CN104552343A - Human hand metacarpophalangeal joint movement detection device - Google Patents
Human hand metacarpophalangeal joint movement detection device Download PDFInfo
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- CN104552343A CN104552343A CN201310491477.XA CN201310491477A CN104552343A CN 104552343 A CN104552343 A CN 104552343A CN 201310491477 A CN201310491477 A CN 201310491477A CN 104552343 A CN104552343 A CN 104552343A
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- potentiometer
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- finger
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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 metacarpophalangeal joint 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, by potentiometer pedestal, rocking arm, connecting rod, potentiometer forms, and this device is arranged on above corresponding staff metacarpophalangeal joints; The hinged place of staff 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 and the axonometric drawing of staff metacarpophalangeal joints motion detection apparatus.
Fig. 2 is the structural representation of staff metacarpophalangeal joints motion detection apparatus.
Detailed description of the invention
As depicted in figs. 1 and 2, described staff metacarpophalangeal joints motion detection apparatus comprises potentiometer pedestal 29; rocking arm 27; connecting rod 38; potentiometer 18; bottom the axle of described first potentiometer 18 and potentiometer pedestal 29, (embedded bearing 39) is affixed by screw 36; hole seat L and second potentiometer 18 of described potentiometer pedestal 29 are affixed by screw 36; axle of described second potentiometer 18 is affixed by screw 36 with 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.Action implementation process: the motion of staff metacarpophalangeal joints (MP) can be analyzed to the componental movement in both direction, one is the flexion and extension on perpendicular, another is abduction on horizontal plane and adduction motion, the nearly dactylus of operator is connected without hinged one end with connecting rod 38, when the metacarpophalangeal joints (MP) of operator do flexion and extension, then nearly dactylus drivening rod 38 moves in perpendicular, thus drive the axle of second potentiometer 18 affixed with rocking arm 27 to rotate, the second potentiometer 18 in the seat L 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 drivening rod 38 is at horizontal in-plane moving, in this direction of action, connecting rod 38 and rocking arm 27 are rigidly connected, so nearly dactylus directly drives the axle of the first potentiometer 18 to rotate, make the first potentiometer 18 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 (2)
1. a staff metacarpophalangeal joints motion detection apparatus, for computer, the interactive device of manipulator, by potentiometer pedestal (29), rocking arm (27), connecting rod (38), potentiometer (18) form;
It is characterized in that:
This device is arranged on above corresponding staff metacarpophalangeal joints;
The hinged place of staff metacarpophalangeal joints motion detection apparatus is provided with the potentiometer (18) measuring joint action, for detecting angle and the state of metacarpophalangeal joints motion.
2. staff metacarpophalangeal joints motion detection apparatus according to claim 1, it is characterized in that: it is affixed that screw (36) is passed through in the axle of described first potentiometer (18) and potentiometer pedestal (29) bottom, the hole seat (L) of described potentiometer pedestal (29) is affixed by screw (36) with the second potentiometer (18), it is affixed that screw (36) 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310491477.XA CN104552343A (en) | 2013-10-18 | 2013-10-18 | Human hand metacarpophalangeal joint movement detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310491477.XA CN104552343A (en) | 2013-10-18 | 2013-10-18 | Human hand metacarpophalangeal joint movement detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104552343A true CN104552343A (en) | 2015-04-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310491477.XA Pending CN104552343A (en) | 2013-10-18 | 2013-10-18 | Human hand metacarpophalangeal joint movement detection device |
Country Status (1)
| Country | Link |
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| CN (1) | CN104552343A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111452081A (en) * | 2020-05-22 | 2020-07-28 | 天津大学 | Humanoid dexterous hand wearable on special protective clothing gloves |
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 |
-
2013
- 2013-10-18 CN CN201310491477.XA patent/CN104552343A/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 |
|---|---|---|---|---|
| CN111452081A (en) * | 2020-05-22 | 2020-07-28 | 天津大学 | Humanoid dexterous hand wearable on special protective clothing gloves |
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150429 |