of the rocker arms 220, the other end of the traction rope 240 moves along the length direction of one of the rocker arms 220. By controlling the movement of the rocker arms 220, the position of one end of the traction rope 240 relative to the user's hand can be controlled, thereby controlling the direction of the damping force on the hand.

[0035] Specifically, such as Figure 2As shown, for ease of description, the outer rocker arm 220 is referred to as the first rocker arm, and the servo motor connected to the first rocker arm is referred to as the first servo motor. The inner rocker arm 220 is referred to as the second rocker arm, and the servo motor connected to the second rocker arm is referred to as the second servo motor. In the initial state, the overlapping part of the two cable grooves 221 is located at the top of the first and second rocker arms. When the first servo motor drives the first rocker arm to rotate to the left (in the direction of arrow 1), the first rocker arm drives the traction rope 240 to move to the left along the length of the second rocker arm, thus simulating resistance in the right direction. In this way, the device can adjust the direction and magnitude of the force feedback in real time according to the user's actions and needs, providing a more realistic and accurate force feedback experience. When the first servo motor drives the first rocker arm to rotate to the right (in the direction of arrow 2), the first rocker arm drives the traction rope 240 to move to the right along the length of the second rocker arm, thus simulating resistance in the left direction. The motion principle of the second rocker arm is the same as that of the first rocker arm, and will not be described in detail here.

[0036] In one embodiment of the present invention, the driving component 230 is a servo motor, the housing of which is connected to the support frame 210, and the servo motor's shaft is connected to the other end of the rocker arm 220. Using a servo motor as the driving component 230 allows for precise control of the rotation angle of the rocker arm 220. The servo motor has high-precision position control capabilities, enabling it to accurately adjust the position of the rocker arm 220 according to control signals, thereby achieving precise adjustment of the tension and direction of the traction rope 240. This allows the feedback device to provide a more realistic and accurate force feedback experience, meeting the stringent requirements for force feedback accuracy in applications such as virtual reality and augmented reality. The use of a servo motor not only improves the accuracy of force feedback but also enhances the response speed and stability of the device. The servo motor can quickly respond to control commands in a short time, accurately driving the rocker arm 220 to rotate, thus providing the user with timely, real-time, dynamic force feedback. Of course, the specific type of the driving component 230 is not limited to this; it can also be a combination of a motor and gears.

[0037] In one embodiment of the present invention, such as Figure 2 and Figure 3 As shown, the hand support assembly 200 also includes an arm fixation member 250, which is connected to the support frame 210 and is used to fix the device to the arm. The arm fixation member 250 greatly improves the convenience of the feedback device. By using the arm fixation member 250, users can quickly and stably fix the hand support assembly 200 to their arm, ensuring that the device will not shift or loosen during use, thus providing users with a more stable and reliable force feedback experience. This not only facilitates use in various scenarios but is also particularly suitable for applications requiring frequent wear or use in dynamic environments.

[0038] In one embodiment of the present invention, such as Figure 2 and Figure 3 As shown, the arm fixation component 250 has a slotted structure. It fastens to the arm and is then secured to the arm using bandages, ropes, or other fasteners. The inner wall curvature of the arm fixation component 250 matches the curvature of the arm. The design of the arm fixation component 250 fully considers ergonomic principles. By using a slotted structure and ensuring the inner wall curvature matches the arm's curvature, it maximizes wearing comfort while ensuring effective fixation. This design reduces discomfort that may result from prolonged wear, allowing users to focus more on the immersive experience and expanding the device's application potential in extended use scenarios.

[0039] In a preferred embodiment of the present invention, such as Figure 2 and Figure 3 As shown, the support frame 210 is ring-shaped and cooperates with the rocker arm 220 to form a cage with a certain internal space, thus providing space for the handle. Furthermore, a portion of the support frame 210 arches upwards to form an arc-shaped connecting part, to which the arm fixing member 250 connects. The arc-shaped connecting part provides clearance for the user's hand to enter the cage.

[0040] In one embodiment of the present invention, such as Figure 4 As shown, the drag simulation component 100 includes a coil 110, a variable damper 120, and a drive motor 130, with the coil 110 located between the variable damper 120 and the drive motor 130. Placing the coil 110 between the variable damper 120 and the drive motor 130 forms a compact and efficient drag simulation system. This layout optimizes space utilization, allowing the drag simulation component 100 to maintain high performance while having a smaller size and lighter weight, making it easy to wear and carry.

[0041] One end of the traction rope 240 is wound around the coil 110, and the shaft of the variable damper 120 is connected to the coil 110. The variable damper 120 is used to adjust the damping magnitude when the coil 110 is winding and unwinding the wire. The rotational damping of the variable damper 120 is controlled by the input voltage, thereby precisely adjusting the damping magnitude when the coil 110 is winding and unwinding the wire. This precise damping adjustment capability allows the feedback device to simulate various force feedback effects, meeting the requirements for force feedback accuracy and fineness in different application scenarios. The shaft of the drive motor 130 is connected to the coil 110. The drive motor 130 is used to drive the coil 110 to rotate for winding or unwinding the wire when the variable damper 120 is not working, so that the traction rope 240 is in a loose state when no resistance simulation is needed, and in a tense state when resistance simulation is needed, depending on the position of the user's hand.

[0042] In one embodiment of the present invention, such as Figure 4 As shown, the variable damper 120, coil 110, and drive motor 130 are coaxially arranged. It should be noted that the coaxial arrangement can mean that the variable damper 120, coil 110, and drive motor 130 are connected using the same connecting shaft, or that the coil 110 is fitted onto the shaft of the drive motor 130, and the shaft of the variable damper 120 is connected to the shaft of the drive motor 130. Of course, other connection methods are also possible. The coaxial design highly integrates the power transmission paths of the three components, greatly improving the compactness of the feedback device. In wearable devices, space utilization is crucial. The coaxial layout effectively reduces the radial dimension of the resistance simulation component 100, making the entire device lighter, smaller, and easier to integrate into wearable systems, thus improving user comfort.

[0043] In one embodiment of the present invention, the resistance simulation component 100 further includes a housing 140, in which the variable damper 120, the coil 110 and the drive motor 130 are all disposed inside the housing 140. The housing 140 is provided with a wire hole 141 through which the traction rope 240 passes.

[0044] In one embodiment of the invention, the edge of the threading hole 141 is rounded. In the force feedback device, the traction rope 240 needs to frequently perform winding and unwinding actions, generating relative movement with the edge of the threading hole 141. The rounded corner design reduces the friction between the traction rope 240 and the edge of the threading hole 141 through a smooth transition, thereby significantly reducing the wear of the traction rope 240 and extending its service life.

[0045] How to use a force feedback device: The arm fixation component 250 is secured to the user's arm, thereby securing the hand support component 200. The user holds a handle with spatial positioning capabilities. The other end of the traction rope 240 is passed sequentially through the overlapping portions of multiple wire grooves 221 and then connected to the handle. The fixing point of the traction rope 240 needs to be located near the center of the rotating ball of the rocker arm 220. The resistance simulation component 100 is fixed in a suitable position, and its position is marked in the virtual scene. The user's hand position is dynamically calculated, and the extension and retraction of the coil 110 and the damping magnitude are controlled according to the user's behavioral needs in the virtual environment.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wearable dynamic force feedback device based on adjustable damping and orientation adaptation, characterized in that, include: A resistance simulation component (100) is connected to one end of a traction rope (240); A hand support assembly (200), the hand support assembly (200) comprising: Support frame (210); Multiple rocker arms (220) are rotatably engaged with the support frame (210). Each rocker arm (220) is provided with a wire groove (221), and the wire grooves (221) on the multiple rocker arms (220) overlap at least partially. The other end of the traction rope (240) passes through the overlapping portion of the multiple wire grooves (221) in sequence and is then connected to the handle. Multiple drive units (230) are connected to the rocker arm (220). The drive units (230) are used to drive the rocker arm (220) to rotate so that the rocker arm (220) drives the traction rope (240) to move, and the force is fed back to the resistance simulation component (100) by the traction rope (240).

2. The wearable dynamic force feedback device based on adjustable damping and orientation adaptation according to claim 1, characterized in that, The hand support assembly (200) includes two rocker arms (220) and two drive members (230). The rocker arms (220) are arc-shaped. One end of the rocker arm (220) is rotatably engaged with the support frame (210), and the other end of the rocker arm (220) is connected to the corresponding drive member (230).

3. The wearable dynamic force feedback device based on adjustable damping and orientation adaptation according to claim 1, characterized in that, When the overlapping portion of the two wire grooves (221) moves along the length direction of one of the rocker arms (220), the other end of the traction rope (240) moves along the length direction of one of the rocker arms (220).

4. The wearable dynamic force feedback device based on adjustable damping and orientation adaptation according to any one of claims 1 to 3, characterized in that, The drive unit (230) is a servo motor, the housing of which is connected to the support frame (210), and the shaft of which is connected to the other end of the rocker arm (220).

5. The wearable dynamic force feedback device based on adjustable damping and orientation adaptation according to any one of claims 1 to 3, characterized in that, The hand support assembly (200) also includes: An arm fixation member (250) is connected to the support frame (210) and is used to fix the arm.

6. The wearable dynamic force feedback device based on adjustable damping and orientation adaptation according to claim 5, characterized in that, The arm fixing member (250) has a groove structure, the arm fixing member (250) is fastened to the arm, and the inner wall curvature of the arm fixing member (250) is adapted to the curvature of the arm.

7. The wearable dynamic force feedback device based on adjustable damping and orientation adaptation according to any one of claims 1 to 3, characterized in that, The resistance simulation component (100) includes: A coil (110), with one end of the traction rope (240) wound around the coil (110). A variable damper (120) is provided, the shaft of which is connected to the coil (110). The variable damper (120) is used to adjust the damping magnitude when the coil (110) is winding and unwinding. A drive motor (130) is provided, the shaft of which is connected to the coil (110). The drive motor (130) is used to drive the coil (110) to rotate for winding or unwinding when the variable damper (120) is not working, so that the traction rope (240) is in a loose state when no simulated resistance is needed, and in a tensile state when simulated resistance is needed, depending on the position of the user's hand.

8. The wearable dynamic force feedback device based on adjustable damping and orientation adaptation according to claim 7, characterized in that, The variable damper (120), the coil (110), and the drive motor (130) are arranged coaxially.

9. The wearable dynamic force feedback device based on adjustable damping and orientation adaptation according to claim 7, characterized in that, The resistance simulation component (100) also includes: The housing (140), the variable damper (120), the coil (110) and the drive motor (130) are all located inside the housing (140). The housing (140) is provided with a threading hole (141) through which the traction rope (240) passes.

10. The wearable dynamic force feedback device based on adjustable damping and orientation adaptation according to claim 9, characterized in that, The edge of the thread hole (141) is rounded.

Images