Force feedback glove

Abstract

The utility model belongs to the technical field of wearable force feedback equipment, and particularly relates to a force feedback glove which comprises a glove body, the glove body comprises finger parts and a hand back part, and detachable finger caps are arranged at the tips of the finger parts; the finger part is further provided with first position and posture sensors, the first position and posture sensors are fixed through fixing buckles, the finger part is further provided with wire buckles, the wire outlet end of each first position and posture sensor is correspondingly provided with one wire buckle, and the wire buckles are used for being fixedly connected with a connecting wire of the finger cap. Through the arrangement of the plurality of pose sensors and the force feedback module, the manufacturing cost is low, and a real object grabbing feeling can be simulated for a user; the pose sensor can be fixed through the fixing buckle, and the pose sensor is made of an elastic material, so that the applicability is high; the adopted wire buckle is simple in structure, and the connecting wire is convenient to fix and take out.

Description

Technical Field

[0001] The present application belongs to the technical field of wearable force feedback devices, and in particular, relates to a force feedback glove. Background Art

[0002] With the development of virtual reality technology, the way of human-computer interaction needs to be upgraded. At present, the interactive products on the market are mainly based on handles. Some innovative forms of smart gloves only realize the synchronous interaction between real hands and virtual hands in virtual scenes, and cannot physically constrain real hands through virtual scenes. Although some innovative forms of smart gloves have realized physical constraints on real hands through power modules, the device structure is often complex, maintenance is difficult, and the production cost is high, making it difficult to popularize. For example, in the patent of China Utility Model Patent Publication No. CN 211362244 U, entitled A Remote Control System Based on Exoskeleton Data Gloves and Myoelectric Bracelets, the patent collects hand movements through human-like exoskeleton data gloves and arm movements through myoelectric bracelets, and can provide force feedback to fingers through drive ropes, but the gloves are a fully connected rigid structure as a whole, which is difficult to adapt to different hand shapes and has a high cost. For example, the Chinese invention patent publication number is 202210559868.X, and its name is force feedback gloves and control method. The patent gives a specific mechanical structure of the force feedback module, and designs a zipper structure that can physically limit the fingers through a force output unit, a pull rope, a locking structure, etc. The force output unit is provided by a screw motor and a rotary motor, where each finger includes a shell device, which requires multiple screw motors and rotary motors, and is costly. Most of the ready-made screw motors and rotary motors currently available on the market are large in size and cannot be adapted to fingers. Therefore, it is necessary to develop a force feedback glove with low production cost and good object grasping feeling. Summary of the invention

[0003] The present application provides a force feedback glove to solve the problems in the prior art of high manufacturing cost of smart gloves and inability to achieve physical constraints to give the hand a sense of grasping objects.

[0004] An embodiment of the present application provides a force feedback glove, including a glove body, wherein the glove body includes fingers and the back of a hand, and the tips of the fingers are provided with detachable finger caps; a first posture sensor is also provided on the finger, and the first posture sensor is fixed by a fixing buckle, and a wire buckle is also provided on the finger, and a wire buckle is correspondingly provided at the output end of each first posture sensor, and the wire buckle is used to fix the connecting wire connecting the finger cap.

[0005] Optionally, two first position sensors are arranged on each finger, and the two first position sensors are respectively located at two knuckles close to the back of the hand.

[0006] Optionally, a servo fixing plate is provided on the back of the hand, a plurality of servos are provided on the servo fixing plate, each servo is connected to a corresponding limiting device, each servo and the corresponding limiting device constitute a force feedback module, and each force feedback module is connected to a finger cap on a corresponding finger.

[0007] Optionally, the limit device comprises a limit housing and a detachable end cover, a potentiometer is arranged in the limit housing, a potentiometer shaft is arranged on the potentiometer, the potentiometer shaft abuts against the end cover, a locking screw is arranged on the end cover, and a connecting wire is also wound around the end cover;

[0008] The steering gear is provided with a steering disc device, the steering disc device comprises a steering disc and a steering gear rotating shaft provided on the steering disc, and the steering gear rotating shaft is connected with a rudder arm;

[0009] The locking screw contacts the rudder arm when rotating.

[0010] Optionally, a groove is provided at the bottom of the servo fixing plate, and a second posture sensor is provided in the groove.

[0011] Optionally, a PCB board is arranged on the back of the hand near the wrist, and a third posture sensor and a main control module MCU are arranged on the PCB board;

[0012] The PCB board is a hand-shaped structure, and a wire-to-board is arranged on the PCB board and corresponding to each finger portion, and a PWM output port and an ADC acquisition port are arranged below each wire-to-board.

[0013] Optionally, the fixing buckle is made of elastic material.

[0014] Optionally, the fixing buckle is an integrally formed structure; the fixing buckle includes a fixing base, a sensor accommodating hole is provided in the middle of the fixing base, and the sensor accommodating hole is used to hold and fix the first posture sensor; deformable arc-shaped fins are connected to both ends of the fixing base.

[0015] Optionally, the wire buckle includes a fixing plate; a bonding portion is provided at the bottom of the fixing plate; two deformable fixing plates are provided on the fixing plate, a downwardly bent limiting plate is provided at the top of each fixing plate, and the two fixing plates are mirror-symmetrically arranged to form a wire accommodating hole between the two fixing plates.

[0016] Optionally, a pressing portion is provided on the outer side of each fixing sheet, the top of the pressing portion is connected to the middle of the fixing sheet and the bottom is connected to the fixing plate, so that a pressing cavity is formed between the fixing sheet, the pressing portion and the fixing plate.

[0017] The present application provides a force feedback glove with low manufacturing cost. Through the arrangement of multiple posture sensors and force feedback modules, the glove can simulate the real object grasping feeling for the user. The posture sensor can be fixed through the fixing buckle, and the glove has strong applicability. The wire buckle has a simple structure and is convenient for fixing and removing the connecting wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 This is a schematic diagram of the structure of the force feedback glove of this application;

[0020] Figure 2 is a schematic diagram of the structure of the fixing buckle;

[0021] Figure 3 Schematic diagram of the structure of the wire buckle;

[0022] Figure 4 It is a structural diagram of the PCB board;

[0023] Figure 5 It is a schematic diagram of the position relationship between the steering wheel, the rudder arm and the locking screws;

[0024] Figure 6 It is a schematic diagram of the position relationship between the limit device and the steering gear;

[0025] Figure 7 This is a schematic diagram of the structure of the servo;

[0026] Figure 8 It is a structural schematic diagram of the limiting device;

[0027] Fig. 9 It is the structural diagram of the potentiometer;

[0028] Fig.10 It is the schematic diagram of the bottom structure of the potentiometer;

[0029] Explanation of symbols in the figure:

[0030] 1-glove body; 2-finger cap; 3-fixing buckle; 31-fixing base; 32-sensor receiving hole; 33-deformable arc-shaped fin; 4-first posture sensor; 5-wire buckle; 51-fixing plate; 52-adhesive part; 53-fixing plate; 54-limiting plate; 55-pressing part; 56-wire receiving hole; 57-pressing cavity; 6-servo fixing plate; 7-limiting device; 71-locking screw; 72-end cover; 73-potentiometer; 731-potentiometer shaft; 74-limiting housing; 8-servo; 81-rudder arm; 82-servo shaft; 9-second posture sensor; 10-PCB board; 11-third posture sensor; 12-PWM output port; 13-ADC acquisition port; 14-third posture sensor; 15-main control module MCU; 16-connecting line. DETAILED DESCRIPTION

[0031] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0032] A force feedback glove provided in an embodiment of the present application is now described. Figure 1 A force feedback glove comprises a glove body 1, wherein the glove body 1 comprises a finger portion and a back of a hand.

[0033] The tip of the finger is provided with a detachable finger cap 2, and the finger is also provided with a first posture sensor 4, which is fixed by a fixing buckle 3. Preferably, two first posture sensors 4 are provided on each finger, and the two first posture sensors 4 are respectively located at two knuckles close to the back of the hand.

[0034] See also Figure 1 , Figures 5 to 10 The back of the hand is provided with a steering gear fixing plate 6, on which a plurality of steering gears 8 are provided, and each steering gear 8 is connected to a corresponding limit device 7. Each steering gear 8 and the corresponding limit device 7 constitute a force feedback module. Each force feedback module uses an existing connecting line 16 to pass through the wire buckle 5 on the corresponding finger and then connect to the finger cap 2.

[0035] The limiting device 7 includes a limiting shell 74 and a detachable end cover 72. A potentiometer 73 is arranged in the limiting shell 74. A potentiometer shaft 731 is arranged on the potentiometer 73. The potentiometer shaft 731 abuts against the end cover 72. A retaining screw 71 is arranged on the end cover 72. A connecting wire 16 is also wound around the end cover 72.

[0036] The steering gear 8 is provided with a steering wheel device, which includes a steering wheel and a steering gear shaft 82 provided on the steering wheel, and the steering gear shaft 82 is connected to a rudder arm 81. When the locking screw 71 rotates, it contacts the rudder arm 81, and the rudder arm 81 serves to limit the position of the locking screw 71. The rudder arm 81 rotates clockwise, and the position of the rudder arm 81 when the steering gear 8 is at 0 degrees and 180 degrees is Figure 5 The dotted line position in FIG. The servo 8 is obtained from the market, and the model is TowerPro MG90S.

[0037] When in use, bending the finger will cause the connecting wire 16 to stretch, and the stretching of the connecting wire 16 will cause the end cover 72 of the limiting device 7 to rotate, and then drive the locking screw 71 on the end cover 72 to rotate. If the locking screw 71 rotates to the rudder arm 81, it will be physically constrained and stuck, so that the finger cannot continue to bend; put the hand flat, and drive the locking screw 71 on the end cover 72 to rotate and return to the original position. Specifically, the rotation of the end cover 72 drives the potentiometer 73 to rotate. Make a fist to get the position of the locking screw 71 when the maximum bend is obtained. Put the hand completely flat to get the position of the locking screw 71 when the minimum bend is obtained.

[0038] When the virtual hand grabs an object in the virtual world, the position of the locking screw 71 is between the maximum bending position and the minimum bending position. The main control module MCU15 controls the steering engine 8, and the steering engine 8 controls the rudder arm 81 to rotate to the control point at the corresponding position to constrain the physical position. When the virtual hand puts down the object in the virtual world, the rudder arm 81 rotates to the control point position corresponding to the maximum bending, and the fingers are free to move.

[0039] The housing of the limiting device 7 can be a pull-tab in the prior art, or other devices capable of achieving a limiting effect.

[0040] A groove is arranged at the bottom of the steering gear fixing plate 6, and a second posture sensor 9 is arranged in the groove.

[0041] See also Figure 1 and Figure 4 A PCB board 10 is arranged at the back of the hand near the wrist, and a third posture sensor 14 and a main control module MCU15 are arranged on the PCB board 10.

[0042] The PCB board 10 is a hand-shaped structure, and a wire-to-board 11 is provided on the PCB board 10 and corresponding to each finger portion. Preferably, six wire-to-boards 11 are provided, five of which are located at the finger tips of the PCB board 10, and another is provided at the bottom of the PCB board 10 (not shown in the figure). The wire-to-board 11 is used to connect the first posture sensor 4 and the second posture sensor 9.

[0043] A PWM output port 12 and an ADC acquisition port 13 are provided below each line-to-line board 11. The PWM output port 12 is used to control the corresponding steering gear 8; the ADC acquisition port 13 is used to obtain the ADC signal of the potentiometer in the corresponding limit device 7. By setting the PWM wave duty cycle, the rudder arm 81 can be controlled Figure 5 Move in the semicircle in the lower half of the middle dotted line.

[0044] See also Figure 2 The fixing buckle 3 is made of an integrally formed elastic material and includes a fixing base 31. A sensor receiving hole 32 is provided in the middle of the fixing base 31. The sensor receiving hole 32 is adapted to the shape of the first posture sensor 4. Deformable arc-shaped fins 33 are connected to both ends of the fixing base 31. When in use, the fixing buckle 3 is used to fix the first posture sensor 4, and the deformable arc-shaped fins 33 are pressed to fix it tightly on the finger.

[0045] The finger portion is also provided with a wire buckle 5, and each wire outlet of the first posture sensor 4 is provided with a wire buckle 5. The wire buckle 5 is used to fix the connecting wire 16 connected to the finger cap 2.

[0046] See also Figure 3 The wire buckle 5 includes a fixing plate 51, and a bonding portion 52 is provided at the bottom of the fixing plate 51. The bonding portion 52 can better fix the wire buckle 5 on the finger.

[0047] The fixing plate 51 is provided with two deformable fixing plates 53, and a downwardly bent limiting plate 54 is provided on the top of each fixing plate 53. The two fixing plates 53 are arranged in mirror symmetry so that a wire receiving hole 56 is formed between the two fixing plates 53. When in use, the adhesive portion 52 of the wire buckle 51 is first pasted on the finger portion, and then the connecting wire 16 is pressed into the wire receiving hole 56 from the top gap of the two fixing plates 53, which is easy to operate and convenient to use.

[0048] Furthermore, a pressing portion 55 is provided on the outer side of each fixing sheet 53, the top of the pressing portion 55 is connected to the middle of the fixing sheet 53 and the bottom is connected to the fixing plate 51, so that a pressing cavity 57 is formed between the fixing sheet 53, the pressing portion 55 and the fixing plate 51. When a certain connecting line 16 needs to be adjusted, the operator presses the pressing portion 55 by hand to open the corresponding two fixing sheets 53, and then takes out the required connecting line 16.

[0049] Furthermore, the bonding portion 52 may be replaced by hot glue.

[0050] A total of 12 posture sensors are used in this application, including 10 first posture sensors located on the fingers, 1 second posture sensor 9 located on the back of the hand, and 1 third posture sensor 14 located on the PCB board 10. The 12 posture sensors and 5 potentiometers are used in conjunction with the MCU to realize the analysis and control of hand movements.

[0051] For the aesthetics of the gloves, an outer layer may be provided on the outer surface of the force feedback gloves during production and use.

[0052] The present application provides a force feedback glove with low manufacturing cost. Through the arrangement of multiple posture sensors and force feedback modules, the glove can simulate the real object grasping feeling for the user. The posture sensor can be fixed by the fixing buckle. The glove is made of elastic material and has strong applicability. The wire buckle has a simple structure and is convenient for fixing and removing the connecting wire.

[0053] In the description of the present application, it should be understood that terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0054] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0055] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A force feedback glove, comprising a glove body, wherein the glove body comprises a finger portion and a back of a hand, wherein: The tip of the finger is provided with a detachable finger cap; the finger is also provided with a first posture sensor, which is fixed by a fixing buckle; the finger is also provided with a wire buckle, and a wire buckle is correspondingly provided at the output end of each first posture sensor, and the wire buckle is used to fix the connecting wire connecting the finger cap.

2. A force feedback glove as claimed in claim 1, characterized in that: Two first position sensors are arranged on each finger, and the two first position sensors are respectively located at two knuckles close to the back of the hand.

3. A force feedback glove as claimed in claim 1, characterized in that: The back of the hand is provided with a servo fixing plate, a plurality of servos are provided on the servo fixing plate, each servo is connected with a corresponding limit device, each servo and the corresponding limit device constitute a force feedback module, and each force feedback module is connected to a finger cap on a corresponding finger.

4. A force feedback glove as claimed in claim 3, characterized in that: The limit device comprises a limit housing and a detachable end cover, a potentiometer is arranged in the limit housing, a potentiometer shaft is arranged on the potentiometer, the potentiometer shaft abuts against the end cover, a locking screw is arranged on the end cover, and a connecting wire is also wound around the end cover; The steering gear is provided with a steering disc device, the steering disc device comprises a steering disc and a steering gear rotating shaft provided on the steering disc, and the steering gear rotating shaft is connected with a rudder arm; The locking screw contacts the rudder arm when rotating.

5. A force feedback glove as claimed in claim 3, characterized in that: A groove is arranged at the bottom of the steering gear fixing plate, and a second posture sensor is arranged in the groove.

6. A force feedback glove as claimed in claim 1, characterized in that: A PCB board is arranged at the back of the hand near the wrist, and a third posture sensor and a main control module MCU are arranged on the PCB board; The PCB board is a hand-shaped structure, and a wire-to-board is arranged on the PCB board and corresponding to each finger portion, and a PWM output port and an ADC acquisition port are arranged below each wire-to-board.

7. The force feedback glove according to claim 1, characterized in that: The fixing buckle is made of elastic material.

8. A force feedback glove according to claim 1 or 7, characterized in that: The fixing buckle is an integrally formed structure; the fixing buckle comprises a fixing base, a sensor accommodating hole is provided in the middle of the fixing base, and the sensor accommodating hole is used to hold and fix the first posture sensor; deformable arc-shaped fins are connected to both ends of the fixing base.

9. The force feedback glove according to claim 1, characterized in that: The wire buckle includes a fixing plate; a bonding portion is provided at the bottom of the fixing plate; two deformable fixing plates are provided on the fixing plate, a downwardly bent limiting plate is provided at the top of each fixing plate, and the two fixing plates are mirror-symmetrically arranged to form a wire accommodating hole between the two fixing plates.

10. A force feedback glove as claimed in claim 9, characterized in that: A pressing portion is arranged on the outer side of each fixing sheet, the top of the pressing portion is connected to the middle of the fixing sheet and the bottom is connected to the fixing plate, so that a pressing cavity is formed among the fixing sheet, the pressing portion and the fixing plate.

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