Data glove

Abstract

The utility model relates to a data glove which comprises a supporting frame and a magnetic encoder assembly, the supporting frame comprises a palm part and a plurality of fingers movably installed on the palm part, each finger comprises a plurality of phalanges, one of any two adjacent phalanges is fixedly provided with a rotating piece, and the other of any two adjacent phalanges is provided with a rotating hole; the rotating part is arranged in the rotating hole in a penetrating mode so that any two adjacent phalanges can be rotationally connected around a first rotating axis, the magnetic encoder assembly comprises a first magnetic encoder, the first magnetic encoder comprises a first magnetic ring and a first magnetic sensor which are used in cooperation, and the first magnetic ring is arranged around the first rotating axis; the first magnetic ring is fixed to the rotating part or the rotating hole, the first magnetic sensor is fixed to the adjacent phalanx provided with the rotating hole or the rotating part corresponding to the first magnetic ring, and the first magnetic ring and the first magnetic sensor are both arranged on the side face, in the first rotating axis direction, of the finger. According to the technical scheme, the thickness size of the data glove can be reduced.

Description

Technical Field

[0001] This application relates to the field of robotic hand technology, and more particularly to a data glove. Background Technology

[0002] As the most important end effector of humanoid robots, the robotic hand can perform grasping functions similar to those of a human hand by gripping various objects. To ensure that the robotic hand can successfully grasp objects every time, it is necessary to accurately collect grasping data that the robotic hand can use. This grasping data usually requires information such as finger bending angle and finger contact force. As a result, various data gloves have been developed that can be worn on the human hand and collect corresponding grasping data by performing various actions when the human hand grasps objects.

[0003] However, most existing data gloves mount their measuring elements on the back of the fingers or on the forearm, increasing the overall thickness of the glove and hindering its use in confined spaces for data acquisition. Furthermore, existing data gloves primarily use potentiometers or inertial measurement units (IMUs) as their measuring elements, both of which provide relatively low accuracy in acquiring grasping data. Additionally, existing data gloves feature flexible support frames. When a person wearing the data glove grasps a heavy object, the support frame is susceptible to deformation under the weight of the object, potentially causing twisting and affecting the accuracy of the acquired grasping data.

[0004] Therefore, how to make data gloves easy to use in confined spaces and improve their data acquisition accuracy has become an urgent technical problem to be solved. Utility Model Content

[0005] The purpose of this application is to provide a data glove to solve the technical problem that existing data gloves are not suitable for use in narrow spaces due to their large thickness.

[0006] This application provides a data glove, including a support frame and a wearable component connected to the support frame. The support frame includes a palm portion and multiple fingers movably mounted on the palm portion. Each finger includes multiple phalanges. One of any two adjacent phalanges is fixedly provided with a rotating component, and the other of any two adjacent phalanges is provided with a rotating hole. The rotating component is rotatably inserted into the rotating hole so that any two adjacent phalanges are rotatably connected about a first rotation axis.

[0007] The data glove also includes a magnetic encoder assembly, which includes a first magnetic encoder. The first magnetic encoder includes a first magnetic ring and a first magnetic sensor that cooperate with each other. The first magnetic ring is arranged around the first rotation axis and is fixed to the rotating member or the rotating hole. The first magnetic sensor is fixed to the adjacent finger bone with the rotating hole or the rotating member, corresponding to the first magnetic ring. Both the first magnetic ring and the first magnetic sensor are arranged on the side of the finger along the direction of the first rotation axis.

[0008] Optionally, the finger is provided with a connecting part at one end near the palm, and the palm is provided with a mating part. The connecting part and the mating part are rotatably connected around a second rotation axis, and the second rotation axis is perpendicular to the first rotation axis.

[0009] The magnetic encoder assembly further includes a second magnetic encoder, which includes a second magnetic ring and a second magnetic sensor that cooperate with each other. The second magnetic ring is arranged around the second rotation axis and is fixed on the connecting part or the mating part. The second magnetic sensor is fixed on the palm or the finger corresponding to the second magnetic ring.

[0010] Optionally, the multiple fingers include a thumb and the remaining fingers, the remaining fingers including three phalanges, the phalange closest to the palm being the proximal phalanx of the fourth finger, the remaining fingers also including a first telescopic component, the first telescopic component including a first rod and a second rod telescopically connected, the end of the first rod away from the second rod being a first connecting end, the first connecting end being rotatably connected to the proximal phalanx of the fourth finger about a third rotation axis, the end of the second rod away from the first rod being a second connecting end, the second connecting end being rotatably connected to the connecting part about a fourth rotation axis, the third rotation axis and the fourth rotation axis being parallel to the first rotation axis;

[0011] The magnetic encoder assembly further includes a third magnetic encoder, a fourth magnetic encoder, and a fifth magnetic encoder. The third magnetic encoder includes a third magnetic ring and a third magnetic sensor that work together. The fourth magnetic encoder includes a first magnetic scale and a fourth magnetic sensor that work together. The fifth magnetic encoder includes a fifth magnetic ring and a fifth magnetic sensor that work together.

[0012] One of the third magnetic ring and the third magnetic sensor is fixed to the first connecting end, and the other of the third magnetic ring and the third magnetic sensor is fixed to the proximal phalanx of the four fingers, and the third magnetic ring is arranged around the third rotation axis; the first magnetic grating ruler is fixed to one of the first rod and the second rod, and the fourth magnetic sensor is fixed to the other of the first rod and the second rod; one of the fifth magnetic ring and the fifth magnetic sensor is fixed to the second connecting end, and the other of the fifth magnetic ring and the fifth magnetic sensor is fixed to the connecting part, and the fifth magnetic ring is arranged around the fourth rotation axis.

[0013] Optionally, the plurality of fingers includes a thumb and the remaining fingers. The thumb includes two phalanges, the phalange closest to the palm being the proximal phalanx of the thumb. The thumb also includes a second telescopic assembly, which includes a telescopically connected third and fourth rods. The end of the third rod away from the fourth rod is a third connecting end, which is ball-jointed to the proximal phalanx of the thumb. The end of the fourth rod away from the third rod is a fourth connecting end, which is rotatably connected to the connecting portion about a fifth rotation axis, which is parallel to the first rotation axis.

[0014] The magnetic encoder assembly further includes a sixth magnetic encoder and a seventh magnetic encoder. The sixth magnetic encoder includes a second magnetic scale and a sixth magnetic sensor that cooperate with each other. The seventh magnetic encoder includes a seventh magnetic ring and a seventh magnetic sensor that cooperate with each other. The second magnetic scale is fixed to one of the third rod and the fourth rod, and the sixth magnetic sensor is fixed to the other of the third rod and the fourth rod. One of the seventh magnetic ring and the seventh magnetic sensor is fixed to the fourth connecting end, and the other of the seventh magnetic ring and the seventh magnetic sensor is fixed to the connecting part. The seventh magnetic ring is arranged around the fifth rotation axis.

[0015] The data glove also includes a three-dimensional rotation angle detector, which is located at the position where the third connecting end is connected to the ball joint of the proximal thumb phalanx and / or the position where the proximal thumb phalanx is connected to the ball joint of the third connecting end.

[0016] Optionally, the third magnetic encoder is disposed on the side of the remaining fingers along the direction of the third rotation axis, the fifth magnetic encoder is disposed on the side of the remaining fingers along the direction of the fourth rotation axis, and the seventh magnetic encoder is disposed on the side of the thumb along the direction of the fifth rotation axis.

[0017] Optionally, the data glove also includes multiple PCBs, with at least one PCB mounted on each finger, and the PCBs are communicatively connected to the magnetic encoder assembly.

[0018] Optionally, the PCB board is mounted on the back of the finger; and / or, the PCB board is communicatively connected to the magnetic encoder assembly via a flexible flat cable.

[0019] Optionally, the data glove further includes a tactile sensor for collecting tactile information, the tactile sensor being mounted on the fingertip of the phalanx closest to the palm and / or the fingertip of the phalanx furthest from the palm.

[0020] Optionally, any segment of the finger bone, the rotating member, the connecting part, the mating part, the first telescopic component, and the second telescopic component are all rigid components.

[0021] Optionally, the rotating component is a threaded connector, one end of which is fixed to one of any two adjacent phalanges of the finger by a threaded connection, and the other end of which is rotatably inserted into the rotating hole of the other of any two adjacent phalanges of the finger.

[0022] Compared with the prior art, the embodiments of this application have the following main advantages:

[0023] The data glove of this embodiment features a first magnetic encoder. The first magnetic ring and the first magnetic sensor of the encoder are fixed to a rotating component and a rotating hole, or vice versa. The first magnetic ring is arranged around the first rotation axis. This allows the first magnetic ring and the first magnetic sensor to rotate relative to each other when any two adjacent phalanges rotate. The first magnetic encoder can then measure the rotation angle of any two adjacent phalanges. Since the magnetic encoder offers higher measurement accuracy than commonly used potentiometers or inertial measurement units, it enables more precise data acquisition from the robotic hand. Furthermore, both the first magnetic ring and the first magnetic sensor are located on the side of the finger along the first rotation axis. The first magnetic encoder, acting as a measuring element, is not located on the back or pad of the finger, thus reducing the glove's thickness and solving the problem of existing data gloves being unsuitable for use in confined spaces due to their large thickness. Attached Figure Description

[0024] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a three-dimensional structural diagram of the data glove according to an embodiment of this application;

[0026] Figure 2 This is a three-dimensional structural diagram of the thumb of the data glove according to an embodiment of this application;

[0027] Figure 3 This is a schematic diagram of the connection structure between the thumb and palm of the data glove according to an embodiment of this application.

[0028] Figure 4 This is a three-dimensional structural diagram of the remaining fingers of the data glove according to an embodiment of this application;

[0029] Figure 5 This is a schematic diagram of the connection structure between the remaining fingers and the palm of the data handheld device according to an embodiment of this application.

[0030] Figure label:

[0031] 1. Data glove; 100. Palm part; 110. Mating part; 200. Fingers; 200a. Thumb; 200b. Other fingers; 210. Finger bone; 220. Connecting part; 300. Magnetic encoder assembly; 310. First magnetic encoder; 311. First magnetic ring; 312. First magnetic sensor; 320. Second magnetic encoder; 321. Second magnetic ring; 322. Second magnetic sensor; 330. Third magnetic encoder; 331. Third magnetic ring; 332. Third magnetic sensor; 340. Fourth magnetic encoder; 34 1. First magnetic scale; 342. Fourth magnetic sensor; 350. Fifth magnetic encoder; 351. Fifth magnetic ring; 352. Fifth magnetic sensor; 360. Sixth magnetic encoder; 361. Second magnetic scale; 362. Sixth magnetic sensor; 370. Seventh magnetic encoder; 371. Seventh magnetic ring; 372. Seventh magnetic sensor; 400. First telescopic assembly; 410. First rod; 420. Second rod; 500. Second telescopic assembly; 510. Third rod; 520. Fourth rod; 600. PCB board. Detailed Implementation

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0033] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0034] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0035] Please see Figure 1-5 This application provides a data glove 1, including a support frame and a wearable component (not shown) connected to the support frame. The support frame supports the wearable component, allowing it to be attached to the support frame to form a suitable wearing space for a human hand. The support frame includes a palm portion 100 and multiple fingers 200 movably mounted on the palm portion 100, enabling the human hand to move normally after wearing the data glove 1, performing various grasping actions. This allows for the collection of corresponding grasping data by observing the various actions performed by the human hand when grasping objects, which are then used by a robotic hand. Exemplarily, the wearable component may include finger sleeves fixedly covering the fingers 200 and elastic straps fixedly connected to the palm surface of the palm portion 100. To ensure a secure fit for the human hand wearing the data glove 1, in some embodiments, the wearable component may be made of an elastic woven material.

[0036] The fingers 200 of the data glove 1 include multiple phalanges 210. One of any two adjacent phalanges 210 is fixedly provided with a rotating member, and the other of any two adjacent phalanges 210 is provided with a rotating hole. The rotating member is rotatably inserted into the rotating hole, allowing any two adjacent phalanges 210 to rotate and connect around a first rotation axis. This enables any two adjacent phalanges 210 of the fingers 200 of the data glove 1 to perform a bending motion around the first rotation axis. In this embodiment, the first rotation axis corresponds to the rotation axis between two adjacent phalanges of a human hand. Therefore, the data glove 1 of this embodiment can achieve the same angle of bending motion of the phalanges 210 when the phalanges of the wearer's hand are bent.

[0037] The data glove 1 also includes a magnetic encoder assembly 300 consisting of one or more magnetic encoders. Here, a magnetic encoder refers to a measuring element that accurately measures the rotational angle or linear displacement of a magnetic element relative to a magnetic sensor by measuring the change in the magnetic field of a magnetic element (e.g., a magnetic ring or magnetic scale) arranged around a magnetic sensor (e.g., a Hall sensor or a magnetoresistive sensor), namely, the first magnetic encoder 310, the second magnetic encoder 320, the third magnetic encoder 330, the fourth magnetic encoder 340, the fifth magnetic encoder 350, the sixth magnetic encoder 360, and the seventh magnetic encoder 370 described below.

[0038] The magnetic encoder assembly 300 includes a first magnetic encoder 310, which includes a first magnetic ring 311 and a first magnetic sensor 312 that cooperate with each other. The first magnetic ring 311 is arranged around a first rotation axis and is fixed to a rotating component or a rotating hole. The first magnetic sensor 312 is fixed to an adjacent phalanx 210 with a rotating hole or a rotating component, corresponding to the first magnetic ring 311. That is, when the first magnetic ring 311 is fixed to the rotating component, the first magnetic sensor 312 is fixed to the adjacent phalanx 210 with the rotating hole; when the first magnetic ring 311 is fixed to the rotating hole, the first magnetic sensor 312 is fixed to the adjacent phalanx 210 with the rotating component. Furthermore, both the first magnetic ring 311 and the first magnetic sensor 312 are disposed on the side of the finger 200 along the direction of the first rotation axis.

[0039] It should be noted that, in the embodiments of this application, the term "side" essentially refers to the part of the finger that is roughly perpendicular to the back or pad of the finger.

[0040] Understandably, since the rotating component is fixed to one of any two adjacent phalanges 210 of the finger 200, the rotating hole is set in the other of any two adjacent phalanges 210 of the finger 200, and the first magnetic ring 311 is arranged around the first rotation axis, when any two adjacent phalanges 210 of the finger 200 rotate relative to each other around the first rotation axis, the first magnetic ring 311 and the first magnetic sensor 312 will rotate relative to each other at the same angle. Then, by measuring the change in magnetic field caused by this, the rotation angle of any two adjacent phalanges 210 of the data glove 1 finger 200 can be measured, so that the first magnetic encoder 310 can measure the bending angle of any two adjacent phalanges 210 of the data glove 1 finger 200.

[0041] The data glove 1 of this embodiment, by setting a first magnetic encoder 310, fixes the first magnetic ring 311 and the first magnetic sensor 312 of the first magnetic encoder 310 to the rotating part and the rotating hole respectively, or fixes them to the rotating hole and the rotating part respectively, and arranges the first magnetic ring 311 around the first rotation axis. This allows the first magnetic ring 311 and the first magnetic sensor 312 to rotate relative to each other when any two adjacent phalanges 210 rotate. Therefore, the rotation angle of any two adjacent phalanges 210 can be measured by the first magnetic encoder 310. Since the magnetic encoder is relatively advanced compared to existing... The measurement accuracy of commonly used measuring elements such as potentiometers or inertial measurement units is higher, thus enabling more precise data acquisition by the robotic hand through the data glove 1. Simultaneously, both the first magnetic ring 311 and the first magnetic sensor 312 are disposed on the side of the finger 200 along the first rotation axis, meaning the first magnetic encoder 310, as a measuring element, is not disposed on the back or pad of the finger 200 of the data glove 1. This reduces the thickness of the data glove 1, solving the technical problem that existing data gloves 1 are unsuitable for use in confined spaces due to their large thickness. Furthermore, the first magnetic encoder 310 itself is also small in size; therefore, the data glove 1 of this embodiment does not significantly increase its width, making it suitable for use in confined spaces.

[0042] In one embodiment, the rotating component is a threaded connector, such as a bolt or screw. One end of the rotating component is fixed to one of any two adjacent phalanges 210 of the finger 200 by a threaded connection, and the other end of the rotating component is rotatably inserted into a rotating hole provided in the other of any two adjacent phalanges 210 of the finger 200. This allows any two adjacent phalanges 210 of the finger 200 to form a rotating pair through the cooperation of the rotating component and the rotating hole, so that any two adjacent phalanges 210 of the finger 200 can rotate around the axis of the first rotating component while maintaining a fixed connection along the length direction of the axis of the first rotating component.

[0043] For example, the rotating component is a screwdriver. The threaded end of the screwdriver is locked and fixed to one of any two adjacent phalanges 210 of the finger 200 through a nut or threaded hole. The unthreaded end of the screwdriver is rotatably inserted into the rotation hole of the other of any two adjacent phalanges 210 of the finger 200, so that any two adjacent phalanges 210 of the finger 200 can rotate around the first rotation axis through the rotational engagement of the screwdriver and the rotation hole, while maintaining a fixed connection along the direction of the first rotation axis (i.e., the direction of the screwdriver axis).

[0044] Please see Figure 3 and Figure 5 In one embodiment, a connecting portion 220 is provided at the end of the finger 200 near the palm portion 100, and a mating portion 110 is provided on the palm portion 100 corresponding to the connecting portion 220. The connecting portion 220 and the mating portion 110 are rotatably connected around a second rotation axis, which is perpendicular to the first rotation axis. In this embodiment, the second rotation axis is set to correspond to the rotation axis when the fingers of the human hand swing laterally relative to the palm portion 100. Therefore, when the fingers 200 of the data glove 1 rotate around the second rotation axis relative to the palm portion 100, the fingers 200 of the data glove 1 swing relative to the palm portion 100, thereby enabling the data glove 1 to achieve the same lateral swinging action when the fingers of the wearer swing laterally.

[0045] In this embodiment, the magnetic encoder assembly 300 further includes a second magnetic encoder 320, which includes a second magnetic ring 321 and a second magnetic sensor 322 that cooperate with each other. The second magnetic ring 321 is arranged around the second rotation axis and is fixed to the connecting portion 220 or the mating portion 110. The second magnetic sensor 322 is fixed to the palm portion 100 or the finger 200 corresponding to the second magnetic ring 321. That is, when the second magnetic ring 321 is fixed to the connecting portion 220 of the finger 200, the second magnetic sensor 322 is fixed to the palm portion 100 with the corresponding mating portion 110; when the second magnetic ring 321 is fixed to the mating portion 110 of the palm portion 100, the second magnetic sensor 322 is fixed to the finger 200 with the corresponding connecting portion 220.

[0046] Understandably, with the above configuration, since the second magnetic ring 321 is arranged around the second rotation axis, when the finger 200 rotates around the second rotation axis relative to the palm 100, the second magnetic ring 321 and the second magnetic sensor 322 will generate the same relative rotation. Then, by measuring the magnetic field change caused by this, the angle of rotation of the finger 200 of the data glove 1 relative to the palm 100 can be measured, so that the second magnetic encoder 320 can detect the angle of lateral swing of the finger 200 of the data glove 1 relative to the palm 100. Thus, the data glove 1 of this embodiment can collect both the rotation angle of any two adjacent phalanges 210 of the finger 200 and the swing angle of the finger 200 relative to the palm 100, so that the data glove 1 of this embodiment can collect the robotic hand grasping data more accurately.

[0047] Specifically, in one embodiment, the mating part 110 is a shaft-like part fixedly disposed on the palm part 100, and the connecting part 220 is disposed on the phalanx 210 of the finger 200 closest to the palm part 100. The connecting part 220 is provided with a rotating connecting hole that mates with the shaft-like part. The connecting part 220 and the mating part 110 are rotated around the second rotation axis by rotating the shaft-like part to the rotating connecting hole.

[0048] Please see Figure 1 and Figure 4 In one embodiment, the data glove 1 has multiple fingers 200, including a thumb 200a and other fingers 200b. The thumb 200a includes two phalanges 210, and the other fingers 200b each include three phalanges 210, so that the other fingers 200b can be configured to resemble the index, middle, ring, or little fingers of a human hand. For example, please refer to... Figure 1 The data glove 1 includes a thumb 200a and four other fingers 200b, such that the four other fingers 200b, from the nearest to the farthest from the thumb 200a, are constructed in sequence to resemble the index finger, middle finger, ring finger, and little finger of a human hand.

[0049] In this embodiment, among the three phalanges 210 of the remaining fingers 200b, the one closest to the palm 100 is the proximal phalanx of the four fingers, and the one furthest from the palm 100 is the distal phalanx of the four fingers. The middle phalanx is located between the proximal and distal phalanges of the four fingers. The remaining fingers 200b also include a first telescopic component 400 connected to the proximal phalanx of the four fingers. The first telescopic component 400 includes a first rod 410 and a second rod 420 that are telescopically connected. The end of the first rod 410 away from the second rod 420 is a first connecting end, which is rotatably connected to the proximal phalanx of the four fingers about a third rotation axis. The end of the second rod 420 away from the first rod 410 is a second connecting end, which is rotatably connected to the connecting portion 220 about a fourth rotation axis. The third and fourth rotation axes are parallel to the first rotation axis.

[0050] Understandably, through the above settings, the remaining fingers 200b can achieve bending movements relative to the palm 100 through the rotation of the proximal phalanges of the four fingers relative to the first rod 410 around the third rotation axis, the extension and retraction of the first rod 410 relative to the second rod 420, and the rotation of the second rod 420 relative to the connecting part 220 around the fourth rotation axis. This allows the remaining fingers 200b to follow the bending movements of the remaining fingers 200b relative to the palm and produce the same angle of bending movement relative to the palm 100 after being worn on the human hand fingers 200, thus ensuring that each remaining finger 200b can move flexibly relative to the palm 100.

[0051] In this embodiment, the magnetic encoder assembly 300 further includes a third magnetic encoder 330, a fourth magnetic encoder 340, and a fifth magnetic encoder 350. The third magnetic encoder 330 includes a third magnetic ring 331 and a third magnetic sensor 332 that work together. The fourth magnetic encoder 340 includes a first magnetic grating ruler 341 and a fourth magnetic sensor 342 that work together. The fifth magnetic encoder 350 includes a fifth magnetic ring 351 and a fifth magnetic sensor 352 that work together. One of the third magnetic ring 331 and the third magnetic sensor 332 is fixed to the first connecting end, and the other of the third magnetic ring 331 and the third magnetic sensor 332 is fixed to the proximal phalanx of the four fingers, and the third magnetic ring 331 is arranged around the third rotation axis; the first magnetic grating ruler 341 is fixed to one of the first rod 410 and the second rod 420, and the fourth magnetic sensor 342 is fixed to the other of the first rod 410 and the second rod 420; one of the fifth magnetic ring 351 and the fifth magnetic sensor 352 is fixed to the second connecting end, and the other of the fifth magnetic ring 351 and the fifth magnetic sensor 352 is fixed to the connecting part 220, and the fifth magnetic ring 351 is arranged around the fourth rotation axis.

[0052] Understandably, by configuring the third magnetic encoder 330, the fourth magnetic encoder 340, and the fifth magnetic encoder 350 in the above manner, the third magnetic ring 331 can rotate at the same angle relative to the third magnetic sensor 332 when the proximal phalanges of the other four fingers 200b rotate relative to the first rod 410 around the third rotation axis; when the first rod 410 retracts relative to the second rod 420, the first magnetic grating ruler 341 can move linearly with the same displacement relative to the fourth magnetic sensor 342; and when the second rod 420 retracts relative to the second rod 420... When the connecting part 220 rotates around the fourth rotation axis, the fifth magnetic ring 351 rotates at the same angle relative to the fifth magnetic sensor 352. This allows the rotation angle of the proximal phalanges of the four fingers relative to the first member 410 around the third rotation axis to be accurately detected by the third magnetic encoder 330, the extensional displacement of the first member 410 relative to the second member 420 to be accurately detected by the fourth magnetic encoder 340, and the rotation angle of the second member 420 relative to the connecting part 220 around the fourth rotation axis to be accurately detected by the fifth magnetic encoder 350. Therefore, by using the angle data detected by the third magnetic encoder 330 and the fifth magnetic encoder 350, and the displacement data detected by the fourth magnetic encoder 340, the bending motion data of the remaining fingers 200b relative to the palm 100 can be calculated, resulting in higher accuracy of the robotic hand grasping data collected by the data glove 1 in this embodiment.

[0053] Please see Figure 1-3 In one embodiment, the data glove 1 has multiple fingers 200, including a thumb 200a and the remaining fingers 200b. The thumb 200a includes two phalanges 210. The phalange closest to the palm 100 is the proximal phalanx, and the phalange furthest from the palm 100 is the distal phalanx. The thumb 200a also includes a second telescopic assembly 500 connected to the proximal phalanx. The second telescopic assembly 500 includes a telescopically connected third rod 510 and a fourth rod 520. The end of the third rod 510 furthest from the fourth rod 520 is a third connecting end, which is ball-jointed to the proximal phalanx. The end of the fourth rod 520 furthest from the third rod 510 is a fourth connecting end, which is rotatably connected to the connecting portion 220 about a fifth rotation axis, and the fifth rotation axis is parallel to the first rotation axis.

[0054] It should be noted that the ball joint connection between the third connecting end and the proximal phalanx of the thumb in this embodiment specifically means that: one of the third connecting ends and the proximal phalanx of the thumb is provided with a ball head (i.e., a spherical convex surface), and the other of the third connecting ends and the proximal phalanx of the thumb is provided with a ball socket (i.e., a spherical concave surface). The ball head is wrapped by the ball socket and can rotate freely relative to the ball socket, and the ball head is constrained by the ball socket and cannot detach from the ball socket.

[0055] Understandably, through the above settings, the thumb 200a of the data glove 1 can achieve flexion (i.e., the base of the thumb bends towards the palm, shortening the distance between the thumb and the palm) or extension (the base of the thumb moves towards the back of the hand, moving the thumb away from the palm) or small-amplitude free rotation of the thumb 200a relative to the palm 100 through the spherical rotation of the proximal phalanx of the thumb and the third connecting end, the extension and retraction of the third rod 510 relative to the fourth rod 520, and the rotation of the fourth connecting end relative to the connecting part 220 around the fifth rotation axis.

[0056] In this embodiment, the magnetic encoder assembly 300 further includes a sixth magnetic encoder 360 and a seventh magnetic encoder 370. The sixth magnetic encoder 360 includes a second magnetic scale 361 and a sixth magnetic sensor 362 that cooperate with each other. The seventh magnetic encoder 370 includes a seventh magnetic ring 371 and a seventh magnetic sensor 372 that cooperate with each other. The second magnetic scale 361 is fixed to one of the third rod 510 and the fourth rod 520, and the sixth magnetic sensor 362 is fixed to the other of the third rod 510 and the fourth rod 520. The seventh magnetic ring 371 and one of the seventh magnetic sensors 372 are fixed to the fourth connecting end, and the other of the seventh magnetic ring 371 and the seventh magnetic sensor 372 are fixed to the connecting part 220. The seventh magnetic ring 371 is arranged around the fifth rotation axis.

[0057] Understandably, through the above settings, when the third rod 510 extends or retracts relative to the fourth rod 520, the second magnetic scale 361 can generate a linear motion with the same displacement relative to the sixth magnetic sensor 362, thereby enabling the sixth magnetic encoder 360 to detect the linear displacement data of the third rod 510 relative to the fourth rod 520; when the fourth connecting end of the fourth rod 520 rotates relative to the connecting part 220 around the fifth rotation axis, the seventh magnetic ring 371 will generate a rotation with the same angle relative to the seventh magnetic sensor 372, thereby enabling the seventh magnetic encoder 370 to detect the angle of rotation of the fourth rod 520 relative to the connecting part 220.

[0058] In this embodiment, the data glove 1 further includes a three-dimensional rotation angle detector, which is disposed at the position where the third connecting end is connected to the ball joint of the proximal thumb phalanx and / or the position where the proximal thumb phalanx is connected to the ball joint of the third connecting end.

[0059] It should be noted that the three-dimensional rotation angle detector in this embodiment refers to an existing measuring element capable of measuring spherical rotation angles, such as common sensors like Hall effect sensors, fiber Bragg grating (FBG) sensors, inertial measurement units (IMUs), or three-dimensional potentiometers. The three-dimensional rotation angle detector is used to measure the spherical rotation angle between the proximal phalanx of the thumb and the third connecting end.

[0060] For example, the three-dimensional rotation angle detector may employ a Hall effect sensor, which includes a radially magnetized cylindrical magnet and multiple linear Hall sensors. The magnet is embedded in the center of the ball head of the ball-joint connection structure between the third connecting end and the proximal phalanx of the thumb. Multiple linear Hall sensors (e.g., 3-6) are evenly arranged on the inner surface of the ball socket of the ball-joint connection structure. When the ball head rotates relative to the ball socket, the spatial position and orientation of the magnet change, causing a change in the magnetic field strength of each linear Hall sensor. By measuring the output voltage of the multiple linear Hall sensors and establishing a magnetic field distribution model, the three-dimensional rotation angle of the ball head relative to the ball socket can be calculated.

[0061] Understandably, in this embodiment, by setting a three-dimensional rotation angle detector, the spherical rotation angle between the proximal phalanx of the thumb and the third connecting end can also be accurately measured. Therefore, by combining the spherical rotation angle measured by the three-dimensional rotation angle detector, the linear displacement measured by the sixth magnetic encoder 360, and the rotation angle detected by the seventh magnetic encoder 370, data on the flexion, extension, and small-amplitude free rotation of the thumb 200a relative to the palm 100 can be accurately detected, thereby making the robotic hand grasping data collected by the data glove 1 in this embodiment more accurate.

[0062] In one embodiment, a third magnetic encoder 330 is disposed on the side of the remaining fingers 200b along the direction of the third rotation axis, a fifth magnetic encoder 350 is disposed on the side of the remaining fingers 200b along the direction of the fourth rotation axis, and a seventh magnetic encoder 370 is disposed on the side of the thumb 200a along the direction of the fifth rotation axis.

[0063] Understandably, through the above settings, the third magnetic encoder 330, the fifth magnetic encoder 350, and the seventh magnetic encoder 370 will not be installed on the back or pad of the fingers 200 of the data glove 1. Therefore, after installing the third magnetic encoder 330, the fifth magnetic encoder 350, and the seventh magnetic encoder 370, the thickness of the data glove 1 will not increase, thereby making the thickness of the data glove 1 smaller and more advantageous for use in narrow spaces.

[0064] Please see Figure 1 and Figure 4 In one embodiment, the data glove 1 further includes a PCB board 600, with at least one PCB board 600 mounted on each finger 200, and the PCB board 600 is communicatively connected to the magnetic encoder assembly 300.

[0065] Understandably, by setting up the PCB board 600, the magnetic field change signals detected by the magnetic encoder assembly 300 (i.e., one or more of the first magnetic encoder 310, the second magnetic encoder 320, the third magnetic encoder 330, the fourth magnetic encoder 340, the fifth magnetic encoder 350, the sixth magnetic encoder 360, and the seventh magnetic encoder 370) on each finger 200 can be transmitted to the PCB board 600, so that the processor integrated on the PCB board 600 can calculate and process the magnetic field change signals to obtain the final measurement data.

[0066] Specifically, in one embodiment, a PCB board 600 is installed on each finger 200, so that the magnetic field change signals detected by all magnetic encoders on each finger 200 can be calculated and processed by a single PCB board 600, thereby reducing the number of PCB boards 600 and thus reducing the overall manufacturing cost and volume of the data glove 1.

[0067] Specifically, in one embodiment, the PCB board 600 is mounted on the back of the finger 200 to facilitate the installation and setup of the PCB board 600 and to facilitate communication between the PCB board 600 and the magnetic encoder assembly 300.

[0068] It should be noted that since the thickness of the PCB board 600 itself can be designed to be relatively small compared to the overall thickness of the data glove 1, the overall thickness of the data glove 1 will not be excessively increased, and thus will not significantly affect the use of the data glove 1 in narrow spaces.

[0069] More specifically, the PCB board 600 disposed on the other fingers 200b can be installed on the back of the middle phalanx 210.

[0070] Specifically, in one embodiment, the PCB board 600 and the magnetic encoder assembly 300 are communicatively connected via a flexible flat cable. Exemplarily, the flexible flat cable can be a flexible flat cable (FFC).

[0071] In one embodiment, the data glove 1 further includes a tactile sensor (not shown) for collecting tactile information. The tactile sensor is mounted on the fingertip surface of the phalanx 210 of the finger 200 that is closest to the palm 100 and / or on the fingertip surface of the phalanx 210 of the finger 200 that is furthest from the palm 100. In other words, the tactile sensor is mounted on the proximal phalanx and / or distal phalanx, where the proximal phalanx refers to the aforementioned proximal phalanx of the four fingers or the proximal phalanx of the thumb, and the distal phalanx refers to the aforementioned distal phalanx of the four fingers or the distal phalanx of the thumb.

[0072] It should be noted that tactile sensors refer to various existing sensors that can detect the magnitude and direction of contact force, as well as the temperature, texture, shape, hardness, and material characteristics of the contacted object.

[0073] In this embodiment, by installing tactile sensors on the fingertips of the proximal or distal phalanges of the fingers 200, it is possible to detect not only the bending angle of the phalanges 210 of the fingers 200, the swing angle of the fingers 200 relative to the palm 100, the bending angle of the other fingers 200b relative to the palm 100, and the flexion, extension, or small-amplitude free rotation angle of the thumb 200a relative to the palm 100, but also the magnitude and direction of the contact force, as well as the temperature, texture, shape, hardness, and material characteristics of the contact object. This results in richer grasping data collected by the data glove 1, making it more suitable for use by the robotic hand to achieve multimodal perception. Furthermore, by installing tactile sensors on the fingertips of the proximal or distal phalanges of the fingers 200, the tactile sensors are prevented from being squeezed by the phalanges 210 when the fingers 200 are bent, thus ensuring that the tactile sensors always function normally and better protecting them.

[0074] In one embodiment, any phalanx 210, rotating component, connecting portion 220, mating portion 110, first telescopic component 400, and second telescopic component 500 of finger 200 are all rigid components. This ensures that when any two adjacent phalanxes 210 of finger 200 are bent, finger 200 swings relative to palm 100, other fingers 200b are bent and rotated relative to palm 100, and thumb 200a is flexed, extended, or rotates freely with a small amplitude relative to palm 100, flexible deformation of phalanx 210, rotating component, connecting portion 220, mating portion 110, first telescopic component 400, and second telescopic component 500 is avoided, which would affect the accuracy of the robotic hand grasping data collected by the data glove 1.

[0075] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A data glove, comprising a support frame and a wearable component connected to the support frame, the support frame including a palm portion and multiple fingers movably mounted on the palm portion, each finger including multiple phalanges, one of any two adjacent phalanges being fixedly provided with a rotating member, the other of any two adjacent phalanges being provided with a rotating hole, the rotating member being rotatably inserted into the rotating hole to allow any two adjacent phalanges to be rotatably connected about a first rotating axis, characterized in that... The data glove also includes a magnetic encoder assembly, which includes a first magnetic encoder. The first magnetic encoder includes a first magnetic ring and a first magnetic sensor that cooperate with each other. The first magnetic ring is arranged around the first rotation axis and is fixed to the rotating member or the rotating hole. The first magnetic sensor is fixed to the adjacent finger bone with the rotating hole or the rotating member, corresponding to the first magnetic ring. Both the first magnetic ring and the first magnetic sensor are arranged on the side of the finger along the direction of the first rotation axis.

2. The data glove according to claim 1, characterized in that, The finger has a connecting part at one end near the palm, and a mating part is provided on the palm. The connecting part and the mating part are rotatably connected around a second rotation axis, which is perpendicular to the first rotation axis. The magnetic encoder assembly further includes a second magnetic encoder, which includes a second magnetic ring and a second magnetic sensor that cooperate with each other. The second magnetic ring is arranged around the second rotation axis and is fixed on the connecting part or the mating part. The second magnetic sensor is fixed on the palm or the finger corresponding to the second magnetic ring.

3. The data glove according to claim 2, characterized in that, The plurality of fingers includes a thumb and the remaining fingers, the remaining fingers including three phalanges, the phalange closest to the palm being the proximal phalanx of the fourth finger, the remaining fingers also including a first telescopic component, the first telescopic component including a first rod and a second rod telescopically connected, the end of the first rod away from the second rod being a first connecting end, the first connecting end being rotatably connected to the proximal phalanx of the fourth finger about a third rotation axis, the end of the second rod away from the first rod being a second connecting end, the second connecting end being rotatably connected to the connecting part about a fourth rotation axis, the third rotation axis and the fourth rotation axis being parallel to the first rotation axis; The magnetic encoder assembly further includes a third magnetic encoder, a fourth magnetic encoder, and a fifth magnetic encoder. The third magnetic encoder includes a third magnetic ring and a third magnetic sensor that work together. The fourth magnetic encoder includes a first magnetic scale and a fourth magnetic sensor that work together. The fifth magnetic encoder includes a fifth magnetic ring and a fifth magnetic sensor that work together. One of the third magnetic ring and the third magnetic sensor is fixed to the first connecting end, and the other of the third magnetic ring and the third magnetic sensor is fixed to the proximal phalanx of the four fingers, and the third magnetic ring is arranged around the third rotation axis; the first magnetic grating ruler is fixed to one of the first rod and the second rod, and the fourth magnetic sensor is fixed to the other of the first rod and the second rod; one of the fifth magnetic ring and the fifth magnetic sensor is fixed to the second connecting end, and the other of the fifth magnetic ring and the fifth magnetic sensor is fixed to the connecting part, and the fifth magnetic ring is arranged around the fourth rotation axis.

4. The data glove according to claim 2, characterized in that, The plurality of fingers includes a thumb and the remaining fingers. The thumb includes two phalanges, the phalange closest to the palm being the proximal phalanx of the thumb. The thumb also includes a second telescopic assembly, which includes a telescopically connected third and fourth rods. The end of the third rod away from the fourth rod is a third connecting end, which is ball-jointed to the proximal phalanx of the thumb. The end of the fourth rod away from the third rod is a fourth connecting end, which is rotatably connected to the connecting portion about a fifth rotation axis, which is parallel to the first rotation axis. The magnetic encoder assembly further includes a sixth magnetic encoder and a seventh magnetic encoder. The sixth magnetic encoder includes a second magnetic scale and a sixth magnetic sensor that cooperate with each other. The seventh magnetic encoder includes a seventh magnetic ring and a seventh magnetic sensor that cooperate with each other. The second magnetic scale is fixed to one of the third rod and the fourth rod, and the sixth magnetic sensor is fixed to the other of the third rod and the fourth rod. One of the seventh magnetic ring and the seventh magnetic sensor is fixed to the fourth connecting end, and the other of the seventh magnetic ring and the seventh magnetic sensor is fixed to the connecting part. The seventh magnetic ring is arranged around the fifth rotation axis. The data glove also includes a three-dimensional rotation angle detector, which is located at the position where the third connecting end is connected to the ball joint of the proximal thumb phalanx and / or the position where the proximal thumb phalanx is connected to the ball joint of the third connecting end.

5. The data glove according to claim 3 or 4, characterized in that, The third magnetic encoder is disposed on the side of the remaining fingers along the direction of the third rotation axis, the fifth magnetic encoder is disposed on the side of the remaining fingers along the direction of the fourth rotation axis, and the seventh magnetic encoder is disposed on the side of the thumb along the direction of the fifth rotation axis.

6. The data glove according to any one of claims 1-4, characterized in that, The data glove also includes multiple PCBs, with at least one PCB mounted on each finger, and the PCBs are communicatively connected to the magnetic encoder assembly.

7. The data glove according to claim 6, characterized in that, The PCB board is mounted on the back of the finger; and / or, the PCB board is communicatively connected to the magnetic encoder assembly via a flexible flat cable.

8. The data glove according to any one of claims 1-4, characterized in that, The data glove also includes a tactile sensor for collecting tactile information, the tactile sensor being mounted on the fingertip of the phalanx closest to the palm and / or the fingertip of the phalanx furthest from the palm.

9. The data glove according to any one of claims 1-4, characterized in that, The finger bone segment, the rotating component, the connecting part, the mating part, the first telescopic component, and the second telescopic component are all rigid components.

10. The data glove according to any one of claims 1-4, characterized in that, The rotating component is a threaded connector. One end of the rotating component is fixed to one of any two adjacent phalanges of the finger by a threaded connection, and the other end of the rotating component is rotatably inserted into the rotating hole provided in the other of any two adjacent phalanges of the finger.

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