CN103158162A

CN103158162A - External-framework type bidirectional force feedback data glove

Info

Publication number: CN103158162A
Application number: CN2011104247160A
Authority: CN
Inventors: 苏茂
Original assignee: Individual
Current assignee: Individual
Priority date: 2011-12-19
Filing date: 2011-12-19
Publication date: 2013-06-19
Anticipated expiration: 2031-12-19
Also published as: CN103158162B

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

External framework type bilateral force feedback data glove

Technical field

The present invention relates to a kind of detection staff finger motion state, and have the data glove of two-way active drive and force feedback function.

Background technology

Development due to science and technology, robot is used in increasing scope gradually, teleoperation robot is widely used in working in the environment various danger, the situation complexity, that the mankind can't arrive as the robot of a kind of dependable performance, technology maturation, what it adopted is very reliable control mode, directly sends instruction by the operator and controls.carrying out along with teleoperation robot of task becomes increasingly complex, make people when pursuing reliability, also its flexibility is had higher requirement, and to implement distant operation to the manipulator of complexity, control a plurality of joints coordinated movement of various economic factors together of a plurality of fingers of manipulator, to realize specific function, this just need use data glove, and the data glove with force feedback function is the manipulator of robot to be implemented the efficient apparatus of distant operation, it is pointed the positional information of each dactylus and controls the finger tracking staff finger motion of manipulator as control instruction by measure operator, and the stressing conditions of each joint of manipulator in motion process can be simulated on data glove, act on the operator on hand, make the operator produce very strong telepresenc.In addition, Virtual Simulation development in recent years, its main interactive device is exactly force feedback data gloves, for example in a scene by computer virtual, control the virtual staff dismounting of a pair of or put together machines etc., also having game, 3D cartoon making etc. all to need to use force feedback data gloves, but force feedback data gloves system complex in the market, price is very expensive, makes it can't popularize in a large number, promote and use.

Summary of the invention

The objective of the invention is, system complex expensive for existing force feedback data gloves, the shortcoming such as difficult in maintenance, proposed a kind of the two-way active driving device of external angular transducer and joint to be combined as a whole, also the power visual information that feeds back is changed into the method that power or moment directly act on staff when detecting staff joint motions information, greatly simplified complicated force feedback data gloves system.the present invention can detect and drive the articulate motion of five fingers of staff, its difficult point is to be attached to the design of the framework of staff outside, because the volume of external angular transducer is larger, add drive motors, gear, rocking arm, the parts such as connecting rod, can disturb the motion of finger, but the present invention is by the optimal design to outside framework, adopt unique connected mode between each joint pedestal, and to the ingenious layout of each joint measurment point, reduce or eliminated testing agency and driving mechanism to obstruction and the impact of operator's finger motion, make the operator when using this force feedback data gloves, the motion of its five fingers can also keep farthest flexibly with light and handy.The present invention has added clutch in articulated driving equipment, when there is force feedback signal in system, drive motors connects driven joint, and the joint is applied the effect of power, when system does not have force feedback signal, drive motors disconnects the connection in driven joint, has reduced and reduced the resistance of joint motions, makes the motion in joint more smooth and easy.On gloves, corresponding angular transducer passes through corresponding mathematical algorithm measurement to the movement angle of five finger-joints of force feedback data gloves by being arranged on, all joints all are provided with independently drive unit on the decomposition direction of its direction of motion or compound movement, each drive unit again with driven joint on corresponding angular transducer cooperating form closed-loop control, with the realizable force FEEDBACK CONTROL and improve its accuracy.The present invention can detect position and the motion state of each dactylus in three dimensions of thumb, forefinger, middle finger, the third finger, little finger of toe accurately, delicately, and each joint had two-way active drive and force feedback function, use simple, it is convenient to dress, easily safeguard, and can greatly reduce the cost of force feedback data gloves.

Description of drawings

Fig. 1 is the integrally-built shaft side figure of the present invention.

Fig. 2 is the integrally-built lower view of the present invention.

Fig. 3 is gloves 101 and palm pedestal 102 and each dactylus mechanism decomposing schematic representation.

Fig. 4 is the structural representation of driver part 111.

Fig. 5 is the articulatio carpometacarpicus communis structural representation that thumb detects driving mechanism 103.

Fig. 6 is the zoomed-in view that thumb detects driving mechanism 103.

Fig. 7 is the structural representation that thumb detects driving mechanism 103.

Fig. 8 is three-view diagram and the axonometric drawing that metacarpophalangeal joints detect driving mechanism 108.

Fig. 9 is the structural representation that metacarpophalangeal joints detect driving mechanism 108.

Figure 10 is three-view diagram and the axonometric drawing of detection of joints driving mechanism 109.

Figure 11 is the structural representation of detection of joints driving mechanism 109.

Figure 12 is the structural representation that forefinger detects driving mechanism 104.

Figure 13 is the structural representation that middle finger detects driving mechanism 105.

Figure 14 is the nameless structural representation that detects driving mechanism 106.

Figure 15 is three-view diagram and the axonometric drawing of little finger of toe detection of joints driving mechanism 110.

Figure 16 is the structural representation of little finger of toe detection of joints driving mechanism 110.

Figure 17 is the structural representation that little finger of toe detects driving mechanism 107.

The specific embodiment

Main parts size of the present invention:

101. gloves 102. palm pedestal 103. thumbs detect driving mechanism

104. forefinger detects driving mechanism 105. middle fingers and detects the nameless driving mechanism that detects of driving mechanism 106.

107. little finger of toe detects driving mechanism 108. metacarpophalangeal joints and detects driving mechanism 109. detection of joints driving mechanisms

110. little finger of toe detection of joints driving mechanism 111. driver part 3. thumb dactylus pedestals far away

4. nearly dactylus pedestal 5. thumbs of thumb are slapped dactylus pedestal 6. forefinger dactylus pedestals far away

9. nameless dactylus pedestal 15. little finger of toe dactylus pedestals far away far away of middle finger dactylus pedestal far away 12.

18. angular transducer 20. bulb 21. bulbs link bar

22. gear-box base 29. metacarpophalangeal joints pedestal 40. micromachines

41. clutch friction plate 42. friction plate slide bar 43. returning pull-springs

44. clutch case 53. dactylus pedestal 58. dactylus pedestals

60. train of reduction gears

The specific embodiment one: as Fig. 1, Fig. 2 and shown in Figure 3, described external framework type bilateral force feedback data glove comprises that gloves 101, palm pedestal 102, thumb detection driving mechanism 103, forefinger detect driving mechanism 104, middle finger detects driving mechanism 105, nameless detection driving mechanism 106, little finger of toe detection driving mechanism 107 and metacarpophalangeal joints and detects driving mechanism 108.Described external framework type bilateral force feedback data glove is applicable to the hand-type of the different sizes of most of operators, so most of parts all are preset with a plurality of installing holes that are arranged in a linear, make the operator can select according to actual needs suitable position that associated components is installed, allow the corresponding optimum state that reaches in position of each artis that each artis and the operator of data glove point.Described gloves 101 use the flexible materials such as rubber, cotton, cloth, skin to make, and after guaranteeing that the operator is with upper gloves, each joint of finger still can flexible motion.Described palm pedestal 102 is provided with hole seat A, B, C, D, E, should make B, C, D and four hole seats of E be placed in respectively the top, metacarpophalangeal joints position of the corresponding forefinger of gloves 101, middle finger, the third finger and little finger of toe, and palm pedestal 102 is fixed in the palm part of gloves 101 by bonding or other modes.

The specific embodiment two: as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and shown in Figure 7, described thumb detects driving mechanism 103 and comprises thumb palm dactylus pedestal 5, thumb nearly dactylus pedestal 4 and the thumb far away dactylus pedestal 3 hinged with palm pedestal 102 orders, every adjacent two pedestal hinged places all are equipped with angular transducer 18 and the driver part 111 that detects joint motions information, detect position and the motion state of each dactylus of thumb in three dimensions, and under the effect of driver part 111 the realizable force feedback function.

As shown in Figure 4, described driver part 111 comprises micromachine 40 and clutch, described clutch is comprised of clutch friction plate 41, friction plate slide bar 42, returning pull-spring 43, clutch case 44, friction plate slide bar 42 is affixed with the axle of micromachine 40, two slice clutch friction plates 41 are inserted in respectively friction plate slide bar 42 two ends, be connected with returning pull-spring 43 between two slice clutch friction plates 41, clutch case 44 is inserted in the axle of micromachine 40, be sliding-contact between the axle of clutch case 44 and micromachine 40, clutch case 44 is provided with travelling gear.Action implementation process: when micromachine 40 rotating speeds during higher than certain value, the pulling force that two slice clutch friction plates 41 overcome returning pull-spring 43 slides and contacts with the inwall of clutch case 44 to two ends of friction plate slide bar 42 respectively, clutch case 44 is produced frictional force, drive clutch case 44 and rotate; During lower than certain value, two slice clutch friction plates 41 slide to axis direction under the effect of returning pull-spring 43 when micromachine 40 rotating speeds, separate with the inwall of clutch case 44, cut off being connected of clutch case 44 and micromachine 40.

As Fig. 5, Fig. 6 and shown in Figure 7, described thumb palm dactylus pedestal 5 is fixed in corresponding thumb palm dactylus position on gloves 101 by bonding or other modes, thumb palm dactylus pedestal 5 is along the irregular contour of the outside muscle of staff thumb palm dactylus, adopt semi-circular to surround (back side-palm dactylus lateral surface-palm dactylus is positive for palm dactylus) thumb palm dactylus, the position that is positioned at the thumb palm dactylus back side at this pedestal is provided with a rocking arm F, and the lateral surface position is provided with a hole seat G.the rocking arm F of thumb palm dactylus pedestal 5 is connected bar 21 cooperations with bulb by bulb 20 with rocking arm 19 spherical linkage is connected, described rocking arm 19 is affixed by screw 35 with the axle of angular transducer 18, described angular transducer 18 is fixed in the hole seat A of palm pedestal 102 by screw 36, the axis coinciding that gear axis on described rocking arm 19 and rocking arm rotate, the gear of described rocking arm 19 is by the cooperation of train of reduction gears 60 and the gear engagement of driver part 111, described driver part 111 is arranged in the hole seat N of palm pedestal 102, this driving mechanism is fixing by gear box cover 45.action implementation process: when operator's articulatio carpometacarpicus communis (CP) moves, the thumb palm dactylus pedestal 5 that depends on thumb palm dactylus is followed motion together, and link bar 21 drive rocking arms 19 rotations by bulb, make angle and the state that to measure operator's articulatio carpometacarpicus communis (CP) motion in the seat A of hole with the angular transducer 18 of rocking arm 19 interlocks, when control system during without force feedback signal, driver part 111 attonitys in hole seat N, rocking arm 19 actions are interference-free, when control system has force feedback signal, the driver part in hole seat N 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 19, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat A of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder articulatio carpometacarpicus communis (CP) motion of thumb, realize the force feedback function in this joint.

As shown in Figure 7, the nearly dactylus pedestal 4 of described thumb is fixed in the nearly dactylus of corresponding thumb position on gloves 101 by bonding or other modes, the nearly dactylus pedestal 4 nearly dactylus of semi-surrounding thumb of thumb, its cross section that surrounds the junction is " C " shape, opening is towards the positive side of palm, the position that is positioned at the nearly dactylus lateral surface of thumb at this pedestal is provided with two hole seat H and K, and the position of two hole seats corresponds respectively to the metacarpophalangeal joints of thumb (MP) and interphalangeal joint (DIP).the nearly dactylus pedestal 4 of thumb passes through rocking arm 28 with thumb palm dactylus pedestal 5, connecting rod 26, rocking arm 27 is hinged, the bottom of described rocking arm 28 (embedded bearing 23) and the axle of angular transducer 18 are affixed by screw 36, described angular transducer 18 is fixed in the hole seat H of the nearly dactylus pedestal 4 of thumb by gear-box base 22 and screw 35, the axis coinciding that gear axis on described rocking arm 28 and rocking arm rotate, the gear of described rocking arm 28 is by the cooperation of train of reduction gears 60 and the gear engagement of driver part 111, described driver part 111 is arranged on the nearly dactylus pedestal 4 of thumb, this driving mechanism is fixing by gear box cover 47 and gear box cover 48.described rocking arm 28 is hinged by screw 24 with connecting rod 26 1 ends, described connecting rod 26 other ends and rocking arm 27 are hinged by screw 24, described rocking arm 27 (embedded bearing 23) is affixed by screw 36 with the axle of angular transducer 18, described angular transducer 18 is fixed in the hole seat G of thumb palm dactylus pedestal 5 by screw 35, the axis coinciding that gear axis on described rocking arm 27 and rocking arm rotate, the gear of described rocking arm 27 is by the cooperation of train of reduction gears 60 and the gear engagement of driver part 111, described driver part 111 is arranged on thumb palm dactylus pedestal 5, this driving mechanism is fixing by gear box cover 46.the action implementation process: the nearly dactylus of staff thumb can rotate around metacarpophalangeal joints (MP), it can be decomposed into the componental movement on both direction, one is the flexion and extension that is parallel to the nearly dactylus of thumb side, another is abduction or the motion of interior receipts that is parallel to the nearly dactylus of the thumb back side, when the metacarpophalangeal joints (MP) of operator's thumb when doing flexion and extension, the nearly dactylus pedestal 4 of thumb that depends on the nearly dactylus of thumb is followed motion together, and drive rocking arm 27 rotations by rocking arm 28 and connecting rod 26, angle and state that the metacarpophalangeal joints (MP) that make the angular transducer 18 that links with rocking arm 27 in the seat G of hole can measure operator's thumb bend and stretch, when control system during without force feedback signal, thumb is slapped driver part 111 attonitys on dactylus pedestal 5, rocking arm 27 actions are interference-free, when control system has force feedback signal, the driver part 111 on thumb palm dactylus pedestal 5 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 27, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat G of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) flexion and extension of thumb, realize the force feedback function in this joint, when the metacarpophalangeal joints (MP) of operator's thumb are done abduction or the motion of interior receipts, on this direction of action, thumb palm dactylus pedestal 5 and rocking arm 27, connecting rod 26, rocking arm 28 is rigidly connected, so the nearly dactylus pedestal 4 of thumb that depends on the nearly dactylus of thumb directly drives 18 rotations of the interior angular transducer of hole seat H, make the angular transducer 18 in the seat H of hole can measure metacarpophalangeal joints (MP) abduction of operator's thumb or angle and the state of interior receipts, when control system during without force feedback signal, driver part 111 attonitys on the nearly dactylus pedestal 4 of thumb, rocking arm 28 actions are interference-free, when control system has force feedback signal, the driver part on the nearly dactylus pedestal 4 of thumb 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 28, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat H of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) abduction or the motion of interior receipts of thumb, realize the force feedback function in this joint.

As shown in Figure 7, described thumb dactylus pedestal 3 far away is fixed in corresponding thumb dactylus far away position on gloves 101 by bonding or other modes, one end of thumb dactylus pedestal 3 far away is for surrounding the cylindricality of thumb dactylus far away, the other end is hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards thumb interphalangeal joint (DIP), and the position that is positioned at thumb dactylus lateral surface far away at this pedestal is provided with a chute.thumb dactylus pedestal 3 far away is hinged by rocking arm 25 with the nearly dactylus pedestal 4 of thumb, described rocking arm 25 1 ends embed in the chute of thumb dactylus pedestal 3 far away, and spacing by screw 24, the axle of described rocking arm 25 (the embedded bearing 23) other end and angular transducer 18 is affixed by screw 36, described angular transducer 18 is fixed in the hole seat K of the nearly dactylus pedestal 4 of thumb by gear-box base 22 and screw 35, the axis coinciding that gear axis on described rocking arm 25 and rocking arm rotate, the gear of described rocking arm 25 is by the cooperation of train of reduction gears 60 and the gear engagement of driver part 111, described driver part 111 is arranged on the nearly dactylus pedestal 4 of thumb, this driving mechanism is fixing by gear box cover 49.action implementation process: when the interphalangeal joint (DIP) of operator's thumb when doing flexion and extension, the thumb dactylus pedestal 3 far away that depends on thumb dactylus far away is followed motion together, thereby driving rocking arm 25 rotates, angle and state that the interphalangeal joint (DIP) that makes the angular transducer 18 that links with rocking arm 25 in the seat K of hole can measure operator's thumb bends and stretches, when control system during without force feedback signal, driver part 111 attonitys on the nearly dactylus pedestal 4 of thumb, rocking arm 25 actions are interference-free, when control system has force feedback signal, the driver part on the nearly dactylus pedestal 4 of thumb 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 25, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat K of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder interphalangeal joint (DIP) motion of thumb, realize the force feedback function in this joint.

The specific embodiment three: as Fig. 1, Fig. 8 and shown in Figure 9, described metacarpophalangeal joints detect driving mechanism 108 and comprise driver part 111, rocking arm 27, metacarpophalangeal joints pedestal 29, connecting rod 38, gear box cover 50 and two angular transducers 18.metacarpophalangeal joints pedestal 29 bottoms (embedded bearing 39) are affixed by screw 36 with the axle of an angular transducer 18, described metacarpophalangeal joints pedestal 29 can rotate around the axle center of bottom angular transducer (18), described metacarpophalangeal joints pedestal 29 bottom outer rims are provided with gear 59, the axis coinciding of the angular transducer 18 of the axle center of gear 59 and metacarpophalangeal joints pedestal 29 bottoms, another angular transducer 18 is fixed in the hole seat L of metacarpophalangeal joints pedestal 29 by screw 35, one end of the axle of described angular transducer 18 and rocking arm 27 (embedded bearing 23) is affixed by screw 36, the axis coinciding that gear axis on described rocking arm 27 and rocking arm rotate, the gear of described rocking arm 27 is by the cooperation of train of reduction gears 60 and the gear engagement of driver part 111, described driver part 111 is arranged on metacarpophalangeal joints pedestal 29, described rocking arm 27 other ends and connecting rod 38 1 ends are hinged by screw 24.

The specific embodiment four: as Fig. 1, Figure 10 and shown in Figure 11, described detection of joints driving mechanism 109 comprises driver part 111, angular transducer 18, rocking arm 19, gear box cover 51, gear box cover 52 and dactylus pedestal 53.Dactylus pedestal 53 is provided with a hole seat M and and arranges the installing hole Q that is used for bulb 20 or screw 24, described angular transducer 18 is fixed in the hole seat M of dactylus pedestal 53 by screw 36, the axle of the angular transducer 18 in described hole seat M and rocking arm 19 are affixed by screw 35, the axis coinciding that gear axis on described rocking arm 19 and rocking arm rotate, the gear of described rocking arm 19 is by the cooperation of train of reduction gears 60 and the gear engagement of driver part 111, described driver part 111 is arranged on dactylus pedestal 53, the described rocking arm 19 affixed bulbs 20 of the other end.

the specific embodiment five: as Fig. 1, Fig. 2, Fig. 3, Fig. 9, Figure 11 and shown in Figure 12, described forefinger detects driving mechanism 104 and comprises the metacarpophalangeal joints detection driving mechanism 108 hinged with palm pedestal 102 orders, the detection of joints driving mechanism 109 at the nearly dactylus of forefinger position, the detection of joints driving mechanism 109 at forefinger middle finger joint position and forefinger dactylus pedestal 6 far away, every two adjacent mechanism hinged places all are equipped with angular transducer 18 and the driver part 111 that detects joint action, detect position and the motion state of each dactylus of forefinger in three dimensions, and under the effect of driver part 111 the realizable force feedback function.

As Fig. 9, Figure 11 and shown in Figure 12, dactylus pedestal 53 on the detection of joints driving mechanism 109 at the nearly dactylus of described forefinger position is fixed in the nearly dactylus of corresponding forefinger position on gloves 101 by bonding or other modes, the described dactylus pedestal 53 nearly dactylus of semi-surrounding forefinger, its cross section that surrounds the junction is " C " shape, and opening is towards the positive side of palm.The connecting rod 38 of described metacarpophalangeal joints detection driving mechanism 108 is articulated in installing hole Q place with the detection of joints driving mechanism 109 at the nearly dactylus of forefinger position by screw 24, the angular transducer 18 of described metacarpophalangeal joints detection driving mechanism 108 bottoms is fixed in the hole seat B of palm pedestal 102, described metacarpophalangeal joints detect the outer rim gear 59 of driving mechanism 108 by the cooperation and the gear engagement that is arranged on the driver part 111 on palm pedestal 102 of train of reduction gears 60, and this driving mechanism is fixing by gear box cover 54.the action implementation process: the nearly dactylus of Human Index Finger can rotate around metacarpophalangeal joints (MP), it can be decomposed into the componental movement on both direction, one is the flexion and extension that is parallel to the nearly dactylus of forefinger side, another is abduction or the motion of interior receipts that is parallel to the nearly dactylus of the forefinger back side, when the metacarpophalangeal joints (MP) of operator's forefinger when doing flexion and extension, the detection of joints driving mechanism 109 that depends on the nearly dactylus of forefinger is followed to move together and pass through connecting rod 38 and is driven rocking arms 27 and rotate, angle and state that the metacarpophalangeal joints (MP) that make the angular transducer 18 that links with rocking arm 27 in the seat L of hole can measure operator's forefinger bend and stretch, when control system during without force feedback signal, metacarpophalangeal joints detect driver part 111 attonitys on driving mechanism 108, rocking arm 27 actions are interference-free, when control system has force feedback signal, metacarpophalangeal joints detect driver part 111 startups on driving mechanism 108, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 27, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat L of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) flexion and extension of forefinger, realize the force feedback function in this joint, when the metacarpophalangeal joints (MP) of operator's forefinger are done abduction or the motion of interior receipts, on this direction of action, detection of joints driving mechanism 109 and connecting rod 38, rocking arm 27 is rigidly connected, so detection of joints driving mechanism 109 directly drives metacarpophalangeal joints and detects driving mechanism 108 around the rotation of the axle center of the angular transducer 18 of its bottom, make the angular transducer 18 in the seat B of hole can measure metacarpophalangeal joints (MP) abduction of operator's forefinger or angle and the state of interior receipts, when control system during without force feedback signal, driver part 111 attonitys on palm pedestal 102, the motion of metacarpophalangeal joints detection driving mechanism 108 is interference-free, when control system has force feedback signal, the driver part on palm pedestal 102 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power to metacarpophalangeal joints detection driving mechanism 108 on its direction of motion, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat B of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) abduction or the motion of interior receipts of forefinger, realize the force feedback function in this joint.

As Figure 11 and shown in Figure 12, dactylus pedestal 53 on the detection of joints driving mechanism 109 at described forefinger middle finger joint position is fixed in corresponding forefinger middle finger joint position on gloves 101 by bonding or other modes, described dactylus pedestal 53 semi-surrounding forefinger middle finger joints, its cross section that surrounds the junction is " C " shape, and opening is towards the positive side of palm.The rocking arm 19 of the detection of joints driving mechanism 109 at the nearly dactylus of described forefinger position and the dactylus pedestal 53 of the detection of joints driving mechanism 109 at forefinger middle finger joint position are connected the spherical linkage that bar 21 coordinates and are connected with bulb by bulb 20.action implementation process: when the PIP (PIP) of operator's forefinger when doing flexion and extension, the detection of joints driving mechanism 109 that depends on forefinger middle finger joint position is followed motion together, and the rocking arm 19 that links on the detection of joints driving mechanism 109 that bar 21 drives the nearly dactylus of forefinger position by bulb rotates, angle and state that the PIP (PIP) that makes the angular transducer 18 that links with rocking arm 19 can measure operator's forefinger bends and stretches, when control system during without force feedback signal, driver part 111 attonitys on the detection of joints driving mechanism 109 at the nearly dactylus of forefinger position, the middle finger joint of operator's forefinger can rotate around the PIP (PIP) of forefinger interference-free, when control system has force feedback signal, the driver part on the detection of joints driving mechanism 109 at the nearly dactylus of forefinger position 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 19, the simultaneously variation of the joint angles that detects according to the angular transducer 18 with rocking arm 19 interlocks again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder PIP (PIP) motion of forefinger, realize the force feedback function in this joint.

As Figure 11 and shown in Figure 12, described forefinger dactylus pedestal 6 far away is fixed in corresponding forefinger dactylus far away position on gloves 101 by bonding or other modes, one end of described forefinger dactylus pedestal 6 far away is for surrounding the cylindricality of forefinger dactylus far away, the other end is hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of forefinger, and the position that is positioned at the forefinger dactylus far away back side at this pedestal is provided with a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.The rocking arm 19 of the detection of joints driving mechanism 109 at described forefinger middle finger joint position is connected with forefinger dactylus pedestal 6 far away is connected bar 21 cooperations with bulb by bulb 20 spherical linkage.action implementation process: when the DIPJ (DIP) of operator's forefinger when doing flexion and extension, the forefinger dactylus pedestal 6 far away that depends on forefinger dactylus far away is followed motion together, and the rocking arm 19 that links on the detection of joints driving mechanism 109 that bar 21 drives forefinger middle finger joint position by bulb rotates, angle and state that the DIPJ (DIP) that makes the angular transducer 18 that links with rocking arm 19 can measure operator's forefinger bends and stretches, when control system during without force feedback signal, driver part 111 attonitys on the detection of joints driving mechanism 109 at forefinger middle finger joint position, the dactylus far away of operator's forefinger can rotate around the DIPJ (DIP) of forefinger interference-free, when control system has force feedback signal, the driver part on the detection of joints driving mechanism 109 at forefinger middle finger joint position 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 19, the simultaneously variation of the joint angles that detects according to the angular transducer 18 with rocking arm 19 interlocks again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder DIPJ (DIP) motion of forefinger, realize the force feedback function in this joint.

the specific embodiment six: as Fig. 1, Fig. 2, Fig. 3, Fig. 9, Figure 11 and shown in Figure 13, described middle finger detects driving mechanism 105 and comprises the metacarpophalangeal joints detection driving mechanism 108 hinged with palm pedestal 102 orders, the detection of joints driving mechanism 109 at the nearly dactylus of middle finger position, the detection of joints driving mechanism 109 at middle finger middle finger joint position and middle finger dactylus pedestal 9 far away, every two adjacent mechanism hinged places all are equipped with angular transducer 18 and the driver part 111 that detects joint action, detect position and the motion state of each dactylus of middle finger in three dimensions, and under the effect of driver part 111 the realizable force feedback function.

As Fig. 9, Figure 11 and shown in Figure 13, dactylus pedestal 53 on the detection of joints driving mechanism 109 at the nearly dactylus of described middle finger position is fixed in the nearly dactylus of corresponding middle finger position on gloves 101 by bonding or other modes, the described dactylus pedestal 53 nearly dactylus of semi-surrounding middle finger, its cross section that surrounds the junction is " C " shape, and opening is towards the positive side of palm.The connecting rod 38 of described metacarpophalangeal joints detection driving mechanism 108 is articulated in installing hole Q place with the detection of joints driving mechanism 109 at the nearly dactylus of middle finger position by screw 24, the angular transducer 18 of described metacarpophalangeal joints detection driving mechanism 108 bottoms is fixed in the hole seat C of palm pedestal 102, described metacarpophalangeal joints detect the outer rim gear 59 of driving mechanism 108 by the cooperation and the gear engagement that is arranged on the driver part 111 on palm pedestal 102 of train of reduction gears 60, and this driving mechanism is fixing by gear box cover 55.the action implementation process: the nearly dactylus of staff middle finger can rotate around metacarpophalangeal joints (MP), it can be decomposed into the componental movement on both direction, one is the flexion and extension that is parallel to the nearly dactylus of middle finger side, another is abduction or the motion of interior receipts that is parallel to the nearly dactylus of the middle finger back side, when the metacarpophalangeal joints (MP) of operator's middle finger when doing flexion and extension, the detection of joints driving mechanism 109 that depends on the nearly dactylus of middle finger is followed to move together and pass through connecting rod 38 and is driven rocking arms 27 and rotate, angle and state that the metacarpophalangeal joints (MP) that make the angular transducer 18 that links with rocking arm 27 in the seat L of hole can measure operator's middle finger bend and stretch, when control system during without force feedback signal, metacarpophalangeal joints detect driver part 111 attonitys on driving mechanism 108, rocking arm 27 actions are interference-free, when control system has force feedback signal, metacarpophalangeal joints detect driver part 111 startups on driving mechanism 108, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 27, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat L of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) flexion and extension of middle finger, realize the force feedback function in this joint, when the metacarpophalangeal joints (MP) of operator's middle finger are done abduction or the motion of interior receipts, on this direction of action, detection of joints driving mechanism 109 and connecting rod 38, rocking arm 27 is rigidly connected, so detection of joints driving mechanism 109 directly drives metacarpophalangeal joints and detects driving mechanism 108 around the rotation of the axle center of the angular transducer 18 of its bottom, make the angular transducer 18 in the seat C of hole can measure metacarpophalangeal joints (MP) abduction of operator's middle finger or angle and the state of interior receipts, when control system during without force feedback signal, driver part 111 attonitys on palm pedestal 102, the motion of metacarpophalangeal joints detection driving mechanism 108 is interference-free, when control system has force feedback signal, the driver part on palm pedestal 102 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power to metacarpophalangeal joints detection driving mechanism 108 on its direction of motion, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat C of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) abduction or the motion of interior receipts of middle finger, realize the force feedback function in this joint.

As Figure 11 and shown in Figure 13, dactylus pedestal 53 on the detection of joints driving mechanism 109 at described middle finger middle finger joint position is fixed in corresponding middle finger middle finger joint position on gloves 101 by bonding or other modes, described dactylus pedestal 53 semi-surrounding middle finger middle finger joints, its cross section that surrounds the junction is " C " shape, and opening is towards the positive side of palm.The rocking arm 19 of the detection of joints driving mechanism 109 at the nearly dactylus of described middle finger position and the dactylus pedestal 53 of the detection of joints driving mechanism 109 at middle finger middle finger joint position are connected the spherical linkage that bar 21 coordinates and are connected with bulb by bulb 20.action implementation process: when the PIP (PIP) of operator's middle finger when doing flexion and extension, the detection of joints driving mechanism 109 that depends on middle finger middle finger joint position is followed motion together, and the rocking arm 19 that links on the detection of joints driving mechanism 109 that bar 21 drives the nearly dactylus of middle finger position by bulb rotates, angle and state that the PIP (PIP) that makes the angular transducer 18 that links with rocking arm 19 can measure operator's middle finger bends and stretches, when control system during without force feedback signal, driver part 111 attonitys on the detection of joints driving mechanism 109 at the nearly dactylus of middle finger position, the middle finger joint of operator's middle finger can rotate around the PIP (PIP) of middle finger interference-free, when control system has force feedback signal, the driver part on the detection of joints driving mechanism 109 at the nearly dactylus of middle finger position 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 19, the simultaneously variation of the joint angles that detects according to the angular transducer 18 with rocking arm 19 interlocks again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder PIP (PIP) motion of middle finger, realize the force feedback function in this joint.

As Figure 11 and shown in Figure 13, described middle finger dactylus pedestal 9 far away is fixed in corresponding middle finger dactylus far away position on gloves 101 by bonding or other modes, one end of described middle finger dactylus pedestal 9 far away is for surrounding the cylindricality of middle finger dactylus far away, the other end is hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of middle finger, and the position that is positioned at the middle finger dactylus far away back side at this pedestal is provided with a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.The rocking arm 19 of the detection of joints driving mechanism 109 at described middle finger middle finger joint position is connected with middle finger dactylus pedestal 9 far away is connected bar 21 cooperations with bulb by bulb 20 spherical linkage.action implementation process: when the DIPJ (DIP) of operator's middle finger when doing flexion and extension, the middle finger dactylus pedestal 9 far away that depends on middle finger dactylus far away is followed motion together, and the rocking arm 19 that links on the detection of joints driving mechanism 109 that bar 21 drives middle finger middle finger joint position by bulb rotates, angle and state that the DIPJ (DIP) that makes the angular transducer 18 that links with rocking arm 19 can measure operator's middle finger bends and stretches, when control system during without force feedback signal, driver part 111 attonitys on the detection of joints driving mechanism 109 at middle finger middle finger joint position, the dactylus far away of operator's middle finger can rotate around the DIPJ (DIP) of middle finger interference-free, when control system has force feedback signal, the driver part on the detection of joints driving mechanism 109 at middle finger middle finger joint position 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 19, the simultaneously variation of the joint angles that detects according to the angular transducer 18 with rocking arm 19 interlocks again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder DIPJ (DIP) motion of middle finger, realize the force feedback function in this joint.

the specific embodiment seven: as Fig. 1, Fig. 2, Fig. 3, Fig. 9, Figure 11 and shown in Figure 14, the described nameless driving mechanism 106 that detects comprises the metacarpophalangeal joints detection driving mechanism 108 hinged with palm pedestal 102 orders, the detection of joints driving mechanism 109 at nameless nearly dactylus position, the detection of joints driving mechanism 109 at nameless middle finger joint position and nameless dactylus pedestal 12 far away, every two adjacent mechanism hinged places all are equipped with angular transducer 18 and the driver part 111 that detects joint action, detect position and the motion state of nameless each dactylus in three dimensions, and under the effect of driver part 111 the realizable force feedback function.

As Fig. 9, Figure 11 and shown in Figure 14, dactylus pedestal 53 on the detection of joints driving mechanism 109 at the nearly dactylus of described third finger position is fixed in the nearly dactylus of corresponding third finger position on gloves 101 by bonding or other modes, the nameless nearly dactylus of described dactylus pedestal 53 semi-surroundings, its cross section that surrounds the junction is " C " shape, and opening is towards the positive side of palm.The connecting rod 38 that described metacarpophalangeal joints detect driving mechanism 108 is articulated in installing hole Q place with the nameless closely detection of joints driving mechanism 109 at dactylus position by screw 24, the angular transducer 18 of described metacarpophalangeal joints detection driving mechanism 108 bottoms is fixed in the hole seat D of palm pedestal 102, described metacarpophalangeal joints detect the outer rim gear 59 of driving mechanism 108 by the cooperation and the gear engagement that is arranged on the driver part 111 on palm pedestal 102 of train of reduction gears 60, and this driving mechanism is fixing by gear box cover 55.the action implementation process: the nearly dactylus of the staff third finger can rotate around metacarpophalangeal joints (MP), it can be decomposed into the componental movement on both direction, one is the flexion and extension that is parallel to nameless nearly dactylus side, another is abduction or the motion of interior receipts that is parallel to the nameless nearly dactylus back side, when the metacarpophalangeal joints (MP) of operator's third finger when doing flexion and extension, the detection of joints driving mechanism 109 that depends on nameless nearly dactylus is followed to move together and pass through connecting rod 38 and is driven rocking arms 27 rotations, angle and state that the metacarpophalangeal joints (MP) that make the angular transducer 18 that links with rocking arm 27 in the seat L of hole can measure operator's third finger bend and stretch, when control system during without force feedback signal, metacarpophalangeal joints detect driver part 111 attonitys on driving mechanism 108, rocking arm 27 actions are interference-free, when control system has force feedback signal, metacarpophalangeal joints detect driver part 111 startups on driving mechanism 108, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 27, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat L of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) flexion and extension of the third finger, realize the force feedback function in this joint, when the metacarpophalangeal joints (MP) of operator's third finger are done abduction or the motion of interior receipts, on this direction of action, detection of joints driving mechanism 109 and connecting rod 38, rocking arm 27 is rigidly connected, so detection of joints driving mechanism 109 directly drives metacarpophalangeal joints and detects driving mechanism 108 around the rotation of the axle center of the angular transducer 18 of its bottom, make the angular transducer 18 in the seat D of hole can measure metacarpophalangeal joints (MP) abduction of operator's third finger or angle and the state of interior receipts, when control system during without force feedback signal, driver part 111 attonitys on palm pedestal 102, the motion of metacarpophalangeal joints detection driving mechanism 108 is interference-free, when control system has force feedback signal, the driver part on palm pedestal 102 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power to metacarpophalangeal joints detection driving mechanism 108 on its direction of motion, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat D of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) abduction or the motion of interior receipts of the third finger, realize the force feedback function in this joint.

As Figure 11 and shown in Figure 14, dactylus pedestal 53 on the detection of joints driving mechanism 109 at described nameless middle finger joint position is fixed in corresponding nameless middle finger joint position on gloves 101 by bonding or other modes, the nameless middle finger joint of described dactylus pedestal 53 semi-surroundings, its cross section that surrounds the junction is " C " shape, and opening is towards the positive side of palm.The rocking arm 19 of the detection of joints driving mechanism 109 at the nearly dactylus of described third finger position and the dactylus pedestal 53 of the detection of joints driving mechanism 109 at nameless middle finger joint position are connected the spherical linkage that bar 21 coordinates and are connected with bulb by bulb 20.action implementation process: when the PIP (PIP) of operator's third finger when doing flexion and extension, the detection of joints driving mechanism 109 that depends on nameless middle finger joint position is followed motion together, and the rocking arm 19 that links on the detection of joints driving mechanism 109 that bar 21 drives nameless nearly dactylus position by bulb rotates, angle and state that the PIP (PIP) that makes the angular transducer 18 that links with rocking arm 19 can measure operator's third finger bends and stretches, when control system during without force feedback signal, driver part 111 attonitys on the detection of joints driving mechanism 109 at nameless nearly dactylus position, the middle finger joint of operator's third finger can rotate around the PIP (PIP) of the third finger interference-free, when control system has force feedback signal, the driver part 111 on the detection of joints driving mechanism 109 at nameless closely dactylus position starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 19, the simultaneously variation of the joint angles that detects according to the angular transducer 18 with rocking arm 19 interlocks again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder nameless PIP (PIP) and move, realize the force feedback function in this joint.

As Figure 11 and shown in Figure 14, described third finger dactylus pedestal 12 far away is fixed in corresponding third finger dactylus far away position on gloves 101 by bonding or other modes, one end of described third finger dactylus pedestal 12 far away is for surrounding the cylindricality of nameless dactylus far away, the other end is hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of the third finger, be positioned at the nameless far position at the dactylus back side at this pedestal and be provided with a rocking arm, rocking arm is perpendicular to the dactylus back side at place.The rocking arm 19 of the detection of joints driving mechanism 109 at described nameless middle finger joint position is connected with nameless dactylus pedestal 12 far away is connected bar 21 cooperations with bulb by bulb 20 spherical linkage.action implementation process: when the DIPJ (DIP) of operator's third finger when doing flexion and extension, the dactylus pedestal 12 nameless far away that depends on nameless dactylus far away is followed motion together, and the rocking arm 19 that links on the detection of joints driving mechanism 109 that bar 21 drives nameless middle finger joint position by bulb rotates, angle and state that the DIPJ (DIP) that makes the angular transducer 18 that links with rocking arm 19 can measure operator's third finger bends and stretches, when control system during without force feedback signal, driver part 111 attonitys on the detection of joints driving mechanism 109 at nameless middle finger joint position, the dactylus far away of operator's third finger can rotate around the DIPJ (DIP) of the third finger interference-free, when control system has force feedback signal, the driver part on the detection of joints driving mechanism 109 at nameless middle finger joint position 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 19, the simultaneously variation of the joint angles that detects according to the angular transducer 18 with rocking arm 19 interlocks again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder nameless DIPJ (DIP) and move, realize the force feedback function in this joint.

The specific embodiment eight: as Fig. 1, Figure 15 and shown in Figure 16, described little finger of toe detection of joints driving mechanism 110 comprises driver part 111, angular transducer 18, rocking arm 19, gear box cover 57 and dactylus pedestal 58.Described dactylus pedestal 58 is provided with a hole seat P and and arranges the installing hole R that is used for bulb 20 or screw 24, described angular transducer 18 is fixed in the hole seat P of dactylus pedestal 58 by screw 35, the axle of the angular transducer 18 in described hole seat P and rocking arm 19 are affixed by screw 35, the axis coinciding that gear axis on described rocking arm 19 and rocking arm rotate, the gear of described rocking arm 19 is by the cooperation of train of reduction gears 60 and the gear engagement of driver part 111, described driver part 111 is arranged on dactylus pedestal 58, the described rocking arm 19 affixed bulbs 20 of the other end.

the specific embodiment nine: as Fig. 1, Fig. 2, Fig. 3, Fig. 9, Figure 16 and shown in Figure 17, described little finger of toe detects driving mechanism 107 and comprises the metacarpophalangeal joints detection driving mechanism 108 hinged with palm pedestal 102 orders, the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus of little finger of toe position, the little finger of toe detection of joints driving mechanism 110 at little finger of toe middle finger joint position and little finger of toe dactylus pedestal 15 far away, every two adjacent mechanism hinged places all are equipped with angular transducer 18 and the driver part 111 that detects joint action, detect position and the motion state of each dactylus of little finger of toe in three dimensions, and under the effect of driver part 111 the realizable force feedback function.

As Fig. 9, Figure 16 and shown in Figure 17, dactylus pedestal 58 on the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus of described little finger of toe position is fixed in the nearly dactylus of corresponding little finger of toe position on gloves 101 by bonding or other modes, the described dactylus pedestal 58 nearly dactylus of semi-surrounding little finger of toe, its cross section that surrounds the junction is " C " shape, and opening is towards the positive side of palm.The connecting rod 38 of described metacarpophalangeal joints detection driving mechanism 108 is articulated in installing hole R place with the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus of little finger of toe position by screw 24, the angular transducer 18 of described metacarpophalangeal joints detection driving mechanism 108 bottoms is fixed in the hole seat E of palm pedestal 102, described metacarpophalangeal joints detect the outer rim gear 59 of driving mechanism 108 by the cooperation and the gear engagement that is arranged on the driver part 111 on palm pedestal 102 of train of reduction gears 60, and this driving mechanism is fixing by gear box cover 56.the action implementation process: the nearly dactylus of staff little finger of toe can rotate around metacarpophalangeal joints (MP), it can be decomposed into the componental movement on both direction, one is the flexion and extension that is parallel to the nearly dactylus of little finger of toe side, another is abduction or the motion of interior receipts that is parallel to the nearly dactylus of the little finger of toe back side, when the metacarpophalangeal joints (MP) of operator's little finger of toe when doing flexion and extension, the little finger of toe detection of joints driving mechanism 110 that depends on the nearly dactylus of little finger of toe is followed to move together and pass through connecting rod 38 and is driven rocking arms 27 and rotate, angle and state that the metacarpophalangeal joints (MP) that make the angular transducer 18 that links with rocking arm 27 in the seat L of hole can measure operator's little finger of toe bend and stretch, when control system during without force feedback signal, metacarpophalangeal joints detect driver part 111 attonitys on driving mechanism 108, rocking arm 27 actions are interference-free, when control system has force feedback signal, metacarpophalangeal joints detect driver part 111 startups on driving mechanism 108, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 27, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat L of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) flexion and extension of little finger of toe, realize the force feedback function in this joint, when the metacarpophalangeal joints (MP) of operator's little finger of toe are done abduction or the motion of interior receipts, on this direction of action, little finger of toe detection of joints driving mechanism 110 and connecting rod 38, rocking arm 27 is rigidly connected, so little finger of toe detection of joints driving mechanism 110 directly drives metacarpophalangeal joints and detects driving mechanism 108 around the rotation of the axle center of the angular transducer 18 of its bottom, make the angular transducer 18 in the seat E of hole can measure metacarpophalangeal joints (MP) abduction of operator's little finger of toe or angle and the state of interior receipts, when control system during without force feedback signal, driver part 111 attonitys on palm pedestal 102, the motion of metacarpophalangeal joints detection driving mechanism 108 is interference-free, when control system has force feedback signal, the driver part on palm pedestal 102 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power to metacarpophalangeal joints detection driving mechanism 108 on its direction of motion, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat E of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) abduction or the motion of interior receipts of little finger of toe, realize the force feedback function in this joint.

As Figure 16 and shown in Figure 17, dactylus pedestal 58 on the little finger of toe detection of joints driving mechanism 110 at described little finger of toe middle finger joint position is fixed in corresponding little finger of toe middle finger joint position on gloves 101 by bonding or other modes, described dactylus pedestal 58 semi-surrounding little finger of toe middle finger joints, its cross section that surrounds the junction is " C " shape, and opening is towards the positive side of palm.The rocking arm 19 of the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus of described little finger of toe position and the dactylus pedestal 58 of the little finger of toe detection of joints driving mechanism 110 at little finger of toe middle finger joint position are connected the spherical linkage that bar 21 coordinates and are connected with bulb by bulb 20.action implementation process: when the PIP (PIP) of operator's little finger of toe when doing flexion and extension, the little finger of toe detection of joints driving mechanism 110 that depends on little finger of toe middle finger joint position is followed motion together, and the rocking arm 19 that links on the little finger of toe detection of joints driving mechanism 110 that bar 21 drives the nearly dactylus of little finger of toe position by bulb rotates, angle and state that the PIP (PIP) that makes the angular transducer 18 that links with rocking arm 19 can measure operator's little finger of toe bends and stretches, when control system during without force feedback signal, driver part 111 attonitys on the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus of little finger of toe position, the middle finger joint of operator's little finger of toe can rotate around the PIP (PIP) of little finger of toe interference-free, when control system has force feedback signal, the driver part on the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus of little finger of toe position 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 19, the simultaneously variation of the joint angles that detects according to the angular transducer 18 with rocking arm 19 interlocks again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder PIP (PIP) motion of little finger of toe, realize the force feedback function in this joint.

As Figure 16 and shown in Figure 17, described little finger of toe dactylus pedestal 15 far away is fixed in corresponding little finger of toe dactylus far away position on gloves 101 by bonding or other modes, one end of described little finger of toe dactylus pedestal 15 far away is for surrounding the cylindricality of little finger of toe dactylus far away, the other end is hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of little finger of toe, and the position that is positioned at the little finger of toe dactylus far away back side at this pedestal is provided with a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.The rocking arm 19 of the little finger of toe detection of joints driving mechanism 110 at described little finger of toe middle finger joint position is connected with little finger of toe dactylus pedestal 15 far away is connected bar 21 cooperations with bulb by bulb 20 spherical linkage.action implementation process: when the DIPJ (DIP) of operator's little finger of toe when doing flexion and extension, the little finger of toe dactylus pedestal 15 far away that depends on little finger of toe dactylus far away is followed motion together, and the rocking arm 19 that links on the little finger of toe detection of joints driving mechanism 110 that bar 21 drives little finger of toe middle finger joint position by bulb rotates, angle and state that the DIPJ (DIP) that makes the angular transducer 18 that links with rocking arm 19 can measure operator's little finger of toe bends and stretches, when control system during without force feedback signal, driver part 111 attonitys on the little finger of toe detection of joints driving mechanism 110 at little finger of toe middle finger joint position, the dactylus far away of operator's little finger of toe can rotate around the DIPJ (DIP) of little finger of toe interference-free, when control system has force feedback signal, the driver part on the little finger of toe detection of joints driving mechanism 110 at little finger of toe middle finger joint position 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 19, the simultaneously variation of the joint angles that detects according to the angular transducer 18 with rocking arm 19 interlocks again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder DIPJ (DIP) motion of little finger of toe, realize the force feedback function in this joint.

As another example of the present invention, also can replace angular transducer with other sensors, can play equally and detect the people position of each dactylus of hand finger in three dimensions and the purpose of motion state, realize purpose of the present invention.

As another example of the present invention, also can allow the micro-driving motor that is connected with travelling gear replace driver part 111, directly drive train of reduction gears 60 or joint, save the clutch link, can play the effect of the power of applying to the joint equally, realize purpose of the present invention.

In the situation that principle of the present invention is suffered damage, the details of above-mentioned formation and the specific embodiment are only as example and illustrated thing, and it can not depart from the scope of the present invention and extensively change, within these all belong to protection of the present invention.

Claims

1. external framework type bilateral force feedback data glove, be used for and computer, the interactive device of manipulator, formed by gloves (101), palm pedestal (102), thumb detection driving mechanism (103), forefinger detection driving mechanism (104), middle finger detection driving mechanism (105), nameless driving mechanism (106), little finger of toe detection driving mechanism (107) and the metacarpophalangeal joints detection driving mechanisms (108) of detecting;

It is characterized in that:

This device is worn on the operator on hand;

Palm pedestal (102) is fixed on the palm part on gloves (101), and the hole seat on palm pedestal (102) (B, C, D, E) is placed in respectively the top, metacarpophalangeal joints position of the corresponding forefinger of gloves (101), middle finger, the third finger and little finger of toe;

Thumb detection driving mechanism (103) is arranged on the thumb position on gloves (101), and is hinged with palm pedestal (102);

Forefinger detection driving mechanism (104) is arranged on the index on gloves (101), detects driving mechanism (108) by metacarpophalangeal joints hinged with palm pedestal (102);

Middle finger detection driving mechanism (105) is arranged on the middle finger position on gloves (101), detects driving mechanism (108) by metacarpophalangeal joints hinged with palm pedestal (102);

Nameless detection driving mechanism (106) is arranged on the nameless position on gloves (101), detects driving mechanism (108) by metacarpophalangeal joints hinged with palm pedestal (102);

Little finger of toe detection driving mechanism (107) is arranged on the little finger of toe position on gloves (101), detects driving mechanism (108) by metacarpophalangeal joints hinged with palm pedestal (102);

Each hinge point all is equipped with angular transducer (18) and the driver part (111) that detects joint action, can apply as required the effect realizable force FEEDBACK CONTROL of power to it in the angle that detects each joint motions of finger and state.

2. external framework type bilateral force feedback data glove according to claim 1, it is characterized in that: described thumb detects driving mechanism (103) and comprises thumb palm dactylus pedestal (5), the nearly dactylus pedestal of thumb (4), thumb dactylus pedestal far away (3), gloves (101), palm pedestal (102), driver part (111), angular transducer (18), bulb (20), bulb links bar (21), gear-box base (22), bearing (23), screw (24,35,36), connecting rod (26), rocking arm (19, 25, 27, 28), gear box cover (46, 47, 48, 49) and train of reduction gears (60), thumb palm dactylus pedestal (5) is fixed on corresponding thumb palm dactylus position on gloves (101), and along the irregular contour of the outside muscle of staff thumb palm dactylus, adopt semi-circular to surround (back side-palm dactylus lateral surface-palm dactylus is positive for palm dactylus) thumb palm dactylus, the position that is positioned at the thumb palm dactylus back side at this pedestal is provided with a rocking arm (F), the lateral surface position is provided with a hole seat (G), the rocking arm (F) of thumb palm dactylus pedestal (5) is connected by bulb (20) is connected bar (21) cooperation with bulb spherical linkage with another rocking arm (19), described rocking arm (19) is fixed on the axle of angular transducer (18) by screw (35), angular transducer (18) is fixed in the hole seat (A) of palm pedestal (102) by screw (36), gear on described rocking arm (19) is by the cooperation of train of reduction gears (60) and the gear engagement of driver part (111), driver part (111) is arranged in the hole seat (N) of palm pedestal (102), this driving mechanism is fixing by gear box cover (45), the nearly dactylus pedestal of thumb (4) is fixed in the nearly dactylus of corresponding thumb position on gloves (101) by bonding or other modes, and the nearly dactylus of semi-surrounding thumb, its cross section that surrounds the junction is " C " shape, opening is towards the positive side of palm, the position that is positioned at the nearly dactylus lateral surface of thumb at this pedestal is provided with two hole seat (H, K), the position of two hole seats corresponds respectively to metacarpophalangeal joints (MP) and the interphalangeal joint (DIP) of thumb, angular transducer (18) is fixed in the hole seat (H) of the nearly dactylus pedestal of thumb (4) by gear-box base (22) and screw (35), the axle of described angular transducer (18) is fixed in rocking arm (28) bottom of embedded bearing (23) by screw (36), gear on rocking arm (28) is by the cooperation and the gear engagement that is arranged on the driver part (111) on the nearly dactylus pedestal of thumb (4) of train of reduction gears (60), this driving mechanism is by gear box cover (47, 48) fixing, described rocking arm (28) is hinged by screw (24) with connecting rod (26) one ends, connecting rod (26) other end and rocking arm (27) are hinged by screw (24), the embedded bearing of rocking arm (27) (23) is also affixed by screw (36) with the axle of angular transducer (18), described angular transducer (18) is fixed in the hole seat (G) of thumb palm dactylus pedestal (5), gear on described rocking arm (27) is by the cooperation and the gear engagement that is arranged on the driver part (111) on thumb palm dactylus pedestal (5) of train of reduction gears (60), this driving mechanism is fixing by gear box cover (46), thumb dactylus pedestal far away (3) is fixed in corresponding thumb dactylus far away position on gloves (101) by bonding or other modes, one end of thumb dactylus pedestal far away (3) is for surrounding the cylindricality of thumb dactylus far away, the other end is hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards thumb interphalangeal joint (DIP), the position that is positioned at thumb dactylus lateral surface far away on thumb dactylus pedestal far away (3) is provided with a chute, rocking arm (25) one ends embed in the chute of thumb dactylus pedestal far away (3), and spacing by screw (24), the axle of described rocking arm (25) embedded bearing (23) other end and angular transducer (18) is affixed by screw (36), described angular transducer (18) is fixed in the hole seat (K) of the nearly dactylus pedestal of thumb (4) by gear-box base (22) and screw (35), gear on described rocking arm (25) is by the cooperation and the gear engagement that is arranged on the driver part (111) on the nearly dactylus pedestal of thumb (4) of train of reduction gears (60), this driving mechanism is fixing by gear box cover (49).

3. external framework type bilateral force feedback data glove according to claim 1, it is characterized in that: described forefinger detects driving mechanism (104) and comprises gloves (101), palm pedestal (102), metacarpophalangeal joints detect driving mechanism (108), detection of joints driving mechanism (109), driver part (111), forefinger dactylus pedestal far away (6), angular transducer (18), rocking arm (19), bulb (20), bulb links bar (21), screw (24), connecting rod (38), dactylus pedestal (53), gear box cover (54), gear (59) and train of reduction gears (60), detection of joints driving mechanism (109) is installed respectively at the nearly dactylus position of forefinger and middle finger joint position, dactylus pedestal (53) on detection of joints driving mechanism (109) is individually fixed in the upper corresponding forefinger nearly dactylus position of gloves (101) and middle finger joint position by bonding or other modes, and semi-surrounding dactylus, its cross section that surrounds the junction is " C " shape, opening is towards the positive side of palm, the detection of joints driving mechanism (109) of the connecting rod (38) that metacarpophalangeal joints detect driving mechanisms (108) by screw (24) and the nearly dactylus of forefinger position is articulated in installing hole (Q) and locates, the angular transducer (18) that metacarpophalangeal joints detect bottom driving mechanism (108) is fixed in the hole seat (B) of palm pedestal (102), its outer rim gear (59) is by the cooperation and the gear engagement that is arranged on the driver part (111) on palm pedestal (102) of train of reduction gears (60), this driving mechanism is fixing by gear box cover (54), the bulb (20) that the rocking arm (19) of the detection of joints driving mechanism (109) at the nearly dactylus of forefinger position links by bulb on detection of joints driving mechanism (109) installing hole (Q) at bar (21) and forefinger middle finger joint position is hinged, forefinger dactylus pedestal far away (6) is fixed in corresponding forefinger dactylus far away position on gloves (101) by bonding or other modes, one end of forefinger dactylus pedestal far away (6) is for surrounding the cylindricality of forefinger dactylus far away, the other end is hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of forefinger, the position that is positioned at the forefinger dactylus far away back side on forefinger dactylus pedestal far away (6) is provided with a rocking arm, rocking arm is perpendicular to the dactylus back side at place, the rocking arm (19) of the detection of joints driving mechanism (109) at forefinger middle finger joint position is connected by bulb (20) is connected bar (21) cooperation with bulb spherical linkage with forefinger dactylus pedestal far away (6).

4. external framework type bilateral force feedback data glove according to claim 1, it is characterized in that: described middle finger detects driving mechanism (105) and comprises gloves (101), palm pedestal (102), metacarpophalangeal joints detect driving mechanism (108), detection of joints driving mechanism (109), driver part (111), middle finger dactylus pedestal far away (9), angular transducer (18), rocking arm (19), bulb (20), bulb links bar (21), screw (24), connecting rod (38), dactylus pedestal (53), gear box cover (55), gear (59) and train of reduction gears (60), detection of joints driving mechanism (109) is installed respectively at the nearly dactylus position of middle finger and middle finger joint position, dactylus pedestal (53) on detection of joints driving mechanism (109) is individually fixed in the upper corresponding middle finger nearly dactylus position of gloves (101) and middle finger joint position by bonding or other modes, and semi-surrounding dactylus, its cross section that surrounds the junction is " C " shape, opening is towards the positive side of palm, the detection of joints driving mechanism (109) of the connecting rod (38) that metacarpophalangeal joints detect driving mechanisms (108) by screw (24) and the nearly dactylus of middle finger position is articulated in installing hole (Q) and locates, the angular transducer (18) that metacarpophalangeal joints detect bottom driving mechanism (108) is fixed in the hole seat (C) of palm pedestal (102), its outer rim gear (59) is by the cooperation and the gear engagement that is arranged on the driver part (111) on palm pedestal (102) of train of reduction gears (60), this driving mechanism is fixing by gear box cover (55), the bulb (20) that the rocking arm (19) of the detection of joints driving mechanism (109) at the nearly dactylus of middle finger position links by bulb on detection of joints driving mechanism (109) installing hole (Q) at bar (21) and middle finger middle finger joint position is hinged, middle finger dactylus pedestal far away (9) is fixed in corresponding middle finger dactylus far away position on gloves (101) by bonding or other modes, one end of middle finger dactylus pedestal far away (9) is for surrounding the cylindricality of middle finger dactylus far away, the other end is hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of middle finger, the position that is positioned at the middle finger dactylus far away back side on middle finger dactylus pedestal far away (9) is provided with a rocking arm, rocking arm is perpendicular to the dactylus back side at place, the rocking arm (19) of the detection of joints driving mechanism (109) at middle finger middle finger joint position is connected by bulb (20) is connected bar (21) cooperation with bulb spherical linkage with middle finger dactylus pedestal far away (9).

5. external framework type bilateral force feedback data glove according to claim 1, it is characterized in that: the described nameless driving mechanism (106) that detects comprises gloves (101), palm pedestal (102), metacarpophalangeal joints detect driving mechanism (108), detection of joints driving mechanism (109), driver part (111), nameless dactylus pedestal (12) far away, angular transducer (18), rocking arm (19), bulb (20), bulb links bar (21), screw (24), connecting rod (38), dactylus pedestal (53), gear box cover (55), gear (59) and train of reduction gears (60), detection of joints driving mechanism (109) is installed respectively at nameless nearly dactylus position and middle finger joint position, dactylus pedestal (53) on detection of joints driving mechanism (109) is individually fixed in the upper corresponding third finger nearly dactylus position of gloves (101) and middle finger joint position by bonding or other modes, and semi-surrounding dactylus, its cross section that surrounds the junction is " C " shape, opening is towards the positive side of palm, the connecting rod (38) of metacarpophalangeal joints detection driving mechanisms (108) is articulated in installing hole (Q) by screw (24) with the nameless closely detection of joints driving mechanism (109) at dactylus position and locates, the angular transducer (18) that metacarpophalangeal joints detect bottom driving mechanism (108) is fixed in the hole seat (D) of palm pedestal (102), its outer rim gear (59) is by the cooperation and the gear engagement that is arranged on the driver part (111) on palm pedestal (102) of train of reduction gears (60), this driving mechanism is fixing by gear box cover (55), the bulb (20) that the rocking arm (19) of the detection of joints driving mechanism (109) at nameless nearly dactylus position links by bulb on detection of joints driving mechanism (109) installing hole (Q) at bar (21) and nameless middle finger joint position is hinged, nameless dactylus pedestal (12) far away is fixed in corresponding third finger dactylus far away position on gloves (101) by bonding or other modes, one end of nameless dactylus pedestal (12) far away is for surrounding the cylindricality of nameless dactylus far away, the other end is hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of the third finger, be positioned at the nameless far position at the dactylus back side and be provided with a rocking arm on third finger dactylus pedestal far away (12), rocking arm is perpendicular to the dactylus back side at place, the rocking arm (19) of the detection of joints driving mechanism (109) at nameless middle finger joint position is connected by bulb (20) is connected bar (21) cooperation with bulb spherical linkage with nameless dactylus pedestal (12) far away.

6. external framework type bilateral force feedback data glove according to claim 1, it is characterized in that: described little finger of toe detects driving mechanism (107) and comprises gloves (101), palm pedestal (102), metacarpophalangeal joints detect driving mechanism (108), little finger of toe detection of joints driving mechanism (110), driver part (111), little finger of toe dactylus pedestal far away (15), angular transducer (18), rocking arm (19), bulb (20), bulb links bar (21), screw (24), connecting rod (38), dactylus pedestal (58), gear box cover (56), gear (59) and train of reduction gears (60), little finger of toe detection of joints driving mechanism (110) is installed respectively at the nearly dactylus position of little finger of toe and middle finger joint position, dactylus pedestal (58) on little finger of toe detection of joints driving mechanism (110) is individually fixed in the upper corresponding little finger of toe nearly dactylus position of gloves (101) and middle finger joint position by bonding or other modes, and semi-surrounding dactylus, its cross section that surrounds the junction is " C " shape, opening is towards the positive side of palm, the little finger of toe detection of joints driving mechanism (110) of the connecting rod (38) that metacarpophalangeal joints detect driving mechanisms (108) by screw (24) and the nearly dactylus of little finger of toe position is articulated in installing hole (R) and locates, the angular transducer (18) that metacarpophalangeal joints detect bottom driving mechanism (108) is fixed in the hole seat (E) of palm pedestal (102), its outer rim gear (59) is by the cooperation and the gear engagement that is arranged on the driver part (111) on palm pedestal (102) of train of reduction gears (60), this driving mechanism is fixing by gear box cover (56), the bulb (20) that the rocking arm (19) of the little finger of toe detection of joints driving mechanism (110) at the nearly dactylus of little finger of toe position links by bulb on little finger of toe detection of joints driving mechanism (110) installing hole (R) at bar (21) and little finger of toe middle finger joint position is hinged, little finger of toe dactylus pedestal far away (15) is fixed in corresponding little finger of toe dactylus far away position on gloves (101) by bonding or other modes, one end of little finger of toe dactylus pedestal far away (15) is for surrounding the cylindricality of little finger of toe dactylus far away, the other end is hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of little finger of toe, the position that is positioned at the little finger of toe dactylus far away back side on little finger of toe dactylus pedestal far away (15) is provided with a rocking arm, rocking arm is perpendicular to the dactylus back side at place, the rocking arm (19) of the little finger of toe detection of joints driving mechanism (110) at little finger of toe middle finger joint position is connected by bulb (20) is connected bar (21) cooperation with bulb spherical linkage with little finger of toe dactylus pedestal far away (15).

7. according to claim 1, 2, 3, 4, 5 or 6 described external framework type bilateral force feedback data glove is characterized in that: angular transducer (18) be with cogged rocking arm (19, 25, 27, 28) affixed, rocking arm (19, 25, 27, 28) axle center that cogs and rocking arm (19, 25, 27, 28) axis coinciding that rotates after affixed angular transducer (18), rocking arm (19, 25, 27, 28) gear is by the cooperation of train of reduction gears (60) and the gear engagement of driver part (111), when joint motions, if control system to this joint without force feedback signal, corresponding driver part (111) attonity, the joint can drive rocking arm (19, 25, 27, 28) freely move without interruption, make and rocking arm (19, 25, 27, 28) angular transducer (18) of interlock can detect the angle of joint motions, if control system has force feedback signal to this joint, corresponding driver part (111) starts, and the cooperation by train of reduction gears (60) is to rocking arm (19, 25, 27, 28) apply one in the same way on its direction of motion or reverse power, simultaneously control system again according to and rocking arm (19, 25, 27, the variation of the joint angles that the angular transducer (18) that 28) links detects uses corresponding mathematical algorithm to export constantly and revise the size of driving force, promotes or hinders this joint motions, realizes the force feedback function in this joint.

8. according to claim 1,3,4,5 or 6 described external framework type bilateral force feedback data glove, it is characterized in that: described metacarpophalangeal joints detect driving mechanisms (108) and comprise driver part (111), rocking arm (27), metacarpophalangeal joints pedestal (29), screw (24,35,36), bearing (23,39), connecting rod (38), gear box cover (50), gear (59), train of reduction gears (60) and two angular transducers (18), metacarpophalangeal joints pedestal (29) bottom embedded bearing (39) is also affixed by screw (36) with the axle of an angular transducer (18), described metacarpophalangeal joints pedestal (29) can rotate around the axle center of angular transducer (18), metacarpophalangeal joints pedestal (29) bottom outer rim is provided with gear (59), the axis coinciding of the angular transducer (18) of the axle center of gear (59) and bottom, another angular transducer (18) is fixed in the hole seat (L) of metacarpophalangeal joints pedestal (29) by screw (35), and affixed by screw (36) with the rocking arm (27) of embedded bearing (23), gear on rocking arm (27) is by the cooperation of train of reduction gears (60) and the gear engagement of driver part (111), driver part (111) is arranged on metacarpophalangeal joints pedestal (29), rocking arm (27) other end and connecting rod (38) are hinged by screw (24).

9. according to claim 1,3,4,5 or 6 described external framework type bilateral force feedback data glove, it is characterized in that: described detection of joints driving mechanism (109) and little finger of toe detection of joints driving mechanism (110) comprise driver part (111), train of reduction gears (60), angular transducer (18), rocking arm (19), screw (35,36), gear box cover (51,52,57) and dactylus pedestal (53,58), dactylus pedestal (53) on described detection of joints driving mechanism (109) is provided with a hole seat (M) and and arranges the installing hole (Q) that is used for bulb (20) or screw (24), angular transducer (18) is interior and affixed by screw (35) with rocking arm (19) by the hole seat (M) that screw (36) is fixed on dactylus pedestal (53), the axis coinciding that the axle center that rocking arm (19) cogs and rocking arm rotate, the gear of rocking arm (19) is by the cooperation of train of reduction gears (60) and the gear engagement of driver part (111), driver part (111) is arranged on dactylus pedestal (53), the affixed bulb of rocking arm (19) other end (20), dactylus pedestal (58) on described little finger of toe detection of joints driving mechanism (110) is provided with a hole seat (P) and and arranges the installing hole (R) that is used for bulb (20) or screw (24), angular transducer (18) is interior and affixed by screw (35) with rocking arm (19) by the hole seat (P) that screw (35) is fixed on dactylus pedestal (58), the axis coinciding that the axle center that rocking arm (19) cogs and rocking arm rotate, the gear of rocking arm (19) is by the cooperation of train of reduction gears (60) and the gear engagement of driver part (111), driver part (111) is arranged on dactylus pedestal (58), the affixed bulb of rocking arm (19) other end (20).

10. 7,8 or 9 described external framework type bilateral force feedback data glove according to claim 1,, it is characterized in that: driver part (111) is comprised of micromachine (40) and clutch, and described clutch comprises clutch friction plate (41), friction plate slide bar (42), returning pull-spring (43) and clutch case (44); friction plate slide bar (42) is affixed with the axle of micromachine (40), two slice clutch friction plates (41) are inserted in respectively friction plate slide bar (42) two ends, be connected with returning pull-spring (43) between two slice clutch friction plates (41), clutch case (44) is inserted in the axle of micromachine (40), with clutch friction plate (41), friction plate slide bar (42) and returning pull-spring (43) are included, be sliding-contact between the axle of clutch case (44) and micromachine (40), clutch case (44) is provided with travelling gear, when micromachine (40) rotating speed during higher than certain value, clutch friction plate (41) contacts with the inwall of clutch case (44), clutch case (44) is produced frictional force, driving clutch case (44) rotates, when micromachine (40) rotating speed during lower than certain value, clutch friction plate (41) separates with the inwall of clutch case (44), and cut-out clutch case (44) is connected with micromachine (40).