CN105881587A

CN105881587A - Rod type detecting device for thumb metacarpophalangeal joint movement

Info

Publication number: CN105881587A
Application number: CN201410741398.4A
Authority: CN
Inventors: 苏茂
Original assignee: Individual
Current assignee: Individual
Priority date: 2014-12-09
Filing date: 2014-12-09
Publication date: 2016-08-24

Abstract

The invention discloses a rod type detecting device for thumb metacarpophalangeal joint movement and relates to a data glove for detecting human hand finger movement states. The device attached to the exterior of a human hand to detect joint movement is designed in order to overcome the defects that an existing data glove sensor is high in price, complex in system, difficult to maintain and the like. A unique connection way and an ingenious joint measurement point layout are adopted, and obstructions and influences of a detecting mechanism on finger movement of an operator are reduced or eliminated, so that when the operator uses the device, finger movement can keep flexible and dexterous to the greatest degree, all joint movement states can be precisely detected, finger joints of a controlled slave hand and corresponding finger joints of the operator act synergistically and consistently, and multi-degree-of-freedom complex control over the slave hand becomes visual, simple and convenient.

Description

Thumb metacarpophalangeal joints motion rod-type detection device

Technical field

The present invention relates to a kind of angle detecting staff movement of finger joint and the data glove of state.

Background technology

Due to the development of science and technology, robot is gradually used in increasing scope, and teleoperation robot is as one Dependable performance, the robot of technology maturation be widely used in various danger, situation is complicated, in environment that the mankind cannot arrive Work, it uses control mode very reliably, directly is issued an instruction to control by operator.Along with teleoperation robot Performing of task becomes increasingly complex so that its motility, while pursuing reliability, is also had higher requirement by people, And complicated mechanical hand is implemented remote operating, control multiple joints coordination exercise together of the multiple finger of mechanical hand, to realize spy Determining function, this just need to use data glove, and data glove is the most effective device that remote operating implemented by the mechanical hand to robot, it By measuring operator's finger, each refers to that finger tracking people's hand finger that the positional information of joint controls mechanical hand as control instruction is transported Dynamic.Additionally, Virtual Simulation development in recent years, its main interactive device is exactly data glove, such as one by In the scene of computer virtual, control the virtual staff dismounting of a pair of or put together machines, also having game, 3D cartoon making all to need Data glove to be used.The bend sensor of data glove is the core component of data glove, the most only a few countries Can develop, so the price of data glove is prohibitively expensive, single glove price is up to six or seven ten thousand yuans, and existing number Short according to glove sensor life-time, it is difficult to change, has had a strong impact on the popularizing of data glove, promoted the use of.

Summary of the invention

It is an object of the invention to, system complex expensive for existing data glove, the shortcoming such as difficult in maintenance, it is proposed that The method of a kind of outer sensor detection joint motions, greatly reduces the cost of data glove.The difficult point of the present invention is to depend on In the design of the outside framework of staff, because the volume of outer sensor is relatively big, add the link gear such as rocking arm, connecting rod, meeting The motion of interference finger, but the present invention is by designing the optimization of outside framework, uses the connection of uniqueness between the pedestal of joint Mode, and to the joint measurment ingenious layout of point, reduces or eliminates testing agency to the obstruction of operator's finger motion and impact, Making operator when using this device, the motion of finger-joint can also keep the most flexibly and light and handy.The present invention is to use In with computer, the interactive device of mechanical hand, by palm pedestal, carpometacarpal joints testing agency, the thumb palm refers to save pedestal, Thumb closely refer to save pedestal, thumb far refer to save pedestal, potentiometer, bulb, bulb button connecting rod, potentiometer lid, bearing, screw, Connecting rod and rocking arm composition, this device is worn on operator's thumb, and palm pedestal, the thumb palm refers to that saving pedestal, thumb closely refers to joint Pedestal and thumb far refer to that the hinged place of joint pedestal is mounted on measuring the potentiometer of joint action, are used for detecting thumb metacarpophalangeal joints The angle of motion and state.The present invention uses simply, and it is convenient to dress, and easily safeguards, and can greatly reduce the one-tenth of data glove This.

Accompanying drawing explanation

Fig. 1 is the overall shaft side figure of the present invention.

Fig. 2 is the structural representation of thumb movement detection device.

Detailed description of the invention

Detailed description of the invention one: as depicted in figs. 1 and 2, described carpometacarpal joints testing agency 100 includes potentiometer pedestal 29, Left bearing lid 30, right bearing lid 31, linear bearing 32, major axis 33, potentiometer 18, bulb button 34.Described first potentiometer Bottom the axle of 18 and potentiometer pedestal 29 affixed by screw 36, hole seat and second on described potentiometer pedestal 29 vertical plane Potentiometer 18 is affixed by screw 35, and the axle of described second potentiometer 18 and left bearing lid 30 are affixed by screw 36, described Linear bearing 32 is fixed by screw 36 by left bearing lid 30 and right bearing lid 31, and described major axis 33 inserts linear bearing 32 In, for being slidably connected between described major axis 33 and linear bearing 32, described major axis 33 one end is affixed with bulb button 34.

Detailed description of the invention two: as depicted in figs. 1 and 2, described thumb metacarpophalangeal joints motion rod-type detection device includes and palm The thumb palm of pedestal 102 hinge connections refers to that saving pedestal 5, thumb closely refers to that joint pedestal 4 and thumb far refer to save pedestal 3, the most adjacent two Individual pedestal hinged place is mounted on measuring the potentiometer of joint action, detection thumb each angle referring to joint motion and state.Described Thumb the palm refer to save pedestal 5 be fixed on staff thumb the palm refer to save position, described thumb the palm refer to save pedestal 5 use " C " shape to surround The thumb palm refers to joint, the side that opening is connected with palm towards thumb, is positioned at the thumb palm at this pedestal and refers to that the position saving the back side is provided with one Rocking arm F, lateral surface position is provided with a hole seat G.The described thumb palm refers to the rocking arm F saving pedestal 5 and carpometacarpal joints testing agency 100 The spherical linkage fitted in by bulb 20 and bulb button 34 is attached, bottom described carpometacarpal joints testing agency 100 One potentiometer 18 is fixed in the hole seat Z of palm pedestal 102.Action implementation process: when the carpometacarpal joints (CP) of operator is transported Time dynamic, depend on the thumb palm that the thumb palm refers on joint and refer to save pedestal 5 and follow and move together, and refer to save pedestal 5 by the thumb palm Rocking arm F push-and-pull bulb button 34, thus drive carpometacarpal joints testing agency 100 to rotate, make the potentiometer 18 in the seat Z of hole to survey Measure angle and state that the carpometacarpal joints (CP) of operator moves.

In the case of the principle not making the present invention suffers damage, the details of above-mentioned composition and detailed description of the invention are only as example Son and the thing of diagram, it extensively can change without departing from the scope of the present invention, within these belong to the protection of the present invention.

Claims

1. a thumb metacarpophalangeal joints motion rod-type detection device, is used for and computer, the interactive device of mechanical hand, by Palm pedestal (102), carpometacarpal joints testing agency (100), the thumb palm refers to save pedestal (5), and thumb closely refers to save pedestal (4), Thumb far refers to save pedestal (3), potentiometer (18), bulb (20), bulb button connecting rod (21), potentiometer lid (22), axle Hold (23), screw (24,35,36), connecting rod (26) and rocking arm (19,25,27,28) composition；

It is characterized in that:

This device is worn on operator's thumb；

Palm pedestal (102), the thumb palm refers to that saving pedestal (5), thumb closely refers to that joint pedestal (4) and thumb far refer to save pedestal (3) Hinged place be mounted on measure joint action potentiometer (18), for staff thumb joint motion angle and state.

Thumb metacarpophalangeal joints motion rod-type the most according to claim 1 detection device, it is characterised in that: described carpometacarpal is closed Joint testing agency (100) includes potentiometer pedestal (29), left bearing lid (30), right bearing lid (31), linear bearing (32), Major axis (33), potentiometer (18), bulb button (34), the axle of described first potentiometer (18) and potentiometer pedestal (29) Bottom is affixed by screw (36), and hole seat and the second potentiometer (18) on described potentiometer pedestal (29) vertical plane lead to Crossing screw (35) affixed, the axle of described second potentiometer (18) and left bearing lid (30) are affixed by screw (36), Described linear bearing (32) is fixed by screw (36) by left bearing lid (30) and right bearing lid (31), described major axis (33) insert in linear bearing (32), for being slidably connected between described major axis (33) and linear bearing (32), described Major axis (33) one end is affixed with bulb button (34).

Thumb metacarpophalangeal joints motion rod-type the most according to claim 1 detection device, it is characterised in that: described thumb is slapped Finger joint pedestal (5) is fixed on the thumb palm of staff and refers to save position, and the described thumb palm refers to that joint pedestal (5) uses " C " shape to surround The thumb palm refers to joint, the side that opening is connected with palm towards thumb, is positioned at the thumb palm at this pedestal and refers to that the position saving the back side is provided with One rocking arm (F), lateral surface position is provided with a hole seat (G), and the thumb palm refers to the rocking arm (F) saving pedestal (5) and another rocking arm (19) hinged by bulb (20) and bulb button connecting rod (21), described rocking arm (19) leads to the axle of potentiometer (18) Crossing screw (35) affixed, described potentiometer (18) is fixed on the hole seat (Z) of palm pedestal (102) by screw (35) In.