CN104552227A

CN104552227A - Linear bearing type metacarpophalangeal joint movement detection device

Info

Publication number: CN104552227A
Application number: CN201310491820.0A
Authority: CN
Inventors: 苏茂
Original assignee: Individual
Current assignee: Individual
Priority date: 2013-10-21
Filing date: 2013-10-21
Publication date: 2015-04-29

Abstract

The invention provides a linear bearing type metacarpophalangeal joint movement detection device, and relates to a data glove used for detecting the finger movement states of human hands. The device which is attached to the outer portion of a human hand and used for detecting the joint movement is designed to overcome the defects that an existing data glove sensor is high in price, complex in system, difficult to maintain and the like. By means of the unique connection mode and the ingenious joint measurement point arrangement, obstructions or influences caused by a detection mechanism to the finger movement of an operator are reduced or eliminated, flexibility and lightness of the movement of fingers can be kept to the maximum extent when the operator uses the device, all the movement states of joints can be accurately detected, and therefore the finger joints of a controlled slave hand and the corresponding finger joints of the operator can be controlled to act coordinately and constantly, and the complex control over the multi-freedom-degree slave hand is made visible, simple and convenient.

Description

Linear bearing type metacarpophalangeal joints motion detection apparatus

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, by potentiometer pedestal, left bearing lid, right bearing lid, linear bearing, major axis, potentiometer and bulb button composition, this device is arranged on above corresponding staff metacarpophalangeal joints; The hinged place of linear bearing type metacarpophalangeal joints motion detection apparatus is provided with the potentiometer measuring joint action, for detecting angle and the state of metacarpophalangeal joints motion.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 three-view diagram of the present invention and axonometric drawing.

Fig. 2 is structural representation of the present invention.

Detailed description of the invention

As depicted in figs. 1 and 2, described linear bearing type metacarpophalangeal joints motion detection apparatus comprises potentiometer pedestal 1, left bearing lid 2, right bearing lid 3, linear bearing 4, major axis 5, potentiometer 6, bulb button 7.Affixed by screw bottom the axle of described first potentiometer 6 and potentiometer pedestal 1, it is affixed that hole seat on described potentiometer pedestal 1 vertical plane and the second potentiometer 6 pass through screw, axle and the left bearing lid 2 of described second potentiometer 6 are affixed by screw, described linear bearing 4 is fixed by screw by left bearing lid 2 and right bearing lid 3, described major axis 5 inserts in linear bearing 4, for being slidably connected between described major axis 5 and linear bearing 4, described major axis 5 one end and bulb button 7 affixed.Action implementation process: linear bearing type metacarpophalangeal joints motion detection apparatus is installed on above metacarpophalangeal joints corresponding to staff, first potentiometer 6 is fixed on above metacarpophalangeal joints, bulb button 7 connects with the nearly dactylus of corresponding finger, the motion of staff metacarpophalangeal joints (MP) can be analyzed to the componental movement in both direction, one is the flexion and extension on vertical direction, another is abduction in horizontal direction and adduction motion, when the metacarpophalangeal joints (MP) of operator do flexion and extension, then nearly dactylus drives the motion of major axis 5 in the vertical direction, thus drive the axle of second potentiometer 6 affixed with left bearing lid 2 to rotate, the second potentiometer 6 in the seat of hole can be measured angle that operator's metacarpophalangeal joints (MP) bend and stretch and state, when operator's metacarpophalangeal joints (MP) do abduction and adduction motion, then nearly dactylus drives major axis 5 to move in the horizontal direction, in this direction of action, major axis 5 and potentiometer pedestal 1 are rigidly connected, so nearly dactylus directly drives the axle of the first potentiometer 6 to rotate, make the first potentiometer 6 can measure angle and the state of operator's metacarpophalangeal joints (MP) abduction and adduction.

As another example of the present invention, also can replace potentiometer with other sensors, the angle and state that detect the motion of staff metacarpophalangeal joints 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

1. a linear bearing type metacarpophalangeal joints motion detection apparatus, for with computer, the interactive device of manipulator, by potentiometer pedestal (1), left bearing lid (2), right bearing lid (3), linear bearing (4), major axis (5), potentiometer (6), bulb button (7) forms;

It is characterized in that:

This device is arranged on above corresponding staff metacarpophalangeal joints;

The hinged place of linear bearing type metacarpophalangeal joints motion detection apparatus is provided with the potentiometer (6) measuring joint action, for detecting angle and the state of metacarpophalangeal joints motion.

2. linear bearing type metacarpophalangeal joints 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 first potentiometer (6) and potentiometer pedestal (1) bottom, hole seat on described potentiometer pedestal (1) vertical plane and the second potentiometer (6) affixed by screw, axle and the left bearing lid (2) of described second potentiometer (6) are affixed by screw, described linear bearing (4) is fixed by screw by left bearing lid (2) and right bearing lid (3), described major axis (5) inserts in linear bearing (4), for being slidably connected between described major axis (5) and linear bearing (4), described major axis (5) one end and bulb button (7) affixed.