CN103158162A - External-framework type bidirectional force feedback data glove - Google Patents

External-framework type bidirectional force feedback data glove Download PDF

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CN103158162A
CN103158162A CN2011104247160A CN201110424716A CN103158162A CN 103158162 A CN103158162 A CN 103158162A CN 2011104247160 A CN2011104247160 A CN 2011104247160A CN 201110424716 A CN201110424716 A CN 201110424716A CN 103158162 A CN103158162 A CN 103158162A
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base
section
joint
finger
rocker arm
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CN2011104247160A
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CN103158162B (en
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苏茂
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苏茂
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Abstract

The invention provides to an external-framework type bidirectional force feedback data glove and relates to a force feedback data glove which is used for detecting human figure moving status and is provided with a bidirectional active drive to feed back force borne by an auxiliary hand. The external-framework type bidirectional force feedback data glove aims to resolve the problems that an existing force feedback data glove is separated in measurement mechanism and feedback mechanism, complex in system, tumid in structure, difficult to maintain, unachievable in bidirectional drive, expensive in price and the like. According to the external-framework type bidirectional force feedback data glove, a joint detection mechanism is connected with a force feedback mechanism into a whole, a unique connecting mode and an ingenious joint measurement point layout are used, five fingers of a user are enabled to keep the maximum flexibility when the force feedback data glove is used, the moving status of each joints of the fingers can be detected accurately, the movement of each finger joint of the controlled auxiliary hand is enabled to be coordinated with the movement of a corresponding finger joint of an operator, the force bearing conditions of the auxiliary hand in a specific working environment can be fed back to the operator, and the immediacy sense of a virtual reality or a remote operation is enhanced.

Description

外构架式双向力反馈数据手套 Outside the framework of two-way force feedback data glove

技术领域 FIELD

[0001] 本发明涉及一种检测人手手指运动状态,并具有双向主动驱动和力反馈功能的数据手套。 [0001] The present invention relates to a method of detecting human hand finger motion, and having a driving way active force feedback and data gloves.

背景技术 Background technique

[0002] 由于科学技术的发展,机器人逐渐在越来越大的范围内被使用,遥操作机器人作为一种性能可靠、技术成熟的机器人被广泛用于各种危险的、情况复杂的、人类无法到达的环境中工作,它采用的是非常可靠的控制方式,直接由操作者发出指令来控制。 [0002] Since the development of science and technology, Robots are being used in an increasing range, Telerobot one property as a reliable, mature technology robots are widely used in a variety of dangerous and complex situation, humans can not reaches the work environment, it uses a very reliable control, an instruction issued by the operator directly controlled. 随着遥操作机器人执行的任务越来越复杂,使得人们在追求可靠性的同时,还对其灵活性提出了更高的要求,而要对复杂的机械手实施遥操作,控制机械手多个手指的多个关节一起协调运动,以实现特定功能,这就需用到数据手套,而具有力反馈功能的数据手套是对机器人的机械手实施遥操作的最有效装置,它通过测量操作者手指各个指节的位置信息作为控制指令控制机械手的手指跟踪人手手指运动,并能将机械手各个关节在运动过程中的受力情况在数据手套上模拟出来,作用在操作者的手上,使操作者产生很强的临场感。 With the increasingly complex task performed by the robot remote operation, so that people in the pursuit of reliability, but also put forward higher requirements on their flexibility, and to the implementation of complex robot remote operation and control multiple fingers of the robot a plurality of coordinate movement joints together to achieve a specific function, which required the data glove, the glove having a force feedback function of the data is the most effective means for the robot manipulator teleoperation embodiment, each of the knuckles which the operator's finger by measuring location information as a control command that controls the robot hand finger tracking finger motion, the forces and can each joint in the robot movement is simulated on the data glove, acting in the operator's hand, so that the operator produces a strong telepresence. 此外,近年来虚拟仿真技术不断发展,其主要的交互设备就是力反馈数据手套,例如在一个由计算机虚拟的场景里,控制一双虚拟的人手拆卸或装配机器等,还有游戏、3D动画制作等都需要用到力反馈数据手套,但目前市场上的力反馈数据手套系统复杂,价格极为昂贵,使其无法大量普及、推广和使用。 In addition, in recent years, virtual simulation technology continues to develop, the main equipment is the interaction force feedback data gloves, for example, by a computer in a virtual scene, virtual control of one pair of hands disassembly or assembly machines, etc., as well as games, 3D animation, etc. We need to use force feedback data glove, but the force feedback data glove complex systems on the market, the price is extremely expensive, so not a lot of popularity, promotion and use.

发明内容 SUMMARY

[0003] 本发明的目的是针对现有的力反馈数据手套价格昂贵、系统复杂、维护困难等缺点,提出了一种将外置角度传感器和关节双向主动驱动装置结合为一体,在检测人手关节运动信息的同时也将反馈回来的力觉信息转化成力或力矩直接作用于人手的方法,极大简化了复杂的力反馈数据手套系统。 [0003] The object of the present invention is the feedback data glove expensive, complex system, difficult to maintain a force against the prior disadvantages, proposed a bidirectional external articulation angle sensor and the positive drive means is integral, hand joints detected at the same time the motion information is also fed back to the force sense information into direct force or torque acting on the manual method, greatly simplifies the complexity of the data glove force feedback system. 本发明可检测和驱动人手五个手指所有关节的运动,其难点在于依附在人手外部的构架的设计,因为外置角度传感器的体积较大,再加上驱动电机、齿轮、摇臂、连杆等部件,会干扰手指的运动,但本发明通过对外部构架的优化设计,在各个关节基座之间采用独特的连接方式,并对各关节测量点巧妙布局,降低或消除了检测机构和驱动机构对操作者手指运动的阻碍和影响,令操作者在使用该力反馈数据手套时,其五个手指的运动还能保持最大程度的灵活和轻巧。 The present invention can detect the motion and drive all five fingers hand joints, which difficulty is attached outside the frame design human hand, since the larger the volume of the external angle sensor, coupled with a drive motor, a gear, rocker arm, connecting rod and other components, will interfere with the movement of the finger, but the present invention is designed by optimizing the external framework, between each unique base joint connection, and the measuring points of the joints clever layout, reducing or eliminating the detection means and the drive obstacles and the impact on the operator's finger movement mechanism, so that the operator in the use of the force feedback data glove, the movement of the five fingers can maintain maximum flexibility and lightweight. 本发明在关节驱动装置里加入了离合器,当系统有力反馈信号时,驱动电机连接被驱动的关节,并对关节施加力的作用,当系统没有力反馈信号时,驱动电机断开被驱动关节的连接,减少和降低了关节运动的阻力,使关节的运动更加顺畅。 The present invention was added in the joint drive means in the clutch, when the system is powerful feedback signal is connected to a drive motor driven joints, and the joint action of the force applied, when the system does not force the feedback signal, the driving motor is driven to disconnect the joint connection, and lower resistance reducing articulation of the joint movement more smoothly. 力反馈数据手套五个手指关节的运动角度由设置在手套上相应的角度传感器通过相应的数学算法测量,所有关节在其运动方向或复杂运动的分解方向上都设置有独立的驱动装置,每一个驱动装置又与被驱动关节上相应的角度传感器配合工作形成闭环控制,以实现力反馈控制并提高其精确性。 Force feedback data glove five finger joint angle of movement provided by the glove on the respective sensors through respective measured angle of a mathematical algorithm, all the joints in the direction of its movement direction or an exploded complex motion is provided with an independent driving means, each of and a closed loop control drive means corresponding to the angle sensor cooperates joints are driven to realize the force feedback control and improve its accuracy. 本发明可以精确、灵敏地检测出拇指、食指、中指、无名指、小指的各个指节在三维空间中的位置和运动状态,并对每个关节具有双向主动驱动和力反馈功能,使用简单,穿戴方便,容易维护,并可极大降低力反馈数据手套的成本。 The present invention can accurately and sensitively detected the thumb, index finger, middle finger, ring finger, and the position of each knuckle motion in three dimensional space of the little finger, and each joint has a bidirectional driving and active force feedback, using simple, wearable convenient, easy to maintain, and can greatly reduce the cost of force-feedback data glove. 附图说明 BRIEF DESCRIPTION

[0004] 图1是本发明整体结构的轴侧图。 [0004] FIG. 1 is an isometric view of the overall configuration of the present invention.

[0005] 图2是本发明整体结构的下视图。 [0005] FIG. 2 is a view of the overall configuration of the present invention.

[0006] 图3是手套101与手掌基座102及各指节机构分解示意图。 [0006] FIG. 3 is a glove 102 and each base 101 and the palm exploded view of the knuckle mechanism.

[0007] 图4是驱动部件111的结构示意图。 [0007] FIG. 4 is a schematic structural diagram of the drive member 111.

[0008] 图5是拇指检测驱动机构103的腕掌关节结构示意图。 [0008] FIG. 5 is a schematic view of the carpometacarpal joint of the thumb is detected configuration of the drive mechanism 103.

[0009] 图6是拇指检测驱动机构103的放大视图。 [0009] FIG. 6 is an enlarged view of the driving mechanism 103 of a thumb is detected.

[0010] 图7是拇指检测驱动机构103的结构示意图。 [0010] FIG. 7 is a schematic structural diagram of detecting a thumb drive mechanism 103.

[0011] 图8是掌指关节检测驱动机构108的三视图及轴测图。 [0011] FIG. 8 is a view of the metacarpophalangeal and 108 three isometric view of a joint detection driving means.

[0012] 图9是掌指关节检测驱动机构108的结构示意图。 [0012] FIG. 9 is a schematic structural diagram of the metacarpophalangeal joint detection driving mechanism 108.

[0013] 图10是关节检测驱动机构109的三视图及轴测图。 [0013] FIG. 10 is a joint detection drive means and three-view perspective of FIG. 109.

[0014] 图11是关节检测驱动机构109的结构示意图。 [0014] FIG. 11 is a schematic structural diagram of a joint detection driving mechanism 109.

[0015] 图12是食指检测驱动机构104的结构示意图。 [0015] FIG. 12 is a schematic view of the drive mechanism 104 detecting the index finger.

[0016] 图13是中指检测驱动机构105的结构示意图。 [0016] FIG. 13 is a schematic structural diagram of the drive means 105 detects the finger.

[0017] 图14是无名指检测驱动机构106的结构示意图。 [0017] FIG. 14 is a schematic structural diagram of ring detector 106 of the drive mechanism.

[0018] 图15是小指关节检测驱动机构110的三视图及轴测图。 [0018] FIG. 15 is a little finger joint detection drive means and three-view perspective of FIG. 110.

[0019] 图16是小指关节检测驱动机构110的结构示意图。 [0019] FIG. 16 is a schematic structural diagram of the little finger joint detection driving mechanism 110.

[0020] 图17是小指检测驱动机构107的结构示意图。 [0020] FIG. 17 is a schematic structural diagram of the driving mechanism 107 of the little finger is detected.

具体实施方式 Detailed ways

[0021] 本发明主要零部件: [0021] The main components of the present invention:

[0022] 101.手套 102.手掌基座 103.拇指检测驱动机构 [0022] 101. 102. glove palm thumb detection driving mechanism 103. The base

[0023] 104.食指检测驱动机构 105.中指检测驱动机构 106.无名指检测驱动机构 [0023] 104. The driving mechanism 105. The detected index finger 106. The finger detecting means detects the driving mechanism driving

[0024] 107.小指检测驱动机构 108.掌指关节检测驱动机构109.关节检测驱动机构 [0024] 107. The driving mechanism 108. The detected little finger metacarpophalangeal joint detector 109. The joint detecting means driving mechanism driving

[0025] 110.小指关节检测驱动机构111.驱动部件 3.拇指远指节 [0025] 110. The little finger-joint detecting means 111. The drive member 3. The drive thumb distal phalanx

基座 Base

[0026] 4.拇指近指节基座 5.拇指掌指节基座 6.食指远指节 [0026] 4. The proximal thumb knuckle of the base section of the base of the thumb finger distal phalanx 6

基座 Base

[0027] 9.中指远指节基座 12.无名指远指节基座 15.小指远指 [0027] 9. The middle section of the base 12. A distal finger ring base 15. The distal phalanx of the little finger means away

节基座 Section base

[0028] 18.角度传感器 20.球头 21.球头扣连杆 [0028] 18. The angle sensor 20. The ball 21. Ball trip link

[0029] 22.齿轮箱底座 29.掌指关节基座 40.微型电机 [0029] 22. The gear box 29. The base of the metacarpophalangeal joint of the base 40. Micro motor

[0030] 41.离合器摩擦片 42.摩擦片滑杆 43.回位拉簧[0031] 44.离合器盖 53.指节基座 58.指节基座 [0030] 41. The friction clutch plate 42. A slider plate 43. The tension spring return [0031] 44. A clutch cover 53. The knuckles of the base 58. The base phalanx

[0032] 60.减速齿轮组 [0032] 60. The reduction gear train

[0033] 具体实施方式一:如图1、图2和图3所示,所述外构架式双向力反馈数据手套,包括手套101、手掌基座102、拇指检测驱动机构103、食指检测驱动机构104、中指检测驱动机构105、无名指检测驱动机构106、小指检测驱动机构107和掌指关节检测驱动机构108。 [0033] DETAILED DESCRIPTION a: 1, 2 and 3, the outer frame of formula bilateral force feedback data glove comprising a glove 101, 102, 103, the index finger base detection driving means palm thumb drive detecting means 104, middle finger 105 detects the drive means, the drive means 106 detects the ring finger, little finger and the detection driving means 107 detects the metacarpophalangeal joint drive mechanism 108. 所述外构架式双向力反馈数据手套可适用于大多数操作者不同大小的手型,所以大部分部件均预设有多个呈直线排列的安装孔,使操作者可根据实际需要选择合适的位置安装相关部件,让数据手套的各个关节点与操作者手指的各个关节点的位置对应达到最佳状态。 The force feedback type bilateral outer frame data glove adapted to different sizes of most operators hand type, so most parts are preset as a plurality of mounting holes arranged in line so that the operator can select the appropriate according to the actual needs of the respective positions of the respective joints and the joints of the operator position associated mounting member, so that data corresponding to gloved finger to achieve the best. 所述手套101使用橡胶、棉、布、皮等柔性材料制成,以保证操作者带上手套后,手指的各个关节仍能灵活运动。 The rubber glove 101, cotton, cloth, leather and other flexible material, to ensure that the operator wear gloves, finger joints still flexible movement of each. 所述手掌基座102设有孔座A、B、C、D、E,应使B、C、D和E四个孔座分别置于手套101所对应的食指、中指、无名指和小指的掌指关节位置上方,并通过粘合或其他方式将手掌基座102固定于手套101的手掌部位。 The base 102 is provided with a hole palm Block A, B, C, D, E, should be B, C, D and E were placed in the glove base four holes 101 corresponding to the index, middle, ring and little fingers of the palm knuckle upper position, and by bonding or otherwise secured to the palm of the hand palm area 102 of the base 101 of the glove.

[0034] 具体实施方式二:如图1、图2、图3、图4、图5、图6和图7所示,所述拇指检测驱动机构103包括与手掌基座102顺序绞接的姆指掌指节基座5、姆指近指节基座4和姆指远指节基座3,每相邻的两个基座铰接处均安装有检测关节运动信息的角度传感器18及驱动部件111,检测拇指各个指节在三维空间中的位置和运动状态,并在驱动部件111的作用下实现力反馈功能。 [0034] DETAILED Embodiment 2: 1, 2, 3, 4, 5, 6 and 7, the means 103 comprises a detection driving thumb and palm 102 of the base sequence of the hinged Farm palmar base knuckle 5, a thumb-knuckle near the base 4 and the base 3 thumb distal phalanx, each adjacent two base hingedly mounted at both the articulation angle sensor for detecting information 18 and the drive member 111, the position detecting section and each finger thumb motion in three-dimensional space, and implement force feedback by the driving member 111.

[0035] 如图4所示,所述驱动部件111包括微型电机40和离合器,所述离合器由离合器摩擦片41、摩擦片滑杆42、回位拉簧43、离合器盖44组成,摩擦片滑杆42与微型电机40的轴固接,两片离合器摩擦片41分别套入摩擦片滑杆42两端,两片离合器摩擦片41之间连接有回位拉簧43,离合器盖44套入微型电机40的轴,离合器盖44与微型电机40的轴之间为滑动接触,离合器盖44上设有传动齿轮。 [0035] As shown in FIG. 4, the drive member 111 comprises a micro-motor 40 and a clutch 41 by the clutch plate, the friction slider plate 42, the return extension spring 43, composed of a clutch cover 44, the slide friction sheet micro-motor and the rod 42 is fixed to shaft 40, two clutch plates friction sheet 41 are set into the slider 42 at both ends, is connected between the two clutch plates 41 return extension spring 43, the microcomputer 44 sets the clutch cover axis motor 40, the shaft between the clutch cover 44 and the micro-motor 40 is in sliding contact with the clutch cover 44 is provided on the drive gear. 动作实施过程:当微型电机40转速高于一定值时,两片离合器摩擦片41克服回位拉簧43的拉力分别向摩擦片滑杆42的两末端滑动并与离合器盖44的内壁接触,对离合器盖44产生摩擦力,带动离合器盖44转动;当微型电机40转速低于一定值时,两片离合器摩擦片41在回位拉簧43的作用下向轴心方向滑动,与离合器盖44的内壁分离,切断离合器盖44与微型电机40的连接。 Action implementation: when the micro-motor 40 speed is higher than a certain value, two clutch plates 41 against the restoring force of the tension spring 43 to both ends of each slide friction sheet 42 and the inner wall of the slider 44 in contact with the clutch cover, for frictional force of the clutch cover 44, the cover 44 is rotated to drive the clutch; micro-motor 40 when the rotational speed falls below a certain value, the two clutch plates 41 slide in the axial direction under the action of the return of the tension spring 43, the clutch cover 44 an inner wall separated and disconnect clutch cover 44 and the micro-motor 40.

[0036] 如图5、图6和图7所示,所述拇指掌指节基座5通过粘合或其他方式固定于手套101上所对应的拇指掌指节部位,拇指掌指节基座5沿着人手拇指掌指节外部肌肉的不规则轮廓,采用半环形包围(掌指节背面-掌指节外侧面-掌指节正面)拇指掌指节,在该基座位于拇指掌指节背面的位置设有一摇臂F,外侧面位置设有一孔座G。 [0036] 5, 6 and 7, the base of the thumb knuckle 5 by bonding or otherwise secured to the glove 101 corresponding to the knuckle of the thumb, the base of the thumb knuckle 5 metacarpophalangeal irregular profile along the outer section of the hand thumb muscle, surrounds the semi-ring (back surface section metacarpophalangeal - metacarpophalangeal lateral section - metacarpophalangeal front section) of the thumb section, located at the base of the thumb metacarpal knuckles the reverse side is provided with a rocker arm F, the position of the outer side surface is provided with a socket for G. 拇指掌指节基座5的摇臂F与摇臂19通过球头20和球头扣连杆21配合的球形铰链连接,所述摇臂19与角度传感器18的轴通过螺钉35固接,所述角度传感器18通过螺钉36固定在手掌基座102的孔座A内,所述摇臂19上的齿轮轴心与摇臂转动的轴心重合,所述摇臂19的齿轮通过减速齿轮组60的配合与驱动部件111的齿轮啮合,所述驱动部件111安装在手掌基座102的孔座N内,该驱动机构通过齿轮箱盖45固定。 F of the thumb rocker and the rocker arm section 5 of the base 19 with a hinge connected by a spherical ball 20 and the ball head buckle link 21, the rocker arm shaft 19 and the angle sensor 18 is fixed by screws 35, the said angle sensor 18 is fixed by a screw 36 within the bore 102 of housing base a palm, the rocker gear axis coincident with the axis of rotation of the rocker arm 19 on the rocker gear 19 via a reduction gear set 60 the mating gear 111 meshing with the drive member, the drive member 111 mounted in the palm of the boss N base 102, the driving mechanism 45 is fixed by the gear case cover. 动作实施过程:当操作者的腕掌关节(CP)运动时,依附于拇指掌指节上的拇指掌指节基座5跟随一起运动,并通过球头扣连杆21带动摇臂19转动,使得孔座A内与摇臂19联动的角度传感器18能测量出操作者的腕掌关节(CP)运动的角度和状态,当控制系统无力反馈信号时,则孔座N内的驱动部件111无动作,摇臂19动作不受干扰,当控制系统有力反馈信号时,则孔座N内的驱动部件111启动,通过减速齿轮组60的配合对摇臂19在其运动方向上施加一个同向或反向的力,同时控制系统再根据孔座A内的角度传感器18检测到的关节角度的变化,运用相应的数学算法持续地输出和修正驱动力的大小,推动或阻碍拇指的腕掌关节(CP)运动,实现该关节的力反馈功能。 Action implementation: When an operator carpometacarpal joint (CP) movement, attached to the base of the thumb on the thumb metacarpal section 5 follows the movement of the base section together, and the trip link 21 by a ball head 19 is rotated to drive the rocker arm, such that the carpometacarpal joint linkage 19 and the rocker arm angle sensor 18 that an operator can measure the angle a within the boss and status (CP) movement, when the system is unable to control a feedback signal, the drive member 111 within the housing bore without N action, uninterrupted operation of the swing arm 19, when the control system powerful feedback signal, the drive member in the boss N 111 starts by fitting a gear reduction set 60 of the rocker arm 19 in the direction of movement thereof is applied in the same or a reverse force while the control system and then to detect a change in the joint angle from the angle sensor within the housing bore a 18, using the appropriate mathematical algorithm output continuously correcting driving force and magnitude to promote or hinder the carpometacarpal joint of the thumb ( CP) movement, to achieve the joint force feedback.

[0037] 如图7所示,所述拇指近指节基座4通过粘合或其他方式固定于手套101上所对应的拇指近指节部位,拇指近指节基座4半包围拇指近指节,其包围结合处的横截面为“C”形,开口朝向手掌正面一侧,在该基座位于拇指近指节外侧面的位置设有两个孔座H和K,两个孔座的位置分别对应于拇指的掌指关节(MP)和指间关节(DIP)。 [0037] As shown in FIG 7, the proximal thumb knuckle of the base 4 is fixed by bonding or other means on the corresponding glove 101 proximal thumb knuckle, proximal thumb knuckle partial surrounding the base 4 near the thumb finger section, which surrounds the cross-section of the junction of a "C" shaped, opening towards the front side of the palm, the thumb is located near the base of the lateral section refers to the position of the seat is provided with two holes H and K, two socket for positions respectively correspond to the metacarpophalangeal joint of the thumb (MP) and interphalangeal joint (DIP). 拇指近指节基座4与拇指掌指节基座5通过摇臂28、连杆26、摇臂27铰接,所述摇臂28 (内嵌轴承23)的底部与角度传感器18的轴通过螺钉36固接,所述角度传感器18由齿轮箱底座22及螺钉35固定在拇指近指节基座4的孔座H内,所述摇臂28上的齿轮轴心与摇臂转动的轴心重合,所述摇臂28的齿轮通过减速齿轮组60的配合与驱动部件111的齿轮啮合,所述驱动部件111安装在拇指近指节基座4上,该驱动机构通过齿轮箱盖47和齿轮箱盖48固定。 Near the base of the thumb knuckle 4 and the base of the thumb knuckle 5 through the swing arm 28, link 26, the rocker arm 27 hinged to the rocker arm shaft 28 (bearing 23 embedded) in the bottom of the angle sensor 18 by screws 36 fixed, the angle sensor 18 by the gear box 22 and a screw base 35 fixed to the section near the base of the thumb finger hole H 4 of the seat, the axis of the rocker and the rocker gear axis 28 coincides with the rotation of the the rocker gear 28 through the gear reduction gear set 60 with the drive member 111 engages the drive member 111 is mounted on the proximal thumb finger section base 4, the driving mechanism through a gear box 47 and the gear cover cover 48 is secured. 所述摇臂28与连杆26 —端通过螺钉24铰接,所述连杆26另一端与摇臂27通过螺钉24铰接,所述摇臂27 (内嵌轴承23)与角度传感器18的轴通过螺钉36固接,所述角度传感器18通过螺钉35固定在拇指掌指节基座5的孔座G内,所述摇臂27上的齿轮轴心与摇臂转动的轴心重合,所述摇臂27的齿轮通过减速齿轮组60的配合与驱动部件111的齿轮啮合,所述驱动部件111安装在拇指掌指节基座5上,该驱动机构通过齿轮箱盖46固定。 The swing arm 28 and the link 26 - 24 is hinged by a screw end, the rocker arm 26 the other end of the connecting rod 27 is hinged by a screw 24, the rocker 27 (embedded bearing 23) and the angle sensor 18 by screw 36 fastened, the angle sensor 35 is fixed by screws 18 metacarpophalangeal thumb in the hole 5 of the base housing section G, the rocker gear axis coincident with the axis of rotation of the rocker arm 27 on the rocker the gear arm 27 by engagement with the driving gear member 60 of the reduction gear set 111, drive member 111 is mounted in the base of the thumb on the base section 5, the driving mechanism 46 is fixed by the gear case cover. 动作实施过程:人手拇指的近指节可绕掌指关节(MP)转动,可将其分解为两个方向上的分运动,一个是平行于拇指近指节侧面的屈伸运动,另一个是平行于拇指近指节背面的外展或内收运动,当操作者拇指的掌指关节(MP)做屈伸运动时,依附于拇指近指节上的拇指近指节基座4跟随一起运动,并通过摇臂28和连杆26带动摇臂27转动,使得孔座G内与摇臂27联动的角度传感器18能测量出操作者拇指的掌指关节(MP)屈伸的角度和状态,当控制系统无力反馈信号时,则拇指掌指节基座5上的驱动部件111无动作,摇臂27动作不受干扰,当控制系统有力反馈信号时,则拇指掌指节基座5上的驱动部件111启动,通过减速齿轮组60的配合对摇臂27在其运动方向上施加一个同向或反向的力,同时控制系统再根据孔座G内的角度传感器18检测到的关节角度的变化,运用相应的数学算法持 Action implementation: hand thumb knuckle rotatable about near the metacarpophalangeal joint (MP) is rotated, it can be decomposed into partial movement in both directions, one parallel to the flexion and extension of the thumb knuckle near the side of the other parallel a thumb abduction motion near that closed section or the back surface, when the operator's palm when the thumb joint (MP) flexion and extension movement, attached near the thumb finger on the thumb knuckle near the base section 4 to follow the movement together, and by the swing arm 28 and the link 26 is rotated to drive a rocker arm 27, the rocker arm 27 so that the linkage angle sensor 18 can measure the thumb of the operator is within the socket of G metacarpophalangeal joint (MP) and the angle of flexion state, when the control system when weak feedback signal, the drive member of the thumb on the base section 5111 no action, uninterrupted operation of the swing arm 27, when the control system powerful feedback signal, the drive member of the thumb on the base section 5111 start, the rocker 27 exerts a force on the same or opposite in its direction of movement, while the control system and then to detect a change in the joint angle of the angle sensor within the housing bore through G 18 with a gear reduction set 60, using corresponding mathematical algorithm support 地输出和修正驱动力的大小,推动或阻碍拇指的掌指关节(MP)屈伸运动,实现该关节的力反馈功能;当操作者拇指的掌指关节(MP)做外展或内收运动时,在该动作方向上,拇指掌指节基座5与摇臂27、连杆26、摇臂28是刚性连接的,所以依附于拇指近指节上的拇指近指节基座4直接带动孔座H内的角度传感器18转动,使得孔座H内的角度传感器18能测量出操作者拇指的掌指关节(MP)外展或内收的角度和状态,当控制系统无力反馈信号时,则拇指近指节基座4上的驱动部件111无动作,摇臂28动作不受干扰,当控制系统有力反馈信号时,则拇指近指节基座4上的驱动部件111启动,通过减速齿轮组60的配合对摇臂28在其运动方向上施加一个同向或反向的力,同时控制系统再根据孔座H内的角度传感器18检测到的关节角度的变化,运用相应的数学算法持续地输出和修正驱动力 When the operator's thumb metacarpophalangeal joint (MP) make close motion abduction or inside; output and correcting the driving amount of force, to promote or hinder the thumb metacarpophalangeal joint (MP) flexion and extension, to achieve a force feedback function of the joint , in the direction of action, the base of the thumb section 5 and the rocker arm 27, link 26, the swing arm 28 is rigidly connected, so attached to the thumb on the thumb finger near the proximal interphalangeal section 4 is directly driven by the base aperture section the angle sensor is rotated in holder H 18, such that the angle sensor within the housing bore H 18 that an operator can measure the angle and metacarpophalangeal thumb joints receiving state (MP) or the abduction, when the system is unable to control the feedback signal, proximal thumb finger drive member 4 on the base 111 no action, uninterrupted operation of the swing arm 28, when the feedback control system is a powerful signal, the proximal interphalangeal thumb drive member 4 on the base 111 to start, through the reduction gear set 60 with the swing arm 28 is applied with a force in the opposite direction or the direction of movement thereof, while the change control system then detects the joint angle of the angle sensor within the housing bore H 18, using the appropriate mathematical algorithm continuously and the driving force output correction 大小,推动或阻碍拇指的掌指关节(MP)外展或内收运动,实现该关节的力反馈功能。 Size, to promote or hinder the metacarpophalangeal joint of the thumb (MP) or abduction movement of the closing, to achieve the force feedback function of the joint.

[0038] 如图7所示,所述拇指远指节基座3通过粘合或其他方式固定于手套101上所对应的拇指远指节部位,拇指远指节基座3的一端为包围拇指远指节的柱形,另一端为半球形,整个基座的纵截面为“U”形,开口朝向拇指指间关节(DIP),在该基座位于拇指远指节外侧面的位置设有一滑槽。 [0038] As shown in FIG. 7, the distal phalanx of the thumb base 3 is fixed by bonding or other means to the glove 101 corresponding to the distal thumb knuckle thumb distal refers to the end section of the base 3 so as to surround the thumb means a columnar far, the other end of the hemispherical section, a longitudinal section of the entire base is "U" shaped, opening towards the thumb joint (the DIP), located at the base of the thumb finger distal position of the lateral section is provided with a chute. 拇指远指节基座3与拇指近指节基座4通过摇臂25铰接,所述摇臂25 —端嵌入拇指远指节基座3的滑槽内,并通过螺钉24限位,所述摇臂25 (内嵌轴承23)另一端与角度传感器18的轴通过螺钉36固接,所述角度传感器18由齿轮箱底座22及螺钉35固定在拇指近指节基座4的孔座K内,所述摇臂25上的齿轮轴心与摇臂转动的轴心重合,所述摇臂25的齿轮通过减速齿轮组60的配合与驱动部件111的齿轮啮合,所述驱动部件111安装在拇指近指节基座4上,该驱动机构通过齿轮箱盖49固定。 Distal thumb knuckle near the base of the thumb knuckle 3 with base 4 through the rocker arm 25 is hinged, the rocker 25 - end of the chute means fitted thumb away section of the base 3 by screws 24 and limit the the rocker arm 25 (embedded bearing 23) and the other end of shaft angle sensor 18 is fixed by screws 36, the angle sensor 18 by the gear box 22 and a screw base 35 is fixed to base K near the hole finger section base 4 thumb the rocker gear axis coincident with the axis of rotation of the rocker arm 25 on the rocker gear 25 by meshing gear reduction gear set 60 with the drive member 111, drive member 111 is mounted on the thumb near the base section 4 refers to the driving mechanism 49 is fixed by the gear case cover. 动作实施过程:当操作者拇指的指间关节(DIP)做屈伸运动时,依附于拇指远指节上的拇指远指节基座3跟随一起运动,从而带动摇臂25转动,使得孔座K内与摇臂25联动的角度传感器18能测量出操作者拇指的指间关节(DIP)屈伸的角度和状态,当控制系统无力反馈信号时,则拇指近指节基座4上的驱动部件111无动作,摇臂25动作不受干扰,当控制系统有力反馈信号时,则拇指近指节基座4上的驱动部件111启动,通过减速齿轮组60的配合对摇臂25在其运动方向上施加一个同向或反向的力,同时控制系统再根据孔座K内的角度传感器18检测到的关节角度的变化,运用相应的数学算法持续地输出和修正驱动力的大小,推动或阻碍拇指的指间关节(DIP)运动,实现该关节的力反馈功能。 Action implementation: When an operator's thumb interphalangeal joint (DIP) flexion and extension movement, attached to the thumb on the thumb finger distal section distal phalanx follow the movement of the base 3 together, so as to drive the rocker arm 25 is rotated, so that the boss K the rocker arm 25 in conjunction with an angle sensor 18 that an operator can measure the thumb interphalangeal joint (DIP) and the angle of flexion state, when the control system is unable to the feedback signal, the drive member proximal thumb finger on the base section 4111 no action, uninterrupted operation of the swing arm 25, when the feedback control system is a powerful signal, the proximal interphalangeal thumb drive member 4 on the base 111 starts, the upper fitting via the deceleration gear group 60 the rocker arm 25 in the direction of movement thereof a force is applied in the same or reverse, the control system again while the joint angle according to a change in the angle sensor detected by the boss K 18, using a mathematical algorithm corresponding to the size and output continuously corrected driving force to promote or hinder the thumb the force interphalangeal joints (DIP) movement, to achieve the joint feedback function.

[0039] 具体实施方式三:如图1、图8和图9所示,所述掌指关节检测驱动机构108包括驱动部件111、摇臂27、掌指关节基座29、连杆38、齿轮箱盖50和两个角度传感器18。 [0039] DETAILED Embodiment 3: 1, 8 and 9, the metacarpophalangeal joint detection driving mechanism 108 includes a drive member 111, the rocker arm 27, metacarpophalangeal joint base 29, rod 38, the gear two angle sensors 50 and cover 18. 掌指关节基座29底部(内嵌轴承39)与一个角度传感器18的轴通过螺钉36固接,所述掌指关节基座29可绕底部角度传感器(18)的轴心转动,所述掌指关节基座29下部外缘设有齿轮59,齿轮59的轴心与掌指关节基座29底部的角度传感器18的轴心重合,另一个角度传感器18通过螺钉35固定在掌指关节基座29的孔座L内,所述角度传感器18的轴与摇臂27 (内嵌轴承23)的一端通过螺钉36固接,所述摇臂27上的齿轮轴心与摇臂转动的轴心重合,所述摇臂27的齿轮通过减速齿轮组60的配合与驱动部件111的齿轮啮合,所述驱动部件111安装在掌指关节基座29上,所述摇臂27另一端与连杆38 —端通过螺钉24铰接。 Metacarpophalangeal joint shaft 29 at the bottom of the base (embedded bearing 39) with an angle sensor 18 fixed by screws 36, the metacarpophalangeal joint axis about the base bottom 29 may be an angle sensor (18) is rotated, the palm an outer edge of a lower knuckle 29 is provided with the base gear 59, the gear 59 and the axial center of the angle of the metacarpophalangeal joint 29 at the bottom of the base 18 coincides with the axis of the sensor, the angle sensor 18 is further secured by screws 35 in the metacarpophalangeal joint of the base L 29 of the housing bore, one end of the angle sensor 18 and the rocker arm shaft 27 (bearing 23 embedded) is fixed by a screw 36, the axis of the rocker and the rocker arm on the gear 27 coincides with the axis of rotation the rocker gear 27 through a gear mating with the drive member 111 of the reduction gear set 60 is engaged, the drive member 111 is mounted on the other end of the metacarpophalangeal joints 27 on the base 29, and the rocker link 38 - end of the hinge 24 by a screw.

[0040] 具体实施方式四:如图1、图10和图11所示,所述关节检测驱动机构109包括驱动部件111、角度传感器18、摇臂19、齿轮箱盖51、齿轮箱盖52和指节基座53。 [0040] DETAILED DESCRIPTION four: 1, 10 and 11, the joint drive mechanism 109 includes a drive detection means 111, the angle sensor 18, the rocker arm 19, the gear case cover 51, and the gear case cover 52 knuckle base 53. 指节基座53设有一个孔座M和一排用于球头20或螺钉24的安装孔Q,所述角度传感器18通过螺钉36固定于指节基座53的孔座M内,所述孔座M内的角度传感器18的轴与摇臂19通过螺钉35固接,所述摇臂19上的齿轮轴心与摇臂转动的轴心重合,所述摇臂19的齿轮通过减速齿轮组60的配合与驱动部件111的齿轮啮合,所述驱动部件111安装在指节基座53上,所述摇臂19另一端固接球头20。 Knuckle mounting base 53 is provided with a bore hole and a seat row M for a ball screw 20 or the head 24 Q, the angle sensor 18 is fixed by screws 36 to the inner section of the base means 53 of the boss M, the an angle sensor within the housing bore axis M and the rocker arm 35 by screws 18, 19 fixed to the rocker axis and the axis of the gear 19 is rotated on the rocker arm coincides, the rocker gear 19 via a reduction gear train 60 with the driving gear member 111, the drive member 111 is mounted on the finger section base 53, the other end of the rocker arm 19 fixed ball head 20.

[0041] 具体实施方式五:如图1、图2、图3、图9、图11和图12所示,所述食指检测驱动机构104包括与手掌基座102顺序铰接的掌指关节检测驱动机构108、食指近指节部位的关节检测驱动机构109、食指中指节部位的关节检测驱动机构109和食指远指节基座6,每相邻的两个机构铰接处均安装有检测关节动作的角度传感器18及驱动部件111,检测食指各个指节在三维空间中的位置和运动状态,并在驱动部件111的作用下实现力反馈功能。 [0041] DETAILED DESCRIPTION five: 1, 2, 3, 9, as shown, the drive mechanism 104 includes a finger detecting the palm 102 of the base sequence of the metacarpophalangeal joint articulated detection drive FIGS. 11 and 12 mechanism 108, finger-joint detecting means near the drive mechanism section 109 parts, the middle finger joint detection section driving mechanism portion 109 and the distal finger knuckle base 6, each adjacent two hinge mechanism are installed at the joint operation of detecting angle sensor 18 and a driving member 111, a position detection index finger knuckle and the respective motion in three-dimensional space, and implement force feedback by the driving member 111.

[0042] 如图9、图11和图12所不,所述食指近指节部位的关节检测驱动机构109上的指节基座53通过粘合或其他方式固定于手套101上所对应的食指近指节部位,所述指节基座53半包围食指近指节,其包围结合处的横截面为“C”形,开口朝向手掌正面一侧。 [0042] FIG. 9, FIGS. 11 and 12 do not, the index finger knuckle of the base near the joint portion detecting section 109 of the drive mechanism 53 is fixed by bonding or other means to the corresponding finger glove 101 near knuckle, said knuckle near the base 53 surrounded by half index knuckle, which surrounds the cross-section of the junction of a "C" shape opening toward the front side of the palm. 所述掌指关节检测驱动机构108的连杆38与食指近指节部位的关节检测驱动机构109通过螺钉24铰接于安装孔Q处,所述掌指关节检测驱动机构108底部的角度传感器18固定在手掌基座102的孔座B内,所述掌指关节检测驱动机构108的外缘齿轮59通过减速齿轮组60的配合与安装在手掌基座102上的驱动部件111的齿轮啮合,该驱动机构通过齿轮箱盖54固定。 The metacarpophalangeal link 38 with the index finger 108 near the finger joint detection mechanism driving section 109 parts of the mounting hole Q at the bottom of the metacarpophalangeal joint angle sensor 108 detects the drive mechanism 18 is fixed by a screw 24 hinge joint detection driving means Block B in the bore 102 of the palm of the base, said drive member metacarpophalangeal joint detecting means the outer edge of the drive gear 108 through the fitting 59 of the reduction gear set 60 mounted on the base 102 of the palm of the gear 111, the driving mechanism 54 is fixed by the gear case cover. 动作实施过程:人手食指的近指节可绕掌指关节(MP)转动,可将其分解为两个方向上的分运动,一个是平行于食指近指节侧面的屈伸运动,另一个是平行于食指近指节背面的外展或内收运动,当操作者食指的掌指关节(MP)做屈伸运动时,依附于食指近指节的关节检测驱动机构109跟随一起运动并通过连杆38带动摇臂27转动,使得孔座L内与摇臂27联动的角度传感器18能测量出操作者食指的掌指关节(MP)屈伸的角度和状态,当控制系统无力反馈信号时,则掌指关节检测驱动机构108上的驱动部件111无动作,摇臂27动作不受干扰,当控制系统有力反馈信号时,则掌指关节检测驱动机构108上的驱动部件111启动,通过减速齿轮组60的配合对摇臂27在其运动方向上施加一个同向或反向的力,同时控制系统再根据孔座L内的角度传感器18检测到的关节角度的变化,运用相应的数学 Action implementation: hand forefinger knuckle rotatable about near the metacarpophalangeal joint (MP) is rotated, it can be decomposed into two partial movement in directions parallel to a knuckle near the side of the index finger flexion and extension, the other parallel closing motion to index finger abduction near the back or inner section, when the palm of the operator when the index finger joint (MP) flexion and extension movement, attached to the index finger knuckle joint detection near the drive mechanism 109 by following the movement of the link 38 together and drive 27 rotates the rocker arm, the rocker arm 27 so that the linkage can be an angle sensor 18 measuring the index finger of the operator is within the boss L metacarpophalangeal joint (MP) and the angle of flexion state, when the control system is unable to the feedback signal, metacarpophalangeal drive member 108 on the articulation drive means 111 detects no motion, the swing arm 27 undisturbed operation, when the control system powerful feedback signal, the drive member on the metacarpophalangeal joint detector 111 starts driving mechanism 108, through a reduction gear set 60 applying a force to the swing arm 27 with a same or opposite in its direction of movement, while the control system and then to detect a change in the joint angle of the angle sensor in accordance with the boss L 18, the use of mathematical 算法持续地输出和修正驱动力的大小,推动或阻碍食指的掌指关节(MP)屈伸运动,实现该关节的力反馈功能;当操作者食指的掌指关节(MP)做外展或内收运动时,在该动作方向上,关节检测驱动机构109与连杆38、摇臂27是刚性连接的,所以关节检测驱动机构109直接带动掌指关节检测驱动机构108绕其底部的角度传感器18的轴心转动,使得孔座B内的角度传感器18能测量出操作者食指的掌指关节(MP)外展或内收的角度和状态,当控制系统无力反馈信号时,则手掌基座102上的驱动部件111无动作,掌指关节检测驱动机构108的运动不受干扰,当控制系统有力反馈信号时,则手掌基座102上的驱动部件111启动,通过减速齿轮组60的配合对掌指关节检测驱动机构108在其运动方向上施加一个同向或反向的力,同时控制系统再根据孔座B内的角度传感器18检测到的关节角度的变化 Palm algorithm output continuously and the correction drive amount of force, to promote or hinder the index finger joint (MP) flexion and extension, to achieve a force feedback function of the joint; when the operator index finger metacarpophalangeal joint (MP) did abduction or adduction movement in the direction of motion, the drive mechanism 109 and detecting a joint link 38, the rocker arm 27 is rigidly connected, so that the joint detecting means 109 directly drives the drive metacarpophalangeal joint detection drive mechanism 108 around its bottom an angle sensor 18 the axis of rotation, such that the angle sensor within the housing bore B 18 that an operator can measure the angle and index finger metacarpophalangeal joints receiving state (MP) or the abduction, when the system is unable to control the feedback signal, the base 102 of the palm the drive member 111 no action, metacarpophalangeal joint motion detector driving mechanism 108 is not disturbed, the control system when the feedback signal is strong, the drive member 111 on the palm of base 102 starts by fitting a gear reduction set 60 for metacarpophalangeal joint detecting means 108 changes the drive force is applied to a same or opposite in its direction of movement, while the control system is then detected by the angle sensor within the housing bore of the joint angle B 18 运用相应的数学算法持续地输出和修正驱动力的大小,推动或阻碍食指的掌指关节(MP)外展或内收运动,实现该关节的力反馈功能。 The use of mathematical algorithms continuously output and the size of the correction driving force to promote or hinder the index finger metacarpophalangeal joint (MP) abduction or closing movement within, to achieve the joint force feedback function.

[0043] 如图11和图12所示,所述食指中指节部位的关节检测驱动机构109上的指节基座53通过粘合或其他方式固定于手套101上所对应的食指中指节部位,所述指节基座53半包围食指中指节,其包围结合处的横截面为“C”形,开口朝向手掌正面一侧。 [0043] As shown in FIG. 11 and FIG. 12, the articulation mechanism drive detecting section of the middle portion of the index finger knuckle on the base of 10,953 by bonding or otherwise secured to a middle section of the index finger portion of the glove corresponding to 101, the knuckles of the base 53 surrounded by half index middle section, which surrounds the cross-section of the junction of a "C" shape opening toward the front side of the palm. 所述食指近指节部位的关节检测驱动机构109的摇臂19与食指中指节部位的关节检测驱动机构109的指节基座53通过球头20和球头扣连杆21配合的球形铰链连接。 The index finger rocker arm near the joint portion detecting driving mechanism section 109 of the knuckles 19 of the base 53 hingedly connected to the joint ball detecting section middle finger driving mechanism portion 109 by a ball head and the ball head 20 with the snap link 21 . 动作实施过程:当操作者食指的近端指间关节(PIP)做屈伸运动时,依附于食指中指节部位的关节检测驱动机构109跟随一起运动,并通过球头扣连杆21带动食指近指节部位的关节检测驱动机构109上的摇臂19转动,使得与摇臂19联动的角度传感器18能测量出操作者食指的近端指间关节(PIP)屈伸的角度和状态,当控制系统无力反馈信号时,则食指近指节部位的关节检测驱动机构109上的驱动部件111无动作,操作者食指的中指节可绕食指的近端指间关节(PIP)转动不受干扰,当控制系统有力反馈信号时,则食指近指节部位的关节检测驱动机构109上的驱动部件111启动,通过减速齿轮组60的配合对摇臂19在其运动方向上施加一个同向或反向的力,同时控制系统再根据与摇臂19联动的角度传感器18检测到的关节角度的变化,运用相应的数学算法持续地输出和修正驱动力的大小 Action implementation: When the operator's index finger proximal interphalangeal joint (PIP) flexion and extension motion, the drive mechanism attached to the joint detection section index finger portions 109 follow the movement together, and driven by the index finger ball near the trip link 21 joint detecting means driving section 19 of the rotation portion 109 on the rocker arm, the rocker arm 19 so that the angle sensor 18 can measure the linkage index finger of the operator is proximal interphalangeal joint (PIP) state and flexion angle, when the control system is unable to when the feedback signal, the index finger drive member 111 near the joint portion detecting section 109 of the drive means no action, the operator's index finger around the middle section may be proximal interphalangeal joint (PIP) is rotated without interference, when the control system when the feedback signal is strong, then the index finger drive member near the joint portion of the detecting section of the drive mechanism 109 111 start, is applied to the rocker arm 19 in its movement direction or a reverse direction with a force fit group 60 via a reduction gear, the control system then changes while the joint angle detected by the angle sensor of the rocker arm linkage 19 18, using the appropriate mathematical algorithm output continuously and the driving force magnitude correction 推动或阻碍食指的近端指间关节(PIP)运动,实现该关节的力反馈功能。 Promote or hinder the index finger proximal interphalangeal joint (PIP) movement, to achieve the joint force feedback function.

[0044] 如图11和图12所示,所述食指远指节基座6通过粘合或其他方式固定于手套101上所对应的食指远指节部位,所述食指远指节基座6的一端为包围食指远指节的柱形,另一端为半球形,整个基座的纵截面为“U”形,开口朝向食指的远端指间关节(DIP),在该基座位于食指远指节背面的位置设有一摇臂,摇臂垂直于所在的指节背面。 [0044] As shown in FIG. 11 and FIG. 12, the distal finger knuckle base 6 by bonding or otherwise secured to the finger glove 101 corresponding distal knuckle, distal phalanx of the index finger base 6 enclosing one end of the cylindrical section of the index finger away, the other hemispherical end, a longitudinal section across the susceptor is "U" shaped, opening towards the distal interphalangeal joint of the index finger (the DIP), located at the base away forefinger refers to the position of the back section is provided with a rocker arm, the rocker arm means perpendicularly to the back section are located. 所述食指中指节部位的关节检测驱动机构109的摇臂19与食指远指节基座6通过球头20和球头扣连杆21配合的球形铰链连接。 Joint detecting means of the drive section part of the index finger 19 and index finger 109 of the rocker arm distal phalanx of the base 6 with a spherical hinge 20 is connected by a ball head and the ball head buckle link 21. 动作实施过程:当操作者食指的远端指间关节(DIP)做屈伸运动时,依附于食指远指节上的食指远指节基座6跟随一起运动,并通过球头扣连杆21带动食指中指节部位的关节检测驱动机构109上的摇臂19转动,使得与摇臂19联动的角度传感器18能测量出操作者食指的远端指间关节(DIP)屈伸的角度和状态,当控制系统无力反馈信号时,则食指中指节部位的关节检测驱动机构109上的驱动部件111无动作,操作者食指的远指节可绕食指的远端指间关节(DIP)转动不受干扰,当控制系统有力反馈信号时,则食指中指节部位的关节检测驱动机构109上的驱动部件111启动,通过减速齿轮组60的配合对摇臂19在其运动方向上施加一个同向或反向的力,同时控制系统再根据与摇臂19联动的角度传感器18检测到的关节角度的变化,运用相应的数学算法持续地输出和修正驱动力的大小,推动 Action implementation: When the operator's index finger distal interphalangeal joint (DIP) flexion and extension movement, distal refers to the attached index finger knuckle on the distal section 6 to follow the movement with the base, and the trip link 21 by a ball head drive index finger joint detection drive mechanism section 19 of the rotation portion 109 on the rocker arm, the rocker arm 19 so that the angle sensor 18 can measure the linkage index finger of the operator is distal interphalangeal joint (DIP) and the angle of flexion state, when the control when the system is unable to the feedback signal, the middle finger joint detection driving mechanism section of the drive member portions 109,111 no action on the operator's index finger distal index finger knuckle rotatable about the distal interphalangeal joint (DIP) is rotated without interference, when powerful control system a feedback signal, the middle finger joint detection driving mechanism section of the drive member portion of the boot 109 111, through a reduction gear set 60 with the pair 19 is applied to the rocker arm in its direction of movement of a same or opposite force , then the control system according to the change while the joint angle detected by the angle sensor of the rocker arm linkage 19 18, using the appropriate mathematical algorithm output continuously corrected driving force and the magnitude of promoting 阻碍食指的远端指间关节(DIP)运动,实现该关节的力反馈功能。 Impede distal interphalangeal joint of the index finger (DIP) movement, to achieve the joint force feedback.

[0045] 具体实施方式六:如图1、图2、图3、图9、图11和图13所示,所述中指检测驱动机构105包括与手掌基座102顺序铰接的掌指关节检测驱动机构108、中指近指节部位的关节检测驱动机构109、中指中指节部位的关节检测驱动机构109和中指远指节基座9,每相邻的两个机构铰接处均安装有检测关节动作的角度传感器18及驱动部件111,检测中指各个指节在三维空间中的位置和运动状态,并在驱动部件111的作用下实现力反馈功能。 [0045] DETAILED DESCRIPTION Six: 1, 2, 3, 9, 11 and 13, the middle detecting mechanism 105 includes a drive 102 with the palm of the base sequence of the hinge joint detection driving metacarpophalangeal mechanism 108, the finger joint detection almost middle section of the driving mechanism portion 109, the middle finger joint mechanism drive detecting section 109 and a middle portion of the base distal phalanx 9, each adjacent two of the hinge mechanism are installed at the joint operation of detecting angle sensor 18 and a driving member 111, the detection position and the middle phalanx of each motion in three-dimensional space, and implement force feedback by the driving member 111.

[0046] 如图9、图11和图13所不,所述中指近指节部位的关节检测驱动机构109上的指节基座53通过粘合或其他方式固定于手套101上所对应的中指近指节部位,所述指节基座53半包围中指近指节,其包围结合处的横截面为“C”形,开口朝向手掌正面一侧。 [0046] FIG 9, FIG. 11 and FIG. 13 is not the middle finger knuckles of the base near the joint portion detecting section 109 of the drive mechanism 53 is fixed by an adhesive or other means on the middle finger of the glove corresponding to 101 near knuckle, said knuckle partial surrounding base 53 near the middle phalanx, which binding surrounding the cross section at the "C" shape opening toward the front side of the palm. 所述掌指关节检测驱动机构108的连杆38与中指近指节部位的关节检测驱动机构109通过螺钉24铰接于安装孔Q处,所述掌指关节检测驱动机构108底部的角度传感器18固定在手掌基座102的孔座C内,所述掌指关节检测驱动机构108的外缘齿轮59通过减速齿轮组60的配合与安装在手掌基座102上的驱动部件111的齿轮啮合,该驱动机构通过齿轮箱盖55固定。 The metacarpophalangeal joint 38 and the link mechanism drive detecting near middle finger joint detection driving mechanism section 109 parts of the mounting hole Q at the bottom of the metacarpophalangeal joint angle sensor 108 detects the drive means 24 a hinge 18 fixed by screws 108 port C in the palm of base 102, an outer edge of the metacarpophalangeal joint detection driving gear 59 of gear mechanism 108 via a reduction gear set 60 with the drive member and the mounting base 102 in the palm 111, the driving fixing mechanism 55 via a gear cover. 动作实施过程:人手中指的近指节可绕掌指关节(MP)转动,可将其分解为两个方向上的分运动,一个是平行于中指近指节侧面的屈伸运动,另一个是平行于中指近指节背面的外展或内收运动,当操作者中指的掌指关节(MP)做屈伸运动时,依附于中指近指节的关节检测驱动机构109跟随一起运动并通过连杆38带动摇臂27转动,使得孔座L内与摇臂27联动的角度传感器18能测量出操作者中指的掌指关节(MP)屈伸的角度和状态,当控制系统无力反馈信号时,则掌指关节检测驱动机构108上的驱动部件111无动作,摇臂27动作不受干扰,当控制系统有力反馈信号时,则掌指关节检测驱动机构108上的驱动部件111启动,通过减速齿轮组60的配合对摇臂27在其运动方向上施加一个同向或反向的力,同时控制系统再根据孔座L内的角度传感器18检测到的关节角度的变化,运用相应的数学 Action implementation: hand middle finger knuckle rotatable about near the metacarpophalangeal joint (MP) is rotated, it can be decomposed into two partial movement in directions parallel to a middle phalanx near the side of the flexion and extension, the other is nearly parallel to the middle finger abduction motion to close the back of the section or, when the operator's finger metacarpophalangeal joint (MP) flexion and extension movement, attached near the middle knuckle joint detection drive mechanism 109 to follow by the link and move together drive 38 rotates the rocker arm 27, the rocker arm 27 so that the linkage can be an angle sensor 18 measuring the operator is in the middle of the boss L metacarpophalangeal joint (MP) and the angle of flexion state, when the control system is unable to the feedback signal, palm refers to a joint detection on the drive member drive mechanism 108 111 no action, uninterrupted operation of the swing arm 27, when the control system powerful feedback signal, the drive member on the metacarpophalangeal joint detecting means 108,111 start driving, via a reduction gear set 60 with changes in the joint angle of the rocker arm 27 a force is applied in the same or opposite direction of movement thereof, while the control system is then detected by the angle sensor within the housing bore of L 18, using corresponding mathematical 算法持续地输出和修正驱动力的大小,推动或阻碍中指的掌指关节(MP)屈伸运动,实现该关节的力反馈功能;当操作者中指的掌指关节(MP)做外展或内收运动时,在该动作方向上,关节检测驱动机构109与连杆38、摇臂27是刚性连接的,所以关节检测驱动机构109直接带动掌指关节检测驱动机构108绕其底部的角度传感器18的轴心转动,使得孔座C内的角度传感器18能测量出操作者中指的掌指关节(MP)外展或内收的角度和状态,当控制系统无力反馈信号时,则手掌基座102上的驱动部件111无动作,掌指关节检测驱动机构108的运动不受干扰,当控制系统有力反馈信号时,则手掌基座102上的驱动部件111启动,通过减速齿轮组60的配合对掌指关节检测驱动机构108在其运动方向上施加一个同向或反向的力,同时控制系统再根据孔座C内的角度传感器18检测到的关节角度的变化 Palm algorithm output continuously and the correction drive amount of force, to promote or hinder the middle finger joint (MP) flexion and extension, to achieve a force feedback function of the joint; when the operator middle finger metacarpophalangeal joint (MP) did abduction or adduction movement in the direction of motion, the drive mechanism 109 and detecting a joint link 38, the rocker arm 27 is rigidly connected, so that the joint detecting means 109 directly drives the drive metacarpophalangeal joint detection drive mechanism 108 around its bottom an angle sensor 18 the axis of rotation, such that the angle sensor within the housing bore of C 18 the operator is able to measure the angle of the middle finger metacarpophalangeal joints and status received (MP) or the abduction, when the system is unable to control the feedback signal, the base 102 of the palm the drive member 111 no action, metacarpophalangeal joint motion detector driving mechanism 108 is not disturbed, the control system when the feedback signal is strong, the drive member 111 on the palm of base 102 starts by fitting a gear reduction set 60 for metacarpophalangeal joint detecting means 108 changes the drive force is applied to a same or opposite in its direction of movement, while the control system is then detected by the angle sensor within the housing bore of the joint angle C 18 运用相应的数学算法持续地输出和修正驱动力的大小,推动或阻碍中指的掌指关节(MP)外展或内收运动,实现该关节的力反馈功能。 The use of mathematical algorithms continuously output and the size of the correction driving force to promote or hinder middle finger metacarpophalangeal joint (MP) abduction or closing movement within, to achieve the joint force feedback function.

[0047] 如图11和图13所示,所述中指中指节部位的关节检测驱动机构109上的指节基座53通过粘合或其他方式固定于手套101上所对应的中指中指节部位,所述指节基座53半包围中指中指节,其包围结合处的横截面为“C”形,开口朝向手掌正面一侧。 [0047] 11 and 13, the finger-joint detecting means driving the middle section of the base portion of the knuckle 10 953 by bonding or otherwise secured to a middle section of the middle portion of the glove corresponding to 101, the base section 53 refers to the middle finger partial surrounding section which surrounds the cross-section of the junction of a "C" shape opening toward the front side of the palm. 所述中指近指节部位的关节检测驱动机构109的摇臂19与中指中指节部位的关节检测驱动机构109的指节基座53通过球头20和球头扣连杆21配合的球形铰链连接。 Near the middle finger joint detection section driving mechanism portion 109 and the rocker arm 19 the middle finger joint detection driving mechanism section of the base portion 109 of the knuckle 53 is connected by a hinge 21 with a spherical ball head 20 and the ball head buckle link . 动作实施过程:当操作者中指的近端指间关节(PIP)做屈伸运动时,依附于中指中指节部位的关节检测驱动机构109跟随一起运动,并通过球头扣连杆21带动中指近指节部位的关节检测驱动机构109上的摇臂19转动,使得与摇臂19联动的角度传感器18能测量出操作者中指的近端指间关节(PIP)屈伸的角度和状态,当控制系统无力反馈信号时,则中指近指节部位的关节检测驱动机构109上的驱动部件111无动作,操作者中指的中指节可绕中指的近端指间关节(PIP)转动不受干扰,当控制系统有力反馈信号时,则中指近指节部位的关节检测驱动机构109上的驱动部件111启动,通过减速齿轮组60的配合对摇臂19在其运动方向上施加一个同向或反向的力,同时控制系统再根据与摇臂19联动的角度传感器18检测到的关节角度的变化,运用相应的数学算法持续地输出和修正驱动力的大小 Action implementation: When the operator's finger proximal interphalangeal joint (PIP) flexion and extension motion, the drive mechanism attached to the joint detection section of the middle finger portions 109 follow the movement together, and near the head by a ball means 21 to drive the trip link middle joint detecting means driving section 19 of the rotation portion 109 on the rocker arm, the rocker arm 19 so that the angle sensor 18 can measure the operator is linked in the middle of the proximal interphalangeal joint (PIP) state and flexion angle, when the control system is unable to when the feedback signal, the middle finger drive member 111 near the joint portion detecting section 109 of the drive means no action, the operator's middle finger around the finger section may be proximal interphalangeal joint (PIP) is rotated without interference, when the control system when the feedback signal is strong, the middle finger proximal interphalangeal joint on the drive member drive means detecting section start site of 109,111, of the rocker arm 19 is applied to a direction of movement thereof in the same or opposite set of mating forces through the reduction gear 60, the control system then changes while the joint angle detected by the angle sensor of the rocker arm linkage 19 18, using the appropriate mathematical algorithm output continuously and the driving force magnitude correction 推动或阻碍中指的近端指间关节(PIP)运动,实现该关节的力反馈功能。 Promote or hinder middle finger proximal interphalangeal joint (PIP) movement, to achieve the joint force feedback function.

[0048] 如图11和图13所不,所述中指远指节基座9通过粘合或其他方式固定于手套101上所对应的中指远指节部位,所述中指远指节基座9的一端为包围中指远指节的柱形,另一端为半球形,整个基座的纵截面为“U”形,开口朝向中指的远端指间关节(DIP),在该基座位于中指远指节背面的位置设有一摇臂,摇臂垂直于所在的指节背面。 [0048] Figures 11 and 13 do not, distal phalanx of the middle finger base 9 is fixed by an adhesive or other means on the middle finger of the glove 101 corresponding to the distal knuckle, distal phalanx of the middle finger base 9 distal end of the middle finger so as to surround the cylindrical section, the other end of the hemispherical, the entire susceptor is a longitudinal sectional "U" shape, opening towards the middle of the distal interphalangeal joint (the DIP), located in the middle of the base away refers to the position of the back section is provided with a rocker arm, the rocker arm means perpendicularly to the back section are located. 所述中指中指节部位的关节检测驱动机构109的摇臂19与中指远指节基座9通过球头20和球头扣连杆21配合的球形铰链连接。 The finger-joint detecting section of the middle portion of the drive mechanism of the rocker arm 109 and middle distal phalanx 19 of the base 9 is connected by a ball head 20 and the hinge 21 with a spherical ball head trip link. 动作实施过程:当操作者中指的远端指间关节(DIP)做屈伸运动时,依附于中指远指节上的中指远指节基座9跟随一起运动,并通过球头扣连杆21带动中指中指节部位的关节检测驱动机构109上的摇臂19转动,使得与摇臂19联动的角度传感器18能测量出操作者中指的远端指间关节(DIP)屈伸的角度和状态,当控制系统无力反馈信号时,则中指中指节部位的关节检测驱动机构109上的驱动部件111无动作,操作者中指的远指节可绕中指的远端指间关节(DIP)转动不受干扰,当控制系统有力反馈信号时,则中指中指节部位的关节检测驱动机构109上的驱动部件111启动,通过减速齿轮组60的配合对摇臂19在其运动方向上施加一个同向或反向的力,同时控制系统再根据与摇臂19联动的角度传感器18检测到的关节角度的变化,运用相应的数学算法持续地输出和修正驱动力的大小,推动或 Action implementation: When the operator's finger distal interphalangeal joint (DIP) flexion and extension movement, attached to the middle section of the distal middle finger on the distal phalanx of the base 9 to follow the movement together, and the trip link 21 by a ball head drive means the middle finger joint detection driving section 19 of the rotation portion 109 on the rocker arm, the rocker arm 19 so that the angle sensor 18 can measure the operator is linked in the middle of the distal interphalangeal joint (DIP) and the angle of flexion state, when the control when the system is unable to the feedback signal, the drive member 109 on the middle finger joint detection drive mechanism section 111 parts of non-operation, the operator can middle distal phalanx of the middle finger around the distal interphalangeal joint (DIP) is rotated without interference, when powerful control system a feedback signal, the middle finger joint detection driving mechanism section of the drive member portion of the boot 109 111, through a reduction gear set 60 with the pair 19 is applied to the rocker arm in its direction of movement of a same or opposite force , then the control system according to the change while the joint angle detected by the angle sensor of the rocker arm linkage 19 18, using the appropriate mathematical algorithm output continuously and the magnitude of the driving force correction, pushing or 阻碍中指的远端指间关节(DIP)运动,实现该关节的力反馈功能。 Impede distal interphalangeal joint of the middle finger (DIP) movement, to achieve the joint force feedback.

[0049] 具体实施方式七:如图1、图2、图3、图9、图11和图14所示,所述无名指检测驱动机构106包括与手掌基座102顺序铰接的掌指关节检测驱动机构108、无名指近指节部位的关节检测驱动机构109、无名指中指节部位的关节检测驱动机构109和无名指远指节基座12,每相邻的两个机构铰接处均安装有检测关节动作的角度传感器18及驱动部件111,检测无名指各个指节在三维空间中的位置和运动状态,并在驱动部件111的作用下实现力反馈功能。 [0049] Seventh Embodiment: As shown in FIG 1, FIG 2, FIG 3, FIG. 9, FIG. 11 and FIG., The ring mechanism 106 comprises a detection driving hinged palm 102 of the base sequence of the metacarpophalangeal joint detection drive 14 mechanism 108, finger-joint detecting means near the drive mechanism section 109 parts of the joint ring middle section detecting driving mechanism portion 109 and the distal phalanx of the base ring 12, each adjacent two of the hinge mechanism are installed at the joint operation of detecting angle sensor 18 and a driving member 111, the position detecting section and each finger ring motion in three-dimensional space, and implement force feedback by the driving member 111.

[0050] 如图9、图11和图14所示,所述无名指近指节部位的关节检测驱动机构109上的指节基座53通过粘合或其他方式固定于手套101上所对应的无名指近指节部位,所述指节基座53半包围无名指近指节,其包围结合处的横截面为“C”形,开口朝向手掌正面一侧。 [0050] 9, 11 and 14, the ring finger knuckles of the base near the driving mechanism section 109 detects a joint portion 53 by bonding or otherwise secured to the corresponding finger glove 101 near knuckle, the knuckles of the base ring 53 surrounds nearly half knuckles, which surrounds the cross-section of the junction of a "C" shape opening toward the front side of the palm. 所述掌指关节检测驱动机构108的连杆38与无名指近指节部位的关节检测驱动机构109通过螺钉24铰接于安装孔Q处,所述掌指关节检测驱动机构108底部的角度传感器18固定在手掌基座102的孔座D内,所述掌指关节检测驱动机构108的外缘齿轮59通过减速齿轮组60的配合与安装在手掌基座102上的驱动部件111的齿轮啮合,该驱动机构通过齿轮箱盖55固定。 The metacarpophalangeal joint detection drive mechanism 108 and the tie rod 38 near the finger joint detection ring driving mechanism section 109 parts of the mounting hole Q at the bottom of the metacarpophalangeal joint detection drive mechanism 108 by the screw 24 of the hinge angle sensor 18 is fixed D in the palm of the boss of the base 102, an outer edge of the metacarpophalangeal joint detection driving gear 59 of gear mechanism 108 by engagement with the drive member of the reduction gear set 60 mounted on the base 102 of the palm 111 of the driving fixing mechanism 55 via a gear cover. 动作实施过程:人手无名指的近指节可绕掌指关节(MP)转动,可将其分解为两个方向上的分运动,一个是平行于无名指近指节侧面的屈伸运动,另一个是平行于无名指近指节背面的外展或内收运动,当操作者无名指的掌指关节(MP)做屈伸运动时,依附于无名指近指节的关节检测驱动机构109跟随一起运动并通过连杆38带动摇臂27转动,使得孔座L内与摇臂27联动的角度传感器18能测量出操作者无名指的掌指关节(MP)屈伸的角度和状态,当控制系统无力反馈信号时,则掌指关节检测驱动机构108上的驱动部件111无动作,摇臂27动作不受干扰,当控制系统有力反馈信号时,则掌指关节检测驱动机构108上的驱动部件111启动,通过减速齿轮组60的配合对摇臂27在其运动方向上施加一个同向或反向的力,同时控制系统再根据孔座L内的角度传感器18检测到的关节角度的变化,运 Action implementation: hand ring finger knuckle rotatable about near the metacarpophalangeal joint (MP) is rotated, it can be decomposed into two partial movement in directions parallel to a finger ring finger flexion and extension section near the side of the other parallel It refers to a ring near the back of the closing movement of the outer section or the development, when the operator's finger when the metacarpophalangeal joint (MP) flexion and extension movement, ring attached near the knuckle joint detection drive mechanism 109 by following the movement of the link 38 together and drive 27 rotates the rocker arm, the rocker arm 27 so that the linkage can be an angle sensor 18 measuring the inner bore of the ring finger of the operator is L seat metacarpophalangeal joint (MP) and the angle of flexion state, when the control system is unable to the feedback signal, metacarpophalangeal drive member 108 on the articulation drive means 111 detects no motion, the swing arm 27 undisturbed operation, when the control system powerful feedback signal, the drive member on the metacarpophalangeal joint detector 111 starts driving mechanism 108, through a reduction gear set 60 reverse same variation with a force exerted on the swing arm 27 to its direction of movement or, while the control system then detects the angle sensor within the housing bore of the joint angle L 18, transport 用相应的数学算法持续地输出和修正驱动力的大小,推动或阻碍无名指的掌指关节(MP)屈伸运动,实现该关节的力反馈功能;当操作者无名指的掌指关节(MP)做外展或内收运动时,在该动作方向上,关节检测驱动机构109与连杆38、摇臂27是刚性连接的,所以关节检测驱动机构109直接带动掌指关节检测驱动机构108绕其底部的角度传感器18的轴心转动,使得孔座D内的角度传感器18能测量出操作者无名指的掌指关节(MP)外展或内收的角度和状态,当控制系统无力反馈信号时,则手掌基座102上的驱动部件111无动作,掌指关节检测驱动机构108的运动不受干扰,当控制系统有力反馈信号时,则手掌基座102上的驱动部件111启动,通过减速齿轮组60的配合对掌指关节检测驱动机构108在其运动方向上施加一个同向或反向的力,同时控制系统再根据孔座D内的角度传感器18检测 Palm output continuously with the corresponding mathematical algorithms and correction drive amount of force, to promote or hinder the ring finger joint (MP) flexion and extension, to achieve a force of the joint feedback function; when an operator finger metacarpophalangeal joint (MP) made outside or show the adduction motion in the operating direction, articulation link 109 and the detector driving mechanism 38, the rocker arm 27 is rigidly connected, so that the joint detecting means 109 directly drives the drive metacarpophalangeal joint detection drive mechanism 108 around its bottom the axis of rotation of the angle sensor 18, so that the angle sensor 18 in the boss D ring of the operator is able to measure the angle of the metacarpophalangeal joints and status received (MP) or the abduction, when the system is unable to control the feedback signal, palm a drive member on the base 102 111 no action, metacarpophalangeal joint motion detector driving mechanism 108 is not disturbed, the control system when the feedback signal is strong, the drive member on the base of the palm 102,111 start, through a reduction gear set 60 with the metacarpophalangeal joint of the detection drive mechanism 108 is applied with a force to reverse its direction of movement or in the same time then the control system 18 detects the angle sensor within the boss D 的关节角度的变化,运用相应的数学算法持续地输出和修正驱动力的大小,推动或阻碍无名指的掌指关节(MP)外展或内收运动,实现该关节的力反馈功能。 Changing joint angle, using the appropriate mathematical algorithm output continuously correcting driving force and magnitude to promote or hinder the closing movement of the ring finger metacarpophalangeal joint (MP) or the abduction achieved force feedback function of the joint.

[0051] 如图11和图14所示,所述无名指中指节部位的关节检测驱动机构109上的指节基座53通过粘合或其他方式固定于手套101上所对应的无名指中指节部位,所述指节基座53半包围无名指中指节,其包围结合处的横截面为“C”形,开口朝向手掌正面一侧。 [0051] FIG 11 and knuckles on the base 109 of the finger-joint detecting means driving the middle section of the glove portion 101 corresponding to the middle section of the ring finger portion 53 is fixed by bonding or other means in FIG. 14, the knuckles of the base ring 53 surrounds the middle half section, which surrounds the cross-section of the junction of a "C" shape opening toward the front side of the palm. 所述无名指近指节部位的关节检测驱动机构109的摇臂19与无名指中指节部位的关节检测驱动机构109的指节基座53通过球头20和球头扣连杆21配合的球形铰链连接。 The ring near the finger joint detection section drive means 19 and the joint portion of the rocker arm means driving the detection section of the middle ring of the base portion 109 of the knuckle 109 with a spherical hinge 53 is connected by a ball head 20 and the ball head buckle link 21 . 动作实施过程:当操作者无名指的近端指间关节(PIP)做屈伸运动时,依附于无名指中指节部位的关节检测驱动机构109跟随一起运动,并通过球头扣连杆21带动无名指近指节部位的关节检测驱动机构109上的摇臂19转动,使得与摇臂19联动的角度传感器18能测量出操作者无名指的近端指间关节(PIP)屈伸的角度和状态,当控制系统无力反馈信号时,则无名指近指节部位的关节检测驱动机构109上的驱动部件111无动作,操作者无名指的中指节可绕无名指的近端指间关节(PIP)转动不受干扰,当控制系统有力反馈信号时,则无名指近指节部位的关节检测驱动机构109上的驱动部件111启动,通过减速齿轮组60的配合对摇臂19在其运动方向上施加一个同向或反向的力,同时控制系统再根据与摇臂19联动的角度传感器18检测到的关节角度的变化,运用相应的数学算法持续地输出和 Action implementation: When an operator finger's proximal interphalangeal joint (PIP) flexion and extension movement of the middle section attached to part of the finger joint detection drive mechanism 109 to follow the movement together, and drive ring 21 through the ball near the trip link means the rocker arm 19 is rotated on the driving mechanism section 109 detects a joint portion of the rocker arm 19 so that the angle sensor 18 can measure the operator is linked to the ring finger of the proximal interphalangeal joint (PIP) state and flexion angle, when the control system is unable to when the feedback signal, the ring finger on the proximal interphalangeal joint drive member driving mechanism section detecting parts 109 111 no action, the operator's finger ring rotatable about the middle section of the proximal interphalangeal joint (PIP) is rotated without interference, when the control system when the feedback signal is strong, the ring finger proximal interphalangeal joint 109 on the drive member drive means detecting section 111 start site, of the rocker arm 19 in the direction of movement thereof is applied to a same or opposite set of mating forces through the reduction gear 60, the control system then changes while the joint angle detected by the angle sensor of the rocker arm linkage 19 18, using the appropriate mathematical algorithm output continuously and 正驱动力的大小,推动或阻碍无名指的近端指间关节(PIP)运动,实现该关节的力反馈功能。 Positive drive amount of force, to promote or hinder the ring finger proximal interphalangeal joint (PIP) movement, to achieve the joint force feedback.

[0052] 如图11和图14所示,所述无名指远指节基座12通过粘合或其他方式固定于手套101上所对应的无名指远指节部位,所述无名指远指节基座12的一端为包围无名指远指节的柱形,另一端为半球形,整个基座的纵截面为“U”形,开口朝向无名指的远端指间关节(DIP),在该基座位于无名指远指节背面的位置设有一摇臂,摇臂垂直于所在的指节背面。 [0052] 11 and 14, the distal phalanx of the base ring 12 by an adhesive or otherwise secured to the glove 101 corresponding to the distal knuckle ring, said ring base 12 distal phalanx ring surrounding the distal end of the cylindrical section means, the other end of the hemispherical, the entire susceptor is a longitudinal sectional "U" shape, opening towards the distal interphalangeal joint (DIP) of the ring finger, the ring finger is located in the base away refers to the position of the back section is provided with a rocker arm, the rocker arm means perpendicularly to the back section are located. 所述无名指中指节部位的关节检测驱动机构109的摇臂19与无名指远指节基座12通过球头20和球头扣连杆21配合的球形铰链连接。 The drive mechanism of the finger-joint detecting section of the middle portion 109 of the rocker arm 19 and the distal phalanx of the base ring 12 is connected by a hinge 21 with a spherical ball head 20 and the ball head buckle link. 动作实施过程:当操作者无名指的远端指间关节(DIP)做屈伸运动时,依附于无名指远指节上的无名指远指节基座12跟随一起运动,并通过球头扣连杆21带动无名指中指节部位的关节检测驱动机构109上的摇臂19转动,使得与摇臂19联动的角度传感器18能测量出操作者无名指的远端指间关节(DIP)屈伸的角度和状态,当控制系统无力反馈信号时,则无名指中指节部位的关节检测驱动机构109上的驱动部件111无动作,操作者无名指的远指节可绕无名指的远端指间关节(DIP)转动不受干扰,当控制系统有力反馈信号时,则无名指中指节部位的关节检测驱动机构109上的驱动部件111启动,通过减速齿轮组60的配合对摇臂19在其运动方向上施加一个同向或反向的力,同时控制系统再根据与摇臂19联动的角度传感器18检测到的关节角度的变化,运用相应的数学算法持续地输出和修正 Action implementation: When the operator's finger distal interphalangeal joint (DIP) flexion and extension movement of the finger means attached to the distal ring distal phalanx of the base section 12 follow the movement together, and the trip link 21 by a ball head drive the rocker arm mechanism 19 rotates the drive ring finger-joint detecting section 109 on the site, so that the swing arm 19 in conjunction with the angle sensor 18 can measure the distal interphalangeal joint (DIP) flexion angle and a state that an operator's finger, when the control when the system is unable to the feedback signal, the finger 109 on the drive member drive means detecting a joint portion of the middle section 111 no action, the operator's finger distal phalanx of the ring finger is rotatable about the distal interphalangeal joint (DIP) is rotated without interference, when powerful control system a feedback signal, the middle finger joint detection driving mechanism section of the drive member portion of the boot 109 111, by the force of the reduction gear set 60 with the swing arm 19 is applied in a direction of movement thereof in the same or opposite , then the control system according to the change while the joint angle detected by the angle sensor of the rocker arm linkage 19 18, using the appropriate mathematical algorithm output continuously and corrected 动力的大小,推动或阻碍无名指的远端指间关节(DIP)运动,实现该关节的力反馈功能。 The size of the power to promote or hinder the distal interphalangeal joint of the ring finger (DIP) movement, to achieve the joint force feedback function.

[0053] 具体实施方式八:如图1、图15和图16所示,所述小指关节检测驱动机构110包括驱动部件111、角度传感器18、摇臂19、齿轮箱盖57和指节基座58。 [0053] DETAILED DESCRIPTION eight: 1, as shown in FIGS. 15 and 16, the little finger joint detection driving mechanism 110 includes a drive member 111, the angle sensor 18, the rocker arm 19, the gear case cover 57 and the base knuckle 58. 所述指节基座58设有一个孔座P和一排用于球头20或螺钉24的安装孔R,所述角度传感器18通过螺钉35固定在指节基座58的孔座P内,所述孔座P内的角度传感器18的轴与摇臂19通过螺钉35固接,所述摇臂19上的齿轮轴心与摇臂转动的轴心重合,所述摇臂19的齿轮通过减速齿轮组60的配合与驱动部件111的齿轮啮合,所述驱动部件111安装在指节基座58上,所述摇臂19另一端固接球头20。 The base 58 is provided with a knuckle bore and a row of P seat 20 for the ball screw or R 24 of the mounting hole, the angle sensor 35 is fixed by screws 18 to refer to the base section of the boss 58 P, the angle sensor in the axis P and the boss 19 of the rocker arm 18 by screws 35 fastened, the axis of the rocker and the rocker arm on the axis of the gear 19 coincides with the rotation of the rocker arm via a reduction gear 19 the mating gear set 60 with the driving gear member 111 of the drive member 111 is mounted on the base section 58 refers to the other end of the rocker arm 19 fixed ball head 20.

[0054] 具体实施方式九:如图1、图2、图3、图9、图16和图17所示,所述小指检测驱动机构107包括与手掌基座102顺序绞接的掌指关节检测驱动机构108、小指近指节部位的小指关节检测驱动机构110、小指中指节部位的小指关节检测驱动机构110和小指远指节基座15,每相邻的两个机构铰接处均安装有检测关节动作的角度传感器18及驱动部件111,检测小指各个指节在三维空间中的位置和运动状态,并在驱动部件111的作用下实现力反馈功能。 [0054] DETAILED DESCRIPTION nine: 1, 2, 3, 9, 16 and 17, the little finger 107 comprises a detection driving mechanism 102 and the palm of the base sequence of the hinged metacarpophalangeal joint detection a drive mechanism 108, the little finger proximal interphalangeal joint of the little finger portion detecting section 110 of the drive means, the drive means little finger-joint detecting section pinky finger part 110 and little finger knuckle distal base 15, adjacent each hinge mechanism are installed at two detecting joint angle sensor 18 and the operation of the drive means 111, the detection position and the little finger knuckle of each motion in three-dimensional space, and implement force feedback by the driving member 111.

[0055] 如图9、图16和图17所示,所述小指近指节部位的小指关节检测驱动机构110上的指节基座58通过粘合或其他方式固定于手套101上所对应的小指近指节部位,所述指节基座58半包围小指近指节,其包围结合处的横截面为“C”形,开口朝向手掌正面一侧。 [0055] 9, as shown in FIGS. 16 and 17, near the pinkie finger on the little finger knuckle joint detection of the base driving mechanism section 11,058 parts by bonding or otherwise secured to the corresponding glove 101 near the little finger knuckle of the knuckle of the little finger surrounds the base half 58 near the knuckle, which surrounds the cross-section of the junction of a "C" shape opening toward the front side of the palm. 所述掌指关节检测驱动机构108的连杆38与小指近指节部位的小指关节检测驱动机构110通过螺钉24铰接于安装孔R处,所述掌指关节检测驱动机构108底部的角度传感器18固定在手掌基座102的孔座E内,所述掌指关节检测驱动机构108的外缘齿轮59通过减速齿轮组60的配合与安装在手掌基座102上的驱动部件111的齿轮啮合,该驱动机构通过齿轮箱盖56固定。 The metacarpophalangeal joint angle detection drive mechanism 108 and the tie rod 38 near the little finger knuckle of the little finger joint detection drive mechanism R at the mounting hole 110, the bottom of the metacarpophalangeal joint detection drive mechanism 108 by the screw 24 hinged sensor 18 E fixed in the housing bore of the palm of the base 102, an outer edge of the drive member metacarpophalangeal joint detection driving gear mechanism 108 through the fitting 59 of the reduction gear set 60 mounted on the base 102 of the palm of the gear 111, the The drive mechanism 56 is fixed by the gear case cover. 动作实施过程:人手小指的近指节可绕掌指关节(MP)转动,可将其分解为两个方向上的分运动,一个是平行于小指近指节侧面的屈伸运动,另一个是平行于小指近指节背面的外展或内收运动,当操作者小指的掌指关节(MP)做屈伸运动时,依附于小指近指节的小指关节检测驱动机构110跟随一起运动并通过连杆38带动摇臂27转动,使得孔座L内与摇臂27联动的角度传感器18能测量出操作者小指的掌指关节(MP)屈伸的角度和状态,当控制系统无力反馈信号时,则掌指关节检测驱动机构108上的驱动部件111无动作,摇臂27动作不受干扰,当控制系统有力反馈信号时,则掌指关节检测驱动机构108上的驱动部件111启动,通过减速齿轮组60的配合对摇臂27在其运动方向上施加一个同向或反向的力,同时控制系统再根据孔座L内的角度传感器18检测到的关节角度的变化,运用相应的 Action implementation: hand near the little finger knuckle rotatable about a metacarpophalangeal joint (MP) is rotated, it can be decomposed into two partial movement in directions parallel to a knuckle near the little finger side of the flexion and extension, the other parallel near the little finger close to the finger movement or abduction within the back section, when the operator's little finger metacarpophalangeal joint (MP) flexion and extension movement, attached near the little finger knuckle of the little finger joint detection drive mechanism 110 to follow by the link and move together drive 38 rotates the rocker arm 27, the rocker arm 27 so that the linkage can be an angle sensor 18 measuring the little finger of the operator is within the boss L metacarpophalangeal joint (MP) and the angle of flexion state, when the control system is unable to the feedback signal, palm refers to a joint detection on the drive member drive mechanism 108 111 no action, uninterrupted operation of the swing arm 27, when the control system powerful feedback signal, the drive member on the metacarpophalangeal joint detecting means 108,111 start driving, via a reduction gear set 60 with changes in the joint angle of the swing arm 27 is applied with a force to reverse its direction of movement or in the same time then the control system detects the angle sensor within the housing bore of L 18, using the corresponding 学算法持续地输出和修正驱动力的大小,推动或阻碍小指的掌指关节(MP)屈伸运动,实现该关节的力反馈功能;当操作者小指的掌指关节(MP)做外展或内收运动时,在该动作方向上,小指关节检测驱动机构110与连杆38、摇臂27是刚性连接的,所以小指关节检测驱动机构110直接带动掌指关节检测驱动机构108绕其底部的角度传感器18的轴心转动,使得孔座E内的角度传感器18能测量出操作者小指的掌指关节(MP)外展或内收的角度和状态,当控制系统无力反馈信号时,则手掌基座102上的驱动部件111无动作,掌指关节检测驱动机构108的运动不受干扰,当控制系统有力反馈信号时,则手掌基座102上的驱动部件111启动,通过减速齿轮组60的配合对掌指关节检测驱动机构108在其运动方向上施加一个同向或反向的力,同时控制系统再根据孔座E内的角度传感器18检测到的关节 Palm learning algorithm output continuously and the correction drive amount of force, to promote or hinder the little finger knuckle (MP) flexion and extension, to achieve a force feedback function of the joint; when the operator little finger metacarpophalangeal joint (MP) did abduction or the when closing movement, in the direction of action, little finger-joint detecting means 110 and the drive rod 38, the rocker arm 27 is rigidly connected, so that the little finger-joint detecting means 110 is directly driven by the drive metacarpophalangeal joint angle detection drive mechanism 108 around its bottom the axis of rotation of the sensor 18, such that the angle sensor within the housing bore 18 E of the operator is able to measure the angle and little finger metacarpophalangeal joints receiving state (MP) or the abduction, when the system is unable to control the feedback signal, a palm-yl drive member 111 on the seat 102 no action, metacarpophalangeal joint motion detector driving mechanism 108 is not disturbed, the control system when the feedback signal is strong, the drive member 102 on the base 111 to start the palm, through a reduction gear set 60 with metacarpophalangeal joint of detecting a driving mechanism 108 applies a force in the same or opposite direction of movement thereof, while the control system is then detected by the angle sensor in the joint socket of E 18 度的变化,运用相应的数学算法持续地输出和修正驱动力的大小,推动或阻碍小指的掌指关节(MP)外展或内收运动,实现该关节的力反馈功能。 The degree of change, the use of mathematical algorithms and continuously output magnitude corrected driving force to promote or hinder the little finger metacarpophalangeal joint (MP) or abduction movement of the closing, to achieve the joint force feedback.

[0056] 如图16和图17所不,所述小指中指节部位的小指关节检测驱动机构110上的指节基座58通过粘合或其他方式固定于手套101上所对应的小指中指节部位,所述指节基座58半包围小指中指节,其包围结合处的横截面为“C”形,开口朝向手掌正面一侧。 [0056] 16 and 17 are not, on the knuckles of the base 110 of the little finger joint detection driving mechanism section of the middle portion 58 of the little finger by bonding or otherwise secured to a middle section of the little finger portion of the glove corresponding to 101 , the knuckles of the base 58 surrounded by half pinky finger section, which surrounds the cross-section of the junction of a "C" shape opening toward the front side of the palm. 所述小指近指节部位的小指关节检测驱动机构110的摇臂19与小指中指节部位的小指关节检测驱动机构110的指节基座58通过球头20和球头扣连杆21配合的球形铰链连接。 The pinky finger rocker arm near the little finger-joint detecting section driving mechanism portion 110 of the base 19 and the little finger knuckle of the little finger joint detection driving mechanism 110 of the middle section 58 of the fitting portion by a ball head 20 and a spherical ball head trip link 21 hinge. 动作实施过程:当操作者小指的近端指间关节(PIP)做屈伸运动时,依附于小指中指节部位的小指关节检测驱动机构Iio跟随一起运动,并通过球头扣连杆21带动小指近指节部位的小指关节检测驱动机构110上的摇臂19转动,使得与摇臂19联动的角度传感器18能测量出操作者小指的近端指间关节(PIP)屈伸的角度和状态,当控制系统无力反馈信号时,则小指近指节部位的小指关节检测驱动机构110上的驱动部件111无动作,操作者小指的中指节可绕小指的近端指间关节(PIP)转动不受干扰,当控制系统有力反馈信号时,则小指近指节部位的小指关节检测驱动机构Iio上的驱动部件111启动,通过减速齿轮组60的配合对摇臂19在其运动方向上施加一个同向或反向的力,同时控制系统再根据与摇臂19联动的角度传感器18检测到的关节角度的变化,运用相应的数学算法持续地输出和 Action implementation: When an operator's little finger proximal interphalangeal joint (PIP) flexion and extension movement of the middle section attached to the little finger part of the little finger-joint detecting means Iio follow the movement with the drive, and the trip link 21 by a ball near the little finger drive refers to the little finger on the swing arm driving means 110 detects a joint portion 19 is rotated, so that the angle sensor 19 and the rocker arm linkage 18 can measure the little finger of the operator is proximal interphalangeal joint (PIP) state and flexion angle, when the control when the system is unable to the feedback signal, the driving means near the little finger on the little finger joint member driving mechanism section detecting parts 110 111 no action, the little finger of the operator can be about the middle section of the proximal interphalangeal joint of the little finger (PIP) is rotated without interference, when the control system powerful feedback signal, the driving means near the little finger on the little finger-joint detecting member driving mechanism section start site Iio 111, by fitting a reduction gear set 60 with the rocker arm 19 Against applied to the moving direction thereof, or the force, while the control system in accordance with another variation of the joint angle detected by the angle sensor of the rocker arm linkage 19 18, using the appropriate mathematical algorithm output continuously and 正驱动力的大小,推动或阻碍小指的近端指间关节(PIP)运动,实现该关节的力反馈功能。 Positive drive amount of force, to promote or hinder the little finger of the proximal interphalangeal joint (PIP) movement, to achieve the joint force feedback. [0057] 如图16和图17所示,所述小指远指节基座15通过粘合或其他方式固定于手套101上所对应的小指远指节部位,所述小指远指节基座15的一端为包围小指远指节的柱形,另一端为半球形,整个基座的纵截面为“U”形,开口朝向小指的远端指间关节(DIP),在该基座位于小指远指节背面的位置设有一摇臂,摇臂垂直于所在的指节背面。 [0057] FIG. 16 and FIG. 17, the distal phalanx of the little finger base 15 is fixed by bonding or other means to the little finger of the glove 101 corresponding to the distal knuckle, distal phalanx of the little finger base 15 distal end of the little finger means to surround the cylindrical section, the other end of the hemispherical, the entire susceptor is a longitudinal sectional "U" shape, opening towards the distal interphalangeal joint of the little finger (the DIP), located at the base of the little finger away refers to the position of the back section is provided with a rocker arm, the rocker arm means perpendicularly to the back section are located. 所述小指中指节部位的小指关节检测驱动机构110的摇臂19与小指远指节基座15通过球头20和球头扣连杆21配合的球形铰链连接。 Little finger joint detection driving mechanism section of the middle portion of the little finger of the rocker arm 19110 and the distal phalanx of the little finger with the base 15 are connected by the spherical hinge ball 20 and the ball head buckle link 21. 动作实施过程:当操作者小指的远端指间关节(DIP)做屈伸运动时,依附于小指远指节上的小指远指节基座15跟随一起运动,并通过球头扣连杆21带动小指中指节部位的小指关节检测驱动机构110上的摇臂19转动,使得与摇臂19联动的角度传感器18能测量出操作者小指的远端指间关节(DIP)屈伸的角度和状态,当控制系统无力反馈信号时,则小指中指节部位的小指关节检测驱动机构110上的驱动部件111无动作,操作者小指的远指节可绕小指的远端指间关节(DIP)转动不受干扰,当控制系统有力反馈信号时,则小指中指节部位的小指关节检测驱动机构110上的驱动部件111启动,通过减速齿轮组60的配合对摇臂19在其运动方向上施加一个同向或反向的力,同时控制系统再根据与摇臂19联动的角度传感器18检测到的关节角度的变化,运用相应的数学算法持续地输出和修正驱动力 Action implementation: When an operator's little finger distal interphalangeal joint (DIP) flexion and extension movement of the little finger means attached to the little finger on the distal phalanx of the base distal section 15 follow the movement together, and the trip link 21 by a ball head drive rotation of the rocker arm 19 on the little finger-joint detecting means 110 drive the middle section of the little finger parts, such that the distal interphalangeal joint (DIP) and a flexion angle of the rocker arm 19 in conjunction with the state of an angle sensor 18 of the little finger of the operator is able to measure, when inability to control system a feedback signal, the drive member of the drive means 110 detects little finger joint of the little finger part of the middle section 111 no action, the operator's little finger distal phalanx of the little finger is rotatable about the distal interphalangeal joint (DIP) is rotated without interference when the control system is powerful feedback signal, the drive member of the drive means 110 detects little finger joint of the little finger part of the middle section 111 starts by fitting a reduction gear set 60 with the rocker arm 19 Against applied to the moving direction thereof, or the force, and then while the change control system in conjunction with a joint angle sensor 18 detects the angle of the rocker arm 19 to use the appropriate mathematical algorithm output continuously and the driving force correction 的大小,推动或阻碍小指的远端指间关节(DIP)运动,实现该关节的力反馈功能。 Size, promote or hinder the distal interphalangeal joint of the little finger (DIP) movement, to achieve the force feedback function of the joint.

[0058] 作为本发明的另一实例,也可以用其他传感器代替角度传感器,同样可以起到检测人手手指各个指节在三维空间中的位置和运动状态的目的,实现本发明的目的。 [0058] As another example of the present invention, an angle sensor may be replaced with other sensors, it can also serve to detect the position of hand and finger respective knuckle motion in three dimensional space of the object, to achieve the object of the present invention.

[0059] 作为本发明的又一实例,也可以让固接有传动齿轮的微型驱动电机代替驱动部件111,直接驱动减速齿轮组60或关节,省去离合器环节,同样可以对关节起到施加力的作用,实现本发明的目的。 [0059] As yet another example of the present invention, there may also be secured to allow the drive gear instead of the drive member driving motor microcomputer 111, a direct drive reduction gear set 60 or joint, eliminating the need for a clutch part, can also serve to exert a force on the joints role in achieving the object of the present invention.

[0060] 在不使本发明的原理受到损害的情况下,上述构成的细节和具体实施方式仅仅是当做例子和图示的东西,它可以不脱离本发明的范围而广泛改变,这些均属于本发明的保护之内。 [0060] Under the principles of the present invention is not to damage the case, details and specific embodiment of the above configuration is merely an example and illustrated as a thing, it may not be departing from the scope of the present invention vary widely, which belong to the present within the claimed invention.

Claims (10)

1.一种外构架式双向力反馈数据手套,用于与计算机、机械手交互作用的装置,由手套(101)、手掌基座(102)、拇指检测驱动机构(103)、食指检测驱动机构(104)、中指检测驱动机构(105)、无名指检测驱动机构(106)、小指检测驱动机构(107)和掌指关节检测驱动机构(108)组成; 其特征在于: 该装置穿戴在操作者手上; 手掌基座(102)固定在手套(101)上的手掌部位,手掌基座(102)上的孔座(B、C、D、E)分别置于手套(101)所对应的食指、中指、无名指和小指的掌指关节位置上方; 拇指检测驱动机构(103)安装在手套(101)上的拇指部位,与手掌基座(102)铰接;食指检测驱动机构(104)安装在手套(101)上的食指部位,通过掌指关节检测驱动机构(108)与手掌基座(102)铰接; 中指检测驱动机构(105)安装在手套(101)上的中指部位,通过掌指关节检测驱动机构(108)与手掌基座(102)铰接; 无名指检 A force feedback type bilateral outer frame data glove, used with a computer, the robot interaction device, by the glove (101), the palm of the base (102), a thumb drive detecting means (103), detecting an index finger driving mechanism ( 104), the drive finger detecting means (105), the drive ring detection means (106), detecting the little finger drive means (107) and the metacarpophalangeal joint detection driving means (108) composition; characterized in that: the device is worn on the operator's hand ; palm base (102) fixed on the glove (101) of the palm area, the palm hole seat base (B, C, D, E) on (102) were placed in the glove (101) corresponding to the index finger, middle finger , ring finger and little finger metacarpophalangeal joint position above; thumb drive detecting means (103) mounted on the glove (101) of the thumb portion, the palm of the base (102) is hinged; index detector driving mechanism (104) mounted on the glove (101 sites on the index finger), by detecting the metacarpophalangeal joint drive means (108) with the palm of the base (102) is hinged; middle finger detection driving means (105) mounted on the glove (101) of the middle portion, by detecting the drive mechanism metacarpophalangeal joints (108) with the palm of the base (102) is hinged; ring finger subject 测驱动机构(106)安装在手套(101)上的无名指部位,通过掌指关节检测驱动机构(108)与手掌基座(102)铰接; 小指检测驱动机构(107)安装在手套(101)上的小指部位,通过掌指关节检测驱动机构(108)与手掌基座(102)铰接; 各铰接部位均安装有检测关节动作的角度传感器(18)及驱动部件(111),在检测手指各个关节运动的角度和状态的同时可根据需要对其施加力的作用实现力反馈控制。 Measuring a drive mechanism (106) mounted on the glove (101) of the ring portion, by detecting the metacarpophalangeal joint drive means (108) with the palm of the base (102) is hinged; little finger detection driving means (107) mounted on the glove (101) the little finger portion, by detecting the metacarpophalangeal joint drive means (108) with the palm of the base (102) is hinged; the hinge parts are attached to the joint operation of the angle detection sensor (18) and the drive member (111), each of the finger joints detected At the same time the state and angle of movement may be implemented as needed force feedback control of an applied force.
2.根据权利要求1所述的外构架式双向力反馈数据手套,其特征在于:所述拇指检测驱动机构(103)包括拇指掌指节基座(5)、拇指近指节基座(4)、拇指远指节基座(3)、手套(101)、手掌基座(102)、驱动部件(111)、角度传感器(18)、球头(20)、球头扣连杆(21)、齿轮箱底座(22)、轴承(23)、螺钉(24、35、36)、连杆(26)、摇臂(19、25、27、28)、齿轮箱盖(46、47、48、49)和减速齿轮组(60);拇指掌指节基座(5)固定在手套(101)上所对应的拇指掌指节部位,并沿着人手拇指掌指节外部肌肉的不规则轮廓,采用半环形包围(掌指节背面-掌指节外侧面-掌指节正面)拇指掌指节,在该基座位于拇指掌指节背面的位置设有一摇臂(F),外侧面位置设有一孔座(G),拇指掌指节基座(5)的摇臂(F)与另一摇臂(19)通过球头(20)和球头扣连杆(21)配合的球形铰链连接,所述摇臂(19)通过螺钉(35)固接于角度传感器(18) The force feedback type bilateral outer frame data glove according to claim 1, wherein: said driving thumb detecting means (103) comprises a section of the base of the thumb (5), near the thumb knuckle of the base (4 ), distal phalanx of the thumb base (3), the glove (101), the palm of the base (102), drive member (111), the angle sensor (18), the ball head (20), the first trip link ball (21) gear box base (22), a bearing (23), screws (24,35,36), the connecting rod (26), the rocker arm (19,25,27,28), the gear case cover (47, 48, 49) and a reduction gear set (60); the base of the thumb knuckle (5) fixed to the palm portion of the glove on the knuckle (101) corresponding to the thumb and base of the thumb muscle irregular profile section along the external staff, semi-annular surround (rear surface section metacarpophalangeal - metacarpophalangeal lateral section - metacarpophalangeal front section) of the thumb section, located at the base of the thumb metacarpal is provided with a location of the back section of the rocker arm (F.), an outer side surface disposed position seat has a hole (G), ball of the thumb rocker hinge connection (F) of the base section (5) and the other rocker arm (19) by a ball head (20) and the trip link ball head (21) cooperating the rocker (19) by screws (35) fastened to an angle sensor (18) 轴上,角度传感器(18)通过螺钉(36)固定在手掌基座(102)的孔座(A)内,所述摇臂(19)上的齿轮通过减速齿轮组¢0)的配合与驱动部件(111)的齿轮啮合,驱动部件(111)安装在手掌基座(102)的孔座(N)内,该驱动机构通过齿轮箱盖(45)固定;拇指近指节基座(4)通过粘合或其他方式固定于手套(101)上所对应的拇指近指节部位,且半包围拇指近指节,其包围结合处的横截面为“C”形,开口朝向手掌正面一侧,在该基座位于拇指近指节外侧面的位置设有两个孔座(H、K),两个孔座的位置分别对应于拇指的掌指关节(MP)和指间关节(DIP),角度传感器(18)由齿轮箱底座(22)及螺钉(35)固定在拇指近指节基座(4)的孔座(H)内,所述角度传感器(18)的轴通过螺钉(36)固接于内嵌轴承(23)的摇臂(28)底部,摇臂(28)上的齿轮通过减速齿轮组(60)的配合与安装在拇指近指节基座(4)上的驱动部件(111)的齿 Axis, the angle sensor (18) is fixed by a screw (36) in the palm of the base (102) of the boss (A), the gear on the rocker (19) ¢ 0 through a reduction gear set) mating with the drive gear member (111) engaging the drive member (111) mounted in the palm of the base (102) of the boss (N), the driving mechanism is fixed by the gear case cover (45); thumb knuckle near the base (4) by bonding or otherwise secured to the glove (101) corresponding to the proximal thumb knuckle, and half surrounds proximal thumb knuckle, which surrounds the cross-section of the junction of a "C" shaped, opening towards the front side of the palm, located near the base of the thumb in the finger position of the lateral section of the housing is provided with two holes (H, K), two positions of the boss correspond to the knuckles of the thumb metacarpal (MP) and interphalangeal joint (DIP), an angle sensor (18) fixed to the base by a gear box (22) and a screw (35) at the proximal thumb finger section base (4) of the boss (H), the angle sensor (18) by a screw shaft (36) the rocker arm (28) fixed to the embedded bearing (23) of the bottom rocker arm (28) by fitting a gear reduction gear set (60) and is mounted near the thumb finger on the drive member (4) of the base (111) the teeth 啮合,该驱动机构通过齿轮箱盖(47、48)固定,所述摇臂(28)与连杆(26) —端通过螺钉(24)铰接,连杆(26)另一端与摇臂(27)通过螺钉(24)铰接,摇臂(27)内嵌轴承(23)并与角度传感器(18)的轴通过螺钉(36)固接,所述角度传感器(18)固定在拇指掌指节基座(5)的孔座(G)内,所述摇臂(27)上的齿轮通过减速齿轮组¢0)的配合与安装在拇指掌指节基座(5)上的驱动部件(111)的齿轮啮合,该驱动机构通过齿轮箱盖(46)固定;拇指远指节基座(3)通过粘合或其他方式固定于手套(101)上所对应的拇指远指节部位,拇指远指节基座(3)的一端为包围拇指远指节的柱形,另一端为半球形,整个基座的纵截面为“U”形,开口朝向拇指指间关节(DIP),在拇指远指节基座(3)上位于拇指远指节外侧面的位置设有一滑槽,摇臂(25) —端嵌入拇指远指节基座(3)的滑槽内,并通过螺钉(24)限位,所述摇臂(25)内 Engaging the driving mechanism through a gear cover (47, 48) fixed to the rocker (28) and the link (26) - end by a screw (24) articulated rod (26) and the other end of the rocker arm (27 ) embedded bearing (23) by a screw (24) is hinged, the rocker arm (27) and the angle sensor (18) of the screw (36) fixed by the angle sensor (18) fixed to the base of the thumb knuckle cooperate with the drive member (111) on the base section (5) within the seat (5) of the boss (G), the gear on the rocker (27) via a reduction gear train ¢ 0) of the thumb mounted the gear, the driving mechanism is fixed by the gear case cover (46); distal phalanx of the thumb of the base (3) by bonding or otherwise secured to the glove (101) corresponding to the distal thumb knuckle thumb finger away One end of the base section (3) is surrounded by a thumb finger distal cylindrical section, the other end of the hemispherical, the entire susceptor is a longitudinal sectional "U" shape, opening towards the thumb joint (the DIP), distal refers to the thumb located on the base of the thumb section (3) refers to a distal position of the lateral section is provided with a chute, the rocker arm (25) - end of the chute fitted thumb away section of the base means (3), and limited by a screw (24) position, the rocker (25) 嵌轴承(23)另一端与角度传感器(18)的轴通过螺钉(36)固接,所述角度传感器(18)由齿轮箱底座(22)及螺钉(35)固定于拇指近指节基座(4)的孔座(K)内,所述摇臂(25)上的齿轮通过减速齿轮组(60)的配合与安装在拇指近指节基座(4)上的驱动部件(111)的齿轮啮合,该驱动机构通过齿轮箱盖(49)固定。 A bearing insert (23) and the other end of the angle sensor (18) by a screw shaft (36) fixedly connected to the angle sensor (18) by a gear box base (22) and a screw (35) fixed to the knuckle near the base of the thumb (4) of the boss (K), the rocker gear (25) via a reduction gear train (60) is fitted with a mounting base of the thumb knuckle near the drive member (111) on (4) gear, the driving mechanism through a gear cover (49) is fixed.
3.根据权利要求1所述的外构架式双向力反馈数据手套,其特征在于:所述食指检测驱动机构(104)包括手套(101)、手掌基座(102)、掌指关节检测驱动机构(108)、关节检测驱动机构(109)、驱动部件(111)、食指远指节基座(6)、角度传感器(18)、摇臂(19)、球头(20)、球头扣连杆(21)、螺钉(24)、连杆(38)、指节基座(53)、齿轮箱盖(54)、齿轮(59)和减速齿轮组¢0);食指的近指节部位和中指节部位分别安装关节检测驱动机构(109),关节检测驱动机构(109)上的指节基座(53)通过粘合或其他方式分别固定于手套(101)上所对应的食指近指节部位和中指节部位,且半包围指节,其包围结合处的横截面为“C”形,开口朝向手掌正面一侧,掌指关节检测驱动机构(108)的连杆(38)通过螺钉(24)与食指近指节部位的关节检测驱动机构(109)铰接于安装孔(Q)处,掌指关节检测驱动机构(108)底部的角度传感器 The force feedback type bilateral outer frame data glove according to claim 1, wherein: the detection index finger drive means (104) comprises a glove (101), the palm of the base (102), metacarpophalangeal joint detection driving means (108), driving joint detecting means (109), drive member (111), distal finger knuckles of the base (6), an angle sensor (18), the rocker arm (19), the ball head (20), the ball head buckle even rod (21), a screw (24), connecting rod (38), the knuckles of the base (53), the gear case cover (54), the gear (59) and the reduction gear set ¢ 0); forefinger knuckle and near the middle section of the joint parts are mounted a drive detection means (109), the knuckles of the base (53) on a joint drive detecting means (109), respectively, by bonding or otherwise fixed to the glove (101) corresponding to the index finger knuckle near and the middle portion of the section portion, and the half knuckles surround which surrounds the junction of the cross section a "C" shaped, opening towards the front side of the palm, metacarpophalangeal joint detecting rod drive mechanism (108) (38) by screws ( 24) the index near the finger joint detection section driving mechanism part (109) hinged to the mounting hole (Q), the angle of the bottom of the metacarpophalangeal joint detection drive means (108) sensor (18)固定在手掌基座(102)的孔座(B)内,其外缘齿轮(59)通过减速齿轮组(60)的配合与安装在手掌基座(102)上的驱动部件(111)的齿轮啮合,该驱动机构通过齿轮箱盖(54)固定;食指近指节部位的关节检测驱动机构(109)的摇臂(19)通过球头扣连杆(21)与食指中指节部位的关节检测驱动机构(109)安装孔(Q)上的球头(20)铰接;食指远指节基座(6)通过粘合或其他方式固定于手套(101)上所对应的食指远指节部位,食指远指节基座¢)的一端为包围食指远指节的柱形,另一端为半球形,整个基座的纵截面为“U”形,开口朝向食指的远端指间关节(DIP),在食指远指节基座(6)上位于食指远指节背面的位置设有一摇臂,摇臂垂直于所在的指节背面,食指中指节部位的关节检测驱动机构(109)的摇臂(19)与食指远指节基座(6)通过球头(20)和球头扣连杆(21)配合的球形铰链连接。 A drive member (111 (18) fixed to the base of the palm (102) within the boss (B), the outer edge gear (59) via a reduction gear set (60) mating with the base mounted on the palm (102) ) of the gear, the driving mechanism through a gear cover (54) is fixed; index finger near the rocker arm (19) articulated driving mechanism section detecting part (109) through a trip link ball (21) and the middle section of the index finger portion ball joint head on the drive detecting means (109) mounting holes (Q) (20) is hinged; distal index finger knuckle base (6) by bonding or otherwise secured to the glove (101) corresponding to the index finger away section portion, the index finger knuckle base ¢ distal) end distal index finger so as to surround the cylindrical section, the other end of the hemispherical, the entire susceptor is a longitudinal sectional "U" shape, opening towards the distal interphalangeal joint of the index finger (the DIP), distal finger means positioned on the finger section base (6) of the distal section refers to the position with the back of a rocker arm, the rocker arm means to the back section, the middle section of the index finger joint portion detecting driving means (109) located perpendicular the rocker arm (19) and the distal phalanx index base (6) by a ball head (20) and the trip link ball head (21) with a spherical hinge.
4.根据权利要求1所述的外构架式双向力反馈数据手套,其特征在于:所述中指检测驱动机构(105)包括手套(101)、手掌基座(102)、掌指关节检测驱动机构(108)、关节检测驱动机构(109)、驱动部件(111)、中指远指节基座(9)、角度传感器(18)、摇臂(19)、球头(20)、球头扣连杆(21)、螺钉(24)、连杆(38)、指节基座(53)、齿轮箱盖(55)、齿轮(59)和减速齿轮组¢0);中指的近指节部位和中指节部位分别安装关节检测驱动机构(109),关节检测驱动机构(109)上的指节基座(53)通过粘合或其他方式分别固定于手套(101)上所对应的中指近指节部位和中指节部位,且半包围指节,其包围结合处的横截面为“C”形,开口朝向手掌正面一侧,掌指关节检测驱动机构(108)的连杆(38)通过螺钉(24)与中指近指节部位的关节检测驱动机构(109)铰接于安装孔(Q)处,掌指关节检测驱动机构(108)底部的角度传感器 The force feedback type bilateral outer frame data glove according to claim 1, wherein: said detection finger drive means (105) comprises a glove (101), the palm of the base (102), metacarpophalangeal joint detection driving means (108), driving joint detecting means (109), drive member (111), middle phalanx distal base (9), the angle sensor (18), the rocker arm (19), the ball head (20), the ball head buckle even rod (21), a screw (24), connecting rod (38), the knuckles of the base (53), the gear case cover (55), the gear (59) and the reduction gear set ¢ 0); near the middle knuckle and the middle section of the joint parts are mounted a drive detection means (109), the knuckles of the base (53) on a joint drive detecting means (109), respectively, by bonding or otherwise fixed to the glove (101) corresponding to nearly the middle phalanx and the middle portion of the section portion, and the half knuckles surround which surrounds the junction of the cross section a "C" shaped, opening towards the front side of the palm, metacarpophalangeal joint detecting rod drive mechanism (108) (38) by screws ( 24) near the middle finger joint detection section driving mechanism part (109) hinged to the mounting hole (Q), the angle of the bottom of the metacarpophalangeal joint detection drive means (108) sensor (18)固定在手掌基座(102)的孔座(C)内,其外缘齿轮(59)通过减速齿轮组(60)的配合与安装在手掌基座(102)上的驱动部件(111)的齿轮啮合,该驱动机构通过齿轮箱盖(55)固定;中指近指节部位的关节检测驱动机构(109)的摇臂(19)通过球头扣连杆(21)与中指中指节部位的关节检测驱动机构(109)安装孔(Q)上的球头(20)铰接;中指远指节基座(9)通过粘合或其他方式固定于手套(101)上所对应的中指远指节部位,中指远指节基座(9)的一端为包围中指远指节的柱形,另一端为半球形,整个基座的纵截面为“U”形,开口朝向中指的远端指间关节(DIP),在中指远指节基座(9)上位于中指远指节背面的位置设有一摇臂,摇臂垂直于所在的指节背面,中指中指节部位的关节检测驱动机构(109)的摇臂(19)与中指远指节基座(9)通过球头(20)和球头扣连杆(21)配合的球形铰链连接。 A drive member (18) is fixed in the palm of the base (102) of the boss (C) within which the outer edge of the gear (59) via a reduction gear set (60) mating with the base mounted on the palm of the hand (102) (111 ) of the gear, the driving mechanism is fixed by the gear case cover (55); middle finger near the rocker arm (19) articulated driving mechanism section detecting part (109) through a trip link ball (21) and the middle portion of the middle section ball joint head on the drive detecting means (109) mounting holes (Q) (20) is hinged; far middle phalanx base (9) by bonding or otherwise secured to the glove (101) corresponding to the middle finger away section portion, the middle finger distal end of the base section (9) is surrounded by the middle finger distal cylindrical section, the other end of the hemispherical, the entire susceptor is a longitudinal sectional "U" shape, opening towards the distal end of the middle fingers joint (the DIP), the middle finger is located far away the middle section of the back of the finger position is provided with a rocker arm, the rocker arm perpendicular to the back surface where the knuckle of the middle finger joint detection section driving mechanism portion (109 (9) of the base section ) of the rocker arm (19) and middle finger distal phalanx of the base (9) by a ball head (20) and the trip link ball head (21) with a spherical hinge.
5.根据权利要求1所述的外构架式双向力反馈数据手套,其特征在于:所述无名指检测驱动机构(106)包括手套(101)、手掌基座(102)、掌指关节检测驱动机构(108)、关节检测驱动机构(109)、驱动部件(111)、无名指远指节基座(12)、角度传感器(18)、摇臂(19)、球头(20)、球头扣连杆(21)、螺钉(24)、连杆(38)、指节基座(53)、齿轮箱盖(55)、齿轮(59)和减速齿轮组¢0);无名指的近指节部位和中指节部位分别安装关节检测驱动机构(109),关节检测驱动机构(109)上的指节基座(53)通过粘合或其他方式分别固定于手套(101)上所对应的无名指近指节部位和中指节部位,且半包围指节,其包围结合处的横截面为“C”形,开口朝向手掌正面一侧,掌指关节检测驱动机构(108)的连杆(38)通过螺钉(24)与无名指近指节部位的关节检测驱动机构(109)铰接于安装孔(Q)处,掌指关节检测驱动机构(108)底部 The force feedback type bilateral outer frame data glove according to claim 1, wherein: said ring detector driving mechanism (106) comprises a glove (101), the palm of the base (102), metacarpophalangeal joint detection driving means (108), driving joint detecting means (109), drive member (111), distal phalanx of the base ring (12), the angle sensor (18), the rocker arm (19), the ball head (20), the ball head buckle even rod (21), a screw (24), connecting rod (38), the knuckles of the base (53), the gear case cover (55), the gear (59) and the reduction gear set ¢ 0); ring near the knuckle and the middle section of the joint parts are mounted a drive detection means (109), the knuckles of the base (53) on a joint drive detecting means (109), respectively, by bonding or otherwise fixed to the glove (101) corresponding to the ring near the knuckles and the middle portion of the section portion, and the half knuckles surround which surrounds the junction of the cross section a "C" shaped, opening towards the front side of the palm, metacarpophalangeal joint detecting rod drive mechanism (108) (38) by screws ( 24) near the ring finger joint detection section portion of the drive means (109) is hinged at the mounting hole (Q), the bottom of the metacarpophalangeal joint detection drive mechanism (108) 角度传感器(18)固定在手掌基座(102)的孔座(D)内,其外缘齿轮(59)通过减速齿轮组¢0)的配合与安装在手掌基座(102)上的驱动部件(111)的齿轮啮合,该驱动机构通过齿轮箱盖(55)固定;无名指近指节部位的关节检测驱动机构(109)的摇臂(19)通过球头扣连杆(21)与无名指中指节部位的关节检测驱动机构(109)安装孔(Q)上的球头(20)铰接;无名指远指节基座(12)通过粘合或其他方式固定于手套(101)上所对应的无名指远指节部位,无名指远指节基座(12)的一端为包围无名指远指节的柱形,另一端为半球形,整个基座的纵截面为“U”形,开口朝向无名指的远端指间关节(DIP),在无名指远指节基座(12)上位于无名指远指节背面的位置设有一摇臂,摇臂垂直于所在的指节背面,无名指中指节部位的关节检测驱动机构(109)的摇臂(19)与无名指远指节基座(12)通过球头(20)和球头扣连杆(21) An angle sensor (18) is fixed in the palm of the base (102) of the boss (D), the outer edge gear (59) through a reduction gear set with 0 ¢) is mounted on the palm of the base (102) of the drive member (111) gear, the driving mechanism is fixed by the gear case cover (55); means a ring near the rocker arm (19) articulated driving mechanism section detecting part (109) through a trip link ball (21) and middle finger the ball joint mechanism drive detecting section portion (109) of the mounting hole (Q) (20) is hinged; distal phalanx of the base ring (12) is fixed by an adhesive or other means on the glove (101) corresponding to the finger distal knuckle, distal refers to the end section of the base ring (12) is a ring surrounding the cylindrical distal section refers to, hemispherical and the other end, a longitudinal section of the entire base is "U" shape opening towards the distal end of the finger interphalangeal joint (the DIP), the ring finger is located on the distal (12) refers to a position away ring section is provided with a rear surface of the rocker arm, the rocker arm means perpendicularly to the back section where the section of the base, the middle finger joint detection driving mechanism section parts (109) of the rocker arm (19) and the distal phalanx of the base ring (12) by a ball head (20) and the trip link ball (21) 合的球形铰链连接。 Bonded ball hinge.
6.根据权利要求1所述的外构架式双向力反馈数据手套,其特征在于:所述小指检测驱动机构(107)包括手套(101)、手掌基座(102)、掌指关节检测驱动机构(108)、小指关节检测驱动机构(110)、驱动部件(111)、小指远指节基座(15)、角度传感器(18)、摇臂(19)、球头(20)、球头扣连杆(21)、螺钉(24)、连杆(38)、指节基座(58)、齿轮箱盖(56)、齿轮(59)和减速齿轮组¢0);小指的近指节部位和中指节部位分别安装小指关节检测驱动机构(110),小指关节检测驱动机构(110)上的指节基座(58)通过粘合或其他方式分别固定于手套(101)上所对应的小指近指节部位和中指节部位,且半包围指节,其包围结合处的横截面为“C”形,开口朝向手掌正面一侧,掌指关节检测驱动机构(108)的连杆(38)通过螺钉(24)与小指近指节部位的小指关节检测驱动机构(110)铰接于安装孔(R)处,掌指关节检测驱动机构(108 The force feedback type bilateral outer frame data glove according to claim 1, wherein: detecting said little finger drive means (107) comprises a glove (101), the palm of the base (102), metacarpophalangeal joint detection driving means (108), the little finger joint detection driving means (110), drive member (111), distal phalanx of the little finger of the base (15), the angle sensor (18), the rocker arm (19), the ball head (20), the ball head buckle link (21), a screw (24), connecting rod (38), the knuckles of the base (58), the gear case cover (56), the gear (59) and the reduction gear set ¢ 0); near the little finger knuckle the middle section and little finger parts are attached to the joint detection driving means (110), the knuckles of the base (58) on the little finger joint detection drive means (110) by bonding or other means are fixed to the glove (101) corresponding to the little finger near the middle section and knuckle parts, and surrounded by half knuckles, which surrounds the junction of the cross section a "C" shaped, opening towards the front side of the palm, metacarpophalangeal joint detecting rod drive mechanism (108) (38) by means of screws (24) near the little finger and the finger-joint detecting section portion of the little finger drive means (110) hinged to the mounting hole (R), the metacarpophalangeal joint detection drive mechanism (108 )底部的角度传感器(18)固定在手掌基座(102)的孔座(E)内,其外缘齿轮(59)通过减速齿轮组¢0)的配合与安装在手掌基座(102)上的驱动部件(111)的齿轮啮合,该驱动机构通过齿轮箱盖(56)固定;小指近指节部位的小指关节检测驱动机构(110)的摇臂(19)通过球头扣连杆(21)与小指中指节部位的小指关节检测驱动机构(110)安装孔(R)上的球头(20)铰接;小指远指节基座(15)通过粘合或其他方式固定于手套(101)上所对应的小指远指节部位,小指远指节基座(15)的一端为包围小指远指节的柱形,另一端为半球形,整个基座的纵截面为“U”形,开口朝向小指的远端指间关节(DIP),在小指远指节基座(15)上位于小指远指节背面的位置设有一摇臂,摇臂垂直于所在的指节背面,小指中指节部位的小指关节检测驱动机构(110)的摇臂(19)与小指远指节基座(15)通过球头(20)和球头扣连杆(21)配合 ) At the bottom of the angle sensor (18) is fixed in the palm of the base (102) of the boss (E), the outer edge gear (59) via a reduction gear train ¢ 0) is mounted on the palm of the hand with the base (102) gear drive member (111) engages, the driving mechanism through a gear cover (56) is fixed; little finger near the rocker arm means (19) parts of the little finger-joint detecting section drive means (110) through a trip link ball (21 ) little finger and little finger joint detection driving mechanism section of the middle portion (110) of the ball head (20) on the mounting hole (R) is hinged; little finger distal phalanx of the base (15) by bonding or otherwise secured to the glove (101) far little finger on the corresponding knuckle, the little finger distal end section of the base means (15) for enclosing a cylindrical section of the pinky finger away, the other hemispherical end, a longitudinal section across the susceptor is "U" shaped opening toward the distal interphalangeal joint of the little finger (the DIP), the little finger means positioned far little finger section base (15) of the distal section refers to the position with the back of a rocker arm, the rocker arm means located perpendicular to the rear surface section, the middle section of the little finger portion the rocker arm (19) of the little finger joint detection drive means (110) and the little finger distal finger (21) with a base section (15) by a ball head (20) and the ball head buckle link 球形铰链连接。 Spherical hinge connection.
7.根据权利要求1、2、3、4、5或6所述的外构架式双向力反馈数据手套,其特征在于:角度传感器(18)与带有齿轮的摇臂(19、25、27、28)固接,摇臂(19、25、27、28)上齿轮的轴心与摇臂(19、25、27、28)固接角度传感器(18)后转动的轴心重合,摇臂(19、25、27、28)的齿轮通过减速齿轮组¢0)的配合与驱动部件(111)的齿轮啮合,当关节运动时,若控制系统对该关节无力反馈信号,则相应的驱动部件(111)无动作,关节可带动摇臂(19、25、27、28)自由动作不受干扰,使得与摇臂(19、25、27、28)联动的角度传感器(18)可以检测出关节运动的角度,若控制系统对该关节有力反馈信号,则相应的驱动部件(111)启动,通过减速齿轮组(60)的配合对摇臂(19、25、27、28)在其运动方向上施加一个同向或反向的力,同时控制系统再根据与摇臂(19、25、27、28)联动的角度传感器(18)检测到的关节角度 The force feedback type bilateral outer frame 5, or data glove according to claim 6, wherein: an angle sensor (18) of the rocker arm having a gear (19,25,27 , 28) fixed, after the rocker arm (19,25,27,28) on the rocker arm axis gear (19,25,27,28) is fixed to the angle sensor (18) coincides with the axis of rotation of the rocker arm (19,25,27,28) by engagement of the gear reduction gear set ¢ 0) mating with the drive member (111) when the articulation, the articulation control system when the feedback signal is weak, the corresponding drive member (111) no action, may be driven by the rocker joint (19,25,27,28) consisting of undisturbed operation, so that the angle sensor (18) and the rocker arm (19,25,27,28) interlocking joint can be detected angular movement, if the feedback signal to the control system strong joint, the corresponding drive member (111) to start, with the direction of movement thereof by the reduction gear set (60) of the rocker arm (19,25,27,28) in applying a force of the same or opposite, while the control system is then detected by the angle sensor (18) and the rocker arm (19,25,27,28) interlocking joint angle 变化,运用相应的数学算法持续地输出和修正驱动力的大小,推动或阻碍该关节运动,实现该关节的力反馈功能。 Changes in the use of mathematical algorithms continuously output and the size of the correction driving force to promote or hinder the movement of the joint, the joint realization of force feedback function.
8.根据权利要求1、3、4、5或6所述的外构架式双向力反馈数据手套,其特征在于:所述掌指关节检测驱动机构(108)包括驱动部件(111)、摇臂(27)、掌指关节基座(29)、螺钉(24、35、36)、轴承(23、39)、连杆(38)、齿轮箱盖(50)、齿轮(59)、减速齿轮组(60)和两个角度传感器(18);掌指关节基座(29)底部内嵌轴承(39)并与一个角度传感器(18)的轴通过螺钉(36)固接,所述掌指关节基座(29)可绕角度传感器(18)的轴心转动,掌指关节基座(29)下部外缘设有齿轮(59),齿轮(59)的轴心与底部的角度传感器(18)的轴心重合,另一个角度传感器(18)通过螺钉(35)固定于掌指关节基座(29)的孔座(L)内,并与内嵌轴承(23)的摇臂(27)通过螺钉(36)固接,摇臂(27)上的齿轮通过减速齿轮组¢0)的配合与驱动部件(111)的齿轮啮合,驱动部件(111)安装在掌指关节基座(29)上,摇臂(27)另一端与连杆(38)通过螺钉(24)铰接。 The force feedback type bilateral outer frame 1,3,4,5 or data glove according to claim 6, wherein: said driving means detecting the metacarpophalangeal joint (108) comprises a drive member (111), the rocker arm (27), metacarpophalangeal joint base (29), screws (24,35,36), bearing (23, 39), connecting rod (38), the gear case cover (50), the gear (59), a reduction gear set (60) and two angle sensors (18); metacarpophalangeal joint base (29) embedded in the bottom bearing (39) and with an angle sensor (18) by a screw shaft (36) fixed to the metacarpophalangeal joints the axial center of the base (29) is rotatable about an angle sensor (18) is rotated, the metacarpophalangeal joints of the base (29) is provided with an outer edge of a lower gear (59), the gear (59) and the axis of the bottom of the angle sensor (18) the axis coincides another angle sensor (18) is fixed by screws (35) in the metacarpophalangeal joint of the base (29) of the boss (L), and with an embedded bearing (23) of the rocker arm (27) by screws (36) fixed, on the rocker arm engaging gear (27) via a reduction gear train ¢ 0) mating with the drive member (111), the drive member (111) mounted on the metacarpophalangeal joints of the base (29) , (27) the other end of the rocker arm and the connecting rod (38) by screws (24) is hinged.
9.根据权利要求1、3、4、5或6所述的外构架式双向力反馈数据手套,其特征在于:所述关节检测驱动机构(109)和小指关节检测驱动机构(110)包括驱动部件(111)、减速齿轮组(60)、角度传感器(18)、摇臂(19)、螺钉(35,36)、齿轮箱盖(51、52、57)和指节基座(53、58);所述关节检测驱动机构(109)上的指节基座(53)设有一个孔座(M)和一排用于球头(20)或螺钉(24)的安装孔(Q),角度传感器(18)通过螺钉(36)固定在指节基座(53)的孔座(M)内并与摇臂(19)通过螺钉(35)固接,摇臂(19)上齿轮的轴心与摇臂转动的轴心重合,摇臂(19)的齿轮通过减速齿轮组¢0)的配合与驱动部件(111)的齿轮啮合,驱动部件(111)安装在指节基座(53)上,摇臂(19)另一端固接球头(20);所述小指关节检测驱动机构(110)上的指节基座(58)设有一个孔座(P)和一排用于球头(20)或螺钉(24)的安装孔(R),角度传感器(18)通过螺钉(35)固定在指 The outer frame 9. The force feedback type bilateral 1,3,4,5 or data glove according to claim 6, wherein: the joint detection driving means (109) and the little finger joint detection driving means (110) comprises a drive means (111), a reduction gear set (60), the angle sensor (18), the rocker arm (19), a screw (35, 36), the gear case cover (51,52,57) and the knuckles of the base (53, 58 ); knuckle joint detection on said base drive means (109) (53) is provided with a seat hole (M) and a discharge for the ball head (20) or screws (24) mounting holes (Q), an angle sensor (18) is fixed to the knuckle of the base (53) of the boss (M) and the rocker arm (19) by screws (35) fixed by screws (36), (19) of the rocker arm shaft gear heart rotation axis coincides with the rocker arm, the rocker arm (19) of the gear (111) engages a gear drive member (111) mounted on the knuckles of the base (53 through a reduction gear set ¢ 0) mating with the drive member) on the rocker arm (19) and the other end fixed ball head (20); the base knuckle of the little finger joint detection on the drive means (110) (58) is provided with a seat hole (P) and a row for a ball head (20) or screws (24) mounting holes (R), an angle sensor (18) is fixed by a screw means (35) 节基座(58)的孔座(P)内并与摇臂(19)通过螺钉(35)固接,摇臂(19)上齿轮的轴心与摇臂转动的轴心重合,摇臂(19)的齿轮通过减速齿轮组¢0)的配合与驱动部件(111)的齿轮啮合,驱动部件(111)安装在指节基座(58)上,摇臂(19)另一端固接球头(20)。 The base section (58) of the boss (P) and the rocker arm (19) by screws (35) fixed to the rocker arm (19) with the axis of rotation of the rocker arm on the gear axis coincides rocker ( 19) by engagement of the gear reduction gear set ¢ 0) mating with the drive member (111), the drive member (111) mounted on the knuckles of the base (58), the other end of the rocker arm (19) fixed ball head (20).
10.根据权利要求1、7、8或9所述的外构架式双向力反馈数据手套,其特征在于:驱动部件(111)由微型电机(40)和离合器组成,所述离合器包括离合器摩擦片(41)、摩擦片滑杆(42)、回位拉簧(43)和离合器盖(44);摩擦片滑杆(42)与微型电机(40)的轴固接,两片离合器摩擦片(41)分别套入摩擦片滑杆(42)两端,两片离合器摩擦片(41)之间连接有回位拉簧(43),离合器盖(44)套入微型电机(40)的轴,将离合器摩擦片(41)、摩擦片滑杆(42)和回位拉簧(43)包含在内,离合器盖(44)与微型电机(40)的轴之间为滑动接触,离合器盖(44)上设有传动齿轮;当微型电机(40)转速高于一定值时,离合器摩擦片(41)与离合器盖(44)的内壁接触,对离合器盖(44)产生摩擦力,带动离合器盖(44)转动,当微型电机(40)转速低于一定值时,离合器摩擦片(41)与离合器盖(44)的内壁分离,切断离合器盖(44)与微型电机(4 0) 10. A frame according to claim external force feedback type bilateral data glove, 7, 8 or 9, wherein: the drive member (111) by a micro-motor (40) composed of a clutch and a friction clutch includes a clutch plate (41), friction slider plate (42), a return tension spring (43) and a clutch cover (44); friction slider plate (42) and the micro-motor (40) fixed to a shaft, two clutch lining ( 41) are set into the friction slider plate (42) at both ends, has a return tension spring (43) between the two clutch plates (41), clutch cover (44) set into the micro-motor shaft (40), the clutch plates (41), friction slider plate (42) and a return tension spring (43) included between the axis of the clutch cover (44) and the micro-motor (40) for sliding contact with a clutch cover (44 ) provided with the drive gear; when the micro-motor (40) speed is higher than a certain value, the clutch plates (41) and the clutch cover (44) contacts the inner wall, a frictional force of the clutch cover (44), driven by the clutch cover ( 44) rotates, when the micro-motor (40) speed is below a certain value, the clutch plates (41) and the clutch cover (44) of the inner wall of the separation, the clutch is disengaged the cover (44) and the micro-motor (40) 连接。 Connection.
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CN104635912A (en) * 2013-11-08 2015-05-20 苏茂 Device for bidirectional knuckle detection driving
CN105291139B (en) * 2014-06-03 2017-04-19 赵德朝 Finger movement detection device based on Hall effect
CN105291139A (en) * 2014-06-03 2016-02-03 赵德朝 Finger movement detection device based on Hall effect
CN104076929B (en) * 2014-07-21 2017-04-12 谷逍驰 Hand action acquisition device provided with force feedback and realizing by utilizing mechanical structure
CN104076929A (en) * 2014-07-21 2014-10-01 谷逍驰 Hand action acquisition device provided with force feedback and realizing by utilizing mechanical structure
CN104227733A (en) * 2014-07-28 2014-12-24 南京工程学院 Human-body-induced mechanical arm
CN104117206A (en) * 2014-08-01 2014-10-29 天津恒威先创科技发展有限公司 Method for realizing virtual reality all-directional action based on action capturing system
CN106142107A (en) * 2015-04-16 2016-11-23 钦州市科海奇科技有限公司 Staff little finger of toe detection of joints drive mechanism
CN106142043A (en) * 2015-04-16 2016-11-23 钦州市科海奇科技有限公司 Thumb closely refers to joint detection driving means
CN106142106A (en) * 2015-04-16 2016-11-23 钦州市科海奇科技有限公司 Data glove sphere-pin pair detection drive mechanism
CN106142125A (en) * 2015-04-16 2016-11-23 钦州市科海奇科技有限公司 Staff thumb distal joint detection drive mechanism
CN106142044A (en) * 2015-04-16 2016-11-23 钦州市科海奇科技有限公司 Staff far refers to joint detection drive mechanism
CN106142105A (en) * 2015-04-16 2016-11-23 钦州市科海奇科技有限公司 Data glove revolute pair detection drive mechanism
CN105551339A (en) * 2015-12-31 2016-05-04 英华达(南京)科技有限公司 Calligraphy practicing system and method based on virtual reality system
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