CN103158162B

CN103158162B - External-framework type bidirectional force feedback data glove

Info

Publication number: CN103158162B
Application number: CN201110424716.0A
Authority: CN
Inventors: 苏茂
Original assignee: Individual
Current assignee: Individual
Priority date: 2011-12-19
Filing date: 2011-12-19
Publication date: 2015-09-16
Anticipated expiration: 2031-12-19
Also published as: CN103158162A

Abstract

External-framework type bidirectional force feedback data glove, it relate to a kind ofly detects staff finger motion state and has two-way active drive feedback from the stressed force feedback data gloves of hand.The present invention is separated with force feedback mechanism to solve existing force feedback data gloves joint measurment mechanism, system complex structure is too fat to move, difficult in maintenance, and two-way active drive and the shortcoming such as expensive can not be realized, detection of joints mechanism and force feedback mechanism are integrated in one, and the connected mode of employing uniqueness and cleverly joint measurment point layout, make operator when using this data glove, five fingers can keep farthest flexibly, the motion state pointing each joint can be accurately detected, make the controlled harmonious action of finger-joint that can be corresponding with operator from each finger-joint of hand, and operator can be fed back to by from the stressing conditions of hand in concrete working environment, to strengthen the telepresenc of virtual reality or remote operating.

Description

External-framework type bidirectional force feedback data glove

Technical field

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

Background technology

Due to the development of science and technology, robot is used gradually in increasing scope, teleoperation robot as the robot of a kind of dependable performance, technology maturation be widely used in various danger, situation complexity, work in environment that the mankind cannot arrive, what it adopted is very reliable control mode, is directly sent instruction to control by operator.Performing along with teleoperation robot of task becomes increasingly complex, make people while pursuit reliability, also its flexibility is had higher requirement, and remote operating to be implemented to the manipulator of complexity, control multiple joints coordinated movement of various economic factors together of the multiple finger of manipulator, to realize specific function, this just need use data glove, and the data glove with force feedback function the manipulator of robot is implemented to the most efficient apparatus of remote operating, it points the finger tracking staff finger motion of positional information as control instruction control manipulator of each dactylus by measure operator, and the stressing conditions of each joint of manipulator in motion process can be simulated in data glove, act on operator on hand, operator is made to produce very strong telepresenc.In addition, Virtual Simulation development in recent years, its main interactive device is exactly force feedback data gloves, such as at one by the scene of computer virtual, control the virtual staff dismounting of a pair of or put together machines, 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 cannot popularize in a large number, promote and use.

Summary of the invention

The object of the invention is, system complex expensive for existing force feedback data gloves, the shortcoming such as difficult in maintenance, propose one the two-way active driving device of external angular transducer and joint is combined as a whole, while detecting staff joint motions information, also the power visual information fed back is changed into the method that power or moment directly act on staff, greatly simplify complicated force feedback data gloves system.The present invention can detect and drive staff five to point articulate motion, its difficult point is the design of the framework being attached to staff outside, because the volume of external angular transducer is larger, add drive motors, gear, rocking arm, the parts such as connecting rod, the motion of finger can be disturbed, but the present invention is by the optimal design to outside framework, unique connected mode is adopted between each joint pedestal, and to the ingenious layout of each joint measurment point, reduce or eliminate testing agency and driving mechanism to the obstruction of operator's finger motion and impact, make 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 adds clutch in articulated driving equipment, when system force feedback signal, drive motors connects driven joint, and joint is applied to the effect of power, when system does not have force feedback signal, drive motors disconnects by the connection of driving joint, reduces and reduces the resistance of joint motions, make the motion in joint more smooth and easy.The movement angle of force feedback data gloves five finger-joints is measured by corresponding mathematical algorithm by being arranged on corresponding angular transducer on gloves, all joints are all provided with independently drive unit on the decomposition direction of its direction of motion or compound movement, each drive unit forms closed-loop control again to by angular transducer cooperating corresponding on driving joint, improves its accuracy with realizable force FEEDBACK CONTROL.Each dactylus that the present invention can detect thumb, forefinger, middle finger, the third finger, little finger of toe accurately, delicately position in three dimensions and motion state, and to each joint, there is two-way active drive and force feedback function, use simple, it is convenient to dress, easy maintenance, and the cost that greatly can reduce force feedback data gloves.

Accompanying drawing explanation

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 detecting 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.

Detailed description of the invention

Main parts size of the present invention:

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

104. forefingers detect driving mechanism 105. middle finger and detect driving mechanism 106. third finger detection driving mechanism

107. little fingers of toe detect driving mechanism 108. metacarpophalangeal joints and detect driving mechanism 109. detection of joints driving mechanism

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

4. thumb nearly dactylus pedestal 5. thumb palm dactylus pedestal 6. forefinger dactylus pedestal far away

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

Detailed description of the invention one: as shown in Figure 1, Figure 2 and Figure 3, described External-framework type bidirectional force feedback data glove, comprises gloves 101, palm pedestal 102, thumb detects driving mechanism 103, forefinger detects driving mechanism 104, middle finger detects driving mechanism 105, the third finger detects driving mechanism 106, little finger of toe detects driving mechanism 107 and metacarpophalangeal joints detect driving mechanism 108.Described External-framework type bidirectional force feedback data glove is applicable to the hand-type of the different size of most of operator, so most of parts are all preset with multiple installing hole be arranged in a linear, make operator can select suitable position that associated components is installed according to actual needs, allow each artis of data glove is corresponding with the position of each artis that operator points reaches optimum state.Described gloves 101 use the flexible materials such as rubber, cotton, cloth, skin to make, and after ensureing that operator brings gloves, each joint of finger still can flexible motion.Described palm pedestal 102 is provided with hole seat A, B, C, D, E, B, C, D and E tetra-hole seats should be made to be placed in respectively above the metacarpophalangeal joints position of forefinger, middle finger, the third finger and little finger of toe corresponding to gloves 101, and by bonding or other modes, palm pedestal 102 to be fixed on the palm part of gloves 101.

Detailed description of the invention two: as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, described thumb detection driving mechanism 103 comprises slaps dactylus pedestal 5, thumb nearly dactylus pedestal 4 and thumb dactylus pedestal 3 far away with the thumb of palm pedestal 102 hinge connections, two often adjacent pedestal hinged places are all provided with the angular transducer 18 and driver part 111 that detect joint motions information, detect thumb each dactylus position in three dimensions and motion state, and under the effect of driver part 111 realizable force feedback function.

As shown in Figure 4, described driver part 111 comprises micromachine 40 and clutch, described clutch is made up 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 panels clutch friction plate 41 is inserted in friction plate slide bar 42 two ends respectively, returning pull-spring 43 is connected with between two panels clutch friction plate 41, clutch case 44 is inserted in the axle of micromachine 40, for slidingly contacting 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 speed is higher than certain value, the pulling force that two panels clutch friction plate 41 overcomes returning pull-spring 43 slide respectively to two ends of friction plate slide bar 42 and with the contact internal walls of clutch case 44, frictional force is produced to clutch case 44, drives clutch case 44 to rotate; When micromachine 40 rotating speed is lower than certain value, two panels clutch friction plate 41 slides to axis direction under the effect of returning pull-spring 43, is separated with the inwall of clutch case 44, cuts off the connection of clutch case 44 and micromachine 40.

As shown in Fig. 5, Fig. 6 and Fig. 7, described thumb palm dactylus pedestal 5 is fixed on thumb palm dactylus position corresponding on gloves 101 by bonding or other modes, thumb palm dactylus pedestal 5 is along the irregular contour of staff thumb palm dactylus externus muscle, semi-circular is adopted to surround (palm dactylus back side-palm dactylus lateral surface-palm dactylus front) thumb palm dactylus, the position being positioned at the thumb palm dactylus back side at this pedestal is provided with a rocking arm F, and lateral surface position is provided with a hole seat G.The rocking arm F of thumb palm dactylus pedestal 5 and rocking arm 19 link by bulb 20 and bulb the spherical linkage that bar 21 coordinates and are 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 gears meshing of driver part 111, described driver part 111 is arranged in the hole seat N of palm pedestal 102, this driving mechanism is fixed by gear box cover 45.Action implementation process: when the articulatio carpometacarpicus communis (CP) of operator moves, the thumb palm dactylus pedestal 5 depended on thumb palm dactylus is followed and is moved together, and link bar 21 by bulb and drive rocking arm 19 to rotate, the angle that the articulatio carpometacarpicus communis (CP) making the angular transducer 18 linked with rocking arm 19 in the seat A of hole can measure operator moves and state, when control system is without force feedback signal, driver part 111 attonity then in hole seat N, rocking arm 19 action is interference-free, when control system force feedback signal, driver part 111 then in hole seat N starts, by the cooperation of train of reduction gears 60, one is applied in its direction of motion in the same way or reverse power to rocking arm 19, the simultaneously change of 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, described thumb nearly dactylus pedestal 4 is fixed on the nearly dactylus position of thumb corresponding on gloves 101 by bonding or other modes, the nearly dactylus of thumb nearly dactylus pedestal 4 semi-surrounding thumb, its cross section surrounding junction is " C " shape, opening is towards side, palm front, the position being 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 slaps dactylus pedestal 5 by rocking arm 28 with thumb, connecting rod 26, rocking arm 27 is hinged, it is affixed that the bottom of described rocking arm 28 (embedded bearing 23) and the axle of angular transducer 18 pass through 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 gears meshing of driver part 111, described driver part 111 is arranged on the nearly dactylus pedestal 4 of thumb, this driving mechanism is fixed by gear box cover 47 and gear box cover 48.Described rocking arm 28 is hinged by screw 24 with connecting rod 26 one end, it is hinged that described connecting rod 26 other end and rocking arm 27 pass through 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 gears meshing of driver part 111, described driver part 111 is arranged on thumb palm dactylus pedestal 5, this driving mechanism is fixed by gear box cover 46.Action implementation process: the nearly dactylus of staff thumb can rotate around metacarpophalangeal joints (MP), the componental movement in both direction can be decomposed into, one is the flexion and extension being parallel to the nearly dactylus side of thumb, another is the abduction or the adduction motion that are parallel to the nearly dactylus back side of thumb, when the metacarpophalangeal joints (MP) of operator's thumb do flexion and extension, the nearly dactylus pedestal 4 of thumb depended on the nearly dactylus of thumb is followed and is moved together, and drive rocking arm 27 to rotate by rocking arm 28 and connecting rod 26, the angle that the metacarpophalangeal joints (MP) making the angular transducer 18 linked with rocking arm 27 in the seat G of hole can measure operator's thumb bend and stretch and state, when control system is without force feedback signal, driver part 111 attonity then on thumb palm dactylus pedestal 5, rocking arm 27 action is interference-free, when control system force feedback signal, driver part 111 then on thumb palm dactylus pedestal 5 starts, by the cooperation of train of reduction gears 60, one is applied in its direction of motion in the same way or reverse power to rocking arm 27, the simultaneously change of 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 do abduction or adduction motion, in 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 depended on the nearly dactylus of thumb directly drives the angular transducer 18 in the seat H of hole to rotate, make the angular transducer 18 in the seat H of hole can measure metacarpophalangeal joints (MP) abduction of operator's thumb or the angle of adduction and state, when control system is without force feedback signal, driver part 111 attonity then on the nearly dactylus pedestal 4 of thumb, rocking arm 28 action is interference-free, when control system force feedback signal, driver part 111 then on the nearly dactylus pedestal 4 of thumb starts, by the cooperation of train of reduction gears 60, one is applied in its direction of motion in the same way or reverse power to rocking arm 28, the simultaneously change of 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 adduction motion of thumb, realize the force feedback function in this joint.

As shown in Figure 7, described thumb dactylus far away pedestal 3 is fixed on thumb dactylus position far away corresponding on gloves 101 by bonding or other modes, one end of thumb dactylus far away pedestal 3 is the cylindricality of surrounding 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 being positioned at thumb dactylus lateral surface far away at this pedestal is provided with a chute.Thumb dactylus far away pedestal 3 is hinged by rocking arm 25 with thumb nearly dactylus pedestal 4, described rocking arm 25 one end embeds in the chute of thumb dactylus pedestal 3 far away, and it is 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 gears meshing of driver part 111, described driver part 111 is arranged on the nearly dactylus pedestal 4 of thumb, this driving mechanism is fixed by gear box cover 49.Action implementation process: when the interphalangeal joint (DIP) of operator's thumb does flexion and extension, the thumb dactylus pedestal 3 far away depended on thumb dactylus far away is followed and is moved together, thus drive rocking arm 25 to rotate, the angle that the interphalangeal joint (DIP) making the angular transducer 18 linked with rocking arm 25 in the seat K of hole can measure operator's thumb bends and stretches and state, when control system is without force feedback signal, driver part 111 attonity then on the nearly dactylus pedestal 4 of thumb, rocking arm 25 action is interference-free, when control system force feedback signal, driver part 111 then on the nearly dactylus pedestal 4 of thumb starts, by the cooperation of train of reduction gears 60, one is applied in its direction of motion in the same way or reverse power to rocking arm 25, the simultaneously change of 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.

Detailed description of the invention three: as shown in Fig. 1, Fig. 8 and Fig. 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.Bottom metacarpophalangeal joints pedestal 29, (embedded bearing 39) is affixed by screw 36 with the axle of an angular transducer 18, described metacarpophalangeal joints pedestal 29 can around the axis rotation of bottom angle sensor (18), described metacarpophalangeal joints pedestal 29 bottom outer rim is provided with gear 59, the axis coinciding of the angular transducer 18 bottom the axle center of gear 59 and metacarpophalangeal joints pedestal 29, another angular transducer 18 is fixed in the hole seat L of metacarpophalangeal joints pedestal 29 by screw 35, it is affixed that screw 36 is passed through in the axle of described angular transducer 18 and one end of rocking arm 27 (embedded bearing 23), 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 gears meshing of driver part 111, described driver part 111 is arranged on metacarpophalangeal joints pedestal 29, it is hinged that screw 24 is passed through in described rocking arm 27 other end and connecting rod 38 one end.

Detailed description of the invention four: as shown in Fig. 1, Figure 10 and 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 the installing hole Q of an a hole seat M and row for bulb 20 or screw 24, described angular transducer 18 is fixed in the hole seat M of dactylus pedestal 53 by screw 36, axle and the rocking arm 19 of the angular transducer 18 in described hole seat M 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 gears meshing of driver part 111, described driver part 111 is arranged on dactylus pedestal 53, the affixed bulb 20 of described rocking arm 19 other end.

Detailed description of the invention five: as Fig. 1, Fig. 2, Fig. 3, Fig. 9, shown in Figure 11 and Figure 12, described forefinger detects driving mechanism 104 and comprises and detect driving mechanism 108 with the metacarpophalangeal joints of palm pedestal 102 hinge connections, the detection of joints driving mechanism 109 at the nearly dactylus position of forefinger, the detection of joints driving mechanism 109 at forefinger middle finger joint position and forefinger dactylus pedestal 6 far away, often adjacent Liang Ge mechanism hinged place is all provided with the angular transducer 18 and driver part 111 that detect joint action, detect forefinger each dactylus position in three dimensions and motion state, and under the effect of driver part 111 realizable force feedback function.

As shown in Fig. 9, Figure 11 and Figure 12, dactylus pedestal 53 on the detection of joints driving mechanism 109 at described forefinger nearly dactylus position is fixed on the nearly dactylus position of forefinger corresponding on gloves 101 by bonding or other modes, the nearly dactylus of described dactylus pedestal 53 semi-surrounding forefinger, its cross section surrounding junction is " C " shape, and opening is towards side, palm front.The connecting rod 38 that described metacarpophalangeal joints detect driving mechanism 108 is articulated with installing hole Q place with the detection of joints driving mechanism 109 at the nearly dactylus position of forefinger by screw 24, the angular transducer 18 that described metacarpophalangeal joints detect bottom driving mechanism 108 is fixed in the hole seat B of palm pedestal 102, the outer rim gear 59 that described metacarpophalangeal joints detect driving mechanism 108 is by the cooperation of train of reduction gears 60 and the gears meshing being arranged on the driver part 111 on palm pedestal 102, and this driving mechanism is fixed by gear box cover 54.Action implementation process: the nearly dactylus of Human Index Finger can rotate around metacarpophalangeal joints (MP), the componental movement in both direction can be decomposed into, one is the flexion and extension being parallel to the nearly dactylus side of forefinger, another is the abduction or the adduction motion that are parallel to the nearly dactylus back side of forefinger, when the metacarpophalangeal joints (MP) of operator's forefinger do flexion and extension, the detection of joints driving mechanism 109 depending on the nearly dactylus of forefinger is followed motion together and drives rocking arm 27 to rotate by connecting rod 38, the angle that the metacarpophalangeal joints (MP) making the angular transducer 18 linked with rocking arm 27 in the seat L of hole can measure operator's forefinger bend and stretch and state, when control system is without force feedback signal, then metacarpophalangeal joints detect driver part 111 attonity on driving mechanism 108, rocking arm 27 action is interference-free, when control system force feedback signal, the driver part 111 that then metacarpophalangeal joints detect on driving mechanism 108 starts, by the cooperation of train of reduction gears 60, one is applied in its direction of motion in the same way or reverse power to rocking arm 27, the simultaneously change of 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 do abduction or adduction motion, in 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 to detect the axis rotation of the angular transducer 18 of driving mechanism 108 bottom it, make the angular transducer 18 in the seat B of hole can measure metacarpophalangeal joints (MP) abduction of operator's forefinger or the angle of adduction and state, when control system is without force feedback signal, driver part 111 attonity then on palm pedestal 102, the motion that metacarpophalangeal joints detect driving mechanism 108 is interference-free, when control system force feedback signal, driver part 111 then on palm pedestal 102 starts, by the cooperation of train of reduction gears 60, driving mechanism 108 is detected to metacarpophalangeal joints and in its direction of motion, apply one in the same way or reverse power, the simultaneously change of 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 adduction motion of forefinger, realize the force feedback function in this joint.

As is illustrated by figs. 11 and 12, dactylus pedestal 53 on the detection of joints driving mechanism 109 at described forefinger middle finger joint position is fixed on forefinger middle finger joint position corresponding on gloves 101 by bonding or other modes, described dactylus pedestal 53 semi-surrounding forefinger middle finger joint, its cross section surrounding junction is " C " shape, and opening is towards side, palm front.The rocking arm 19 of the detection of joints driving mechanism 109 at the nearly dactylus position of described forefinger and the dactylus pedestal 53 of the detection of joints driving mechanism 109 at forefinger middle finger joint position link by bulb 20 and bulb the spherical linkage that bar 21 coordinates and are connected.Action implementation process: when the PIP (PIP) of operator's forefinger does flexion and extension, the detection of joints driving mechanism 109 depending on forefinger middle finger joint position is followed and is moved together, and link bar 21 by bulb and drive the rocking arm 19 on the detection of joints driving mechanism 109 at the nearly dactylus position of forefinger to rotate, the angle that the PIP (PIP) making the angular transducer 18 linked with rocking arm 19 can measure operator's forefinger bends and stretches and state, when control system is without force feedback signal, driver part 111 attonity on the detection of joints driving mechanism 109 at the then nearly dactylus position of forefinger, the middle finger joint of operator's forefinger can rotate interference-free around the PIP of forefinger (PIP), when control system force feedback signal, driver part 111 on the detection of joints driving mechanism 109 at the then nearly dactylus position of forefinger starts, by the cooperation of train of reduction gears 60, one is applied in its direction of motion in the same way or reverse power to rocking arm 19, simultaneously control system again according to and the change of joint angles that detects of the angular transducer 18 that links of rocking arm 19, 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 is illustrated by figs. 11 and 12, described forefinger dactylus far away pedestal 6 is fixed on forefinger dactylus position far away corresponding on gloves 101 by bonding or other modes, one end of described forefinger dactylus far away pedestal 6 is the cylindricality of surrounding 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 being positioned at the forefinger dactylus back side far away 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 and forefinger dactylus pedestal 6 far away link by bulb 20 and bulb the spherical linkage that bar 21 coordinates and are connected.Action implementation process: when the DIPJ (DIP) of operator's forefinger does flexion and extension, the forefinger dactylus pedestal 6 far away depended on forefinger dactylus far away is followed and is moved together, and link bar 21 by bulb and drive the rocking arm 19 on the detection of joints driving mechanism 109 at forefinger middle finger joint position to rotate, the angle that the DIPJ (DIP) making the angular transducer 18 linked with rocking arm 19 can measure operator's forefinger bends and stretches and state, when control system is without force feedback signal, driver part 111 attonity on the detection of joints driving mechanism 109 at then forefinger middle finger joint position, the dactylus far away of operator's forefinger can rotate interference-free around the DIPJ of forefinger (DIP), when control system force feedback signal, driver part 111 on the detection of joints driving mechanism 109 at then forefinger middle finger joint position starts, by the cooperation of train of reduction gears 60, one is applied in its direction of motion in the same way or reverse power to rocking arm 19, simultaneously control system again according to and the change of joint angles that detects of the angular transducer 18 that links of rocking arm 19, 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.

Detailed description of the invention six: as Fig. 1, Fig. 2, Fig. 3, Fig. 9, shown in Figure 11 and Figure 13, described middle finger detects driving mechanism 105 and comprises and detect driving mechanism 108 with the metacarpophalangeal joints of palm pedestal 102 hinge connections, the detection of joints driving mechanism 109 at the nearly dactylus position of middle finger, the detection of joints driving mechanism 109 at middle finger middle finger joint position and middle finger dactylus pedestal 9 far away, often adjacent Liang Ge mechanism hinged place is all provided with the angular transducer 18 and driver part 111 that detect joint action, detect middle finger each dactylus position in three dimensions and motion state, and under the effect of driver part 111 realizable force feedback function.

As shown in Fig. 9, Figure 11 and Figure 13, dactylus pedestal 53 on the detection of joints driving mechanism 109 at described middle finger nearly dactylus position is fixed on the nearly dactylus position of middle finger corresponding on gloves 101 by bonding or other modes, the nearly dactylus of described dactylus pedestal 53 semi-surrounding middle finger, its cross section surrounding junction is " C " shape, and opening is towards side, palm front.The connecting rod 38 that described metacarpophalangeal joints detect driving mechanism 108 is articulated with installing hole Q place with the detection of joints driving mechanism 109 at the nearly dactylus position of middle finger by screw 24, the angular transducer 18 that described metacarpophalangeal joints detect bottom driving mechanism 108 is fixed in the hole seat C of palm pedestal 102, the outer rim gear 59 that described metacarpophalangeal joints detect driving mechanism 108 is by the cooperation of train of reduction gears 60 and the gears meshing being arranged on the driver part 111 on palm pedestal 102, and this driving mechanism is fixed by gear box cover 55.Action implementation process: the nearly dactylus of staff middle finger can rotate around metacarpophalangeal joints (MP), the componental movement in both direction can be decomposed into, one is the flexion and extension being parallel to the nearly dactylus side of middle finger, another is the abduction or the adduction motion that are parallel to the nearly dactylus back side of middle finger, when the metacarpophalangeal joints (MP) of operator's middle finger do flexion and extension, the detection of joints driving mechanism 109 depending on the nearly dactylus of middle finger is followed motion together and drives rocking arm 27 to rotate by connecting rod 38, the angle that the metacarpophalangeal joints (MP) making the angular transducer 18 linked with rocking arm 27 in the seat L of hole can measure operator's middle finger bend and stretch and state, when control system is without force feedback signal, then metacarpophalangeal joints detect driver part 111 attonity on driving mechanism 108, rocking arm 27 action is interference-free, when control system force feedback signal, the driver part 111 that then metacarpophalangeal joints detect on driving mechanism 108 starts, by the cooperation of train of reduction gears 60, one is applied in its direction of motion in the same way or reverse power to rocking arm 27, the simultaneously change of 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 do abduction or adduction motion, in 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 to detect the axis rotation of the angular transducer 18 of driving mechanism 108 bottom it, make the angular transducer 18 in the seat C of hole can measure metacarpophalangeal joints (MP) abduction of operator's middle finger or the angle of adduction and state, when control system is without force feedback signal, driver part 111 attonity then on palm pedestal 102, the motion that metacarpophalangeal joints detect driving mechanism 108 is interference-free, when control system force feedback signal, driver part 111 then on palm pedestal 102 starts, by the cooperation of train of reduction gears 60, driving mechanism 108 is detected to metacarpophalangeal joints and in its direction of motion, apply one in the same way or reverse power, the simultaneously change of 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 adduction motion of middle finger, realize the force feedback function in this joint.

As illustrated in figures 11 and 13, dactylus pedestal 53 on the detection of joints driving mechanism 109 at described middle finger middle finger joint position is fixed on middle finger middle finger joint position corresponding on gloves 101 by bonding or other modes, described dactylus pedestal 53 semi-surrounding middle finger middle finger joint, its cross section surrounding junction is " C " shape, and opening is towards side, palm front.The rocking arm 19 of the detection of joints driving mechanism 109 at the nearly dactylus position of described middle finger and the dactylus pedestal 53 of the detection of joints driving mechanism 109 at middle finger middle finger joint position link by bulb 20 and bulb the spherical linkage that bar 21 coordinates and are connected.Action implementation process: when the PIP (PIP) of operator's middle finger does flexion and extension, the detection of joints driving mechanism 109 depending on middle finger middle finger joint position is followed and is moved together, and link bar 21 by bulb and drive the rocking arm 19 on the detection of joints driving mechanism 109 at the nearly dactylus position of middle finger to rotate, the angle that the PIP (PIP) making the angular transducer 18 linked with rocking arm 19 can measure operator's middle finger bends and stretches and state, when control system is without force feedback signal, driver part 111 attonity on the detection of joints driving mechanism 109 at the then nearly dactylus position of middle finger, the middle finger joint of operator's middle finger can rotate interference-free around the PIP of middle finger (PIP), when control system force feedback signal, driver part 111 on the detection of joints driving mechanism 109 at the then nearly dactylus position of middle finger starts, by the cooperation of train of reduction gears 60, one is applied in its direction of motion in the same way or reverse power to rocking arm 19, simultaneously control system again according to and the change of joint angles that detects of the angular transducer 18 that links of rocking arm 19, 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 illustrated in figures 11 and 13, described middle finger dactylus far away pedestal 9 is fixed on middle finger dactylus position far away corresponding on gloves 101 by bonding or other modes, one end of described middle finger dactylus far away pedestal 9 is the cylindricality of surrounding 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 being positioned at the middle finger dactylus back side far away 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 and middle finger dactylus pedestal 9 far away link by bulb 20 and bulb the spherical linkage that bar 21 coordinates and are connected.Action implementation process: when the DIPJ (DIP) of operator's middle finger does flexion and extension, the middle finger dactylus pedestal 9 far away depended on middle finger dactylus far away is followed and is moved together, and link bar 21 by bulb and drive the rocking arm 19 on the detection of joints driving mechanism 109 at middle finger middle finger joint position to rotate, the angle that the DIPJ (DIP) making the angular transducer 18 linked with rocking arm 19 can measure operator's middle finger bends and stretches and state, when control system is without force feedback signal, driver part 111 attonity on the detection of joints driving mechanism 109 at then middle finger middle finger joint position, the dactylus far away of operator's middle finger can rotate interference-free around the DIPJ of middle finger (DIP), when control system force feedback signal, driver part 111 on the detection of joints driving mechanism 109 at then middle finger middle finger joint position starts, by the cooperation of train of reduction gears 60, one is applied in its direction of motion in the same way or reverse power to rocking arm 19, simultaneously control system again according to and the change of joint angles that detects of the angular transducer 18 that links of rocking arm 19, 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.

Detailed description of the invention seven: as Fig. 1, Fig. 2, Fig. 3, Fig. 9, shown in Figure 11 and Figure 14, the described third finger detects driving mechanism 106 and comprises and detect driving mechanism 108 with the metacarpophalangeal joints of palm pedestal 102 hinge connections, 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 third finger dactylus pedestal 12 far away, often adjacent Liang Ge mechanism hinged place is all provided with the angular transducer 18 and driver part 111 that detect joint action, detect each dactylus nameless position in three dimensions and motion state, and under the effect of driver part 111 realizable force feedback function.

As shown in Fig. 9, Figure 11 and Figure 14, dactylus pedestal 53 on the detection of joints driving mechanism 109 at the described third finger nearly dactylus position is fixed on the nearly dactylus position of the third finger corresponding on gloves 101 by bonding or other modes, the nameless nearly dactylus of described dactylus pedestal 53 semi-surrounding, its cross section surrounding junction is " C " shape, and opening is towards side, palm front.The connecting rod 38 that described metacarpophalangeal joints detect driving mechanism 108 is articulated with installing hole Q place with the detection of joints driving mechanism 109 at the nearly dactylus position of the third finger by screw 24, the angular transducer 18 that described metacarpophalangeal joints detect bottom driving mechanism 108 is fixed in the hole seat D of palm pedestal 102, the outer rim gear 59 that described metacarpophalangeal joints detect driving mechanism 108 is by the cooperation of train of reduction gears 60 and the gears meshing being arranged on the driver part 111 on palm pedestal 102, and this driving mechanism is fixed by gear box cover 55.Action implementation process: the nearly dactylus of the staff third finger can rotate around metacarpophalangeal joints (MP), the componental movement in both direction can be decomposed into, one is the flexion and extension being parallel to nameless nearly dactylus side, another is the abduction or the adduction motion that are parallel to the nameless nearly dactylus back side, when the metacarpophalangeal joints (MP) of operator's third finger do flexion and extension, the detection of joints driving mechanism 109 depending on nameless nearly dactylus is followed motion together and drives rocking arm 27 to rotate by connecting rod 38, the angle that the metacarpophalangeal joints (MP) making the angular transducer 18 linked with rocking arm 27 in the seat L of hole can measure operator's third finger bend and stretch and state, when control system is without force feedback signal, then metacarpophalangeal joints detect driver part 111 attonity on driving mechanism 108, rocking arm 27 action is interference-free, when control system force feedback signal, the driver part 111 that then metacarpophalangeal joints detect on driving mechanism 108 starts, by the cooperation of train of reduction gears 60, one is applied in its direction of motion in the same way or reverse power to rocking arm 27, the simultaneously change of 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 nameless metacarpophalangeal joints (MP) flexion and extension, realize the force feedback function in this joint, when the metacarpophalangeal joints (MP) of operator's third finger do abduction or adduction motion, in 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 to detect the axis rotation of the angular transducer 18 of driving mechanism 108 bottom it, make the angular transducer 18 in the seat D of hole can measure metacarpophalangeal joints (MP) abduction of operator's third finger or the angle of adduction and state, when control system is without force feedback signal, driver part 111 attonity then on palm pedestal 102, the motion that metacarpophalangeal joints detect driving mechanism 108 is interference-free, when control system force feedback signal, driver part 111 then on palm pedestal 102 starts, by the cooperation of train of reduction gears 60, driving mechanism 108 is detected to metacarpophalangeal joints and in its direction of motion, apply one in the same way or reverse power, the simultaneously change of 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 nameless metacarpophalangeal joints (MP) abduction or adduction motion, realize the force feedback function in this joint.

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

As shown in Figure 11 and Figure 14, described third finger dactylus far away pedestal 12 is fixed on third finger dactylus position far away corresponding on gloves 101 by bonding or other modes, one end of described third finger dactylus pedestal 12 far away is the cylindricality of surrounding 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, the position being positioned at the nameless dactylus back side far away 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 nameless middle finger joint position and third finger dactylus pedestal 12 far away link by bulb 20 and bulb the spherical linkage that bar 21 coordinates and are connected.Action implementation process: when the DIPJ (DIP) of operator's third finger does flexion and extension, the third finger dactylus pedestal 12 far away depended on nameless dactylus far away is followed and is moved together, and link bar 21 by bulb and drive the rocking arm 19 on the detection of joints driving mechanism 109 at nameless middle finger joint position to rotate, the angle that the DIPJ (DIP) making the angular transducer 18 linked with rocking arm 19 can measure operator's third finger bends and stretches and state, when control system is without force feedback signal, driver part 111 attonity on the detection of joints driving mechanism 109 at then nameless middle finger joint position, the dactylus far away of operator's third finger can rotate interference-free around the DIPJ of the third finger (DIP), when control system force feedback signal, driver part 111 on the detection of joints driving mechanism 109 at then nameless middle finger joint position starts, by the cooperation of train of reduction gears 60, one is applied in its direction of motion in the same way or reverse power to rocking arm 19, simultaneously control system again according to and the change of joint angles that detects of the angular transducer 18 that links of rocking arm 19, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder nameless DIPJ (DIP) motion, realize the force feedback function in this joint.

Detailed description of the invention eight: as shown in Fig. 1, Figure 15 and 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 the installing hole R of an a hole seat P and row for bulb 20 or screw 24, described angular transducer 18 is fixed in the hole seat P of dactylus pedestal 58 by screw 35, axle and the rocking arm 19 of the angular transducer 18 in described hole seat P 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 gears meshing of driver part 111, described driver part 111 is arranged on dactylus pedestal 58, the affixed bulb 20 of described rocking arm 19 other end.

Detailed description of the invention nine: as Fig. 1, Fig. 2, Fig. 3, Fig. 9, shown in Figure 16 and Figure 17, described little finger of toe detects driving mechanism 107 and comprises and detect driving mechanism 108 with the metacarpophalangeal joints of palm pedestal 102 hinge connections, the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus position of little finger of toe, 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, often adjacent Liang Ge mechanism hinged place is all provided with the angular transducer 18 and driver part 111 that detect joint action, detect little finger of toe each dactylus position in three dimensions and motion state, and under the effect of driver part 111 realizable force feedback function.

As shown in Fig. 9, Figure 16 and Figure 17, dactylus pedestal 58 on the little finger of toe detection of joints driving mechanism 110 at described little finger of toe nearly dactylus position is fixed on the nearly dactylus position of little finger of toe corresponding on gloves 101 by bonding or other modes, the nearly dactylus of described dactylus pedestal 58 semi-surrounding little finger of toe, its cross section surrounding junction is " C " shape, and opening is towards side, palm front.The connecting rod 38 that described metacarpophalangeal joints detect driving mechanism 108 is articulated with installing hole R place with the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus position of little finger of toe by screw 24, the angular transducer 18 that described metacarpophalangeal joints detect bottom driving mechanism 108 is fixed in the hole seat E of palm pedestal 102, the outer rim gear 59 that described metacarpophalangeal joints detect driving mechanism 108 is by the cooperation of train of reduction gears 60 and the gears meshing being arranged on the driver part 111 on palm pedestal 102, and this driving mechanism is fixed by gear box cover 56.Action implementation process: the nearly dactylus of staff little finger of toe can rotate around metacarpophalangeal joints (MP), the componental movement in both direction can be decomposed into, one is the flexion and extension being parallel to the nearly dactylus side of little finger of toe, another is the abduction or the adduction motion that are parallel to the nearly dactylus back side of little finger of toe, when the metacarpophalangeal joints (MP) of operator's little finger of toe do flexion and extension, the little finger of toe detection of joints driving mechanism 110 depending on the nearly dactylus of little finger of toe is followed motion together and drives rocking arm 27 to rotate by connecting rod 38, the angle that the metacarpophalangeal joints (MP) making the angular transducer 18 linked with rocking arm 27 in the seat L of hole can measure operator's little finger of toe bend and stretch and state, when control system is without force feedback signal, then metacarpophalangeal joints detect driver part 111 attonity on driving mechanism 108, rocking arm 27 action is interference-free, when control system force feedback signal, the driver part 111 that then metacarpophalangeal joints detect on driving mechanism 108 starts, by the cooperation of train of reduction gears 60, one is applied in its direction of motion in the same way or reverse power to rocking arm 27, the simultaneously change of 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 do abduction or adduction motion, in 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 to detect the axis rotation of the angular transducer 18 of driving mechanism 108 bottom it, 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 the angle of adduction and state, when control system is without force feedback signal, driver part 111 attonity then on palm pedestal 102, the motion that metacarpophalangeal joints detect driving mechanism 108 is interference-free, when control system force feedback signal, driver part 111 then on palm pedestal 102 starts, by the cooperation of train of reduction gears 60, driving mechanism 108 is detected to metacarpophalangeal joints and in its direction of motion, apply one in the same way or reverse power, the simultaneously change of 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 adduction motion of little finger of toe, realize the force feedback function in this joint.

As shown in Figure 16 and 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 on little finger of toe middle finger joint position corresponding on gloves 101 by bonding or other modes, described dactylus pedestal 58 semi-surrounding little finger of toe middle finger joint, its cross section surrounding junction is " C " shape, and opening is towards side, palm front.The dactylus pedestal 58 of the rocking arm 19 of the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus position of described little finger of toe and the little finger of toe detection of joints driving mechanism 110 at little finger of toe middle finger joint position links by bulb 20 and bulb the spherical linkage that bar 21 coordinates and is connected.Action implementation process: when the PIP (PIP) of operator's little finger of toe does flexion and extension, the little finger of toe detection of joints driving mechanism 110 depending on little finger of toe middle finger joint position is followed and is moved together, and link bar 21 by bulb and drive the rocking arm 19 on the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus position of little finger of toe to rotate, the angle that the PIP (PIP) making the angular transducer 18 linked with rocking arm 19 can measure operator's little finger of toe bends and stretches and state, when control system is without force feedback signal, driver part 111 attonity on the little finger of toe detection of joints driving mechanism 110 at the then nearly dactylus position of little finger of toe, the middle finger joint of operator's little finger of toe can rotate interference-free around the PIP of little finger of toe (PIP), when control system force feedback signal, driver part 111 on the little finger of toe detection of joints driving mechanism 110 at the then nearly dactylus position of little finger of toe starts, by the cooperation of train of reduction gears 60, one is applied in its direction of motion in the same way or reverse power to rocking arm 19, simultaneously control system again according to and the change of joint angles that detects of the angular transducer 18 that links of rocking arm 19, 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 shown in Figure 16 and Figure 17, described little finger of toe dactylus far away pedestal 15 is fixed on little finger of toe dactylus position far away corresponding on gloves 101 by bonding or other modes, one end of described little finger of toe dactylus far away pedestal 15 is the cylindricality of surrounding 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 being positioned at the little finger of toe dactylus back side far away 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 and little finger of toe dactylus pedestal 15 far away link by bulb 20 and bulb the spherical linkage that bar 21 coordinates and are connected.Action implementation process: when the DIPJ (DIP) of operator's little finger of toe does flexion and extension, the little finger of toe dactylus pedestal 15 far away depended on little finger of toe dactylus far away is followed and is moved together, and link bar 21 by bulb and drive the rocking arm 19 on the little finger of toe detection of joints driving mechanism 110 at little finger of toe middle finger joint position to rotate, the angle that the DIPJ (DIP) making the angular transducer 18 linked with rocking arm 19 can measure operator's little finger of toe bends and stretches and state, when control system is without force feedback signal, driver part 111 attonity on the little finger of toe detection of joints driving mechanism 110 at then little finger of toe middle finger joint position, the dactylus far away of operator's little finger of toe can rotate interference-free around the DIPJ of little finger of toe (DIP), when control system force feedback signal, driver part 111 on the little finger of toe detection of joints driving mechanism 110 at then little finger of toe middle finger joint position starts, by the cooperation of train of reduction gears 60, one is applied in its direction of motion in the same way or reverse power to rocking arm 19, simultaneously control system again according to and the change of joint angles that detects of the angular transducer 18 that links of rocking arm 19, 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 people each dactylus of hand finger position in three dimensions and the object of motion state, realize object of the present invention.

As another example of the present invention, also the micro-driving motor being connected with travelling gear can be allowed to replace driver part 111, and Direct driver train of reduction gears 60 or joint, save clutch link, the effect of applying power can be played equally to joint, realize object of the present invention.

When not making principle of the present invention suffer damage, the details of above-mentioned formation and detailed description of the invention are only that it can not depart from the scope of the present invention and extensively change, and these all belong within protection of the present invention as example and illustrated thing.

Claims

1. an External-framework type bidirectional force feedback data glove, for with computer, the interactive device of manipulator, by gloves (101), palm pedestal (102), thumb detects driving mechanism (103), forefinger detects driving mechanism (104), middle finger detects driving mechanism (105), nameless detect driving mechanism (106), little finger of toe detects driving mechanism (107) and metacarpophalangeal joints detection driving mechanism (108) form;

It is characterized in that:

This device is worn on operator on hand;

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

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

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

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

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

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

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

2. External-framework type bidirectional 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 (4) of thumb, thumb dactylus pedestal (3) far away, gloves (101), palm pedestal (102), four driver parts (111), four angular transducers (18), bulb (20), bulb links bar (21), gear-box base (22), bearing (23), screw (24, 35, 36), connecting rod (26), four rocking arms (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 gloves (101) upper corresponding thumb palm dactylus position, and the irregular contour of dactylus externus muscle is slapped along staff thumb, semi-circular is adopted to surround the palm dactylus back side, palm dactylus lateral surface, palm dactylus front, the position being positioned at the thumb palm dactylus back side at this pedestal is provided with a rocking arm (F), lateral surface position is provided with a hole seat G, rocking arm (F) and the first rocking arm (19) one end of thumb palm dactylus pedestal (5) link by bulb (20) and bulb the spherical linkage that bar (21) coordinates and are connected, described first rocking arm (19) other end is fixed on the axle of the first angular transducer (18) by screw (35), first angular transducer (18) is fixed in the hole seat A of palm pedestal (102) by screw (36), gear on described first rocking arm (19) is by the cooperation of train of reduction gears (60) and the gears meshing of the first driver part (111), first driver part (111) is arranged in the hole seat N of palm pedestal (102), first driver part (111) is fixed by gear box cover (45), thumb nearly dactylus pedestal (4) is fixed on the upper corresponding nearly dactylus position of thumb of gloves (101) by bonding or other modes, and the nearly dactylus of semi-surrounding thumb, its cross section surrounding junction is " C " shape, opening is towards side, palm front, the position being positioned at the nearly dactylus lateral surface of thumb at this pedestal is provided with hole seat H, hole seat K, the position of two hole seats corresponds respectively to metacarpophalangeal joints (MP) and the interphalangeal joint (DIP) of thumb, second angular transducer (18) is fixed in the hole seat H of thumb metacarpophalangeal joints (MP) corresponding to the nearly dactylus pedestal (4) of thumb by gear-box base (22) and screw (35), the turning cylinder of described second angular transducer (18) is fixed in the second rocking arm (28) bottom of embedded bearing (23) by screw (36), gear on second rocking arm (28) passes through the cooperation of train of reduction gears (60) and is arranged on the gears meshing of the second driver part (111) on the nearly dactylus pedestal (4) of thumb, second driver part (111) is by gear box cover (47,48) fixing, it is hinged that screw (24) is passed through in described second rocking arm (28) top and connecting rod (26) one end, it is hinged that screw (24) is passed through in connecting rod (26) other end and the 3rd rocking arm (27) one end, the 3rd embedded bearing of rocking arm (27) other end (23) is also affixed by screw (36) with the turning cylinder of the 3rd angular transducer (18), described 3rd angular transducer (18) is fixed in the hole seat G of thumb palm dactylus pedestal (5), gear on described 3rd rocking arm (27) passes through the cooperation of train of reduction gears (60) and is arranged on the gears meshing that thumb slaps the 3rd driver part (111) on dactylus pedestal (5), 3rd driver part (111) is fixed by gear box cover (46), thumb dactylus far away pedestal (3) is fixed on the upper corresponding thumb dactylus position far away of gloves (101) by bonding or other modes, one end of thumb dactylus far away pedestal (3) is the cylindricality of surrounding 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 thumb dactylus far away pedestal (3) is positioned at thumb dactylus lateral surface far away is provided with a chute, 4th rocking arm (25) one end embeds in the chute of thumb dactylus pedestal (3) far away, and it is spacing by screw (24), the turning cylinder of described 4th rocking arm (25) embedded bearing (23) other end and the 4th angular transducer (18) is affixed by screw (36), described 4th angular transducer (18) is fixed in the hole seat K of thumb interphalangeal joint (DIP) corresponding to the nearly dactylus pedestal (4) of thumb by gear-box base (22) and screw (35), gear on described 4th rocking arm (25) passes through the cooperation of train of reduction gears (60) and is arranged on the gears meshing of the four-wheel drive parts (111) on the nearly dactylus pedestal (4) of thumb, four-wheel drive parts (111) are fixed by gear box cover (49).

3. External-framework type bidirectional 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 (6) 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 (54), outer rim gear (59) and train of reduction gears (60), detection of joints driving mechanism (109) is installed at the nearly dactylus position of forefinger and middle finger joint position respectively, dactylus pedestal (53) on detection of joints driving mechanism (109) is individually fixed in the upper corresponding nearly dactylus position of forefinger of gloves (101) and middle finger joint position by bonding or other modes, and semi-surrounding dactylus, its cross section surrounding junction is " C " shape, opening is towards side, palm front, the connecting rod (38) that metacarpophalangeal joints detect driving mechanism (108) is articulated with installing hole (Q) place by screw (24) and the detection of joints driving mechanism (109) at the nearly dactylus position of forefinger, the angular transducer (18) that metacarpophalangeal joints detect driving mechanism (108) bottom is fixed in the hole seat B of palm pedestal (102), its outer rim gear (59) is by the cooperation of train of reduction gears (60) and the gears meshing being arranged on the driver part (111) on palm pedestal (102), driver part (111) is fixed by gear box cover (54), the bulb (20) that the rocking arm (19) of the detection of joints driving mechanism (109) at forefinger nearly dactylus position is linked on detection of joints driving mechanism (109) installing hole (Q) at bar (21) and forefinger middle finger joint position by bulb is hinged, forefinger dactylus far away pedestal (6) is fixed on the upper corresponding forefinger dactylus position far away of gloves (101) by bonding or other modes, one end of forefinger dactylus far away pedestal (6) is the cylindricality of surrounding 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 forefinger dactylus far away pedestal (6) is positioned at the forefinger dactylus back side far away 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 and forefinger dactylus pedestal (6) far away link by bulb (20) and bulb the spherical linkage that bar (21) coordinates and are connected.

4. External-framework type bidirectional 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 (9) 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), outer rim gear (59) and train of reduction gears (60), detection of joints driving mechanism (109) is installed at the nearly dactylus position of middle finger and middle finger joint position respectively, dactylus pedestal (53) on detection of joints driving mechanism (109) is individually fixed in the upper corresponding nearly dactylus position of middle finger of gloves (101) and middle finger joint position by bonding or other modes, and semi-surrounding dactylus, its cross section surrounding junction is " C " shape, opening is towards side, palm front, the connecting rod (38) that metacarpophalangeal joints detect driving mechanism (108) is articulated with installing hole (Q) place by screw (24) and the detection of joints driving mechanism (109) at the nearly dactylus position of middle finger, the angular transducer (18) that metacarpophalangeal joints detect driving mechanism (108) bottom is fixed in the hole seat C of palm pedestal (102), its outer rim gear (59) is by the cooperation of train of reduction gears (60) and the gears meshing being arranged on the driver part (111) on palm pedestal (102), driver part (111) is fixed by gear box cover (55), the bulb (20) that the rocking arm (19) of the detection of joints driving mechanism (109) at middle finger nearly dactylus position is linked on detection of joints driving mechanism (109) installing hole (Q) at bar (21) and middle finger middle finger joint position by bulb is hinged, middle finger dactylus far away pedestal (9) is fixed on the upper corresponding middle finger dactylus position far away of gloves (101) by bonding or other modes, one end of middle finger dactylus far away pedestal (9) is the cylindricality of surrounding 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 middle finger dactylus far away pedestal (9) is positioned at the middle finger dactylus back side far away 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 and middle finger dactylus pedestal (9) far away link by bulb (20) and bulb the spherical linkage that bar (21) coordinates and are connected.

5. External-framework type bidirectional force feedback data glove according to claim 1, it is characterized in that: the described third finger detects driving mechanism (106) and 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), outer rim gear (59) and train of reduction gears (60), detection of joints driving mechanism (109) is installed at nameless nearly dactylus position and middle finger joint position respectively, dactylus pedestal (53) on detection of joints driving mechanism (109) is individually fixed in the upper corresponding nearly dactylus position of the third finger of gloves (101) and middle finger joint position by bonding or other modes, and semi-surrounding dactylus, its cross section surrounding junction is " C " shape, opening is towards side, palm front, the connecting rod (38) that metacarpophalangeal joints detect driving mechanism (108) is articulated with installing hole (Q) place by screw (24) and the detection of joints driving mechanism (109) at the nearly dactylus position of the third finger, the angular transducer (18) that metacarpophalangeal joints detect driving mechanism (108) bottom is fixed in the hole seat D of palm pedestal (102), its outer rim gear (59) is by the cooperation of train of reduction gears (60) and the gears meshing being arranged on the driver part (111) on palm pedestal (102), driver part (111) is fixed 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 is linked on detection of joints driving mechanism (109) installing hole (Q) at bar (21) and nameless middle finger joint position by bulb is hinged, nameless dactylus pedestal (12) far away is fixed on the upper corresponding third finger dactylus position far away of gloves (101) by bonding or other modes, one end of nameless dactylus pedestal (12) far away is the cylindricality of surrounding 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, the position that third finger dactylus pedestal (12) far away is positioned at the nameless dactylus back side far away 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 nameless middle finger joint position and third finger dactylus pedestal (12) far away link by bulb (20) and bulb the spherical linkage that bar (21) coordinates and are connected.

6. External-framework type bidirectional 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 (15) far away, angular transducer (18), rocking arm (19), bulb (20), bulb links bar (21), screw (24), connecting rod (38), dactylus pedestal (58), gear box cover (56), outer rim gear (59) and train of reduction gears (60), little finger of toe detection of joints driving mechanism (110) is installed at the nearly dactylus position of little finger of toe and middle finger joint position respectively, dactylus pedestal (58) on little finger of toe detection of joints driving mechanism (110) is individually fixed in the upper corresponding nearly dactylus position of little finger of toe of gloves (101) and middle finger joint position by bonding or other modes, and semi-surrounding dactylus, its cross section surrounding junction is " C " shape, opening is towards side, palm front, the connecting rod (38) that metacarpophalangeal joints detect driving mechanism (108) is articulated with installing hole (R) place by screw (24) and the little finger of toe detection of joints driving mechanism (110) at the nearly dactylus position of little finger of toe, the angular transducer (18) that metacarpophalangeal joints detect driving mechanism (108) bottom is fixed in the hole seat E of palm pedestal (102), its outer rim gear (59) is by the cooperation of train of reduction gears (60) and the gears meshing being arranged on the driver part (111) on palm pedestal (102), driver part (111) is fixed 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 little finger of toe nearly dactylus position is linked 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 by bulb is hinged, little finger of toe dactylus far away pedestal (15) is fixed on the upper corresponding little finger of toe dactylus position far away of gloves (101) by bonding or other modes, one end of little finger of toe dactylus far away pedestal (15) is the cylindricality of surrounding 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 little finger of toe dactylus far away pedestal (15) is positioned at the little finger of toe dactylus back side far away 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 and little finger of toe dactylus pedestal (15) far away link by bulb (20) and bulb the spherical linkage that bar (21) coordinates and are connected.

7. according to claim 1, 2, 3, 4, External-framework type bidirectional force feedback data glove described in 5 or 6, is characterized in that: angular transducer (18) and the cogged rocking arm (19 of band, 25, 27, 28) affixed, rocking arm (19, 25, 27, 28) axle center cogged and rocking arm (19, 25, 27, 28) axis coinciding that rotates afterwards of affixed angular transducer (18), rocking arm (19, 25, 27, 28) gear is by the cooperation of train of reduction gears (60) and the gears meshing of driver part (111), when joint motions, if control system to this joint without force feedback signal, then corresponding driver part (111) attonity, joint can drive rocking arm (19, 25, 27, 28) free action is interference-free, makes and rocking arm (19, 25, 27, 28) angular transducer (18) linked can detect the angle of joint motions, if control system is to this joint force feedback signal, then corresponding driver part (111) starts, by the cooperation of train of reduction gears (60) to rocking arm (19, 25, 27, 28) in its direction of motion, apply one in the same way or reverse power, simultaneously control system again according to and rocking arm (19, 25, 27, 28) change of the joint angles that the angular transducer (18) linked detects, uses corresponding mathematical algorithm to export constantly and revises the size of driving force, promote or hinder this joint motions, realizing the force feedback function in this joint.

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

9. the External-framework type bidirectional force feedback data glove according to claim 3,4 or 5, is characterized in that: described detection of joints driving mechanism (109) comprises 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 the installing hole (Q) of an a hole seat M and row for bulb (20) or screw (24), the hole seat M that angular transducer (18) is fixed on dactylus pedestal (53) by screw (36) is interior and affixed by screw (35) with rocking arm (19), the axle center that rocking arm (19) cogs and the axis coinciding that rocking arm rotates, the gear of rocking arm (19) is by the cooperation of train of reduction gears (60) and the gears meshing of driver part (111), driver part (111) is arranged on dactylus pedestal (53), the affixed bulb of rocking arm (19) other end (20).

10. External-framework type bidirectional force feedback data glove according to claim 6, is characterized in that: described little finger of toe detection of joints driving mechanism (110) comprises 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 (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) being used for bulb (20) or screw (24), the hole seat (P) that angular transducer (18) is fixed on dactylus pedestal (58) by screw (35) is interior and affixed by screw (35) with rocking arm (19), the axle center that rocking arm (19) cogs and the axis coinciding that rocking arm rotates, the gear of rocking arm (19) is by the cooperation of train of reduction gears (60) and the gears meshing of driver part (111), driver part (111) is arranged on dactylus pedestal (58), the affixed bulb of rocking arm (19) other end (20).

11. External-framework type bidirectional force feedback data glove according to claim 1, it is characterized in that: driver part (111) is made up of micromachine (40) and clutch, 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 panels clutch friction plate (41) is inserted in friction plate slide bar (42) two ends respectively, returning pull-spring (43) is connected with between two panels clutch friction plate (41), clutch case (44) is inserted in the axle of micromachine (40), by clutch friction plate (41), friction plate slide bar (42) and returning pull-spring (43) are included, for slidingly contacting between the axle of clutch case (44) and micromachine (40), clutch case (44) is provided with travelling gear, when micromachine (40) rotating speed is higher than certain value, the contact internal walls of clutch friction plate (41) and clutch case (44), frictional force is produced to clutch case (44), clutch case (44) is driven to rotate, when micromachine (40) rotating speed is lower than certain value, clutch friction plate (41) is separated with the inwall of clutch case (44), cuts off the connection of clutch case (44) and micromachine (40).