Haptic Motion Platform Linkage for Precise Finger Force Feedback
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Solution Overview
Problem
Current haptic feedback technologies lack effective solutions for providing realistic force feedback to users in virtual or remote environments, especially in applications requiring precise finger movements like pinching and rubbing, with existing systems being complex and inefficient.
Innovation Solution
A motion platform and haptic feedback device featuring a static and dynamic platform connected by a linkage assembly, allowing for high stiffness, compact structure, and good dynamic performance, enabling precise relative motion between thumb and index finger to simulate virtual forces through a combination of parallelogram and two-bar linkage mechanisms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If complex linkage mechanisms are used to achieve precise finger motion, then motion precision is improved, but device complexity increases
Solution Approach 1:
The haptic feedback device is divided into multiple independent motion platforms, each responsible for a specific finger. Each platform uses a dedicated linkage mechanism (parallelogram linkage for one finger, two-bar linkage for another), allowing precise control of each finger independently while keeping individual mechanisms relatively simple and manageable.
Solution Approach 2:
The linkage mechanisms employ dynamic connection points and movable joints that allow the structure to adapt during motion. The parallelogram linkage maintains parallelism dynamically, while the two-bar linkage adjusts its configuration based on finger position, enabling precise motion control without requiring overly complex fixed structures.
2Strength
If multiple linkage mechanisms are used to achieve high stiffness, then structural rigidity is improved, but device complexity increases
Solution Approach 1:
Multiple linkage mechanisms (parallelogram linkage and two-bar linkage) are combined within each motion platform to achieve high structural rigidity. The parallelogram linkage provides stiffness through its parallel structure, while the two-bar linkage adds complementary rigidity, creating a robust combined mechanism that maintains firmness without requiring excessive individual components.
Solution Approach 2:
The linkage mechanisms use composite structural design combining different linkage types (parallelogram and two-bar) with varying structural characteristics. This composite approach allows the system to achieve high overall rigidity by leveraging the strengths of each linkage type while maintaining a relatively compact and manageable device structure.
3Volume of moving object
If compact structure is achieved through integrated linkages, then device volume is reduced, but manufacturing complexity increases
Solution Approach 1:
The linkage mechanisms are arranged in a nested or integrated manner where the parallelogram linkage and two-bar linkage share common components and space. The linkages are positioned to overlap or interlock efficiently, reducing the overall device volume while maintaining the functional independence of each mechanism for manufacturing purposes.
Solution Approach 2:
Certain linkage components serve multiple functions simultaneously - providing both structural support and motion transmission, or serving both fingers in a shared mechanism. This multi-functionality reduces the total number of parts needed, decreasing device volume while simplifying manufacturing by reducing the variety of unique components that must be produced.
Data Source
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AI summary
Disclosed are a motion platform (10), a haptic feedback device, and a man-machine interaction system. The motion platform (10) comprises a first platform (100) and a second platform (200) connected by means of a link assembly (300), and the link assembly (300), wherein the second platform (200) is configured to move relative to the first platform (100); the first platform (100) comprises a first power output device (101) comprising a first output shaft (1011), and a second power output device (102) comprising a second output shaft (1021); the link assembly (300) comprises a first parallelogram link mechanism and a second parallelogram link mechanism, which are connected to each other, and a two-link mechanism; the first parallelogram link mechanism is fixedly connected to the first output shaft (1011), the second parallelogram link mechanism is fixedly connected to the second platform (200), and the first output shaft (1011) is configured to drive the first parallelogram link mechanism and the second parallelogram link mechanism to move in a planar motion; one end of the two-link mechanism is fixedly connected to the second output shaft (1021), and the other end thereof is hinged to the second platform (200); and the second output shaft (1021) is configured to drive the two-link mechanism to move.