CN104626159A - Thumb near-knuckle force feedback detection driving device - Google Patents
Thumb near-knuckle force feedback detection driving device Download PDFInfo
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- CN104626159A CN104626159A CN201310549753.3A CN201310549753A CN104626159A CN 104626159 A CN104626159 A CN 104626159A CN 201310549753 A CN201310549753 A CN 201310549753A CN 104626159 A CN104626159 A CN 104626159A
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- thumb
- force feedback
- dactylus
- pedestal
- nearly dactylus
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Abstract
The invention relates to a device for detecting the human hand finger motion state and feeding back the force borne by the corresponding finger knuckle of a slave manipulator, in particular to a thumb near-knuckle force feedback detection driving device. The device aims at overcoming the defects that according to an existing force feedback device, a knuckle measuring mechanism and a force feedback mechanism are separated, the system is complex, the structure is complex, maintenance is difficult, bi-directional active driving cannot be achieved, and the cost is high. A knuckle detection mechanism and a force feedback mechanism are integrated, a unique connection way and a skillful knuckle measurement point layout are adopted, the finger to be detected can be kept flexible to the greatest degree when an operator uses the device, the motion state can be accurately detected, the controlled corresponding finger knuckle of the slave manipulator and the corresponding finger knuckle of the operator move coordinately and consistently, the stress condition of the slave manipulator in the specific working environment can be fed back to the operator, and therefore the virtual reality or remote operation immediacy sense is strengthened.
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, the nearly dactylus pedestal of thumb and driver part by thumb and form; This device is fixed on operator on hand by the mode of dressing; Thumb palm dactylus pedestal is fixed on the thumb palm dactylus position of staff, thumb nearly dactylus pedestal is fixed on the nearly dactylus position of thumb of staff, thumb palm dactylus pedestal and the nearly dactylus pedestal of thumb are by rod hinge connection, and hinged place is provided with driver part: the nearly dactylus force feedback of thumb 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 shaft side figure that the nearly dactylus force feedback of thumb detects drive unit.
Fig. 2 is the structural representation that the nearly dactylus force feedback of thumb detects drive unit.
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:
The nearly dactylus pedestal of 102. palm pedestal 111. driver part 4. thumb
5. thumb palm dactylus pedestal 18. angular transducer 20. bulb
21. bulbs link bar 40. micromachine 41. clutch friction plate
42. friction plate slide bar 43. returning pull-spring 44. clutch cases
60. train of reduction gears
Shown in detailed description of the invention one: Fig. 3, the nearly dactylus force feedback of described thumb 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, described thumb nearly dactylus pedestal 4 is fixed on the nearly dactylus position of thumb of staff, 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 another example of the present invention, also can replace angular transducer with other sensors, the angle and state that detect the nearly dactylus motion of staff thumb can be played equally, 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 nearly dactylus force feedback of thumb detects a drive unit, for computer, the interactive device of manipulator, slap dactylus pedestal (5), the nearly dactylus pedestal (4) of thumb and driver part (111) by thumb and form;
It is characterized in that:
This device is fixed on operator on hand by the mode of dressing;
Thumb palm dactylus pedestal (5) is fixed on the thumb palm dactylus position of staff, thumb nearly dactylus pedestal (4) is fixed on the nearly dactylus position of thumb of staff, thumb palm dactylus pedestal (5) and the nearly dactylus pedestal (4) of thumb are by rod hinge connection, and hinged place is provided with driver part (111);
The nearly dactylus force feedback of thumb 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. the nearly dactylus force feedback of thumb according to claim 1 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. the nearly dactylus force feedback of thumb according to claim 1 detects drive unit, it is characterized in that: described thumb nearly dactylus pedestal (4) is fixed on the nearly dactylus position of thumb of staff, 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 two hole seat (H, K), the position of two hole seats corresponds respectively to metacarpophalangeal joints MP and the interphalangeal joint DIP of thumb, 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 axle of described angular transducer (18) is fixed in rocking arm (28) bottom of embedded bearing (23) by screw (36), gear on rocking arm (28) passes through the cooperation of train of reduction gears (60) and is arranged on the gears meshing of the driver part (111) on the nearly dactylus pedestal (4) of thumb, this driving mechanism is by gear box cover (47, 48) fixing, described rocking arm (28) is hinged by screw (24) with connecting rod (26) one end, connecting rod (26) other end and rocking arm (27) hinged by screw (24), rocking arm (27) embedded bearing (23) is also 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), gear on described rocking arm (27) passes through the cooperation of train of reduction gears (60) and is arranged on the gears meshing that thumb slaps the driver part (111) on dactylus pedestal (5), this driving mechanism is fixed by gear box cover (46).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310549753.3A CN104626159A (en) | 2013-11-08 | 2013-11-08 | Thumb near-knuckle force feedback detection driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310549753.3A CN104626159A (en) | 2013-11-08 | 2013-11-08 | Thumb near-knuckle force feedback detection driving device |
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| Publication Number | Publication Date |
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| CN104626159A true CN104626159A (en) | 2015-05-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310549753.3A Pending CN104626159A (en) | 2013-11-08 | 2013-11-08 | Thumb near-knuckle force feedback detection driving device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142043A (en) * | 2015-04-16 | 2016-11-23 | 钦州市科海奇科技有限公司 | Thumb closely refers to joint detection driving means |
| CN106914908A (en) * | 2015-12-25 | 2017-07-04 | 苏茂 | Staff thumb device for force feedback |
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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
- 2013-11-08 CN CN201310549753.3A patent/CN104626159A/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 |
|---|---|---|---|---|
| CN106142043A (en) * | 2015-04-16 | 2016-11-23 | 钦州市科海奇科技有限公司 | Thumb closely refers to joint detection driving means |
| CN106914908A (en) * | 2015-12-25 | 2017-07-04 | 苏茂 | Staff thumb device for force feedback |
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Application publication date: 20150520 |