CN104924308A - Exoskeleton data glove for sensing hand movements - Google Patents
Exoskeleton data glove for sensing hand movements Download PDFInfo
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- CN104924308A CN104924308A CN201410104801.2A CN201410104801A CN104924308A CN 104924308 A CN104924308 A CN 104924308A CN 201410104801 A CN201410104801 A CN 201410104801A CN 104924308 A CN104924308 A CN 104924308A
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- data glove
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- thumb
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J21/00—Chambers provided with manipulation devices
- B25J21/02—Glove-boxes, i.e. chambers in which manipulations are performed by the human hands in gloves built into the chamber walls; Gloves therefor
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
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Abstract
The present invention relates to people-computer interaction apparatuses involving robot control, in particular an exoskeleton data glove for sensing hand movements. The object of the present invention is directed at the failures of current people-computer interfaces to express control recognition of people to robots in an in-time, efficient and accurate manner and to meet people's requirements for controlling each joint of a robot in an agile way. Based on the aforementioned needs, the present invention provides a sensing apparatus for sensing information related to people's hand joints. The key of the technology herein lies in the design of the exoskeleton which is attached to people's hands, featuring in ingenious coupling among joints and acquiring finger information in a in-time, accurate and reliable manner. The design of the exoskeleton herein is also fit to different hand sizes, and can be used in the field of robot control. The exoskeleton data glove herein enables human brain to fully display its functions and allows humans to implement plans and decisions in unknown space environment or tasks which robots have failed to accomplish. The exoskeleton data glove herein exhibits the ability of robots to confront hostile environment, and also puts people's intelligence into play, thus realizing sustainable interaction between human and robots.
Description
Technical field
The present invention relates to a kind of human-computer interaction device realizing teleoperated vehicle, particularly relate to and a kind ofly detect the external frame type data glove of staff hand joint in three-dimensional space position and motion state.
Background technology
Along with the industrial development and progress of modernization, industrial robot is widely used for replacing workman to complete some simple and repeated work already.But, because people more and more pay close attention to the application of robot in complicated, danger, adverse circumstances, and existing industrial robot well can not tackle changeable environment, thus how to enable robot flexible, intelligent be the mankind service, become the focal issue in present robot research field.
There are two developing direction in robot: one, entirely from the robot of master mode work, and two, the robot of straighforward operation.Entirely from the robot of master mode work be the target that researcher is pursued always.But to the research of intelligent robot, last century has shown that being applied in the predictable time from now on of full self-determination type intelligent robot is difficult to realize, this is because several support technologies since the eighties---control, sensing and artificial intelligence etc. can't meet the human needs of development full self-determination type intelligence machine at present.But along with developing rapidly of atomic energy technology, space technology and marine technology, in the urgent need to the robot that can work under hazardous environment in a large number, being thus operated in the robot of straighforward operation under interactive mode is a kind of selection of practicable.The remote-controlled robot be operated under interactive mode has been the powerful measure of remote job task, and so-called interaction technique comprises the mutual of the mutual of human and computer people and machine human and environment.The planning that the former meaning is to have gone to robot to be difficult to accomplish in space circumstances not known or task by people and decision-making, the meaning of the latter is to have gone people should not arrive job task in the space environment that maybe can not arrive by robot.Such as, in atomic energy uses, space exploration, ocean development, get rid of the danger, the application in the field such as medical, military.
Hand is that people carries out contacting and realizing the main media of expression with the external world.It is exactly nothing but button, handle etc. that human and computer people carries out mutual legacy interface equipment, can only be the equipment that the action button of discontinuity carries out simple motion control, but as express consciousness main body---chirokinesthetic dexterity has been sacrificed, human brain can not be allowed better to free, hinder the comprehensive and flexibility that people expresses Systematical control consciousness, cause robot to be difficult to complete rapidly the job task of various complexity under severe and dangerous environment.
Summary of the invention
The object of the invention is for existing Man Machine Interface can not in time, efficient, the control consciousness of expressing Human-to-Machine people reliably; The requirement of each joint mobility of Human-to-Machine people can not be met.Propose a kind of external frame type data glove detecting hand motion, high accuracy of detection, reliability, long service life, and dress conveniently, so that may be used for Engineering Control field.Key problem in technology of the present invention is the design of the purchasing ore depended on staff, adopts and connect cleverly between each joint, reduces or eliminates testing agency to the impact of people's hand finger flexibility ratio.
The data glove that the present invention relates to mainly have employed the version of purchasing ore, can adapt to the design concept of different hand size.In the design, the link such as detection, collection, transmission, process of signal, all considers precision, reliability and real-time etc.For completing the measurement to finger angle of bend, devise the purchasing ore that each joint of this data glove is corresponding with staff joint motions relation, and drive the angular displacement of purchasing ore data glove joint motions to pass to angular transducer in real time hands movement by wire drawing, and then obtain the movable information of hand.The angle information collected is given the messaging devices such as single-chip microcomputer, PLC, computer to process.
Concrete technical scheme of the present invention:
Core content of the present invention is a set of purchasing ore structural design that can adapt to the external frame type data glove of different hand size.
Purchasing ore is made up of five fingers, palm structure and wire drawings.
Palm regulates guide rail, thumb position adjusting slider, thumb position adjusting screw(rod), thumb position adjusting nut, palm width to regulate guide rail, palm width adjusting rod, palm width adjusting screw(rod), palm width adjusting nut, little finger of toe metacarpal bone, nameless metacarpal bone, long finger metacarpals and forefinger metacarpal bone to form by screw rod pedestal, thumb position.By regulating thumb position adjusting nut, driving thumb position adjusting slider to regulate guide rail movement along thumb position, thus changing the position of thumb, to be suitable for the size of different hand; By regulating palm width adjusting nut, palm width is driven to regulate guide rail to move along long finger metacarpals, drive little finger of toe metacarpal bone, nameless metacarpal bone, forefinger metacarpal bone to regulate guide rail movement along palm width, thus change the hand sizes of purchasing ore data glove, to adapt to the palm width of different people.
The detection of hand joint motion is the key problem in technology of purchasing ore data glove.
The hand joint that the present invention will detect is divided into metacarpophalangeal joints, articulationes interphalangeae manus, carpomaetacarpal joint of thumb.The metacarpophalangeal joints of its middle finger only have one degree of freedom, are divided into articulationes interphalangeae manus in the present invention.
Little finger of toe, the third finger, middle finger, forefinger metacarpophalangeal j oint angle detecting portion are made up of revolving body, little finger of toe proximal phalanx, nameless proximal phalanx, middle finger proximal phalanx, forefinger proximal phalanx, metacarpophalangeal joints lid, wire drawing, back-moving spring, angular transducer and locator card in little finger of toe metacarpal bone, nameless metacarpal bone, long finger metacarpals, forefinger metacarpal bone, joint.Finger motion drives proximal phalanx motion, and proximal phalanx rotates motion in the revolving body of joint, and in band movable joint, revolving body does gyration in metacarpal bone simultaneously.And by wire drawing by corresponding Movement transmit to angular transducer, and then obtain the angle information of metacarpophalangeal joints.
Articulationes interphalangeae manus angle detection divide by the bottom of shaft of phalanx coaster, shaft of phalanx phalanges, articulationes interphalangeae manus bearing pin, articulationes interphalangeae manus lid, back-moving spring, wire drawing and angular transducer form.Finger motion drives at the bottom of shaft of phalanx phalanges and moves in shaft of phalanx coaster.And by wire drawing, the rotational angle between at the bottom of shaft of phalanx coaster, shaft of phalanx phalanges is passed to angular transducer.And then obtain the angle information of articulationes interphalangeae manus.
The articulatio carpometacarpicus communis angle detection of thumb is divided and is made up of revolving body, articulatio carpometacarpicus communis lid, locator card, thumb metacarpal, back-moving spring, wire drawing and angular transducer in carpal bone, joint.Finger motion drives thumb metacarpal motion, and thumb metacarpal rotates motion in the revolving body of joint, and in band movable joint, revolving body does gyration in carpal bone simultaneously.And by wire drawing by corresponding Movement transmit to angular transducer, and then obtain the angle information of articulatio carpometacarpicus communis of thumb.
Wire drawing is made up of wire drawing shell and wire drawing inner core.Wire drawing inner core can do axially-movable along wire drawing shell.
Accompanying drawing explanation
Fig. 1 is the normal axomometric drawing of purchasing ore data glove.
Fig. 2 is the normal axomometric drawing of purchasing ore data glove.
Fig. 3 middle finger angle detects the structure chart of skeleton.
Revolving body and proximal phalanx structure chart in Fig. 4 metacarpophalangeal joints.
Fig. 5 metacarpal bone structure chart.
Fig. 6 middle finger angle detects skeleton Cleaning Principle structure chart.
Fig. 7 articulatio carpometacarpicus communis structure chart.
Fig. 8 palm structure chart.
Fig. 9 palm and proximal phalanx structure chart.
Figure 10 threaded configuration sectional view.
Detailed description of the invention
The main parts size of this reality invention:
Skeleton 102. 101. The little finger Angle measure thumb Angle detection frame 103. The index finger Angle detection frame 104. The middle finger Angle detection framework 105 skeleton ring finger Angle measure 1. 2. Of the finger joint joint (3) the palm width adjusting nut 4. Palm width adjustment screw 5. Palm width adjustment guide 6. The thumb position adjusting nut 7. The thumb position adjustment screw 8. Screw base 9. The thumb position adjustment slider 10. The thumb wrist palm joint 11. Palm width adjustment rod 12. Joint cover positioning card 13. Joint cover 14. 15. Reset spring finger joints between cover 16. In the section phalanx body block 17. Far phalanx finger body bottom section 18. The pin of the finger joint 19. The phalanx finger body bottom section 20. The section near the phalanx body block 21. The section near phalanx 22. The joint plane positioning card 23. The metacarpal 24. The joints of rotors within 25. Drawing hole 26 intra-articular swivel groove back 27. 28 wire fastening cavity. Reset spring groove 29 30 pin shaft hole. The joint pin 31. Joint cover positioning card slot 32. Wire slot 33. Joint plane positioning card slot 34. Drawing A 35. 36. The Angle sensor wire drawing with A little finger metacarpal 38. The ring finger metacarpal 39. The middle finger metacarpal 40. The index finger metacarpal 41. The thumb position adjustment guide 42. The wrist bone in 43. A. chain in close section of pinkie finger, b. in close section of ring finger, c. in close section of middle phalanx, d. index section near phalanx e. thumb metacarpal f. carpal bone
The present invention relates to a kind of external frame type data glove detecting hand motion.
Described external frame type data glove comprises little finger of toe angle and detects skeleton 101, thumb angle detection skeleton 102, forefinger angle detection skeleton 103, middle finger angle detection skeleton 104, nameless angle detection skeleton 105, palm structure, wire drawing 36 and angular transducer composition.
Described purchasing ore data glove, in order to adapt to the palm of different people, is designed to regulate the size of purchasing ore data glove palm and the position of thumb according to different palms.Palm portion is made up of screw rod pedestal 8, thumb position adjusting slider 9, thumb position adjusting screw(rod) 7, thumb position adjusting nut 6, palm width adjustment guide rail 5, palm width adjusting rod 11, palm width adjusting screw(rod) 4, palm width adjusting nut 3, little finger of toe metacarpal bone 37, nameless metacarpal bone 38, long finger metacarpals 39, forefinger metacarpal bone 40, thumb position adjustment guide rail 41, chain 43.By regulating thumb position adjusting nut 6, thumb position adjusting slider 9 is driven to regulate guide rail 41 to move along thumb position, thus drive carpometacarpus 42 to move by chain 43, and then change the position that thumb angle detects skeleton 102, thumb position regulates guide rail 41 axis of guide rail 5 can be regulated to change position, to adapt to the size of different hand along palm width; Long finger metacarpals 23 palm opposite width adjusting guide rail 5 position is fixed, by regulating palm width adjusting nut 3, palm width adjusting rod 11 is driven to move along long finger metacarpals 23, and drive little finger of toe metacarpal bone 37, nameless metacarpal bone 38, forefinger metacarpal bone 40 to regulate guide rail 5 to move along palm width, thus change the palm width size of purchasing ore data glove, to adapt to the palm of different people.
The detection of hand joint motion is the key problem in technology of purchasing ore data glove.
The hand joint that the present invention will detect is divided into metacarpophalangeal joints 2, articulationes interphalangeae manus 1, carpomaetacarpal joint of thumb 10.The metacarpophalangeal joints of its middle finger only have one degree of freedom, are divided into articulationes interphalangeae manus 1 in the present invention.
The motion of finger metacarpophalangeal joints 2 is divided into bending motion and swings.Metacarpophalangeal j oint angle detecting portion is made up of revolving body locator card 22 in revolving body 24, little finger of toe proximal phalanx A, nameless proximal phalanx B, middle finger proximal phalanx C, forefinger proximal phalanx D, metacarpophalangeal joints lid 13, wire drawing 36, back-moving spring 14, angular transducer 35, metacarpophalangeal joints lid locator card 12 and joint in little finger of toe metacarpal bone 37, nameless metacarpal bone 38, long finger metacarpals 39, forefinger metacarpal bone 40, joint.Because the Cleaning Principle of metacarpophalangeal joints 2 is identical, with the structure of the metacarpophalangeal joints 2 of middle finger 104, Cleaning Principle is described below.By one end of wire drawing 36 through revolving body cylinder end face wire drawing hole 25 in joint, and be fixed in the fastening chamber 27 of wire drawing.Then by proximal phalanx 21 containing revolving body groove 26 in the loading joint, one end in the fastening chamber 27 of wire drawing, metacarpophalangeal joints bearing pin 30 is through pin shaft hole 29, proximal phalanx 21 can do the rotation centered by metacarpophalangeal joints bearing pin 30 in joint revolving body 24, then loaded metacarpal bone 23, and end face fills metacarpophalangeal joints lid 13 thereon, metacarpophalangeal joints lid 13 is blocked by metacarpophalangeal joints lid locating groove 31 by metacarpophalangeal joints lid locator card 12.In joint, revolving body locator card 22 limits revolving body 24 in joint by revolving body locating groove 33 in joint and moves along its axis direction.The bending motion of metacarpophalangeal joints is detected by the wire drawing of revolving body in joint 24 upper surface, wire drawing 36 to be fixed in the wire drawing hole 25 in joint in revolving body 24 peripheral curved by wire drawing seat 34 along spin bath 32 and by its one end, in the oscillating motion band movable joint of finger, revolving body 24 does gyration in metacarpal bone 23, by wire drawing 36 by this Movement transmit to angular transducer 35, obtain angle information.Digital flexion motion drives proximal phalanx (21) with the metacarpophalangeal joints bearing pin (30) in joint revolving body (24) for the centre of gyration rotates motion, and swinging of finger is with revolving body (24) in movable joint to do gyration in metacarpal bone (23) by proximal phalanx (21).And pass through wire drawing 36 by corresponding Movement transmit to angular transducer 35, and then obtain the angle information of metacarpophalangeal joints 2.
Articulationes interphalangeae manus 1 angle detection divides principle identical; It is identical that little finger of toe angle detects skeleton 101, thumb angle detects skeleton 102, forefinger angle detects skeleton 103, middle finger angle detects skeleton 104, nameless angle detects skeleton 105 Cleaning Principle.With the structure of middle finger dactylus far away, articulationes interphalangeae manus 1 Cleaning Principle is described below; Detect skeleton 104 with middle finger angle and all the other motion Cleaning Principle pointed are described.The structure of middle finger dactylus far away by the bottom of middle phalanx body coaster 16, distal phalanx body phalanges 17, articulationes interphalangeae manus bearing pin 18, articulationes interphalangeae manus lid 15, back-moving spring 14, wire drawing 36 and angular transducer 35 form.At the bottom of middle phalanx body coaster 16, distal phalanx body phalanges 17 connect composition by articulationes interphalangeae manus bearing pin 18 can the revolute pair of relative motion, then with articulationes interphalangeae manus lid 15, kinematic pair is sealed.Finger motion drives 17 motions in middle phalanx body coaster 16 at the bottom of distal phalanx body phalanges, and the wire drawing 36 driving one end to be fixed in the fastening chamber 27 of wire drawing is moved.And by wire drawing 36, the rotational angle at the bottom of middle phalanx body coaster 16, distal phalanx body phalanges between 17 is passed to angular transducer 35, complete articulationes interphalangeae manus 1 angle and detect.In order to compensate due to digital flexion and the finger length adapting to different people, the design 19 is provided with back-moving spring groove 28 at the bottom of proximal phalanx 21, middle phalanx body phalanges, back-moving spring 14 is loaded back-moving spring groove 28, be respectively charged into proximal phalanx body coaster 20, middle phalanx body coaster 16 again, and on proximal phalanx body coaster 20, middle phalanx body coaster 16, after loading, load the spacer pin of back-moving spring 14, when digital flexion moves, back-moving spring 14 can stretch or compress to adapt to the motion of finger.Can stretch or compress the finger length that can adapt to different people by back-moving spring 14.And then obtain the angle information of articulationes interphalangeae manus 1.
Articulatio carpometacarpicus communis 10 motion of thumb is divided into bending motion and oscillating motion.Articulatio carpometacarpicus communis 10 angle detection of thumb is divided and is made up of revolving body 24, articulatio carpometacarpicus communis lid 13, locator card 12, thumb metacarpal E, back-moving spring 14, wire drawing 36 and angular transducer 35 in carpal bone F, joint.Digital flexion motion drives thumb metacarpal E motion, and rotate centered by the bearing pin of thumb metacarpal E in joint revolving body 24 motion, and the oscillating motion of finger is with revolving body 24 in movable joint to do gyration in carpal bone F by thumb metacarpal E.And by wire drawing by corresponding Movement transmit to angular transducer, and then obtain the angle information of articulatio carpometacarpicus communis 10 of thumb.
As Figure 10, wire drawing 36 is made up of wire drawing shell b and wire drawing inner core a.Wire drawing shell b and wire drawing inner core a is the flexible material adopted.As Figure 10, wire drawing inner core a can do axially-movable in wire drawing shell b.In this description, joint information passes to angular transducer by wire drawing 36, and transmittance process is explained as follows: refer to and be fixed in the fastening chamber 27 of wire drawing by wire drawing inner core a, wire drawing shell is fixed in wire drawing seat 34.Joint motions drive wire drawing inner core a to do axial relative motion relative to wire drawing shell b, cause relative displacement at the wire drawing other end, drive angular transducer to produce angular displacement, and then obtain angle information.
Dress and illustrate: the finger fingertip of purchasing ore data glove and palm portion are fixed on gloves, require that gloves have good elasticity.Only need wearing gloves just can complete wearing to external frame type data glove.
Claims (7)
1. detect an external frame type data glove for hand motion, it is characterized in that: described data glove palm width can regulate, thumb angle detection frame position can regulate, finger information detection skeleton axially can change length automatically along it, angular transducer is placed in outside hand purchasing ore, the angle information of hand joint passes to angular transducer by wire drawing.
2. a kind of external frame type data glove detecting hand motion according to claim 1, is characterized in that: between metacarpophalangeal joints and articulationes interphalangeae manus, back-moving spring is housed.
3. a kind of external frame type data glove detecting hand motion according to claim 1, is characterized in that: between articulationes interphalangeae manus, back-moving spring is housed.
4. a kind of external frame type data glove detecting hand motion according to claim 1, it is characterized in that: described metacarpophalangeal joints Cleaning Principle is, digital flexion motion drives proximal phalanx (21) with the metacarpophalangeal joints bearing pin (30) in revolving body in joint (24) for the centre of gyration rotates motion, and swinging of finger is with revolving body (24) in movable joint to do gyration in metacarpal bone (23) by proximal phalanx (21).
5. a kind of external frame type data glove detecting hand motion according to claim 1, it is characterized in that: regulate palm width adjusting nut (3), palm width adjusting rod (11) is driven to move along long finger metacarpals (23), drive little finger of toe metacarpal bone (37), nameless metacarpal bone (38), forefinger metacarpal bone (40) to regulate guide rail (5) motion along palm width, change the palm width size of purchasing ore data glove.
6. a kind of external frame type data glove detecting hand motion according to claim 1, it is characterized in that: regulate thumb position adjusting nut (6), thumb position adjusting slider (9) is driven to regulate guide rail (41) motion along thumb position, drive carpometacarpus (42) motion by chain (43), and then change the position that thumb angle detects skeleton.
7. a kind of external frame type data glove detecting hand motion according to claim 1, is characterized in that: thumb position regulates guide rail (41) axis of guide rail (5) can be regulated to change position along palm width.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410104801.2A CN104924308B (en) | 2014-03-20 | 2014-03-20 | A kind of external frame type data glove detecting hand motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410104801.2A CN104924308B (en) | 2014-03-20 | 2014-03-20 | A kind of external frame type data glove detecting hand motion |
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| Publication Number | Publication Date |
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| CN104924308A true CN104924308A (en) | 2015-09-23 |
| CN104924308B CN104924308B (en) | 2016-07-06 |
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| CN201410104801.2A Expired - Fee Related CN104924308B (en) | 2014-03-20 | 2014-03-20 | A kind of external frame type data glove detecting hand motion |
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| CN106695828A (en) * | 2017-01-11 | 2017-05-24 | 安徽工程大学 | Domestic security and protection service robot |
| CN107791237A (en) * | 2017-09-28 | 2018-03-13 | 深圳市行者机器人技术有限公司 | A kind of guy structure of robotic exoskeleton |
| CN109866197A (en) * | 2019-01-25 | 2019-06-11 | 北京戴纳实验科技有限公司 | A kind of intelligent simulation safety operation cabinet |
| CN114248283A (en) * | 2021-12-30 | 2022-03-29 | 湖南农业大学 | Exoskeleton maintenance robot hand with Bluetooth sensing function |
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| CN114248283A (en) * | 2021-12-30 | 2022-03-29 | 湖南农业大学 | Exoskeleton maintenance robot hand with Bluetooth sensing function |
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| CN104924308B (en) | 2016-07-06 |
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