Splicing type multi-degree-of-freedom force feedback glove

Abstract

The utility model discloses a multi-degree-of-freedom force feedback glove capable of being spliced, which comprises a glove main body, and the bottom of the glove main body is fixedly connected with a glove connecting belt; the thumb module is inserted into the outer side of the glove main body through the insertion movable opening; the finger module is inserted into the outer side of the glove main body through the insertion movable opening; and the elastic band with the fingertips is fixedly connected to the tail parts of the thumb module and the finger module. The splicable multi-degree-of-freedom force feedback glove is designed in a modularized mode and is flexible and adjustable, the glove body is designed in a splicable modularized mode, and a user can adjust the size and the shape of the glove according to needs to adapt to different hand types and use scenes; high-precision motion capture: an IMU sensor is integrated, flexion, extension and rotation motions of fingers are accurately captured, and accurate restoration of virtual hand motions is realized; by optimizing design and low-cost materials, the manufacturing cost is greatly reduced, and popularization of the gloves in the consumer market is promoted.

Description

TECHNICAL FIELD

[0001] The utility model relates to virtual reality and augmented reality technical field, concretely is a kind of multi-degree-of-freedom force feedback gloves of splicing. BACKGROUND

[0002] With the rapid development of virtual reality and augmented reality technology, force feedback gloves as an important interactive device can significantly improve the immersion of users, however, the existing force feedback gloves have the following problems:

[0003] 1, complex structure, insufficient flexibility: existing gloves are mostly fixed structure, difficult to adapt to the hand shape of different users and use scene.

[0004] 2, insufficient motion capture accuracy: existing technology cannot accurately capture the motion data of each joint of finger, resulting in inaccurate virtual hand action restoration.

[0005] 3, high cost, difficult to popularize: existing force feedback gloves are expensive, limiting its promotion and application in consumer market.

[0006] In view of the above problems, we make innovative design on the basis of original multi-degree-of-freedom force feedback gloves structure of splicing. INVENTION CONTENTS

[0007] The utility model aims at providing a kind of multi-degree-of-freedom force feedback gloves of splicing to solve the problems, such as the complex structure of existing force feedback gloves in the background art, insufficient flexibility, insufficient motion capture accuracy, high cost, difficult to popularize.

[0008] To achieve the above object, the utility model provides the following technical scheme: a kind of multi-degree-of-freedom force feedback gloves of splicing, including glove main body, the glove main body bottom is fixedly connected with glove connecting band;

[0009] Thumb module, the thumb module is inserted in glove main body outer side by inserting joint;Finger module, the finger module is inserted in glove main body outer side by inserting joint;With fingertip elastic band, the with fingertip elastic band is fixedly connected in thumb module and finger module tail portion;Magic tape, the magic tape is fixedly connected in with fingertip elastic band inner side;Motion capture module, the motion capture module is fixedly connected in thumb module and finger module outer side;Hollow cup motor, the hollow cup motor is fixedly installed in glove main body outer side, and hollow cup motor output end is connected with thumb module and finger module by rope;Cover, the cover is fixedly installed in glove main body outer side;Single-chip microcomputer, the single-chip microcomputer is fixedly installed in glove main body outer side;Concentrator, the concentrator is fixedly installed in glove main body outer side, and concentrator is connected with motion capture module by communication line.

[0010] Preferably, the thumb module and the finger module are composed of three groups of splicable modules, and each module can be spliced independently.

[0011] Preferably, the thumb module and the finger module are connected with the plug-in gape on the inner side of the glove body.

[0012] Preferably, the motion capture module selects an IMU sensor; this structure of the motion capture module selects an IMU sensor, which can be used for real-time capture of the flexion and rotation of the fingers.

[0013] Preferably, the hollow cup motor is connected with the thumb module and the finger module through a rope to form a traction structure; this structure of the finger module has a rope for pulling the fingers on the upper edge, the left edge and the right edge of each section.

[0014] Preferably, the motion capture module and the single-chip microcomputer are powered by an external power supply.

[0015] Preferably, the single-chip microcomputer selects an MCU control module; this structure of the single-chip microcomputer selects an MCU control module, which can transmit the finger posture information to the VR system to realize accurate restoration of the virtual hand action.

[0016] Compared with the prior art, the beneficial effects of the splicable multi-degree-of-freedom force feedback glove are:

[0017] 1. Modular design, flexible and adjustable: the glove body adopts a splicable modular design, and users can adjust the size and shape of the glove according to needs, and adapt to different hand shapes and use scenarios.

[0018] 2. High-precision motion capture: integrated IMU sensor, accurately capturing the flexion and rotation of the fingers, realizing accurate restoration of the virtual hand action.

[0019] 3. Low cost, easy to popularize: through optimized design and low-cost materials, the manufacturing cost is greatly reduced, and the popularization of force feedback gloves in the consumer market is promoted.

[0020] 4. High-precision force feedback: combined with hollow cup motors and transmission devices, high-precision force feedback is realized, and user experience is improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a whole three-dimensional structure schematic diagram of the utility model;

[0022] Figure 2 It is a whole bottom view structure schematic diagram of the utility model;

[0023] Figure 3 It is a finger module three-dimensional structure schematic diagram of the utility model;

[0024] Figure 4This is a three-dimensional structural diagram of the hollow cup motor of this utility model.

[0025] In the diagram: 1. Glove body; 2. Glove connecting strap; 3. Plug-in opening; 4. Thumb module; 5. Finger module; 6. Elastic band with fingertips; 7. Velcro; 8. Motion capture module; 9. Hollow cup motor; 10. Rope; 11. Microcontroller; 12. Communication line; 13. Hub; 14. Cover. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] Please see Figures 1-4 This utility model provides a technical solution: a splicable multi-degree-of-freedom force feedback glove, comprising:

[0028] Example 1: As Figures 1-4 The present invention provides a technical solution: a splicable multi-degree-of-freedom force feedback glove, comprising: a glove body 1, with a glove connecting strap 2 fixedly connected to the bottom of the glove body 1; a thumb module 4, which is inserted into the outside of the glove body 1 via a snap-fit ​​3; a finger module 5, which is inserted into the outside of the glove body 1 via a snap-fit ​​3; a fingertip elastic band 6, which is fixedly connected to the tail of the thumb module 4 and the finger module 5; and Velcro 7, which is fixedly connected to the inside of the fingertip elastic band 6; and an action... A motion capture module 8 is fixedly connected to the outside of the thumb module 4 and the finger module 5; a hollow cup motor 9 is fixedly installed on the outside of the glove body 1, and the output end of the hollow cup motor 9 is connected to the thumb module 4 and the finger module 5 through a rope 10; a cover 14 is fixedly installed on the outside of the glove body 1; a microcontroller 11 is fixedly installed on the outside of the glove body 1; and a hub 13 is fixedly installed on the outside of the glove body 1, and the hub 13 is connected to the motion capture module 8 through a communication line 12.

[0029] The thumb module 4 and finger module 5 consist of three sets of connectable modules, each of which can be assembled independently; the thumb module 4 and finger module 5 are connected to the snap-fit ​​opening 3 on the inside of the glove body 1; the motion capture module 8 uses an IMU sensor; the hollow cup motor 9 forms a traction structure with the thumb module 4 and finger module 5 respectively through the rope 10; the motion capture module 8 and the microcontroller 11 are both powered by an external power supply; the microcontroller 11 uses an MCU control module.

[0030] The main body 1 of this glove structure consists of multiple connectable modules, including finger modules 5 and palm modules. The finger modules 5 include a thumb module 4 and four finger modules 5. Each finger module 5 can be assembled independently, and users can flexibly assemble them as needed. The palm module uses a comfortable glove connecting strap 2 to surround the user's palm, forming a closed loop at the center of the hand to ensure stability and comfort. At the back of the hand, the glove connecting strap 2 is used to fix the base of the hollow cup motor 9, facilitating the installation and removal of the hollow cup motor 9. Each finger module 5 integrates a motion capture module 8 (IMU inertial measurement unit sensor) to capture the flexion, extension, and rotation of the fingers in real time. The IMU sensor transmits the finger posture information to the VR system through a microcontroller 11 (MCU control module) to achieve accurate reproduction of virtual hand movements. The back of the hand is equipped with a force feedback structure, including a hollow cup motor 9 and a rope 10. The hollow cup motor 9 receives signals from the VR system through the MCU control module, driving the rope 10 to pull the fingertips, applying force feedback to the fingers and simulating real touch.

[0031] When gloves are worn, the IMU sensor on the finger module 5 collects the posture information of each finger joint in real time, including flexion, extension and rotation movements, and transmits the data to the MCU control module. The MCU control module sends the processed data to the VR system to drive the virtual hand movements to synchronize with the user's hand movements. When the user interacts with objects in the virtual environment, the VR system sends force feedback signals to the MCU control module according to the interaction scenario to control the operation of the hollow cup motor 9. The hollow cup motor 9 applies corresponding force feedback to the user's fingers by pulling the rope 10, simulating real touch.

[0032] Example 2: Figures 1-4 The present invention provides a technical solution: a splicable multi-degree-of-freedom force feedback glove, which discloses:

[0033] Alternative connection methods: In addition to mechanical drive shafts, magnetic connectors, mechanical clips, and other connection methods can also be used to achieve quick assembly and disassembly between modules;

[0034] Force feedback alternatives: In addition to the coreless motor 9, force feedback can also be achieved by pneumatic, hydraulic or shape memory alloy methods;

[0035] Sensor replacement: in addition to the IMU sensor, optical sensors, capacitive sensors, etc. can also be used to realize the collection of hand motion data.

[0036] The contents not described in detail in the specification belong to the prior art known to those skilled in the art.

[0037] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and modifications can be made to these embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A splicable multi-degree-of-freedom force feedback glove, characterized in that, include: The glove body (1) has a glove connecting strap (2) fixedly connected to its bottom. Thumb module (4), the thumb module (4) is inserted into the outside of the glove body (1) through the plug-in opening (3); Finger module (5), the finger module (5) is inserted into the outside of the glove body (1) through the insertion port (3); The fingertip elastic band (6) is fixedly connected to the tail of the thumb module (4) and the finger module (5); Velcro (7), said Velcro (7) is fixedly connected to the inside of the elastic band with fingertips (6); Motion capture module (8), which is fixedly connected to the outside of thumb module (4) and finger module (5); Hollow cup motor (9), the hollow cup motor (9) is fixedly installed on the outside of the glove body (1), and the output end of the hollow cup motor (9) is connected to the thumb module (4) and the finger module (5) through the rope (10); Cover (14), the cover (14) is fixedly installed on the outside of the glove body (1); A microcontroller (11) is fixedly installed on the outside of the glove body (1); Hub (13) is fixedly installed on the outside of the glove body (1) and is connected to the motion capture module (8) via a communication line (12).

2. The splicable multi-degree-of-freedom force feedback glove according to claim 1, characterized in that: The thumb module (4) and the finger module (5) consist of three sets of connectable modules, each of which can be assembled independently.

3. The splicable multi-degree-of-freedom force feedback glove according to claim 1, characterized in that: The thumb module (4) and finger module (5) are connected to the insertion port (3) on the inside of the glove body (1) in a snap-fit ​​connection.

4. The splicable multi-degree-of-freedom force feedback glove according to claim 1, characterized in that: The motion capture module (8) uses an IMU sensor.

5. A splicable multi-degree-of-freedom force feedback glove according to claim 1, characterized in that: The hollow cup motor (9) is connected to the thumb module (4) and the finger module (5) via ropes (10) to form a traction structure.

6. The splicable multi-degree-of-freedom force feedback glove according to claim 1, characterized in that: The motion capture module (8) and the microcontroller (11) are both powered by an external power source.

7. A splicable multi-degree-of-freedom force feedback glove according to claim 1, characterized in that: The microcontroller (11) is selected from the MCU control module.

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