CN107334197A - A kind of finger cot type haptic gloves and preparation method that clamping force feeling is provided - Google Patents
A kind of finger cot type haptic gloves and preparation method that clamping force feeling is provided Download PDFInfo
- Publication number
- CN107334197A CN107334197A CN201710545639.1A CN201710545639A CN107334197A CN 107334197 A CN107334197 A CN 107334197A CN 201710545639 A CN201710545639 A CN 201710545639A CN 107334197 A CN107334197 A CN 107334197A
- Authority
- CN
- China
- Prior art keywords
- collar
- palm
- finger
- phalanges
- fingerstall
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A41—WEARING APPAREL
- A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
- A41D19/00—Gloves
-
- A—HUMAN NECESSITIES
- A41—WEARING APPAREL
- A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
- A41D2600/00—Uses of garments specially adapted for specific purposes
- A41D2600/20—Uses of garments specially adapted for specific purposes for working activities
Abstract
The invention provides a kind of finger cot type haptic gloves and preparation method for providing clamping force feeling, the haptic gloves include glove bulk, are sleeved on glove structure body on the glove bulk, pull lead and sensor；The glove bulk includes fingerstall, and the centre of the palm and the palm are carried on the back；The glove structure body includes the finger tip collar by revolute pair concatenated in order, the phalanges collar and palm back of the body substrate；The drawing lead sequentially passes through the fairlead of the finger tip collar and the phalanges collar, and the fairlead that substrate is carried on the back by the palm is drawn, and is connected with external control system；The sensor on glove structure body, fixed and drawn by palm back of the body substrate, is connected with external control system by its data wire.The present invention can overcome the deficiencies in the prior art, for the grasping manipulation in virtual environment provide it is a kind of it is simple in construction, cost is cheap and can provide contacting feeling and wearable haptic gloves that chucking power is shown, and its preparation method is simple, there are wide market prospects in virtual reality applications field.
Description
Technical field
The present invention relates to a kind of haptic gloves, especially a kind of finger cot type haptic gloves and system that clamping force feeling is provided
Make method.
Background technology
Haptic gloves are a kind of gloves for being used to perceive that dummy contact is felt and power is felt, belong to the category of tactual displays.It is aobvious
Show that device refers to a kind of device for providing virtual artificial feel for human sensory by physical stimulation.
Tactilely-perceptible is a kind of inherent basic capacity of the mankind, and by tactile passage, people can perceive contact pair
The information such as the temperature of elephant, shape, texture, quality, and can be realized by contact force and to be interacted with environment.
How making full use of sense organ passage preferably to perceive the external world, to be that human society is tireless for hundreds of years chase after
Ask.Early in latter stage in 18th century, researcher starts to study the five big sense organs of the mankind, understands its characteristic, and attempts to grind
The display of system and exploitation based on physical stimulation, to be developed and utilized to the sense organ passage of the mankind.Tactual displays is then
Refer to the device that dummy contact feel and force feeling are produced by physical stimulation skin organ.
Although the utilization of tactile passage start to walk with visual channel simultaneously, but even to this day, there is no at present commercially available
Cheap tactual displays product.It is tens thousand of that the tactual displays price for providing contiguous sense of specialty customization is typically up to ten
Member, such as the electractile display that MIT is developed, the electrode that the display is arranged by determinant forms tactile display array, by tactile
When array of display is placed on tongue, the electric current that electrode flows through can produce electrical contact sensation, and electractile display can at present
Enough it is crowd's recovered part eyesight of complete ablepsia, the children that China Shanxi eyeball is dug are i.e. real by MIT electractile displays
A certain degree of vision restoration is showed, abroad, electric touch can even reach the level driven in opening auxiliary, except electricity
Stimulate outside tactile, available for provide the physical stimulation that show of contiguous sense also including thimble stimulation, vibratory stimulation, pneumatic stimulus,
Jet stimulation and sound stimulation etc.；Force feeling display device for virtually capturing includes arm force feeling display device and paw
Force feeling display device, mainly include PhantoM, Per-Force Hand for the device that arm force feeling is shown
Controller, Exos Arm Master etc., mainly include Cybergrasp, CMU for the device that paw force feeling is shown
Exoskeleton Hand, Rutgers Master, LRP Hand Master and Sensor Glove II etc..Contacted with offer
The display of feel is compared, using the teaching of the invention it is possible to provide the display of force feeling is extremely expensive, and force display device price is typically up to hundreds thousand of members.
Existing tactual displays with regard to there is no wide variety of possibility in a short time from the point of view of its technical scheme.
On the whole, existing tactile display technology is complicated, the false defect of expensive and touch feeling.
The content of the invention
Goal of the invention：Really feel in view of the deficienciess of the prior art, providing a kind of simple in construction, cheap provide of cost
The contacting feeling and the wearable haptic gloves and preparation method of force display received.
Technical scheme：The present invention's
A kind of finger cot type haptic gloves for providing clamping force feeling, the finger cot type haptic gloves include：
Glove bulk, including fingerstall, the centre of the palm and the palm are carried on the back；
Glove structure body, the glove structure body is sleeved on the glove bulk, including passes through revolute pair concatenated in order
The finger tip collar, the phalanges collar and the palm back of the body substrate；The phalanges collar includes phalanges set ring body, cascade portion and depressed part；
A cascade hole is respectively provided with each cascade portion, to realize the concatenated in order between the phalanges collar by revolute pair；The depression
Portion is provided with fairlead, and for fixed and guiding drawing lead, one is respectively and fixedly provided with by motor on the fairlead of each depressed part
The drawing lead of control, and drawn by the fairlead on the rear class phalanges collar and palm back of the body substrate；
Lead is pulled, the drawing lead sequentially passes through the fairlead of the fairlead and the phalanges collar of the finger tip collar, by slapping
The fairlead for carrying on the back substrate is drawn, and is connected with external control system；
Nine axle gyrosensors, the nine axles gyrosensor is located at the finger joint position of the glove bulk and palm back of the body substrate
On, its data wire is fixed and drawn by palm back of the body substrate, is connected with external control system.
Wherein, the fingerstall includes thumb stall, forefinger fingerstall, middle finger fingerstall, nameless fingerstall and little finger of toe fingerstall；
The thumb stall is provided with a finger tip collar, a phalanges collar and two nine axle gyrosensors；
The forefinger fingerstall, middle finger fingerstall are equipped with a finger tip collar on nameless fingerstall and little finger of toe fingerstall, two
The phalanges collar and three nine axle gyrosensors；
The centre of the palm and palm back are cased with a palm back of the body substrate, and the palm back is provided with a nine axle gyrosensors.
Preferably, a nine axle gyrosensors are equipped with the finger tip collar；The base pitch of thumb stall is provided with one
Nine axle gyrosensors；The forefinger fingerstall, middle finger fingerstall, the first knuckle of nameless fingerstall and little finger of toe fingerstall and second refer to
A nine axle gyrosensors are equipped with section；The palm back of the body substrate is provided with a nine axle gyrosensors.
Furthermore the finger tip collar is provided with fairlead and rear cascade hole；
The palm back of the body substrate includes palm back of the body substrate body, adjacent positioned at the preceding cascade portion of palm back of the body substrate one end and two
Concave-arc part between preceding cascade portion；The preceding cascade portion is symmetrically distributed in the centre of the palm and the palm back side, and each preceding cascade portion is provided with
Hole is cascaded before one, to realize the concatenated in order between the phalanges collar by revolute pair；The concave-arc part is provided with fairlead, uses
In fixed and guiding drawing lead.
Preferably, the fairlead on the finger tip collar and rear cascade hole are two；Cascade on the phalanges collar
Portion includes cascade portion after cascade portion before two and two；Preceding cascade portion and fairlead on the palm back of the body substrate are ten.
A kind of method for making the finger cot type haptic gloves that clamping force feeling can be provided described in power, comprises the following steps：
(1) sewing has the glove bulk in the centre of the palm, the palm back of the body and some fingerstall；
(2) the finger tip collar in hole, the phalanges collar and palm back of the body substrate are made with fairlead and cascaded, and is passed through cascade
Aperture joins end to end；
(3) structure after cascade is set on each fingerstall of glove bulk；
(4) carry on the back in the fairlead of substrate in the finger tip collar, the phalanges collar and the palm and penetrate drawing lead；
(5) a nine axle gyrosensors are fixed respectively on each finger tip collar, the phalanges collar and palm back of the body substrate；
(6) data wire for pulling lead and nine axle gyrosensors is fixed and drawn by palm back of the body substrate, controlled with outside
System connection processed.
Beneficial effect：Compared with prior art, a kind of finger cot type haptic gloves that clamping force feeling is provided of the invention,
The collar of head and the tail cascade is provided with fingerstall, and before and after being provided with fairlead on the collar will pass through the drawing operational control of lead
The relative rotation of the collar, and then row constraint control is entered to the relative position between fingerstall end.In addition, it is additionally provided with each finger joint
Nine axle gyrosensors are accurately to perceive real-time three Shaft angle of each finger joint, because finger joint length is definite value, so fingerstall is last
The accurate coordinates at end can be parsed to obtain by finger joint length and three Shaft angle data.So as to be the grasping manipulation in virtual environment
Offer is a kind of simple in construction, and cost is cheap and tactile feel is true, and has preferable real-time, it is possible to provide contacting feeling and clamping
The wearable haptic gloves that power is shown, and the volume and cost of haptic gloves are significantly reduced, in virtual reality applications field
With wide market prospects.
Brief description of the drawings
Fig. 1 is a kind of wearing schematic diagram for the finger cot type haptic gloves for providing clamping force feeling of the present invention.
Fig. 2 is a kind of structural representation for the finger cot type haptic gloves for providing clamping force feeling of the present invention.
Fig. 3 is a kind of finger cot type haptic gloves structure schematic diagram for providing clamping force feeling of the present invention.
Fig. 4 is a kind of three-dimensional dismounting signal of finger cot type haptic gloves structure for providing clamping force feeling of the present invention
Figure.
Fig. 5 is that a kind of finger tip thimble structure for the finger cot type haptic gloves structure for providing clamping force feeling of the present invention shows
It is intended to.
Fig. 6 is that a kind of phalanges thimble structure for the finger cot type haptic gloves structure for providing clamping force feeling of the present invention shows
It is intended to.
Fig. 7 is that a kind of palm back of the body board structure of finger cot type haptic gloves structure for providing clamping force feeling of the present invention shows
It is intended to.
Embodiment
Technical scheme is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is a kind of wearing schematic diagram for the finger cot type haptic gloves for providing clamping force feeling of the present invention.Wherein tactile
Gloves can be wrapped in palm periphery by wearing mode.
Fig. 2 is a kind of structural representation for the finger cot type haptic gloves for providing clamping force feeling of the present invention.Including gloves
Body 1, glove structure body 2, pull the axle gyrosensor 4 of lead 3 and nine；Wherein, glove bulk includes thumb stall 11, food
Refer to fingerstall 12, middle finger fingerstall, nameless fingerstall, little finger of toe fingerstall and the centre of the palm and the palm back of the body 13；The glove structure body is set on hand
Cover on body, drawing lead is connected by the fairlead on glove structure body with external control system；The nine axles gyro sensing
Device is arranged on glove structure body, and its data wire is connected with external control system.
Fig. 3 is a kind of finger cot type haptic gloves structure schematic diagram for providing clamping force feeling of the present invention, and Fig. 4 is tactile
The three-dimensional dismounting schematic diagram of glove structure body.As shown in figure 4, the glove structure body includes the finger tip collar 21, the phalanges collar 22 with
And palm back of the body substrate 23.
Wherein, thumb stall is provided with a finger tip collar and a phalanges collar；Forefinger fingerstall is provided with a finger tip
The collar, the first phalanges collar and the second phalanges collar；Middle finger fingerstall, a finger is equipped with nameless fingerstall and little finger of toe fingerstall
The sharp collar, the first phalanges collar and the second phalanges collar (not shown)；The centre of the palm and palm back are arranged with a palm back of the body substrate.
The finger tip collar in the thumb stall, pass through revolute pair concatenated in order between the phalanges collar and palm back of the body substrate；
The finger tip collar on the forefinger fingerstall, the first phalanges collar, pass through revolute pair between the second phalanges collar and palm back of the body substrate
Concatenated in order；On glove structure body disassembly and assembly structure and forefinger fingerstall on other middle finger fingerstall, nameless fingerstall and little finger of toe fingerstall
It is similar.
With reference to shown in Fig. 2 and Fig. 4, the drawing lead is pulled each to control by the fairlead on glove structure body
The corner of the collar, and then the form of haptic gloves is controlled by free degree limitation；Nine axle gyrosensors are set respectively
In the finger tip collar of fingerstall, on the phalanges collar and palm back of the body substrate, the rotation of substrate is carried on the back to obtain each activity finger joint and the palm in real time
Angle.
Fig. 5 is that a kind of finger tip thimble structure for the finger cot type haptic gloves structure for providing clamping force feeling of the present invention shows
It is intended to.The finger tip collar is the socket type structure of one end open, and openend is provided with even rear cascade hole and two fairleads.
Fig. 6 is that a kind of phalanges thimble structure for the finger cot type haptic gloves structure for providing clamping force feeling of the present invention shows
It is intended to.Wherein the phalanges collar includes phalanges set ring body 221, cascade portion 222 and depressed part 223；It is respectively provided with each cascade portion
One cascade hole, to realize the concatenated in order between the phalanges collar by revolute pair；The depressed part is provided with fairlead, is used for
Fixed and guiding pulls lead, is respectively and fixedly provided with a drawing lead by motor control on the fairlead of each depressed part, and lead to
Later the fairlead on the level phalanges collar and palm back of the body substrate is drawn, so as to pull the rotation for controlling the phalanges collar by lead
Angle.
Fig. 7 is that a kind of palm back of the body board structure of finger cot type haptic gloves structure for providing clamping force feeling of the present invention shows
It is intended to.Wherein, palm back of the body substrate includes palm back of the body substrate body 231, positioned at the preceding cascade portion 232 of palm back of the body substrate one end and two phases
Concave-arc part 233 between adjacent preceding cascade portion；The preceding cascade portion has ten, is symmetrically distributed in the centre of the palm and the palm back side, each
Preceding cascade portion cascades hole before being provided with one, to realize the concatenated in order between the phalanges collar by revolute pair；The concave arc
Portion is provided with fairlead, for fixed and guiding drawing lead.
A kind of method for making the finger cot type haptic gloves that can provide clamping force feeling, comprises the following steps：
(1) sewing has the glove bulk in the centre of the palm, the palm back of the body and some fingerstall；
(2) the finger tip collar in hole, the phalanges collar and palm back of the body substrate are made with fairlead and cascaded, and is passed through cascade
Aperture joins end to end；
(3) structure after cascade is set on each fingerstall of glove bulk；
(4) carry on the back in the fairlead of substrate in the finger tip collar, the phalanges collar and the palm and penetrate drawing lead；
(5) a nine axle gyrosensors are fixed respectively on each finger tip collar, the phalanges collar and palm back of the body substrate；
(6) data wire for pulling lead and nine axle gyrosensors is fixed and drawn by palm back of the body substrate, controlled with outside
System connection processed.
In virtual crawl, when grasping movement occurs for palm, the pick-and-place of finger-joint rotates and will drive haptic gloves
The phalanges collar rotates, and each phalanges collar of haptic gloves can also produce relative rotation under the traction action of lead, and then compels
Finger is set to bend；Especially, when the drawing lead in outside cannot be pulled by limitation, each phalanges collar of haptic gloves
Between and relative to the palm carry on the back substrate revolute pair will be restricted from inwardly rotating, generation is touched obstacle not by the paw of palm
The sensation that can freely grasp, now, palm will obtain the clamping force feeling of grasping manipulation due to the reaction force of haptic gloves；Instead
It, when the drawing lead of inner side cannot be pulled by limitation, palm will obtain crawl behaviour due to the reaction force of haptic gloves
The outer tension force made is felt.
In virtual environment, when palm actively captures virtual target, virtual target is projected onto in realistic space, in office
At the time of one determination, its geometric shape size and locus are known, and whether palm touches virtual target and depend on hand
Whether palm periphery interferes with virtual target profile on locus, it is therefore desirable to calculates the space of each phalanges of palm in real time
Position.Because nine axle gyrosensors being distributed on each phalanges can gather three shaft angle degree of each phalanges in real time, and phalanges length
Also be fixed value, when both numerical value are known, can accordingly Real-time solution be calculated haptic gloves paw it is relative with the palm
The locus of substrate is carried on the back, when the locus for slapping back of the body substrate is also known, can further analyze to obtain haptic gloves and void
Correlation in near-ring border between destination object, and to whether the progress real-time judge such as touching and movement interference occurring, work as hair
During raw space interference, the lead that outside in haptic gloves can be pulled by controlled motor limits the free degree of corresponding phalanges so that
Space interference does not continue to, and is opened so as to make operator obtain the chucking power virtually captured and put by the reaction force of haptic gloves
Force feeling.
The present invention is finger cot type haptic gloves that are original, having independent intellectual property right, and existing haptic gloves can be overcome to deposit
It is complicated, expensive the deficiencies of, so as to for the grasping manipulation in virtual environment provide one kind it is simple in construction, cost is low
It is honest and clean and contacting feeling can be provided and wearable haptic gloves that chucking power is shown, there is wide market in virtual reality applications field
Prospect.
Claims (6)
1. a kind of finger cot type haptic gloves that clamping force feeling is provided, it is characterised in that the finger cot type haptic gloves include：
Glove bulk, including fingerstall, the centre of the palm and the palm are carried on the back；
Glove structure body, the glove structure body is sleeved on the glove bulk, including the finger by revolute pair concatenated in order
The sharp collar, the phalanges collar and palm back of the body substrate；The phalanges collar includes phalanges set ring body, cascade portion and depressed part；Each
A cascade hole is respectively provided with cascade portion, to realize the concatenated in order between the phalanges collar by revolute pair；On the depressed part
Provided with fairlead, for fixed and guiding drawing lead, one is respectively and fixedly provided with by motor control on the fairlead of each depressed part
Drawing lead, and pass through the rear class phalanges collar and the palm back of the body substrate on fairlead draw；
Lead is pulled, the drawing lead sequentially passes through the fairlead of the fairlead and the phalanges collar of the finger tip collar, base is carried on the back by the palm
The fairlead of plate is drawn, and is connected with external control system；
Nine axle gyrosensors, the nine axles gyrosensor are carried on the back on substrate located at the finger joint position of the glove bulk and the palm,
Its data wire is fixed and drawn by palm back of the body substrate, is connected with external control system.
A kind of 2. finger cot type haptic gloves that clamping force feeling is provided according to claim 1, it is characterised in that：It is described
Fingerstall includes thumb stall, forefinger fingerstall, middle finger fingerstall, nameless fingerstall and little finger of toe fingerstall；
The thumb stall is provided with a finger tip collar, a phalanges collar and two nine axle gyrosensors；
The forefinger fingerstall, middle finger fingerstall, a finger tip collar, two phalanges is equipped with nameless fingerstall and little finger of toe fingerstall
The collar and three nine axle gyrosensors；
The centre of the palm and palm back are cased with a palm back of the body substrate, and the palm back is provided with a nine axle gyrosensors.
A kind of 3. finger cot type haptic gloves that clamping force feeling is provided according to claim 2, it is characterised in that：It is described
A nine axle gyrosensors are equipped with the finger tip collar；The base pitch of thumb stall is provided with a nine axle gyrosensors；It is described
Forefinger fingerstall, middle finger fingerstall, nine axles is equipped with the first knuckle and second knuckle of nameless fingerstall and little finger of toe fingerstall
Gyrosensor；The palm back of the body substrate is provided with a nine axle gyrosensors.
A kind of 4. finger cot type haptic gloves that clamping force feeling is provided according to claim 1, it is characterised in that：
The finger tip collar is provided with fairlead and rear cascade hole；
The palm back of the body substrate includes palm back of the body substrate body, positioned at the preceding cascade portion of palm back of the body substrate one end and two adjacent primes
Concave-arc part between connection portion；The preceding cascade portion is symmetrically distributed in the centre of the palm and the palm back side, and each preceding cascade portion is provided with one
Preceding cascade hole, to realize the concatenated in order between the phalanges collar by revolute pair；The concave-arc part is provided with fairlead, for solid
Fixed and guiding drawing lead.
A kind of 5. finger cot type haptic gloves that clamping force feeling is provided according to claim 4, it is characterised in that：It is described
Fairlead and rear cascade hole on the finger tip collar are two；Before cascade portion on the phalanges collar includes two cascade portion and
Cascade portion after two；Preceding cascade portion and fairlead on the palm back of the body substrate are ten.
6. a kind of method for making the finger cot type haptic gloves that clamping force feeling is provided described in any one of claim 1 to 5,
It is characterised in that it includes following steps：
(1) sewing has the glove bulk in the centre of the palm, the palm back of the body and some fingerstall；
(2) the finger tip collar in hole, the phalanges collar and palm back of the body substrate are made with fairlead and cascade, and by it by cascading aperture
Join end to end；
(3) structure after cascade is set on each fingerstall of glove bulk；
(4) carry on the back in the fairlead of substrate in the finger tip collar, the phalanges collar and the palm and penetrate drawing lead；
(5) a nine axle gyrosensors are fixed respectively on each finger tip collar, the phalanges collar and palm back of the body substrate；
(6) data wire for pulling lead and nine axle gyrosensors is fixed and drawn by palm back of the body substrate, be with outside control
System connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710545639.1A CN107334197A (en) | 2017-07-06 | 2017-07-06 | A kind of finger cot type haptic gloves and preparation method that clamping force feeling is provided |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710545639.1A CN107334197A (en) | 2017-07-06 | 2017-07-06 | A kind of finger cot type haptic gloves and preparation method that clamping force feeling is provided |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107334197A true CN107334197A (en) | 2017-11-10 |
Family
ID=60218870
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710545639.1A Pending CN107334197A (en) | 2017-07-06 | 2017-07-06 | A kind of finger cot type haptic gloves and preparation method that clamping force feeling is provided |
Country Status (1)
| Country | Link |
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| CN (1) | CN107334197A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107811340A (en) * | 2017-12-05 | 2018-03-20 | 国网山东省电力公司烟台供电公司 | A kind of low pressure dress table connects electric livewire work protective gloves |
| CN110250622A (en) * | 2019-04-19 | 2019-09-20 | 上海塑茜劳防用品有限公司 | A kind of power-assisted gloves |
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| CN106371604A (en) * | 2016-09-18 | 2017-02-01 | Tcl集团股份有限公司 | Interactive control gloves, virtual reality system and application method of virtual reality system |
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| US5429140A (en) * | 1993-06-04 | 1995-07-04 | Greenleaf Medical Systems, Inc. | Integrated virtual reality rehabilitation system |
| JP2000311047A (en) * | 1999-04-28 | 2000-11-07 | Tadatoshi Goto | Intelligent glove type handprint input device |
| JP2003308141A (en) * | 2002-04-17 | 2003-10-31 | Seiko Epson Corp | Inner force sense presenting device |
| CN2664428Y (en) * | 2003-11-13 | 2004-12-22 | 周春雷 | Multifunctional handguard |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107811340A (en) * | 2017-12-05 | 2018-03-20 | 国网山东省电力公司烟台供电公司 | A kind of low pressure dress table connects electric livewire work protective gloves |
| CN110250622A (en) * | 2019-04-19 | 2019-09-20 | 上海塑茜劳防用品有限公司 | A kind of power-assisted gloves |
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Application publication date: 20171110 |