Five-finger exoskeleton remote control glove and force feedback method

Abstract

This invention belongs to the field of robotic telemanipulation technology, specifically relating to a five-finger exoskeleton telemanipulation glove and a force feedback method. The telemanipulation glove of this invention includes a palm mounting plate, a thumb side plate rotatably connected to the palm mounting plate, and five finger mechanisms. The five finger mechanisms are arranged in a human hand-like configuration on the palm mounting plate and the thumb side plate. Each finger mechanism is connected to a force feedback module via pull cords. The force feedback module includes: a sliding guide rail; a feedback support frame slidably mounted on the sliding guide rail; a servo motor mounted on the feedback support frame; a pressure adjustment mechanism; and a friction block mounted on the actuator end of the pressure adjustment mechanism. The pressure adjustment mechanism is driven by the output shaft of the servo motor and is used to adjust the pressure between the friction block and the sliding guide rail in real time. Through the pressure adjustment mechanism in the force feedback module, combined with the damping of the friction block and the sliding guide rail, the glove of this invention can achieve continuous and stepless adjustment of the frictional resistance of each finger independently.

Description

Technical Field

[0001] This invention belongs to the field of robotic telemanipulation technology, specifically relating to a five-finger exoskeleton telemanipulation glove and a force feedback method. Background Technology

[0002] With the rapid development of robot skill learning data acquisition, teleoperation, and virtual reality human-computer interaction technologies, five-finger teleoperated gloves have become a core device for achieving two-way force feedback and hand motion capture. However, most research and commercial teleoperated gloves with force feedback currently rely on high-precision sensors and complex drive structures, resulting in bulky overall structures and high manufacturing costs, making them difficult to promote in laboratory research and widespread applications. Furthermore, most teleoperated gloves only offer graded force feedback adjustments, failing to achieve continuous and smooth torque control and providing a poor experience of replicating realistic tactile sensations.

[0003] On the other hand, traditional remote-controlled gloves lack structural versatility, making it difficult to quickly adapt for left- or right-hand interchange. Overall, existing equipment generally suffers from structural redundancy, high cost, non-continuous force feedback adjustment, and poor left- or right-hand adaptability, making it difficult to simultaneously meet the low-cost usage requirements of multiple scenarios such as remote robot control, virtual reality human-computer interaction, and robot skill library motion acquisition. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing remote control gloves, such as fixed force feedback levels, poor fit, inconvenience in adapting to left and right hands, and high cost, and to provide a lightweight, low-cost, continuously adjustable force feedback five-finger exoskeleton remote control glove and force feedback method.

[0005] The technical solution adopted by this invention to solve its technical problem is:

[0006] As a first aspect, the present invention provides a five-finger exoskeleton-type remote control glove, comprising: a palm mounting plate, a thumb side plate rotatably connected to the palm mounting plate, and five finger mechanisms; the five finger mechanisms are arranged in a human hand-like manner on the palm mounting plate and the thumb side plate; each finger mechanism is connected to a force feedback module via pull cords; the force feedback module includes:

[0007] The sliding guide rail is fixedly mounted on the palm mounting plate or thumb side plate along the finger direction via the mounting base;

[0008] The feedback support frame is slidably mounted on the sliding guide rail;

[0009] The servo motor is mounted on the feedback support frame;

[0010] In addition, a pressure adjustment mechanism and a friction block installed at the actuating end of the pressure adjustment mechanism, wherein the pressure adjustment mechanism is connected to the output shaft of the servo motor for adjusting the pressure between the friction block and the sliding guide rail in real time.

[0011] Furthermore, the pressure adjustment mechanism includes:

[0012] Upward and downward movement holes are provided on the feedback support frame;

[0013] Two semi-circular support seats are symmetrically fixed on the feedback support frame corresponding to the edges of the upper and lower moving holes; an adjustment space is formed between the two semi-circular support seats, and the adjustment space is connected to the upper and lower moving holes; the friction block passes through the upper and lower moving holes and abuts against the upper end face of the sliding guide rail.

[0014] The friction retainer is inserted into the adjustment space between the two semi-circular support seats and slides up and down within the adjustment space;

[0015] Two elastic elements are respectively disposed between the two ends of the friction retainer and the feedback support frame;

[0016] An eccentric wheel is coaxially arranged with the output shaft of the servo motor;

[0017] The lower end face of the eccentric wheel abuts against the upper end face of the friction retainer; the friction block is fixedly disposed on the lower end face of the friction retainer, corresponding to the sliding guide rail; the pressure between the friction block and the sliding guide rail is adjusted by adjusting the pressure between the eccentric wheel and the friction retainer.

[0018] Furthermore, the friction retainer includes a circular slide table slidably disposed within the adjustment space, a reset table symmetrically fixed on both sides of the circular slide table, and a corresponding groove formed in the middle of the circular slide table;

[0019] The lower end face of the eccentric wheel is located in the corresponding groove; the elastic element is disposed between the reset platform and the feedback support frame.

[0020] Furthermore, the mounting base includes a front mounting base fixedly disposed at the front end of the palm mounting plate or thumb side plate, and a rear mounting base fixedly disposed at the rear end of the palm mounting plate or thumb side plate;

[0021] A return spring is provided between the semi-circular support and the corresponding rear mounting seat to apply a return force toward the rear mounting seat to the feedback support frame.

[0022] Furthermore, the finger mechanism includes:

[0023] The U-shaped sub-base is installed at the front end of the palm mounting plate;

[0024] And, in turn, the proximal link, the intermediate link, and the fingertip link are rotated in sequence;

[0025] The proximal link is rotatably connected to the finger base via a U-shaped pin; the proximal link is rotatably connected to the intermediate link via a first R-shaped pin; and the fingertip link is rotatably connected to the intermediate link via a second R-shaped pin.

[0026] Furthermore, an angle encoder for detecting the degree of finger bending is installed on the finger mechanism, and a motion mapping relationship is constructed between the bending degree data of the angle encoder and the rotation angle of the servo motor.

[0027] The servo motor adjusts the pressure between the friction block and the sliding guide rail in real time according to the mapping relationship.

[0028] Furthermore, the angle encoder is mounted on the first R-type auxiliary pin shaft and is used to acquire the rotation angle data between the proximal connecting rod and the intermediate connecting rod in real time.

[0029] Furthermore, a vibration motor is installed at the end of the fingertip linkage; the vibration motor is driven to output vibration, providing tactile feedback.

[0030] Furthermore, a support column is installed on the U-shaped base, and a guide hole is provided on the support column; one end of the pull rope is fixedly mounted on the intermediate connecting rod, and the other end passes through the guide hole and is fixedly mounted on the feedback support frame.

[0031] As a second aspect, the present invention also provides a force feedback method for a five-finger exoskeleton-type remote control glove, comprising the following:

[0032] After the operator puts on gloves, the angle encoder collects the bending angle data of the finger joints, and constructs a motion mapping relationship between the human hand movement and the remote operation device or virtual reality system based on the bending angle data;

[0033] When the remote control device or virtual reality system generates contact force information, it drives the servo motor of the corresponding finger mechanism to rotate according to the contact force information. The servo motor drives the eccentric wheel to change the pressure on the friction cage, thereby adjusting the normal pressure between the friction block and the sliding guide rail, so that the pull rope is subjected to a continuously adjustable friction force during the sliding process. The friction force is transmitted to the finger mechanism through the pull rope, forming a force feedback resistance.

[0034] The beneficial effects of the five-finger exoskeleton-type remote control glove and force feedback method of the present invention are:

[0035] The gloves of this invention, through the pressure adjustment mechanism in the force feedback module in conjunction with the clamping damping of the friction block and the sliding guide rail, can achieve continuous and stepless adjustment of the frictional resistance of each finger independently. Compared with the traditional graded feedback, this design can change the sliding resistance of the pull cord in real time and smoothly according to the actual contact force between the remote robotic hand and the environment, thereby restoring the force sensation that can transition arbitrarily from a slight touch to a strong grip, and significantly improving the force sensation accuracy and realism during remote operation.

[0036] This invention employs a modular five-finger mechanism branch design, resulting in a compact structure that does not interfere with the natural bending and extending movements of the fingers. Furthermore, only the thumb side plate needs to be replaced to achieve left- or right-hand interchangeability, demonstrating good versatility. In addition, the eccentric transmission between the eccentric wheel and the friction cage in the pressure adjustment mechanism allows for continuous force adjustment using only a standard position control servo motor, effectively controlling the overall manufacturing cost and facilitating laboratory research and development as well as widespread application across multiple scenarios. Attached Figure Description

[0037] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0038] Figure 1 This is a partial three-dimensional view of the remote control glove in an embodiment of the present invention.

[0039] Figure 2 This is a schematic diagram of the installation of the sliding guide rail and the palm mounting plate in an embodiment of the present invention.

[0040] Figure 3 This is an installation diagram of the force feedback module corresponding to a single finger in an embodiment of the present invention.

[0041] Figure 4 This is a schematic diagram of the force feedback module installation on the thumb side plate in an embodiment of the present invention.

[0042] Figure 5 This is a partial structural schematic diagram of the force feedback module in an embodiment of the present invention.

[0043] Figure 6 yes Figure 5 A schematic diagram of the structure from a lower perspective.

[0044] Figure 7 yes Figure 5 Exploded view.

[0045] Figure 8 This is a perspective view of the feedback support frame in an embodiment of the present invention.

[0046] Figure 9 This is an installation diagram of the friction retainer and friction block in an embodiment of the present invention.

[0047] Figure 10This is an exploded view of the finger mechanism in an embodiment of the present invention.

[0048] In the picture: 1. Hand mounting plate;

[0049] 2. Thumb side plate

[0050] 3. Finger mechanism; 31. U-shaped base; 32. Proximal link; 33. Intermediate link; 34. Finger tip link; 35. U-shaped pin; 36. First R-shaped pin; 37. Second R-shaped pin.

[0051] 4. Pull the rope;

[0052] 5. Force feedback module; 51. Sliding guide rail; 52. Mounting base; 521. Front mounting base; 522. Rear mounting base; 53. Feedback support frame; 54. Servo motor; 55. Pressure adjustment mechanism; 551. Up and down moving hole; 552. Semicircular support base; 553. Adjustment space; 554. Friction retainer; 5541. Circular slide table; 5542. Reset table; 5543. Corresponding groove; 555. Elastic element; 556. Eccentric wheel; 557. Reset spring; 56. Friction block;

[0053] 6. Angle encoder; 7. Vibration motor; 8. Support column; 9. Guide hole. Detailed Implementation

[0054] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0055] like Figures 1-10 The embodiment of the five-finger exoskeleton remote control glove of the present invention shown includes a palm mounting plate 1, a thumb side plate 2 rotatably connected to the palm mounting plate 1, and five finger mechanisms 3. The five finger mechanisms 3 are arranged in a human hand-like manner on the palm mounting plate 1 and the thumb side plate 2. The finger mechanisms 3 are connected one-to-one to a force feedback module 5 via pull cords 4. The force feedback module 5 includes: a sliding guide rail 51, a feedback support frame 53, a servo motor 54, a pressure adjustment mechanism 55, and a friction block 56 installed at the actuating end of the pressure adjustment mechanism 55. The sliding guide rail 51 is fixedly mounted on the palm mounting plate 1 or the thumb side plate 2 along the finger direction via a mounting base 52. The feedback support frame 53 is slidably mounted on the sliding guide rail 51. The servo motor 54 is mounted on the feedback support frame 53. The pressure adjustment mechanism 55 is drivenly connected to the output shaft of the servo motor 54 for real-time adjustment of the pressure between the friction block 56 and the sliding guide rail 51.

[0056] In this embodiment, the glove, through the pressure adjustment mechanism 55 in the force feedback module 5, combined with the clamping damping of the friction block 56 and the sliding guide rail 51, can independently achieve continuous stepless adjustment of the frictional resistance of each finger. Compared with the traditional graded feedback, this design can change the sliding resistance of the pull rope 4 in real time and smoothly according to the actual contact force between the remote robotic hand and the environment, thereby restoring the force sensation that can transition arbitrarily from a slight touch to a strong grip, significantly improving the force accuracy and realism during remote operation.

[0057] like Figures 4 to 8 As shown, the pressure adjustment mechanism 55 in this embodiment includes an up-and-down moving hole 551 opened on the feedback support frame 53, two semi-circular support seats 552, a friction retainer 554, two elastic elements 555, and an eccentric wheel 556. Two semi-circular support seats 552 are symmetrically fixed on the feedback support frame 53 corresponding to the edges of the upper and lower moving holes 551; an adjustment space 552 is formed between the two semi-circular support seats 552, and the adjustment space 552 is connected to the upper and lower moving holes 551; the friction block 56 passes through the upper and lower moving holes 551 and abuts against the upper end face of the sliding guide rail 51; the friction retainer 554 passes through the adjustment space 552 between the two semi-circular support seats 552 and slides up and down within the adjustment space 552; two elastic elements 555 are respectively set at both ends of the friction retainer 554 and between the feedback support frame 53; the eccentric wheel 556 is coaxially set with the output shaft of the servo motor 54; specifically, the lower end face of the eccentric wheel 556 abuts against the upper end face of the friction retainer 554; the friction block 56 is fixedly set on the lower end face of the friction retainer 554, corresponding to the sliding guide rail 51; the pressure between the friction block 56 and the sliding guide rail 51 is adjusted by adjusting the pressure between the eccentric wheel 556 and the friction retainer 554.

[0058] It should be understood that the finger mechanism 3 in this embodiment is equipped with an angle encoder 6 for detecting the degree of finger bending, establishing a motion mapping relationship between the bending degree data of the angle encoder 6 and the rotation angle of the servo motor 54. The servo motor 54 adjusts the pressure between the friction block 56 and the sliding guide rail 51 in real time according to the mapping relationship. The robot in this embodiment is also equipped with a control system for receiving the data from the angle encoder 6 and the rotation angle data of the servo motor 54, storing and executing the above motion mapping relationship, and simultaneously outputting control commands to control the movement of the servo motor 54. Those skilled in the art should be able to set up the control system in this embodiment based on common knowledge, and the specific modules of the control system, the connection relationships between the modules, and the control logic will not be described in detail here.

[0059] Angle encoder 6 records the angle changes of the interphalangeal joints and constructs a motion mapping relationship between the device and the human hand movement based on the collected angle signals. After receiving the force feedback control signal from the control system, servo motor 54 drives eccentric wheel 556 to rotate. Eccentric wheel 556 abuts against the upper surface of friction retainer 554, and its radial dimension changes with the rotation angle. When eccentric wheel 556 rotates from the minimum radius to the maximum radius, it gradually presses down on friction retainer 554, compressing the elastic elements 555 on both sides. At the same time, friction retainer 554 drives friction block 56 to move downward, increasing the normal pressure between friction block 56 and sliding guide rail 51, thereby increasing the frictional resistance when pull rope 4 slides. Conversely, when eccentric wheel 556 rotates back towards the minimum radius, elastic elements 555 push friction retainer 554 upward to reset, reducing the pressure between friction block 56 and guide rail, and the resistance decreases accordingly. Servo motor 54 can stop at any angle, making the pressure of friction block 56 on guide rail continuously change.

[0060] The stepless adjustment of frictional resistance is achieved through the continuous rotation of the eccentric wheel 556, avoiding the abrupt changes in the feedback of stepped gears and resulting in a smoother force transition. Furthermore, since the pressure is determined solely by the rotation angle of the eccentric wheel 556 and the deformation of the elastic element 555, there is no need for the servo motor 54 to output precise torque. Therefore, a standard position control servo motor 54 can meet the requirements, significantly reducing the cost of drive components. The overall transmission chain is simple and compact, making it easy to integrate into exoskeleton gloves.

[0061] like Figure 9As shown, the friction retainer 554 in this embodiment includes a circular slide 5541 slidably disposed within the adjustment space 552, a reset platform 5542 symmetrically fixed on both sides of the circular slide 5541, and a corresponding groove 5543 formed in the middle of the circular slide 5541; the lower end face of the eccentric wheel 556 is correspondingly located within the corresponding groove 5543; and an elastic element 555 is disposed between the reset platform 5542 and the feedback support frame 53. Specifically, when the servo motor 54 drives the eccentric wheel 556 to rotate, the lower end face of the eccentric wheel 556 is always located within the corresponding groove 5543 in the middle of the circular slide 5541. When the eccentric wheel 556 rotates from the minimum radius side to the maximum radius side, its lower end face presses downward against the circular slide table 5541 within the corresponding groove 5543, causing the entire friction retainer 554 to slide downward along the adjustment space 552. Simultaneously, the reset platforms 5542, symmetrically arranged on both sides of the circular slide table 5541, move downward, compressing the elastic element 555 between the reset platform 5542 and the feedback support frame 53. The circular slide table 5541 drives the friction block 56 at its lower end to press against the sliding guide rail 51. When the eccentric wheel 556 rotates, the elastic element 555 pushes the reset platform 5542 upward to reset, the friction retainer 554 rises, and the pressure between the friction block 56 and the guide rail decreases. The corresponding groove 5543 acts as a radial limiter on the lower end face of the eccentric wheel 556, preventing lateral slippage of the eccentric wheel 556 during rotation and ensuring that the pressure transmission direction remains vertically stable. The symmetrically arranged reset platforms 5542 and elastic elements 555 ensure that the friction retainer 554 is subjected to balanced forces, and the sliding process is smooth and without jamming.

[0062] In this embodiment, the thumb side plate 2 and the palm mounting plate 1 are rotatably connected by a detachable hinge or a detachable bearing seat and a rotating shaft. In actual use, if it is necessary to change the left and right hands, only the thumb side plate 2 on one side needs to be removed and the other side installed to complete the left and right hand interchange, which has good versatility.

[0063] like Figure 3 and Figure 10As shown, the finger mechanism 3 in this embodiment includes: a U-shaped base 31 installed at the front end of the palm mounting plate 1, and a proximal connecting rod 32, an intermediate connecting rod 33, and a fingertip connecting rod 34 rotatably connected in sequence. The proximal connecting rod 32 is rotatably connected to the finger base via a U-shaped pin 35; the proximal connecting rod 32 is rotatably connected to the intermediate connecting rod 33 via a first R-shaped pin 36; and the fingertip connecting rod 34 is rotatably connected to the intermediate connecting rod 33 via a second R-shaped pin 37. It should be further noted that a support column 8 is installed on the U-shaped base 31 in this embodiment, and a guide hole 9 is provided on the support column 8; one end of the pull rope 4 is fixedly mounted on the intermediate connecting rod 33, and the other end passes through the guide hole 9 and is fixedly mounted on the feedback support frame 53. When the operator's finger bends, the proximal connecting rod 32, the intermediate connecting rod 33, and the fingertip connecting rod 34 rotate sequentially around the U-shaped pin 35, the first R-shaped pin 36, and the second R-shaped pin 37. One end of the pull rope 4 is fixed to the intermediate connecting rod 33. As the intermediate connecting rod 33 moves, the pull rope 4 is pulled, and its other end passes through the guide hole 9 of the support column 8 on the U-shaped base 31, pulling the feedback support frame 53 to slide along the sliding guide rail 51 towards the rear mounting seat 52. When force feedback is required, the force feedback module 5 increases the pressure between the friction block 56 and the sliding guide rail 51. The pull rope 4 experiences continuously adjustable frictional resistance during sliding. This resistance is reflected by the pull rope 4 onto the intermediate connecting rod 33 and finally transmitted to the operator's finger joints, forming the gripping resistance felt by the hand. Setting the fixing point of the pull rope 4 on the intermediate connecting rod 33, rather than the fingertip or proximal connecting rod 32, makes the force feedback point closer to the actual force application position of the finger. The guide hole 9 on the support column 8 limits and guides the pull rope 4, preventing it from shifting or rubbing against other parts, ensuring the repeatability and reliability of the force feedback. The finger mechanism 3 adopts a URR series three-bar rotation combination, which conforms to the multi-degree-of-freedom movement characteristics of the human hand.

[0064] In this embodiment, the mounting base 52 includes a front mounting base 52 fixedly disposed at the front end of the palm mounting plate 1 or the thumb side plate 2, and a rear mounting base 52 fixedly disposed at the rear end of the palm mounting plate 1 or the thumb side plate 2; a return spring 557 is provided between the semi-circular support base 552 and the corresponding rear mounting base 52, which is used to apply a return force toward the rear mounting base 52 to the feedback support frame 53.

[0065] The front mounting base 52 and the rear mounting base 52 are respectively fixed to the front and rear ends of the palm mounting plate 1 or the thumb side plate 2, and the sliding guide rail 51 is installed between them. A return spring 557 is provided between the semi-circular support base 552 and the rear mounting base 52. When the finger bends, the intermediate connecting rod 33 rotates downward with the finger movement, pulling the pull rope 4. The pull rope 4 passes through the guide hole 9 on the support column 8, pulling the feedback support frame 53 to slide along the sliding guide rail 51 away from the rear mounting base 52. At this time, the return spring 557 provided between the semi-circular support base 552 and the rear mounting base 52 is stretched, storing elastic potential energy. When the finger extends, the tension of the pull rope 4 decreases or disappears, the return spring 557 contracts and resets, driving the feedback support frame 53 to slide towards the rear mounting base 52, so that the entire force feedback module 5 returns to the initial position, preparing for the next bending action.

[0066] It should be further explained that a vibration motor 7 is installed at the end of the fingertip linkage 34 in this embodiment; the vibration motor is driven to output vibration, providing tactile feedback. That is, when the knuckle comes into contact with the target object, the control system first drives the vibration motor installed at the end of the fingertip linkage 34 to vibrate at a preset frequency and amplitude. The vibration is transmitted to the operator's fingertip skin through the fingertip linkage 34, allowing the operator to perceive the instantaneous tactile sensation of the touch. Of course, the vibration indicates the start of contact, and the resistance feedback simulates the gripping force. The combination of the two more realistically restores the complete tactile sequence when a human hand grasps an object, with touch first and then pressure applied, significantly improving the sense of presence and operational accuracy of remote operation and virtual interaction.

[0067] Finally, it should be emphasized that the lower end surfaces of the palm mounting plate 1 and the thumb side plate 2 in this embodiment are provided with flexible wearable sleeves that mimic human hands. Since the remote control glove is definitely provided with a flexible wearable sleeve for placing a human hand, the flexible wearable sleeve is not shown in the attached drawings.

[0068] The force feedback method based on the above-mentioned five-finger exoskeleton-type remote control glove includes the following:

[0069] After the operator puts on gloves, the angle encoder 6 collects the bending angle data of the finger joints, and constructs the motion mapping relationship between the human hand movement and the remote control device or virtual reality system based on the bending angle data.

[0070] When the remote control device or virtual reality system generates contact force information, the servo motor 54 of the corresponding finger mechanism 3 is driven to rotate according to the contact force information. The servo motor 54 drives the eccentric wheel 556 to change the pressure on the friction retainer 554, thereby adjusting the positive pressure between the friction block 56 and the sliding guide rail 51, so that the pull rope 4 is subjected to a continuously adjustable friction force during the sliding process. The friction force is transmitted to the finger mechanism 3 through the pull rope 4, forming a force feedback resistance.

[0071] At the same time, the vibration motor 7 is activated as soon as the fingertip touches the target object, so that the operator can feel the instantaneous tactile sensation of the touch.

[0072] The entire process is as follows: After the operator puts on gloves, the angle encoder 6 collects real-time bending angle data of the proximal and intermediate finger joints. The control system establishes a motion mapping relationship between the human hand's movements and the remote robotic hand or virtual hand based on this data, achieving synchronous tracking of movements. When the virtual environment comes into contact with an object, contact force information is generated. Based on the magnitude and direction of the contact force, the control system drives the corresponding finger's servo motor 54 to rotate at a certain angle; the servo motor 54 drives the eccentric wheel 556 to rotate, and the lower end face of the eccentric wheel 556 presses against or releases the friction retainer 554, thereby changing the normal pressure between the friction block 56 and the sliding guide rail 51. The friction force experienced by the pull rope 4 during sliding changes continuously with the normal pressure. This friction force reacts through the pull rope 4 to the intermediate connecting rod 33 on the finger mechanism 3, forming the gripping resistance felt by the human hand. At the same time, the control system activates the vibration motor at the end of the fingertip connecting rod 34 the instant the fingertip touches the target object, providing a short-term vibration to indicate contact with the target object.

[0073] The force feedback method in this embodiment achieves continuous stepless adjustment of force feedback resistance, simulating any force transition from a slight touch to a strong grip, avoiding the abrupt feeling of graded feedback. The instantaneous tactile feedback provided by the vibration motor compensates for the slightly slower response of pure friction feedback, allowing the operator to clearly distinguish between the initial contact and the pressure gripping stages. The entire control process can be completed based on a common position control servo motor 54 and angle encoder 6, without the need for high-precision torque sensors or expensive drive components, balancing force feedback accuracy and overall cost, and is suitable for various scenarios such as robot teleoperation, virtual reality interaction, and skill acquisition.

[0074] It should be understood that the specific embodiments described above are for illustrative purposes only and are not intended to limit the scope of the invention. Obvious variations or modifications derived from the spirit of the invention are still within the protection scope of the invention.

Claims

1. A five-finger exoskeleton-style remote control glove, characterized in that, include: A palm mounting plate, a thumb side plate rotatably connected to the palm mounting plate, and a five-finger mechanism; Five finger mechanisms, arranged in a human hand-like configuration, are mounted on the palm mounting plate and thumb side plate; each finger mechanism is connected to a force feedback module via pull cords; the force feedback module includes: The sliding guide rail is fixedly mounted on the palm mounting plate or thumb side plate along the finger direction via the mounting base; The feedback support frame is slidably mounted on the sliding guide rail; The servo motor is mounted on the feedback support frame; In addition, a pressure adjustment mechanism and a friction block installed at the actuating end of the pressure adjustment mechanism, wherein the pressure adjustment mechanism is connected to the output shaft of the servo motor for adjusting the pressure between the friction block and the sliding guide rail in real time.

2. The five-finger exoskeleton remote control glove according to claim 1, characterized in that, The pressure adjustment mechanism includes: Upward and downward movement holes are provided on the feedback support frame; Two semi-circular support seats are symmetrically fixed on the feedback support frame corresponding to the edges of the upper and lower moving holes; an adjustment space is formed between the two semi-circular support seats, and the adjustment space is connected to the upper and lower moving holes; the friction block passes through the upper and lower moving holes and abuts against the upper end face of the sliding guide rail. The friction retainer is inserted into the adjustment space between the two semi-circular support seats and slides up and down within the adjustment space; Two elastic elements are respectively disposed between the two ends of the friction retainer and the feedback support frame; An eccentric wheel is coaxially arranged with the output shaft of the servo motor; The lower end face of the eccentric wheel abuts against the upper end face of the friction retainer; the friction block is fixedly disposed on the lower end face of the friction retainer, corresponding to the sliding guide rail; the pressure between the friction block and the sliding guide rail is adjusted by adjusting the pressure between the eccentric wheel and the friction retainer.

3. A five-finger exoskeleton-type remote control glove according to claim 2, characterized in that: The friction retainer includes a circular slide table slidably disposed in the adjustment space, a reset table symmetrically fixed on both sides of the circular slide table, and a corresponding groove opened in the middle of the circular slide table. The lower end face of the eccentric wheel is located in the corresponding groove; the elastic element is disposed between the reset platform and the feedback support frame.

4. A five-finger exoskeleton-type remote control glove according to claim 2, characterized in that: The mounting base includes a front mounting base fixedly disposed at the front end of the palm mounting plate or thumb side plate, and a rear mounting base fixedly disposed at the rear end of the palm mounting plate or thumb side plate. A return spring is provided between the semi-circular support and the corresponding rear mounting seat to apply a return force toward the rear mounting seat to the feedback support frame.

5. A five-finger exoskeleton-type remote control glove according to claim 1, characterized in that, The finger mechanism includes: The U-shaped sub-base is installed at the front end of the palm mounting plate; And, in turn, the proximal link, the intermediate link, and the fingertip link are rotated in sequence; The proximal link is rotatably connected to the finger base via a U-shaped pin; the proximal link is rotatably connected to the intermediate link via a first R-shaped pin; and the fingertip link is rotatably connected to the intermediate link via a second R-shaped pin.

6. A five-finger exoskeleton-type remote control glove according to claim 5, characterized in that: An angle encoder for detecting the degree of finger bending is installed on the finger mechanism, and a motion mapping relationship between the bending degree data of the angle encoder and the rotation angle of the servo motor is constructed. The servo motor adjusts the pressure between the friction block and the sliding guide rail in real time according to the mapping relationship.

7. A five-finger exoskeleton-type remote control glove according to claim 6, characterized in that, The angle encoder is mounted on the first R-type auxiliary pin and is used to acquire the rotation angle data between the proximal connecting rod and the intermediate connecting rod in real time.

8. A five-finger exoskeleton-type remote control glove according to claim 6, characterized in that, A vibration motor is installed at the end of the fingertip linkage; the vibration motor is driven to output vibration and provide tactile feedback.

9. A five-finger exoskeleton-type remote control glove according to claim 6, characterized in that, A support column is installed on the U-shaped base, and a guide hole is provided on the support column; one end of the pull rope is fixedly installed on the intermediate connecting rod, and the other end passes through the guide hole and is fixedly installed on the feedback support frame.

10. A force feedback method for a five-finger exoskeleton remote control glove according to any one of claims 6-9, characterized in that, Includes the following: After the operator puts on gloves, the angle encoder collects the bending angle data of the finger joints, and constructs a motion mapping relationship between the human hand movement and the remote operation device or virtual reality system based on the bending angle data; When the remote control device or virtual reality system generates contact force information, it drives the servo motor of the corresponding finger mechanism to rotate according to the contact force information. The servo motor drives the eccentric wheel to change the pressure on the friction cage, thereby adjusting the normal pressure between the friction block and the sliding guide rail, so that the pull rope is subjected to a continuously adjustable friction force during the sliding process. The friction force is transmitted to the finger mechanism through the pull rope, forming a force feedback resistance.

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