Rope-Driven Finger Force Feedback Device for Adaptive VR Haptics
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Solution Overview
Problem
Conventional force feedback devices are limited to whole-hand feedback and lack adaptability for different hand shapes, making them uncomfortable and less effective for finger-based interactions in virtual reality and teleoperation applications.
Innovation Solution
A two-degree-of-freedom rope-driven finger force feedback device with a self-adaptive handle mechanism, incorporating sensors and flexible materials, allows for gentle and accurate feedback by enabling independent movement of the thumb and index finger, and includes a hand support mechanism with a power motor, rotary discs, and sensors for real-time posture and force monitoring.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a rigid force feedback device is used, then the feedback force is accurate, but the adaptability for different hand shapes is poor and wearing comfort is reduced
Solution Approach 1:
The patent applies the dynamics principle by replacing rigid connections with flexible rope-driven mechanisms that can dynamically adapt to different hand shapes. The rope-driven system allows the feedback device to flex and conform to the user's hand geometry while maintaining accurate force feedback transmission through the flexible cable mechanism.
Solution Approach 2:
The patent implements parameter changes by using flexible materials and rope-driven transmission that can change their physical state and configuration. The flexible fixing ring and rope mechanism allow the device to adjust its geometric parameters to match different hand sizes and shapes, thereby improving adaptability while preserving feedback accuracy.
2Ease of operation
If a rope-driven mechanism is used, then the feedback is gentle and smooth, but the structural complexity increases
Solution Approach 1:
The patent uses the rope as an intermediary element that mediates between the motor-driven mechanism and the finger. This rope intermediary transmits the feedback force in a flexible, smooth manner while isolating the complexity of the drive mechanism from the interaction with the user's finger, thereby maintaining ease of operation.
Solution Approach 2:
The patent employs flexible components including the rope-driven cable and flexible fixing ring that act as flexible elements to transmit force smoothly. These flexible components allow for gentle force transmission while accommodating the natural movement and shape of the fingers, improving ease of operation despite the underlying mechanical complexity.
3Measurement precision
If sensors are added for real-time monitoring, then the interaction accuracy is improved, but the device weight and complexity increase
Solution Approach 1:
The patent replaces extensive mechanical sensing mechanisms with electronic sensors that can be integrated into the existing structure. By using electronic sensors (such as flex sensors or strain gauges) instead of complex mechanical measurement systems, the device achieves accurate hand posture and grip force monitoring while minimizing the addition of weight and structural complexity.
Data Source
AI summary
The present invention provides a two-degree-of-freedom rope-driven finger force feedback device. The two-degree-of-freedom rope-driven finger force feedback device includes a hand support mechanism, a thumb movement mechanism, an index finger movement mechanism, and a handle mechanism. The hand support mechanism includes a motor, a motor shaft sleeve, a sliding rail, and an inertial measurement unit (IMU) sensor. The thumb movement mechanism includes a long rotary disc, a torque sensor, an angle sensor, a thumb sleeve, a pressure sensor, two links, a thumb brace, and a thumb fixing ring. The handle mechanism includes a cylindrical handle, a pressure sensor, a flexible fixing band, and a slider. Torque is driven between the rotary disc and the motor by using a rope. The handle mechanism is movable forward and backward and is capable of automatic restoration. By means of the present invention, the problems of the high costs of a conventional finger force feedback device and the unadjustable characteristic of the conventional finger force feedback device are overcome. The device can be tightly worn and has a self-adaptive degree of freedom. Rope driving can ensure a gentle, smooth, and real feedback force. By means of the mounted sensors, information such as a hand posture, a rotation angle and a grip force of a thumb and an index finger, and a contact force of a middle finger can be transmitted in real time.