CN104552337A - Thumb palm knuckle force feedback detection driving device - Google Patents
Thumb palm knuckle force feedback detection driving device Download PDFInfo
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- CN104552337A CN104552337A CN201310491816.4A CN201310491816A CN104552337A CN 104552337 A CN104552337 A CN 104552337A CN 201310491816 A CN201310491816 A CN 201310491816A CN 104552337 A CN104552337 A CN 104552337A
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- pedestal
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Abstract
The invention relates to a device for detection finger movement state of a human hand and having a function of feeding back force received by corresponding finger joints of a slave hand, in particular to a thumb palm knuckle force feedback detection driving device, and aims to solve the problem that an existing force feedback device is provided with a joint measuring mechanism and a force feedback mechanism which are separated, is complex in system, complicated in structure and difficult to maintain, cannot realize bidirectional active driving and is high in cost. The device integrates a joint detection mechanism with a force feedback mechanism, and an unique connecting mode and ingenious joint measuring point layout are adopted, so that when an operator uses the device, detected fingers can maintain flexibility to greatest extent; movement state can be detected accurately, so that corresponding finger joints of a controlled slave hand and corresponding finger joints of the operator can act coordinately, and stress condition of the slave hand in specific working environment can be fed back to the operator to enhance sense of immediacy of virtual reality or remote operation.
Description
Technical field
The present invention relates to a kind of detection staff finger motion state, and there is the data glove of the effect of Two-way Feedback power.
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 be for computer, the interactive device of manipulator, slap dactylus pedestal by palm pedestal, thumb, driver part form; This device is fixed on operator on hand by the mode of dressing; Palm pedestal is fixed on operator's palm position, there is the back side of the one side respective operations person palm of drive unit, thumb palm dactylus pedestal is fixed on the palm dactylus position of operator's thumb, and palm pedestal and thumb slap dactylus pedestal by rod hinge connection, and hinged place is provided with driver part; The force feedback of thumb palm dactylus detects drive unit can apply power as required while the angle detecting movement of finger joint and state effect realizable force FEEDBACK CONTROL to it.The present invention adds clutch in the driver part in joint, 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 angle that the present invention detects joint motions is measured by corresponding mathematical algorithm by being arranged on corresponding angular transducer on device, detected joint is all provided with independently driver part on the decomposition direction of its direction of motion or compound movement, corresponding on the detected joint again angular transducer cooperating of each driver part forms closed-loop control, improves its accuracy with realizable force FEEDBACK CONTROL.The present invention can detect angle and the state of corresponding movement of finger joint accurately, delicately, and has bidirectional force feedback function to detected joint, uses simple, and it is convenient to dress, and easily safeguards, and greatly can reduce the cost of force feedback data gloves.
Accompanying drawing explanation
Fig. 1 is the integrally-built shaft side figure of the present invention.
Fig. 2 is structural representation of the present invention.
Fig. 3 is axonometric drawing and the structural representation of driver part 111.
Detailed description of the invention
Main parts size of the present invention:
102. palm pedestal 103. thumb palm dactylus pedestal 111. driver parts
18. angular transducer 20. bulb 21. bulbs link bar
40. micromachine 41. clutch friction plate 42. friction plate slide bars
43. returning pull-spring 44. clutch case 60. train of reduction gears
Shown in detailed description of the invention one: Fig. 3, the force feedback of described thumb palm dactylus detects drive unit, comprise driver part 111, described driver part 111 comprises micromachine 40 and clutch, described clutch is by clutch friction plate 41, friction plate slide bar 42, returning pull-spring 43, clutch case 44 forms, 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.
Detailed description of the invention two: as shown in Figure 1, Figure 2 and Figure 3, the force feedback of described thumb palm dactylus detects drive unit and comprises palm pedestal 102, thumb palm dactylus pedestal 103, driver part 111, angular transducer 18, rocking arm 19, bulb 20, connecting rod 21 and train of reduction gears 60.Described thumb palm dactylus pedestal 103 is fixed on the thumb palm dactylus position of staff, described thumb palm dactylus pedestal 103 adopts " C " shape to surround thumb palm dactylus, the side that opening is connected towards thumb with palm, the position that described thumb palm dactylus pedestal 103 is positioned at the thumb palm dactylus back side is provided with a rocking arm F, the rocking arm F of described thumb palm dactylus pedestal 103 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 103 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 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 (3)
1. the dactylus force feedback of the thumb palm detects a drive unit, for computer, the interactive device of manipulator, slap dactylus pedestal (103) by palm pedestal (102), thumb, driver part (111) form;
It is characterized in that:
This device is fixed on operator on hand by the mode of dressing;
Palm pedestal (102) is fixed on operator's palm position, there is the back side of the one side respective operations person palm of drive unit, thumb palm dactylus pedestal (103) is fixed on the palm dactylus position of operator's thumb, palm pedestal (102) and thumb slap dactylus pedestal (103) by rod hinge connection, and hinged place is provided with driver part (111);
The force feedback of thumb palm dactylus detects drive unit can apply power as required while the angle detecting movement of finger joint and state effect realizable force FEEDBACK CONTROL to it.
2. thumb palm dactylus according to claim 1 force feedback detects drive unit, it is characterized in that: described driver part (111) comprises micromachine (40) and clutch, described clutch is by clutch friction plate (41), friction plate slide bar (42), returning pull-spring (43), clutch case (44) forms, 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.
3. thumb palm dactylus according to claim 1 force feedback detects drive unit, it is characterized in that: the force feedback of described thumb palm dactylus detects drive unit and comprises palm pedestal (102), thumb palm dactylus pedestal (103), driver part (111), angular transducer (18), rocking arm (19), bulb (20), connecting rod (21) and train of reduction gears (60), described thumb palm dactylus pedestal (103) is fixed on the thumb palm dactylus position of staff, described thumb palm dactylus pedestal (103) adopts " C " shape to surround thumb palm dactylus, the side that opening is connected towards thumb with palm, the position that described thumb palm dactylus pedestal (103) is positioned at the thumb palm dactylus back side is provided with a rocking arm (F), the rocking arm (F) of described thumb palm dactylus pedestal (103) 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).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310491816.4A CN104552337A (en) | 2013-10-21 | 2013-10-21 | Thumb palm knuckle force feedback detection driving device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310491816.4A CN104552337A (en) | 2013-10-21 | 2013-10-21 | Thumb palm knuckle force feedback detection driving device |
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| Publication Number | Publication Date |
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| CN104552337A true CN104552337A (en) | 2015-04-29 |
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| CN201310491816.4A Pending CN104552337A (en) | 2013-10-21 | 2013-10-21 | Thumb palm knuckle force feedback detection driving device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112783323A (en) * | 2020-12-23 | 2021-05-11 | 航天时代电子技术股份有限公司 | Hand wearable teleoperation equipment |
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| DE202005019953U1 (en) * | 2005-12-10 | 2006-02-23 | "Wir Forschen" E.V. | Data glove has sensor system that provides feedback of motion information to be used in simulations |
| CN101441512A (en) * | 2008-12-25 | 2009-05-27 | 哈尔滨工业大学 | Fingertip force feedback apparatus based on piezoresistance sensor |
| CN101773400A (en) * | 2010-01-19 | 2010-07-14 | 天津大学 | Minimally invasive surgical robot master control data glove |
| CN202771366U (en) * | 2011-12-19 | 2013-03-06 | 苏茂 | An outside frame-type bidirectional force feedback data glove |
| CN103158162A (en) * | 2011-12-19 | 2013-06-19 | 苏茂 | External-framework type bidirectional force feedback data glove |
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2013
- 2013-10-21 CN CN201310491816.4A patent/CN104552337A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202005019953U1 (en) * | 2005-12-10 | 2006-02-23 | "Wir Forschen" E.V. | Data glove has sensor system that provides feedback of motion information to be used in simulations |
| CN101441512A (en) * | 2008-12-25 | 2009-05-27 | 哈尔滨工业大学 | Fingertip force feedback apparatus based on piezoresistance sensor |
| CN101773400A (en) * | 2010-01-19 | 2010-07-14 | 天津大学 | Minimally invasive surgical robot master control data glove |
| CN202771366U (en) * | 2011-12-19 | 2013-03-06 | 苏茂 | An outside frame-type bidirectional force feedback data glove |
| CN103158162A (en) * | 2011-12-19 | 2013-06-19 | 苏茂 | External-framework type bidirectional force feedback data glove |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112783323A (en) * | 2020-12-23 | 2021-05-11 | 航天时代电子技术股份有限公司 | Hand wearable teleoperation equipment |
| CN112783323B (en) * | 2020-12-23 | 2024-05-24 | 航天时代电子技术股份有限公司 | Hand wearable teleoperation equipment |
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Application publication date: 20150429 |