CN104552224A - Human hand middle finger movement detection device - Google Patents
Human hand middle finger movement detection device Download PDFInfo
- Publication number
- CN104552224A CN104552224A CN201310491407.4A CN201310491407A CN104552224A CN 104552224 A CN104552224 A CN 104552224A CN 201310491407 A CN201310491407 A CN 201310491407A CN 104552224 A CN104552224 A CN 104552224A
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- China
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- middle finger
- pedestal
- dactylus
- rocking arm
- potentiometer
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Abstract
The invention relates to a data glove for detecting finger movement state of human hands, in particular to a human hand middle finger movement detection device, and aims to solve the problem that an existing data glove is high in sensor price, complex in system, difficult to maintain and the like. The device which clings to the outside of a human hand to detect joint movement is designed, and a unique connecting mode and ingenious joint measuring point layout are adopted, so that impedance and influence, on finger movement of an operator, of a detection mechanism are lowered or eliminated; when the operator uses the device, flexibility and lightness in movement of fingers can be maintained to greatest extent, and movement state of joints can be accurately detected, so that finger joints of a controlled slave hand and corresponding finger joints of the operator are enabled to act coordinately, and complex control on the slave hand with multiple degrees of freedom is enabled to be visual, simple and convenient.
Description
Technical field
The present invention relates to a kind of data glove detecting staff movement of finger joint angle and state.
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, data glove the manipulator of robot is implemented to the most efficient apparatus of remote operating, and it points each dactylus positional information by measure operator controls the finger tracking staff finger motion of manipulator as control instruction.In addition, Virtual Simulation development in recent years, its main interactive device is exactly data glove, such as at one by the scene of computer virtual, control the virtual staff dismounting of a pair of or put together machines, game, 3D cartoon making all need to use data glove in addition.The bend sensor of data glove is the core component of data glove, a few countries is only had to develop in the world, so the price of data glove is very expensive, single gloves price is up to six or seven ten thousand yuans, and existing data glove sensor life-time is short, not easily change, had a strong impact on the popularizing of data glove, promoted the use of.
Summary of the invention
The object of the invention is, system complex expensive for existing data glove, the shortcoming such as difficult in maintenance, propose a kind of method that outer sensor detects joint motions, greatly reduce the cost of data glove.Difficult point of the present invention is the design being attached to the outside framework of staff, because the volume of outer sensor is larger, add the link gear such as rocking arm, 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 the pedestal of joint, and to the ingenious layout of joint measurment point, reduce or eliminate testing agency to the obstruction of operator's finger motion and impact, make operator when using this device, the motion of finger-joint can also keep farthest flexibly with light and handy.The present invention be for computer, the interactive device of manipulator, linked bar, rocking arm, potentiometer pedestal and connecting rod formed by metacarpophalangeal joints testing agency, palm pedestal, middle finger nearly dactylus pedestal, middle finger middle finger joint pedestal, middle finger dactylus pedestal far away, potentiometer, bulb, bulb, this device of this device is fixed on operator's middle finger by the mode of dressing; Adjacent palm pedestal, middle finger nearly dactylus pedestal, hinged place between middle finger middle finger joint pedestal and middle finger dactylus pedestal far away are all provided with the potentiometer measuring joint action, for detecting angle and the state of each joint motions of middle finger.The present invention uses simply, and it is convenient to dress, and easily safeguards, and greatly can reduce the cost of data glove.
Accompanying drawing explanation
Fig. 1 is the axonometric drawing of staff middle finger motion detection apparatus.
Fig. 2 is the structural representation of staff middle finger motion detection apparatus.
The axonometric drawing of Tu3Shi metacarpophalangeal joints testing agency.
The structural representation of Tu4Shi metacarpophalangeal joints testing agency.
Detailed description of the invention
Main parts size of the present invention:
The nearly dactylus pedestal of 100. metacarpophalangeal joints testing agency 1 palm pedestal 2. middle finger
3. middle finger middle finger joint pedestal 4. middle finger dactylus pedestal 18. far away potentiometer
27 rocking arm 29. potentiometer pedestal 38 connecting rods
Detailed description of the invention one: as shown in Figure 3 and Figure 4, described metacarpophalangeal joints testing agency 100 comprises potentiometer pedestal 29, rocking arm 27, connecting rod 38 and potentiometer 18.Bottom the axle of described first potentiometer 18 and potentiometer pedestal 29, (embedded bearing 39) is affixed by screw, hole seat L and second potentiometer 18 of described potentiometer pedestal 29 are affixed by screw, it is affixed that screw is passed through in the axle of described second potentiometer 18 and rocking arm 27 (embedded bearing 23) one end, and 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 two: as shown in Figure 1, Figure 2, Figure 3 and Figure 4, described staff middle finger motion detection apparatus, comprises metacarpophalangeal joints testing agency 100, palm pedestal 1, middle finger nearly dactylus pedestal 2, middle finger middle finger joint pedestal 3, middle finger dactylus pedestal 4 far away, potentiometer 18, bulb 20 and bulb and links bar 21.Described middle finger nearly dactylus pedestal 2 is fixed on the nearly dactylus position of staff middle finger, the nearly dactylus of described middle finger nearly dactylus pedestal 2 semi-surrounding middle finger, cross section is " C " shape, opening is towards the finger face of the nearly dactylus of middle finger, the position being positioned at the nearly dactylus back side of middle finger at this pedestal is provided with a hole seat and a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.The connecting rod 38 of the rocking arm on described middle finger nearly dactylus pedestal 2 and metacarpophalangeal joints testing agency 100 is hinged by screw 24, and described metacarpophalangeal joints testing agency 100 bottom potential device 18 is fixed in the hole seat A of palm pedestal 1 by screw.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 and 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 nearly dactylus pedestal 2 of middle finger depending on the nearly dactylus of middle finger is followed and is moved together, and by the connecting rod 38 hinged with it of the rocking arm push-and-pull on middle finger nearly dactylus pedestal 2, thus drive the axle of the potentiometer 18 affixed with rocking arm 27 to rotate, the angle that the metacarpophalangeal joints (MP) making the potentiometer 18 in the seat L of hole can measure operator's middle finger bend and stretch and state, when the metacarpophalangeal joints (MP) of operator's middle finger do abduction and adduction motion, in this direction of action, middle finger nearly dactylus pedestal 2 is rigidly connected with connecting rod 38, rocking arm 27, so the nearly dactylus pedestal 2 of middle finger directly drives the axle of the potentiometer 18 be fixed in bottom metacarpophalangeal joints testing agency 100 to rotate, make the potentiometer 18 in the seat A of hole can measure metacarpophalangeal joints (MP) abduction of operator's middle finger and the angle of adduction and state.
Described middle finger middle finger joint pedestal 3 is fixed on the middle finger joint position of staff middle finger, described middle finger middle finger joint pedestal 3 semi-surrounding middle finger middle finger joint, cross section is " C " shape, opening is towards the finger face of middle finger middle finger joint, the position being positioned at the middle finger middle finger joint back side at this pedestal is provided with a hole seat and a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.Rocking arm on described middle finger middle finger joint pedestal 3 and rocking arm 19 link by bulb 20 and bulb the spherical linkage that bar 21 fits in and are connected, described rocking arm 19 is affixed by screw with the axle of potentiometer 18, and described potentiometer 18 is fixed in the hole seat of the nearly dactylus pedestal 2 of middle finger by screw.Action implementation process: when the PIP (PIP) of operator's middle finger does flexion and extension, the middle finger middle finger joint pedestal 3 depended on middle finger middle finger joint is followed and is moved together, and link bar 21 by the rocking arm push-and-pull bulb on middle finger middle finger joint pedestal 3, thus drive and rotate with the axle of the affixed potentiometer 18 of rocking arm 19, make to be fixed on angle and state that PIP (PIP) that the potentiometer 18 in the seat of middle finger nearly dactylus pedestal 2 hole can measure operator's middle finger bends and stretches.
Described middle finger dactylus far away pedestal 4 is fixed on the dactylus position far away of staff middle finger, one end of described middle finger dactylus far away pedestal 4 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 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.Rocking arm on described middle finger dactylus pedestal 4 far away and rocking arm 19 link by bulb 20 and bulb the spherical linkage that bar 21 fits in and are connected, described rocking arm 19 is affixed by screw with the axle of potentiometer 18, and described potentiometer 18 is fixed in the hole seat of middle finger middle finger joint pedestal 3 by screw.Action implementation process: when the DIPJ (DIP) of operator's middle finger does flexion and extension, the middle finger dactylus pedestal 4 far away depended on middle finger dactylus far away is followed and is moved together, and link bar 21 by the rocking arm push-and-pull bulb on middle finger dactylus pedestal 4 far away, thus drive and rotate with the axle of the affixed potentiometer 18 of rocking arm 19, make to be fixed on angle and state that DIPJ (DIP) that the potentiometer 18 in the seat of middle finger middle finger joint pedestal 3 hole can measure operator's middle finger bends and stretches.
As another example of the present invention, also can replace potentiometer with other sensors, the angle and state that detect the motion of staff middle finger can be played equally, 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 (5)
1. a staff middle finger motion detection apparatus, for with computer, the interactive device of manipulator, linked bar (21), rocking arm (27), potentiometer pedestal (29) and connecting rod (38) formed by metacarpophalangeal joints testing agency (100), palm pedestal (1), middle finger nearly dactylus pedestal (2), middle finger middle finger joint pedestal (3), middle finger dactylus pedestal (4) far away, potentiometer (18), bulb (20), bulb;
It is characterized in that:
This device is fixed on operator's middle finger by the mode of dressing;
Hinged place between adjacent palm pedestal (1), middle finger nearly dactylus pedestal (2), middle finger middle finger joint pedestal (3) and middle finger dactylus pedestal (4) far away is all provided with the potentiometer (18) measuring joint action, for detecting angle and the state of each joint motions of middle finger.
2. staff middle finger motion detection apparatus according to claim 1, it is characterized in that: it is affixed that screw is passed through in the axle of described metacarpophalangeal joints testing agency (100) first potentiometer (18) and potentiometer pedestal (29) bottom, the hole seat (L) of described potentiometer pedestal (29) is affixed by screw with the second potentiometer (18), it is affixed that screw is passed through in the axle of described second potentiometer (18) and rocking arm (27) one end, and it is hinged that screw (24) is passed through in described rocking arm (27) other end and connecting rod (38) one end.
3. staff middle finger motion detection apparatus according to claim 1, it is characterized in that: described middle finger nearly dactylus pedestal (2) is fixed on the nearly dactylus position of staff middle finger, the nearly dactylus of described middle finger nearly dactylus pedestal (2) semi-surrounding middle finger, cross section is " C " shape, opening is towards the finger face of the nearly dactylus of middle finger, the position being positioned at the nearly dactylus back side of middle finger at this pedestal is provided with a hole seat and a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.The connecting rod (38) of the rocking arm on described middle finger nearly dactylus pedestal (2) and metacarpophalangeal joints testing agency (100) is hinged by screw (24), and described metacarpophalangeal joints testing agency (100) bottom potential device (18) is fixed in the hole seat (A) of palm pedestal (1) by screw.
4. staff middle finger motion detection apparatus according to claim 1, it is characterized in that: described middle finger middle finger joint pedestal (3) is fixed on the middle finger joint position of staff middle finger, described middle finger middle finger joint pedestal (3) semi-surrounding middle finger middle finger joint, cross section is " C " shape, opening is towards the finger face of middle finger middle finger joint, the position being positioned at the middle finger middle finger joint back side at this pedestal is provided with a hole seat and a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.Rocking arm on described middle finger middle finger joint pedestal (3) and rocking arm (19) link by bulb (20) and bulb the spherical linkage that bar (21) fits in and are connected, described rocking arm (19) is affixed by screw with the axle of potentiometer (18), and described potentiometer (18) is fixed in the hole seat of the nearly dactylus pedestal (2) of middle finger by screw.
5. staff middle finger motion detection apparatus according to claim 1, it is characterized in that: described middle finger dactylus far away pedestal (4) is fixed on the dactylus position far away of staff middle finger, one end of described middle finger dactylus far away pedestal (4) 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 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.Rocking arm on described middle finger dactylus pedestal (4) far away and rocking arm (19) link by bulb (20) and bulb the spherical linkage that bar (21) fits in and are connected, described rocking arm (19) is affixed by screw with the axle of potentiometer (18), and described potentiometer (18) is fixed in the hole seat of middle finger middle finger joint pedestal (3) by screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310491407.4A CN104552224A (en) | 2013-10-18 | 2013-10-18 | Human hand middle finger movement detection device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310491407.4A CN104552224A (en) | 2013-10-18 | 2013-10-18 | Human hand middle finger movement detection device |
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| Publication Number | Publication Date |
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| CN104552224A true CN104552224A (en) | 2015-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310491407.4A Pending CN104552224A (en) | 2013-10-18 | 2013-10-18 | Human hand middle finger movement detection device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104545930A (en) * | 2013-10-21 | 2015-04-29 | 苏茂 | Human hand forefinger movement detection device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102773861A (en) * | 2011-05-13 | 2012-11-14 | 苏茂 | Outer frame type data glove |
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2013
- 2013-10-18 CN CN201310491407.4A patent/CN104552224A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102773861A (en) * | 2011-05-13 | 2012-11-14 | 苏茂 | Outer frame type data glove |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104545930A (en) * | 2013-10-21 | 2015-04-29 | 苏茂 | Human hand forefinger movement detection device |
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Application publication date: 20150429 |