CN108121450A - A kind of magnetorheological force feedback data gloves based on spool wire rope gearing - Google Patents
A kind of magnetorheological force feedback data gloves based on spool wire rope gearing Download PDFInfo
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- CN108121450A CN108121450A CN201810033753.0A CN201810033753A CN108121450A CN 108121450 A CN108121450 A CN 108121450A CN 201810033753 A CN201810033753 A CN 201810033753A CN 108121450 A CN108121450 A CN 108121450A
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 60
- 239000010959 steel Substances 0.000 claims abstract description 60
- 238000006073 displacement reaction Methods 0.000 claims abstract description 47
- 238000009434 installation Methods 0.000 claims abstract description 7
- 210000001145 finger joint Anatomy 0.000 claims description 36
- 210000003811 finger Anatomy 0.000 claims description 23
- 239000000314 lubricant Substances 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 239000011521 glass Substances 0.000 claims description 6
- 210000003813 thumb Anatomy 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims 1
- 238000005452 bending Methods 0.000 description 8
- 238000013016 damping Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 210000000697 sensory organ Anatomy 0.000 description 3
- 241000905957 Channa melasoma Species 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001953 sensory effect Effects 0.000 description 2
- 241000036318 Callitris preissii Species 0.000 description 1
- NINIDFKCEFEMDL-UHFFFAOYSA-N Sulfur Chemical compound [S] NINIDFKCEFEMDL-UHFFFAOYSA-N 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 210000005224 forefinger Anatomy 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000004932 little finger Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 229910052717 sulfur Inorganic materials 0.000 description 1
- 239000011593 sulfur Substances 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- User Interface Of Digital Computer (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a kind of magnetorheological force feedback data gloves based on spool wire rope gearing, and including gloves body and five fingerstall, gloves body top surface is equipped with Linear displacement transducer stent, spool stent, MR damper stent；The installation of Linear displacement transducer stent is equipped with five groups of two-way MR dampers there are five Linear displacement transducer in MR damper stent, the movable end of piston rod and Linear displacement transducer is hinged in two-way MR damper；Wire rope bracket is separately installed on fingerstall；Further include five spools, there is steel wire rope respectively in each spool, spool right end is fixed on spool stent left end, steel wire rope right end is connected with piston rod left end in two-way MR damper, the left end of spool is fixed on wire rope bracket right end, steel wire rope left end is connected with finger support, and the inner wall for referring to support is respectively equipped with pressure sensor.The present invention can meet the operation control in virtual reality system and preferably realize telepresenc.
Description
Technical field
The present invention relates to data glove fields, are specifically a kind of magnetorheological force feedback data based on spool wire rope gearing
Gloves.
Background technology
Virtual reality technology typically refers to set by human-computer interactions such as stereoscopic display instrument equipment, data glove, mechanical arms
Standby connect with computer and construct it is a kind of with human visual, the sense of hearing, touch the/similar virtual environment of the sense organs such as power feel, wherein
User can input various orders by various input equipments to computer, so as to computer capacity to user feedback in vision, listen
Information on a variety of sense organs such as feel and tactile/power are exhausted.Force feedback data gloves are a kind of important hardware in virtual reality technology
Equipment, with other sense organs such as vision, the sense of hearing, smell the difference is that, other sensory informations can only unidirectional delivery, and
The sensory information of power/tactile bi-directional, force feedback data gloves can just play such one between human body and virtual environment
Kind transfers the effect of information.Currently, force feedback data gloves have been widely used in many fields, and for example aviation is navigated
My god, medical treatment, virtual reality, amusement, the fields such as teaching.
Traditional data glove is generally possible to measure the bending angle of each finger-joint and the spatial position of finger, and then
To being virtually accurately controlled from hand.However, operator can not perceive the dynamics of crawl object by data glove, lack
A kind of important telepresenc, so as to lose the sense of reality of pseudo operation, especially for some in virtual environment it is accurate and
Complicated task, can not be successfully completion.Therefore, a kind of virtual operating device that can realize power/touch telepresence is developed, it is real
Existing force feedback or Virtual force field have great application value for the development of teleoperation and virtual reality technology.
The Chinese patent application of publication number CN 100372503C discloses a kind of force feedback number based on Pneumatic artificial muscle
According to gloves.It is anti-that the Chinese patent application of publication number CN 2772746 discloses a kind of endoskeleton formula power based on MR damper
Data glove is presented, these devices can realize certain telepresenc, but there are still some problems；（1）The former is a kind of active
Power feels playback system, but is susceptible to failure, and stability is poor；Secondly hand structure is complicated, and each finger joint is bound, and finger closes
Section bears additional torque, and telepresenc is bad；（2）The latter employs MR damper, and driver is inside palm, the hand of limitation
The proper motion of finger, destroys telepresenc.Therefore, it is necessary to invent a kind of force feedback data gloves, make operation by human hand flexibly light
Pine, finger movement scope is wide, can stablize the effective power realized in virtual environment and feel reproduction, construct better telepresenc.
The defects of content of the invention present invention is directed to the prior art and Improvement requirement provide a kind of based on spool steel wire rope
The magnetorheological force feedback gloves of transmission, to meet the control of the operation in virtual reality system and preferably realize telepresenc.
In order to achieve the above object, the technical solution adopted in the present invention is：
A kind of magnetorheological force feedback data gloves based on spool wire rope gearing, it is characterised in that：Including gloves body and company
Five fingerstall of gloves body left end are connected on, gloves body top surface right end is equipped with Linear displacement transducer stent, gloves body top
Face left end is equipped with five groups and the one-to-one spool stent of fingerstall, and MR damper stent is equipped among gloves body top surface；
There are five linear displacement one-to-one with fingerstall biographies for installation side by side in the horizontal direction for the Linear displacement transducer stent
Sensor, the fixing end of each Linear displacement transducer are connected to Linear displacement transducer stent left surface, each linear position
The movable end difference of displacement sensor is horizontal to the left；
Five groups and fingerstall two-way MR damper correspondingly, each two-way magnetic are equipped in the MR damper stent
Rheological damper central shaft is respectively along left and right horizontal direction, and piston rod both ends are respectively from cylinder barrel in each two-way MR damper
Corresponding end is pierced by, and the cylinder barrel of each two-way MR damper is mounted in MR damper stent, and five groups two-way magnetorheological
Each piston rod right end one-to-one corresponding and the movable end of five Linear displacement transducers are hinged damper；
In five fingers, wire rope bracket is installed corresponding to the nearly finger joint position of the fingerstall of thumb, remaining four fingerstall
Middle finger joint position is also separately installed with wire rope bracket, and each wire rope bracket left end is rotatablely equipped with pulley respectively；
Further include five with fingerstall extend in left-right direction correspondingly can free bend spool, in each spool respectively
Coaxially slide is provided with steel wire rope, and steel wire rope both ends are pierced by respectively from spool both ends, and the right end of each spool is separately fixed at pair
The spool stent left end answered, in spool steel wire rope right end through after corresponding spool stent with corresponding two-way MR damper
Middle piston rod left end connection, and be set with outside the steel wire rope between spool stent and two-way MR damper and flick spring, it flicks
Spring left end is fixed on corresponding spool stent right end, flicks spring right end and connects with corresponding two-way MR damper piston rod left end
It connects；The left end of each spool is separately fixed at corresponding wire rope bracket right end, and steel wire rope left end is along wire rope bracket in spool
Extend and be connected to finger support again after bypassing wire rope bracket left end pulley, totally five finger supports are respectively fitted over the remote of corresponding fingerstall
In finger joint, and the inner wall for each referring to support is respectively equipped with pressure sensor.
A kind of magnetorheological force feedback data gloves based on spool wire rope gearing, it is characterised in that：Each line
Property displacement sensor movable end be connected to U-shaped connector, the piston rod right end of each two-way MR damper is hinged
In corresponding U-shaped connector.
A kind of magnetorheological force feedback data gloves based on spool wire rope gearing, it is characterised in that：It is each double
Be separately formed external screw thread to the cylinder barrel outer surface of MR damper, set in MR damper stent there are five supply two-way magnetic
The cylinder barrel of rheological damper correspond through through hole, screw togather peace respectively on the cylinder barrel of the left and right side of MR damper stent
Fixing nut equipped with locking cylinder barrel by adjusting the position of two fixing nuts, can adjust each two-way MR damper
Axial position.
A kind of magnetorheological force feedback data gloves based on spool wire rope gearing, it is characterised in that：Spool branch
Cylinder of the axis along left and right horizontal direction centered on frame upper end is separately formed, cylinder right end are separately installed with end cap, and spool right end expands
Footpath be with the matched cover of cylinder left end, and spool right end is stuck in corresponding cylinder left end, flicks spring left end and is fixed on the end cap right side
Side.
A kind of magnetorheological force feedback data gloves based on spool wire rope gearing, it is characterised in that：Each steel
Cord stent right end is connected to deck, and spool left end is stuck in deck, and spool left end forms external screw thread, in deck
It is screwed togather on spool external thread section and adjusting nut is installed, spool left end is adjusted in the position of wire rope bracket right end by adjusting nut
It puts.
A kind of magnetorheological force feedback data gloves based on spool wire rope gearing, it is characterised in that：The line
Pipe includes the spool shell of tubulose, and tubular helical steel is coaxially provided in spool shell, which can free bend but in axial direction
To be rigid incompressible, steel wire rope is coaxially provided in spiral steel, steel wire rope is soft but non-stretchable, and is filled in spiral steel
The lubricant layer of wrapped wire rope.
A kind of VR systems using the magnetorheological force feedback data gloves based on spool wire rope gearing, it is characterised in that：
Including computer and data collecting card, A/D converter, D/A converter, current controller, VR glasses, the computer with VR
Mirror connects, and computer is also connected with data collecting card both-way communication, the linear displacement sensing in magnetorheological force feedback data gloves
Device, pressure sensor are connected respectively with the input terminal of A/D converter, and the output terminal of A/D converter is connected with data collecting card, D/
The input terminal of A converters is connected with data collecting card, and the output terminal of D/A converter and the input terminal of current controller connect, electricity
The output terminal of stream controller is connected respectively with each two-way MR damper；The computer system is virtual with modeling
Human hand both-way communication, computer output angle signal command control the heavy-handed new modeling of visual human, and virtual human hand feeds back collision detection
Signal can be interacted to computer, virtual human hand and virtual environment.
The present invention provides a kind of magnetorheological force feedback data gloves based on spool wire rope gearing, virtual suitable for carrying out
Operate the research and application in terms of touch telepresence.It has the advantages that：
（1）MR damper is the device of depletion kinergety to provide the resistance of movement, overall structure is simple, low cost,
Reliability is high, has the advantages that safe, stabilization, small.By passive force feedback, provided by MR damper for finger
Damping force with reference to the measurement of finger-joint angle, is advantageously implemented the control from hand, preferably realizes the telepresenc that power is felt.
（2）Movement and the transmission of power are realized using spool steel wire rope, solve that endoskeleton scope of activities is too small to be caused to destroy
The problem of telepresenc, also avoid connecting rod class ectoskeleton stress it is too complicated caused by frictional force is excessive and stuck phenomenon, have
The characteristics of operation is flexibly light, and force feedback is accurate in real time.
（3）Human hand feedback force is gathered, closed loop is added in and adjusts, by comparing the size of feedback force and collision detection fictitious force,
Electric current is further adjusted, so as to adjust the damping force of MR damper, the influence for flicking spring and system friction can be eliminated, made
Force feedback is more accurate, and telepresenc is more true.
（4）Finger-joint angle is measured by the relative displacement variation of spool and steel wire rope indirectly, realizes measurement and power
The dual function of feedback so that finger position is without setting angle measuring device, and simple in structure, weight saving also avoids hand
The additional stress of articulations digitorum manus and finger joint, improves telepresenc.
Description of the drawings
Fig. 1 is a kind of magnetorheological force feedback data gloves mechanism map based on spool wire rope gearing of the present invention.
Fig. 2 is the single finger structure figure of the present invention.
Fig. 3 is spool construction of wire rope figure of the present invention.
Fig. 4 is that the present invention realizes the method figure for measuring remote finger joint angle indirectly.
Fig. 5 is the fundamental diagram that the present invention realizes virtual reality operation.
In figure：1- gloves bodies；2- Linear displacement transducer stents；3- Linear displacement transducers；4-U type connectors；5-
Fixing nut；The two-way MR dampers of 6-；7- flicks spring；8-spool stent end cap；9- spool stents；10- spools；10-1-
Lubricant layer；10-2- spiral steel；10-3- spool shells；11- adjusting nuts；12- pulleys；13- hole pins；14- refers to support；15-
Wire rope bracket；Bandage is adjusted in 16-；17- steel wire ropes；18- MR damper stents；19- screws；20- fingerstall；20-1 refers to
Cover remote finger joint；20-2 fingerstall middle finger joints.
Specific embodiment
As shown in Figure 1 and Figure 2, a kind of magnetorheological force feedback data gloves based on spool wire rope gearing, including gloves set
Body 1 and five fingerstall 20 for being connected to 1 left end of gloves body, 1 top surface right end of gloves body are equipped with Linear displacement transducer stent
2,1 top surface left end of gloves body is equipped with five groups and 20 one-to-one spool stent 9 of fingerstall, is equipped among 1 top surface of gloves body
MR damper stent 18；
There are five sensed with 20 one-to-one linear displacement of fingerstall for installation side by side in the horizontal direction for Linear displacement transducer stent 2
Device 3, the fixing end of each Linear displacement transducer 3 are connected to 2 left surface of Linear displacement transducer stent, each linear position
The movable end difference of displacement sensor 3 is horizontal to the left；
Five groups and the one-to-one two-way MR damper 6 of fingerstall 20 are equipped in MR damper stent 18, it is each two-way
6 central shaft of MR damper respectively along left and right horizontal direction, in each two-way MR damper 6 piston rod both ends respectively from
Cylinder barrel corresponding end is pierced by, and the cylinder barrel of each two-way MR damper 6 is mounted in MR damper stent 18, and five groups two-way
6 respective piston rod right end of MR damper is corresponded to be hinged with the movable end of five Linear displacement transducers 3；
In five fingers, wire rope bracket is installed corresponding to the nearly finger joint position of the fingerstall 20 of thumb, remaining four fingerstall
20 middle finger joint position is also separately installed with wire rope bracket 15, and each 15 left end of wire rope bracket is rotatablely equipped with pulley respectively
12；
Further include five with fingerstall 20 extend in left-right direction correspondingly can free bend spool 10, each spool 10
Middle coaxially slide respectively is provided with steel wire rope 17, and 17 both ends of steel wire rope are pierced by respectively from 10 both ends of spool, the right side of each spool 10
End is separately fixed at corresponding 9 left end of spool stent, in spool 10 17 right end of steel wire rope through after corresponding spool stent 9 with it is right
Piston rod left end connects in the two-way MR damper 6 answered, and the steel between spool stent 9 and two-way MR damper 6
Be set with outside cord and flick spring 7, flick 7 left end of spring and be fixed on corresponding 9 right end of spool stent, flick 7 right end of spring with it is corresponding
Two-way 6 piston rod left end of MR damper connection；The left end of each spool 10 is separately fixed at corresponding wire rope bracket 15
Right end, 17 left end of steel wire rope extends along wire rope bracket 15 and around dividing again after 15 left end pulley 12 of wire rope bracket in spool 10
It is not connected with and refers to support 14, totally five finger supports 14 are respectively fitted in the remote finger joint of corresponding fingerstall 20, and each refer to the inner wall point of support 14
It She You not pressure sensor.
The movable end of each Linear displacement transducer 3 is connected to U-shaped connector 4, each two-way MR damper 6
Piston rod right end be hinged in corresponding U-shaped connector 4.
The cylinder barrel outer surface of each two-way MR damper 6 has been separately formed external screw thread, MR damper stent 18
In set there are five the cylinder barrel for two-way MR damper 6 correspond through through hole, MR damper stent 18 is left and right
The fixing nut 5 for being equipped with locking cylinder barrel is screwed togather on the cylinder barrel of side respectively, it is adjustable by adjusting the position of two fixing nuts 5
The axial position of whole each two-way MR damper 6.
Cylinder of the axis along left and right horizontal direction, cylinder right end are separately installed with centered on 9 upper end of spool stent is separately formed
End cap 8,10 right end of spool is expanding be with the matched cover of cylinder left end, and 10 right end of spool is stuck in corresponding cylinder left end, gently
7 left end of spring is fixed on 8 right flank of end cap.
Each 15 right end of wire rope bracket is connected to deck, and 10 left end of spool is stuck in deck, and 10 left end of spool
It forms external screw thread, is screwed togather on 10 external thread section of spool in deck and adjusting nut 11 is installed, adjusted by adjusting nut 11
10 left end of spool is in the position of 15 right end of wire rope bracket.
As shown in figure 3, spool 10 includes the spool shell 10-3 of tubulose, tubular helical is coaxially provided in spool shell 10-3
Steel 10-2, spiral steel 10-2 can free bend but axially to be rigid incompressible, be coaxially provided with steel in spiral steel 10-2
Cord 17, steel wire rope 17 is soft but non-stretchable, and the lubricant layer 10-1 of wrapped wire rope 17 is filled in spiral steel 10-2.
As shown in figure 5, a kind of VR systems using the magnetorheological force feedback data gloves based on spool wire rope gearing, bag
Computer and data collecting card, A/D converter, D/A converter, current controller, VR glasses are included, computer connects with VR glasses
It connecing, computer is also connected with data collecting card both-way communication, Linear displacement transducer 3 in magnetorheological force feedback data gloves,
Pressure sensor is connected respectively with the input terminal of A/D converter, and the output terminal of A/D converter is connected with data collecting card, and D/A turns
The input terminal of parallel operation is connected with data collecting card, and the output terminal of D/A converter and the input terminal of current controller connect, electric current control
The output terminal of device processed is connected respectively with each two-way MR damper 6；Computer system and the virtual human hand modeled are two-way
Communication, computer output angle signal command control the heavy-handed new modeling of visual human, and virtual human hand feeds back collision sensing signal to meter
Calculation machine, virtual human hand and virtual environment can interact.
As shown in Figure 1 and Figure 2, the present invention include gloves body 1, two-way MR damper 6, spool 10, steel wire rope 17,
Stent and control and sensor-based system.Wherein, the gloves body 1 is horizontally arranged along the back of the hand, and downside, which is connected with, ties up
Band；There are three groups of threaded holes in its upside, and Linear displacement transducer stent 2, magnetorheological damping are fixed with successively along direction from right to left
Device stent 18 and spool stent 9 are connected by screw respectively with the gloves body 1；Five linear displacements sensing
Device 3, it is equidistantly arranged in parallel, it is fixed by screws in Linear displacement transducer stent 18 on the right side of each Linear displacement transducer
On, left side motion bar is hinged on the right side of the piston rod of two-way MR damper 6 by U-shaped connector 4；Described five are double
To MR damper 6, equidistantly arranged in parallel, piston rod left end is fixedly connected with 17 right end of steel wire rope, each two-way magnetic current
Screw thread, and fixing nut 5 there are two installations are equipped with outside variable damping device cylinder barrel, is drilled on two-way MR damper stent 2
Five holes, two-way MR damper 18 corresponds to be horizontally fixed in hole successively, on each two-way MR damper
Two fixing nuts are separately mounted to the both sides of side shield on damper mount, can by adjusting the position of two fixing nuts
The axial position of each two-way MR damper of adjustment；Five spools 10, each right end have one section of body diameter
It is slightly larger, it is stuck in spool stent 9,9 right end of spool stent is equipped with end cap 8, is connected through a screw thread with spool stent 9,
Spool 10 has good flexible, is equipped with corresponding steel wire rope 17 inside the spool 9, length is longer than spool
10,17 both ends of steel wire rope are stretched out, steel wire rope 17 can in the spool 10 along spool tangential motion, 10 right end of steel wire rope with it is two-way
6 piston rod left end of MR damper is fixedly connected, and right hand external installation is cased with flicking spring 7, flicks 7 left side of spring and spool branch
Frame end lid 8 connects, and right side is connected with the piston rod left end of two-way MR damper 6, and every 10 left end of spool has screw thread,
Threaded portion installation is there are one adjusting nut 11, and 10 left end of spool is fixed on wire rope bracket 15, by described
Rotate adjusting nut 11, position of adjustment 10 left end of spool along steel wire rope direction；Five wire rope brackets 15, wherein greatly
The lower end of the corresponding wire rope bracket of thumb is sleeved on by adjustable bandage 16 in the nearly finger joint of thumb fingerstall, forefinger, middle finger,
Nameless, the corresponding wire rope bracket lower end of little finger is fixed on the middle finger joint of finger fingerstall by the way that harness jacket 16 is adjusted respectively
On, the hole pin 13 that passes on left of each wire rope bracket 15 is connected with pulley 12, and every steel wire rope 17 is by 10 left end of spool
It is pierced by, around pulley 12, is connected in each finger support 14, refers to support 14 and be sleeved in the remote finger joint of each finger fingerstall, it is big to refer to support 14
Small adjustable, inside is equipped with pressure sensor with finger touch part below.
It is lubricant layer 10-1 successively from inside to outside as shown in figure 3, the spool 10 divides three layers, spiral steel 10-2, spool
Shell 10-3, steel wire rope 17 pass through inside lubricant layer 10-1；Wherein, the steel wire rope 17 is soft non-stretchable, described
For lubricant layer 10-1 for reducing friction of the steel wire rope in 10 internal slide of spool, the spiral steel 10-2 is being axially rigidity
It is incompressible, can be with free bend, and keep constant along the tangential length of spool, the left side of guarantee steel wire rope and spool is with respect to position
It moves and is absolutely transferred to right side.
As shown in figure 4, the method schematic diagram for measuring remote finger joint angle indirectly, 20-1 is the remote finger joint of fingerstall, and 20-2 is
Fingerstall middle finger joint, the steel wire rope 17 stretched out by 10 left end of spool are connected to around A points at the B points referred in support 14, wire rope bracket
15 are fixed on by adjustable bandage 16 on middle finger joint；Point O is the tie point of remote finger joint and middle finger joint, and OA length is determined by installing
And remain unchanged, OB length can be approximately considered equal to remote finger joint 20-1 length；Initial position, remote finger joint are horizontal, AB
Length can be measured, and tri- edge lengths of triangle ABO are it is known that α can be calculated by the cosine law；During digital flexion any angle β, B goes to C
Position, OC length are equal to OB；From the characteristic of spool 10, only remote finger joint 20-1 is connected to 10 left end steel wire rope 17 of spool
On, thus the relative displacement of steel wire rope 17 and spool 10 only it is related with the bending angle of remote finger joint 20-1, with middle finger joint and closely finger
The bending of section is unrelated；Wire rope displacement can be measured by Linear displacement transducer, so AC length is equal to wire rope displacement and adds AB
Length, tri- edge lengths of triangle OAC are it is known that β can be calculated by the cosine law, so remote finger joint bending angle is β-α；Remote finger joint
20-1 bending angle can calculate middle finger joint 20-2 and nearly finger joint it is known that natural sulfur reservoir rule during according to human hand digital flexion
Bending angle.
As shown in Figure 2 and Figure 5, the operation principle, specific implementation are as follows：
（1）People can see the virtually interaction from hand and virtual environment by VR glasses；
（2）The initialization of system, human hand with virtually being overlapped from hand origin, calibrated by Linear displacement transducer 3, adjusts two-way magnetic
Rheological damper 6 is in off-position, by each two fixing nuts 5 adjusted outside two-way 6 cylinder barrel of MR damper, makes
The motion bar of corresponding Linear displacement transducer 3 is in initial position, adjusts 10 front end adjusting nut 11 of spool, is in finger
Straight configuration；Virtually from hand human hand is followed to be moved to designated position, operator carries out grasp motion, pulls steel wire rope 17, so as to
The motion bar of Linear displacement transducer 3 is driven, displacement signal is passed to calculating by Linear displacement transducer 3 by A/D converter
Data collecting card in machine, computer calculate the bending angle of remote articulations digitorum manus, and according to the relation of each digital flexion angle of human hand,
Calculate the bending angle of each finger joint；Computer models virtually from hand according to angle parameter, corresponding posture is formed, to void again
Object in near-ring border carries out grasping operation；
（3）Interfere virtually being generated when hand is being contacted with dummy object, computer carries out collision detection, according to dummy object
Setting attribute and depth gauge is interfered to calculate virtual impact force, and calculate two-way MR damper 6 generate it is equal big
Electric current needed for small damping force；Computer sends instruction, and current controller is powered to two-way MR damper 6, two-way magnetic current
Variable damping device generates corresponding damping force, by steel wire rope 17, grasps operator and is obstructed, human hand feels corresponding feedback
Power；
（4）Data glove refers to the position that 14 inner lower of support is contacted with finger and is equipped with pressure sensor, and pressure sensor will press
Force signal is transferred to the data collecting card in computer by A/D converter, and computer is by calculating finger tip pressure with virtually touching
The difference of power is hit, judges whether its difference belongs to setting error range, so as to command current controller, adjusts two-way magnetic current in right amount
The electric current of variable damping device 6, further adjusts feedback force, until the difference reaches requirement, so that feedback force is more accurate.
The foregoing is merely the embodiment of the present invention, are not intended to limit the scope of the invention, every to utilize this hair
The equivalent structure or equivalent flow shift that bright specification and accompanying drawing content are made directly or indirectly is used in other relevant skills
Art field, is included within the scope of the present invention.
Claims (7)
1. a kind of magnetorheological force feedback data gloves based on spool wire rope gearing, it is characterised in that：Including gloves body and
Five fingerstall of gloves body left end are connected to, gloves body top surface right end is equipped with Linear displacement transducer stent, gloves body
Top surface left end is equipped with five groups and the one-to-one spool stent of each fingerstall, and MR damper is equipped among gloves body top surface
Stent；
There are five linear displacement one-to-one with fingerstall biographies for installation side by side in the horizontal direction for the Linear displacement transducer stent
Sensor, the fixing end of each Linear displacement transducer are connected to Linear displacement transducer stent left surface, each linear position
The movable end difference of displacement sensor is horizontal to the left；
Five groups and fingerstall two-way MR damper correspondingly, each two-way magnetic are equipped in the MR damper stent
Rheological damper central shaft is respectively along left and right horizontal direction, and piston rod both ends are respectively from cylinder barrel in each two-way MR damper
Corresponding end is pierced by, and the cylinder barrel of each two-way MR damper is mounted in MR damper stent, and five groups two-way magnetorheological
Each piston rod right end one-to-one corresponding and the movable end of five Linear displacement transducers are hinged damper；
In five fingers, wire rope bracket is installed corresponding to the nearly finger joint position of the fingerstall of thumb, remaining four fingerstall
Middle finger joint position is also separately installed with wire rope bracket, and each wire rope bracket left end is rotatablely equipped with pulley respectively；
Further include five with fingerstall extend in left-right direction correspondingly can free bend spool, in each spool respectively
Coaxially slide is provided with steel wire rope, and steel wire rope both ends are pierced by respectively from spool both ends, and the right end of each spool is separately fixed at pair
The spool stent left end answered, in spool steel wire rope right end through after corresponding spool stent with corresponding two-way MR damper
Middle piston rod left end connection, and be set with outside the steel wire rope between spool stent and two-way MR damper and flick spring, it flicks
Spring left end is fixed on corresponding spool stent right end, flicks spring right end and connects with corresponding two-way MR damper piston rod left end
It connects；The left end of each spool is separately fixed at corresponding wire rope bracket right end, and steel wire rope left end is along wire rope bracket in spool
Extend and be connected to finger support again after bypassing wire rope bracket left end pulley, totally five finger supports are respectively fitted over the remote of corresponding fingerstall
In finger joint, and the inner wall for each referring to support is respectively equipped with pressure sensor.
2. a kind of magnetorheological force feedback data gloves based on spool wire rope gearing according to claim 1, feature
It is：The movable end of each Linear displacement transducer is connected to U-shaped connector, the piston of each two-way MR damper
Bar right end is hinged in corresponding U-shaped connector.
3. a kind of magnetorheological force feedback data gloves based on spool wire rope gearing according to claim 1, feature
It is：The cylinder barrel outer surface of each two-way MR damper has been separately formed external screw thread, is equipped in MR damper stent
The cylinder barrel of five two-way MR dampers of confession correspond through through hole, the cylinder barrel of the left and right side of MR damper stent
It is upper to screw togather the fixing nut for being equipped with locking cylinder barrel respectively, by adjusting the position of two fixing nuts, can adjust each two-way
The axial position of MR damper.
4. a kind of magnetorheological force feedback data gloves based on spool wire rope gearing according to claim 1, feature
It is：Cylinder of the axis along left and right horizontal direction centered on spool pedestal upper end is separately formed, cylinder right end are separately installed with end cap,
Spool right end is expanding be with the matched cover of cylinder left end, and spool right end is stuck in corresponding cylinder left end, flicks spring left end and consolidates
It is scheduled on end cap right flank.
5. a kind of magnetorheological force feedback data gloves based on spool wire rope gearing according to claim 1, feature
It is：Each wire rope bracket right end is connected to deck, and spool left end is stuck in deck, and spool left end forms outer spiral shell
Line screws togather on the spool external thread section in deck and is equipped with adjusting nut, spool left end is adjusted in steel wire rope by adjusting nut
The position of stent right end.
6. a kind of magnetorheological force feedback data gloves based on spool wire rope gearing according to claim 1, feature
It is：The spool includes the spool shell of tubulose, and tubular helical steel is coaxially provided in spool shell, which can be freely curved
It is bent but axially to be rigid incompressible, steel wire rope is being coaxially provided in spiral steel, steel wire rope is soft but non-stretchable, and spiral
The lubricant layer of wrapped wire rope is filled in steel.
7. a kind of VR systems of magnetorheological force feedback data gloves using based on spool wire rope gearing described in claim 1,
It is characterized in that：It is described including computer and data collecting card, A/D converter, D/A converter, current controller, VR glasses
Computer is connected with VR glasses, and computer is also connected with data collecting card both-way communication, in magnetorheological force feedback data gloves
Linear displacement transducer, pressure sensor are connected respectively with the input terminal of A/D converter, the output terminal and data of A/D converter
Capture card connects, and the input terminal of D/A converter is connected with data collecting card, the output terminal of D/A converter and current controller
Input terminal connects, and the output terminal of current controller is connected respectively with each two-way MR damper；The computer system
With the virtual human hand both-way communication modeled, computer output angle signal command controls the heavy-handed new modeling of visual human, visual human
Hand feedback collision sensing signal can be interacted to computer, virtual human hand and virtual environment.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810033753.0A CN108121450B (en) | 2018-01-15 | 2018-01-15 | Magneto-rheological force feedback data glove based on transmission of wire tube and steel wire rope |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810033753.0A CN108121450B (en) | 2018-01-15 | 2018-01-15 | Magneto-rheological force feedback data glove based on transmission of wire tube and steel wire rope |
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| CN108121450A true CN108121450A (en) | 2018-06-05 |
| CN108121450B CN108121450B (en) | 2020-08-11 |
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| CN114527863A (en) * | 2020-11-03 | 2022-05-24 | 范博勋 | Finger control device |
| CN114527863B (en) * | 2020-11-03 | 2023-08-15 | 范博勋 | Finger control device |
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