CN108646916A - Feedback glove for virtual reality - Google Patents
Feedback glove for virtual reality Download PDFInfo
- Publication number
- CN108646916A CN108646916A CN201810415221.3A CN201810415221A CN108646916A CN 108646916 A CN108646916 A CN 108646916A CN 201810415221 A CN201810415221 A CN 201810415221A CN 108646916 A CN108646916 A CN 108646916A
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- China
- Prior art keywords
- fingerstall
- rotating bar
- rotatably connected
- virtual reality
- connecting rod
- Prior art date
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Links
- 230000007246 mechanism Effects 0.000 claims abstract description 95
- 210000000245 forearm Anatomy 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 210000003811 finger Anatomy 0.000 claims description 45
- 210000004932 little finger Anatomy 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 5
- 210000003813 thumb Anatomy 0.000 claims description 5
- 239000003921 oil Substances 0.000 description 50
- 238000010586 diagram Methods 0.000 description 6
- 238000004088 simulation Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000001595 contractor effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
-
- 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
Abstract
The present invention relates to a kind of feedback gloves for virtual reality, including：Ectoskeleton gloves, link mechanism, fingerstall and driving mechanism.The exoskeleton hand set is for being set in forearm.The link mechanism is rotatably connected with the ectoskeleton gloves, and the link mechanism is also rotatably connected with the fingerstall.The driving mechanism is connected with the linkage transmission, and the driving mechanism is for driving the link mechanism.The above-mentioned feedback glove for virtual reality, it is additionally arranged link mechanism, and ectoskeleton gloves are transferred to by the back of the hand on forearm, i.e., the supporting point on the back of the hand of ectoskeleton gloves is transferred on forearm, the degree of freedom of fingerstall in this way is satisfied with the degree of freedom of finger itself, improves properties of product.In addition, support force can be transmitted on forearm rather than on the back of the hand by finger when carrying out grasp motion, the back of the hand can be made to be not necessarily to by the active force not being inconsistent with actual conditions in this way.
Description
Technical field
The present invention relates to a kind of gloves, more particularly to a kind of feedback glove for virtual reality.
Background technology
The feedback glove for being traditionally used for virtual reality includes ectoskeleton gloves, fingerstall and minitype cylinder.Ectoskeleton gloves
It is arranged on the back of the hand, minitype cylinder is arranged on ectoskeleton gloves and for driving fingerstall to act, energy when fingerstall acts on finger
Simulate stressing conditions of the finger in virtual environment.However, exoskeleton hand can lead to oneself of fingerstall when being set on the back of the hand
Degree of freedom possessed by finger itself is less than by degree so that practical wearing experience is not inconsistent with truth.
Invention content
Based on this, it is necessary to overcome the deficiencies of existing technologies, provide a kind of feedback glove for virtual reality, it can
So that the degree of freedom of fingerstall is satisfied with the degree of freedom of finger itself, properties of product are promoted.
Its technical solution is as follows：A kind of feedback glove for virtual reality, including：Ectoskeleton gloves, the ectoskeleton
Gloves are for being set in forearm；Link mechanism, fingerstall, the link mechanism are rotatably connected with the ectoskeleton gloves, institute
Link mechanism is stated also rotatably to be connected with the fingerstall；And driving mechanism, the driving mechanism and the linkage transmission phase
Even, the driving mechanism is for driving the link mechanism.
The above-mentioned feedback glove for virtual reality, when driving mechanism drive link mechanism action, link mechanism is corresponding
Driving fingerstall makes fingerstall act on finger, so as to simulate stressing conditions of the finger in virtual environment.Secondly, it is additionally arranged
Link mechanism, and ectoskeleton gloves are transferred to by the back of the hand on forearm, i.e., the supporting point on the back of the hand of ectoskeleton gloves is turned
It moves on on forearm, the degree of freedom of such fingerstall is satisfied with the degree of freedom of finger itself, improves properties of product.In addition, finger exists
Carry out grasp motion when support force can be transmitted on forearm rather than on the back of the hand, can make in this way the back of the hand be not necessarily to by with reality
The active force that situation is not inconsistent.
Further, the link mechanism includes the first rotating bar, the second rotating bar, third rotating bar, the 4th rotating bar
And link assembly；First rotating bar respectively with second rotating bar one end, the rotatable phase in third rotating bar one end
Even, the second rotating bar other end, the third rotating bar other end are rotatably connected with the 4th rotating bar；It is described
4th rotating bar one end is rotatably connected with the fingerstall, the 4th rotating bar other end and the rotatable phase of the link assembly
Even；The link assembly is also rotatably connected with the fingerstall；First rotating bar one end is rotatably connected and has first rotating shaft,
The first rotating bar other end, which is rotatably connected, the second shaft, and first rotating bar can be with first rotating bar
Rotation is carried out centered on axle center；The first rotating shaft is rotatably connected with the driving end of the driving mechanism, second shaft
The exoskeleton hand is rotationally installed in put on.
Further, the fingerstall is index finger fingerstall, middle finger fingerstall, nameless fingerstall or little finger fingerstall；The finger
Set includes the first valve jacket, the second valve jacket and the third valve jacket being rotatablely connected successively；The link assembly includes first connecting rod, second
Connecting rod and third connecting rod；Described first connecting rod one end is connected with the 4th rotating bar, the first connecting rod other end respectively with
Described second connecting rod one end, described third connecting rod one end are rotatably connected；The second connecting rod other end and second valve jacket
Rotatable to be connected, the third connecting rod other end is rotatably connected with the third valve jacket, the 4th rotating bar and described the
One valve jacket is rotatably connected.
Further, the fingerstall is thumb fingerstall, and the fingerstall includes the 4th valve jacket being rotatablely connected successively and the
Five valve jackets；The link assembly includes fourth link；Described fourth link one end is connected with the 4th rotating bar, and the described 4th
5th valve jacket described in the connecting rod other end is rotatably connected；4th rotating bar is rotatably connected with the 4th valve jacket.
Further, the driving mechanism include position output mechanism, drawing piece, oil storage cabin, sliding block, oil cylinder, oil pipe with
Piston rod；The position output mechanism is connected with the drawing piece, and the drawing piece is connected with the sliding block, and the sliding block can be slided
It is arranged dynamicly in the oil storage cabin, the sliding block coordinates with oil storage cabin sealing；The oil cylinder passes through the oil pipe and institute
It states oil storage cabin to be connected, the piston rod is movably disposed in the oil cylinder, and described piston rod one end is equipped with and the oil
The piston head of cylinder sealing cooperation, the piston rod other end with the linkage transmission for being connected.
Further, the drawing piece includes elastic component and is connected to two drawstrings at the elastic component both ends,
In a drawstring be connected with the position output mechanism, another described drawstring is connected with the sliding block.
Further, the feedback glove for virtual reality further includes that more than two valves are propped up with more than two
Pipe, the oil cylinder, the link mechanism and the fingerstall are two or more, the branch pipe, the valve, the connecting rod machine
Structure, the fingerstall to the oil cylinder is corresponding one by one is arranged, the oil pipe is connected by the branch pipe with the oil cylinder, the valve
Door is arranged on the branch pipe.
Further, the ectoskeleton gloves include body and guide plate, and described body one end is connected with the guide plate,
The body other end is rotatably connected with the link mechanism, and the body is for being set in forearm；The position output
Mechanism, the drawing piece, the oil storage cabin and the oil pipe are installed in the plate face of the guide plate, and the oil cylinder setting exists
On the body.
Further, the feedback glove for virtual reality further includes that vibration machine, force snesor, inertia are led
Navigate instrument and several gyro sensors, and the vibration machine is arranged in the force snesor on the fingerstall；It is described used
Property navigator and several described gyro sensors are distributed in the fingerstall, the link mechanism and the ectoskeleton gloves
On.
Further, the feedback glove for virtual reality further includes controller, and the controller setting is outside
On bone gloves, the controller is electrically connected with the driving mechanism.
Description of the drawings
Fig. 1 is the structural schematic diagram when feedback glove for virtual reality described in one embodiment of the invention is not dressed；
Structural schematic diagram when Fig. 2 is the feedback glove wearing for virtual reality described in one embodiment of the invention；
Fig. 3 is the vertical view of the feedback glove for virtual reality described in one embodiment of the invention；
Fig. 4 is the upward view of the feedback glove for virtual reality described in one embodiment of the invention；
Fig. 5 be one embodiment of the invention described in the feedback glove for virtual reality in link mechanism and fingerstall structure
Schematic diagram；
Fig. 6 be one embodiment of the invention described in the feedback glove for virtual reality in link mechanism and fingerstall section view
Figure；
Fig. 7 be another embodiment of the present invention described in the feedback glove for virtual reality in link mechanism and fingerstall knot
Structure schematic diagram；
Fig. 8 is that link mechanism and fingerstall cut open in the feedback glove for virtual reality described in another embodiment of the present invention
View；
Fig. 9 is installed in dermoskeleton for driving mechanism in the feedback glove for virtual reality described in another embodiment of the present invention
The schematic diagram of bone gloves；
Figure 10 be one embodiment of the invention described in the feedback glove for virtual reality in driving mechanism schematic diagram；
Figure 11 illustrates for the section view of driving mechanism in the feedback glove for virtual reality described in one embodiment of the invention
Figure.
Reference numeral：
10, ectoskeleton gloves, 11, body, 12, guide plate, 13, fixed pulley, 20, link mechanism, the 21, first rotating bar,
22, the second rotating bar, 23, third rotating bar, the 24, the 4th rotating bar, 25, first rotating shaft, the 26, second shaft, 27, first connects
Bar, 28, second connecting rod, 29, third connecting rod, 291, fourth link, 30, fingerstall, the 31, first valve jacket, the 32, second valve jacket, 33,
Three valve jackets, the 34, the 4th valve jacket, the 35, the 5th valve jacket, 40, driving mechanism, 41, position output mechanism, 42, drawing piece, 421, elasticity
Part, 422, drawstring, 43, oil storage cabin, 44, sliding block, 45, oil cylinder, 46, oil pipe, 47, piston rod, 471, piston head, 48, valve,
49, branch pipe, 50, vibration machine, 60, force snesor, 70, inertial navigator, 80, gyro sensor, 90, controller.
Specific implementation mode
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings to the present invention
Specific implementation mode be described in detail.Many details are elaborated in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case of violating intension of the present invention, therefore the present invention is not limited by following public specific embodiment.
In the description of the present invention, it is to be understood that, term " first ", " second " are used for description purposes only, and cannot
It is interpreted as indicating or implies relative importance or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include at least one of the features.In the description of the present invention, " multiple "
It is meant that at least two, such as two, three etc., unless otherwise specifically defined.
It in the description of the present invention, it is to be understood that, can be with when an element is considered as " connection " another element
It is directly to another element or may be simultaneously present intermediary element.On the contrary, when element be referred to as " direct " with it is another
When element connects, intermediary element is not present.
In one embodiment, it please refers to Fig.1, Fig. 2, Fig. 3 or Fig. 4, a kind of feedback glove for virtual reality, wraps
It includes：Ectoskeleton gloves 10, link mechanism 20, fingerstall 30 and driving mechanism 40.The ectoskeleton gloves 10 are for being set in forearm
On.The link mechanism 20 is rotatably connected with the ectoskeleton gloves 10, and the link mechanism 20 can also with the fingerstall 30
It is rotatedly connected.The driving mechanism 40 is connected with the transmission of the link mechanism 20, and the driving mechanism 40 is for driving the company
Linkage 20.
The above-mentioned feedback glove for virtual reality, when 40 drive link mechanism 20 of driving mechanism acts, link mechanism
20 respective drive fingerstall 30 make fingerstall 30 act on finger, so as to simulate stressing conditions of the finger in virtual environment.
Secondly, it is additionally arranged link mechanism 20, and ectoskeleton gloves 10 are transferred to by the back of the hand on forearm, i.e., ectoskeleton gloves 10 existed
Supporting point on the back of the hand is transferred on forearm, and the degree of freedom of such fingerstall 30 is satisfied with the degree of freedom of finger itself, improves production
Moral character energy.In addition, support force can be transmitted on forearm rather than on the back of the hand by finger when carrying out grasp motion, can make in this way
The back of the hand is not necessarily to by the active force not being inconsistent with actual conditions.
In addition, further, please referring to any one width in Fig. 5 to Fig. 8, the link mechanism 20 includes the first rotating bar
21, the second rotating bar 22, third rotating bar 23, the 4th rotating bar 24 and link assembly.First rotating bar 21 respectively with institute
22 one end of the second rotating bar, described 23 one end of third rotating bar is stated rotatably to be connected.It is second rotating bar, 22 other end, described
23 other end of third rotating bar is rotatably connected with the 4th rotating bar 24.Described 4th rotating bar, 24 one end and the finger
Set 30 is rotatably connected, and 24 other end of the 4th rotating bar is rotatably connected with the link assembly.The link assembly is also
Rotatably it is connected with the fingerstall 30.Described first rotating bar, 21 one end is rotatably connected and has first rotating shaft 25, described first turn
21 other end of lever, which is rotatably connected, the second shaft 26, and first rotating bar 21 can be with the axis of first rotating bar 21
Rotation is carried out centered on the heart.The first rotating shaft 25 is rotatably connected with the driving end of the driving mechanism 40, described second turn
Axis 26 is rotationally installed on the ectoskeleton gloves 10.
In this way, link mechanism 20 is located at right over the back of the hand, the active force that finger can be pressed to fingerstall 30 is transmitted to driving
The driving end of mechanism 40, and will not contact action in the back of the hand.In addition, please compare refering to Fig. 3 and Fig. 4, due to the first rotating bar 21
Rotation can be carried out centered on the axle center of first rotating bar 21, such finger not only drives fingerstall 30 that can be bent stretching, extension, also
The activity of fingerstall 30 or so can be driven to open, the feedback glove flexibility for virtual reality is preferable.Specifically, the first rotating bar
21 and 24 equal length of the 4th rotating bar, the second rotating bar 22 and 23 equal length of third rotating bar.In this way, the first rotating bar
21, the second rotating bar 22, third rotating bar 23 and the 4th rotating bar 24 accordingly form parallelogram sturcutre.
In one embodiment, referring again to Fig. 5 and Fig. 6, the fingerstall 30 is index finger fingerstall 30, middle finger fingerstall 30, nothing
Name fingerstall 30 or little finger fingerstall 30.The fingerstall 30 includes the first valve jacket 31, the second valve jacket 32 being rotatablely connected successively
With third valve jacket 33.The link assembly includes first connecting rod 27, second connecting rod 28 and third connecting rod 29.The first connecting rod 27
One end is connected with the 4th rotating bar 24,27 other end of the first connecting rod respectively with 28 one end of the second connecting rod, described
29 one end of third connecting rod is rotatably connected.28 other end of the second connecting rod is rotatably connected with second valve jacket 32, described
29 other end of third connecting rod is rotatably connected with the third valve jacket 33, and the 4th rotating bar 24 can with first valve jacket 31
It is rotatedly connected.In this way, the first valve jacket 31, the second valve jacket 32, third valve jacket 33 can be respectively installed in index finger, middle finger, the third finger
Or outside three joints of little finger, active force, energy can be applied respectively to three joints of index finger, middle finger, the third finger or little finger
Preferably simulate stressing conditions of the finger in virtual environment.
In another embodiment, Fig. 7 and Fig. 8 is please referred to, the fingerstall 30 is thumb fingerstall 30, and the fingerstall 30 wraps
Include the 4th valve jacket 34 and the 5th valve jacket 35 being rotatablely connected successively.The link assembly includes fourth link 291.Described 4th connects
291 one end of bar is connected with the 4th rotating bar 24,35 rotatable phase of the 5th valve jacket described in 291 other end of the fourth link
Even.4th rotating bar 24 is rotatably connected with the 4th valve jacket 34.In this way, the 4th valve jacket 34, the 5th valve jacket 35 can
It is respectively installed in outside two joints of thumb, can two joints of thumb be applied with active force respectively, it can preferable simulation
Go out stressing conditions of the finger in virtual environment.
Further, also referring to Fig. 9, Figure 10 and Figure 11, the driving mechanism 40 includes position output mechanism 41, leads
Draw piece 42, oil storage cabin 43, sliding block 44, oil cylinder 45, oil pipe 46 and piston rod 47.The position output mechanism 41 and the drawing piece
It is connected, winding can be rotated, pull or reversely unclamp the drawing piece 42.Specifically, the position output mechanism 41 is motor, rudder
Machine or linear moving mechanism.The drawing piece 42 is connected with the sliding block 44, and specifically, the drawing piece 42 is elastic drawing piece
42.The sliding block 44 is slidably disposed in the oil storage cabin 43, and the sliding block 44 coordinates with the sealing of the oil storage cabin 43.Institute
Oil cylinder 45 is stated by the oil pipe 46 to be connected with the oil storage cabin 43.The piston rod 47 is movably disposed at the oil cylinder
In 45,47 one end of the piston rod is equipped with the piston head 471 with the sealing cooperation of the oil cylinder 45, and 47 other end of the piston rod is used
It is connected in the transmission of the link mechanism 20.In this way, when the rotation winding drawing piece 42 of position output mechanism 41, drawing piece 42 drives
Sliding block 44 in oil storage cabin 43 moves, and the hydraulic oil in oil cylinder 45 is pumped to oil storage by oil pipe 46 in 44 moving process of sliding block
In storehouse 43, hydraulic oil makes 47 contractive action of piston rod, piston rod 47 that fingerstall 30, fingerstall 30 just accordingly be pulled to act on finger energy
Simulate stressing conditions of the finger in virtual environment.It, in this way can be just so as it can be seen that being connected to compressed air source unit without pipeline
It is movably walking after wearing.
Further, the drawing piece 42 includes elastic component 421 and is connected to two of 421 both ends of the elastic component
Drawstring 422.One of them described drawstring 422 is connected with the position output mechanism 41, another described drawstring 422 and the cunning
Block 44 is connected.Specifically, elastic component 421 is spring or elastic string.In addition, drawing piece 42 can also generally elastic string.In this way,
In 44 stationary state of sliding block, since elastic telescopic can occur for drawing piece 42, such position output mechanism 41 can be rotated further
Action stretches drawing piece 42, so as to realize regulation and control 43 internal pressure of oil storage cabin, just can coordinate simulate the specific appearance of finger in this way
Different size of stress under state.
Further, the feedback glove for virtual reality further includes that more than two valves 48 are propped up with more than two
Pipe 49.The oil cylinder 45, the link mechanism 20 and the fingerstall 30 are two or more.The branch pipe 49, the valve 48,
The link mechanism 20, the fingerstall 30 to the oil cylinder 45 one by one it is corresponding setting.The oil pipe 46 passes through the branch pipe 49
It is connected with the oil cylinder 45, the valve 48 is arranged on the branch pipe 49.In this way, more than two oil cylinders 45 can be respectively with two
A transmission of the above fingerstall 30 is connected, and more than two fingerstall 30 can be driven to act, and is just not necessarily to that two sets or more position outputs are arranged in this way
Mechanism 41 and oil storage cabin 43, so that structure is simplified and saves electric power.In addition, by 48 opening size of control valve come
The flow velocity for entering hydraulic oil in oil cylinder 45 is adjusted, the corresponding valve 48 that is forced through of such finger is individually controlled, no
It is different with the stress of finger, it can realize stressing conditions of the simulation finger under various postures.Specifically, valve 48 is automatically controlled
Valve 48.Oil cylinder 45, link mechanism 20, fingerstall 30, valve 48 and the quantity of branch pipe 49 can be respectively provided with according to the quantity of finger
It it is 5, the tensile machine of such Virtual Reality Force feedback glove is just capable of the stressing conditions of synchronous control 5 fingers of simulation.This
Outside, oil cylinder 45, link mechanism 20, fingerstall 30, valve 48 and the quantity of branch pipe 49 can also be disposed as 3, virtual existing in this way
The tensile machine of strength feedback glove is just capable of the stressing conditions of synchronous control 3 fingers of simulation.
Further, the ectoskeleton gloves 10 include body 11 and guide plate 12.It is led with described 11 one end of the body
It is connected to plate 12,11 other end of the body is rotatably connected with the link mechanism 20, and the body 11 is small for being set in
On arm.The position output mechanism 41, the drawing piece 42, the oil storage cabin 43 and the oil pipe 46 are installed in the guiding
In the plate face of plate 12, the oil cylinder 45 is arranged on the body 11.In this way, being oriented to through guide plate 12, hand facilitates insertion into set
It is easy to wear in body 11.Furthermore it is possible to by position output mechanism 41, drawing piece 42, oil storage cabin 43, oil pipe 46, branch pipe 49 and valve
Door 48 is attached in the plate face of guide plate 12, and oil cylinder 45 is arranged above the upper surface of body 11.In order to save 12 plate of guide plate
Space of planes, can be arranged fixed pulley 13 in 12 plate face of guide plate, and drawing piece 42 is defeated around position is separately connected after fixed pulley 13
Go out mechanism 41 and sliding block 44.
Further, referring again to Fig. 1, Fig. 2, Fig. 4 and Fig. 6, the feedback glove for virtual reality further includes
Vibration machine 50, force snesor 60, inertial navigator 70 and several gyro sensors 80.The vibration machine 50 with
The force snesor 60 is arranged on the fingerstall 30.The inertial navigator 70 and several described gyro sensors 80 divide
Cloth is on the fingerstall 30, the link mechanism 20 and the ectoskeleton gloves 10.In this way, can by adjusting vibration frequency and
Shockproofness is touched to simulate finger, can be by force snesor 60 come the stress size of finger sensing.Pass through inertial navigator
70 can detect the feedback glove place spatial position for virtual reality, pass through inertial navigator 70 and several gyroscopes
Sensor 80 can get finger gesture information and finger position information, anti-in real time to finger gesture and finger position progress
Feedback, and then realize position full closed loop control.
Further, the feedback glove for virtual reality further includes controller 90.The controller 90 is arranged
On ectoskeleton gloves 10, the controller 90 is electrically connected with the driving mechanism 40.Specifically, controller 90 respectively with valve
Door 48, position output mechanism 41 are electrically connected.
In addition, controller 90 also respectively with vibration machine 50, force snesor 60, inertial navigator 70 and gyro sensors
Device 80 is electrically connected.Controller 90 is communicated using wireless mode with host computer.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of feedback glove for virtual reality, which is characterized in that including：
Ectoskeleton gloves, the exoskeleton hand set is for being set in forearm；
Link mechanism, fingerstall, the link mechanism are rotatably connected with the ectoskeleton gloves, the link mechanism also with it is described
Fingerstall is rotatably connected；And
Driving mechanism, the driving mechanism are connected with the linkage transmission, and the driving mechanism is for driving the connecting rod
Mechanism.
2. the feedback glove according to claim 1 for virtual reality, which is characterized in that the link mechanism includes the
One rotating bar, the second rotating bar, third rotating bar, the 4th rotating bar and link assembly；First rotating bar respectively with it is described
Second rotating bar one end, third rotating bar one end are rotatably connected, the second rotating bar other end, third rotation
The bar other end is rotatably connected with the 4th rotating bar；Described 4th rotating bar one end is rotatably connected with the fingerstall,
The 4th rotating bar other end is rotatably connected with the link assembly；The link assembly also with the rotatable phase of the fingerstall
Even；First rotating bar one end is rotatably connected and has first rotating shaft, and the first rotating bar other end, which is rotatably connected,
Two shafts, and first rotating bar can carry out rotation centered on the axle center of first rotating bar；The first rotating shaft with
The driving end of the driving mechanism is rotatably connected, and second shaft is rotationally installed in the exoskeleton hand and puts on.
3. the feedback glove according to claim 2 for virtual reality, which is characterized in that the fingerstall refers to for index finger
Set, middle finger fingerstall, nameless fingerstall or little finger fingerstall；The fingerstall includes the first valve jacket being rotatablely connected successively, second
Valve jacket and third valve jacket；The link assembly includes first connecting rod, second connecting rod and third connecting rod；Described first connecting rod one end with
4th rotating bar be connected, the first connecting rod other end respectively with described second connecting rod one end, described third connecting rod one end
It is rotatable to be connected；The second connecting rod other end is rotatably connected with second valve jacket, the third connecting rod other end and institute
It states third valve jacket to be rotatably connected, the 4th rotating bar is rotatably connected with first valve jacket.
4. the feedback glove according to claim 2 for virtual reality, which is characterized in that the fingerstall refers to for thumb
Set, the fingerstall includes the 4th valve jacket and the 5th valve jacket being rotatablely connected successively；The link assembly includes fourth link；It is described
Fourth link one end is connected with the 4th rotating bar, and the 5th valve jacket is rotatably connected described in the fourth link other end；Institute
The 4th rotating bar is stated with the 4th valve jacket to be rotatably connected.
5. the feedback glove according to claim 1 for virtual reality, which is characterized in that the driving mechanism includes position
Set output mechanism, drawing piece, oil storage cabin, sliding block, oil cylinder, oil pipe and piston rod；
The position output mechanism is connected with the drawing piece, and the drawing piece is connected with the sliding block, and the sliding block is slidably
Ground is arranged in the oil storage cabin, and the sliding block coordinates with oil storage cabin sealing；
The oil cylinder is connected by the oil pipe with the oil storage cabin, and the piston rod is movably disposed at the oil cylinder
In, described piston rod one end is equipped with the piston head coordinated with the cylinder seal, and the piston rod other end is used for and the company
Linkage transmission is connected.
6. the feedback glove according to claim 5 for virtual reality, which is characterized in that the drawing piece includes elasticity
Part and two drawstrings for being connected to the elastic component both ends, one of them described drawstring and the position output mechanism phase
Even, another described drawstring is connected with the sliding block.
7. the feedback glove according to claim 5 for virtual reality, which is characterized in that further include more than two valves
With more than two branch pipes, the oil cylinder, the link mechanism and the fingerstall are two or more, the branch pipe, the valve,
The link mechanism, the fingerstall to the oil cylinder is corresponding one by one is arranged, the oil pipe passes through the branch pipe and the oil cylinder
It is connected, the valve is arranged on the branch pipe.
8. the feedback glove according to claim 5 for virtual reality, which is characterized in that the ectoskeleton gloves include
Body and guide plate, described body one end are connected with the guide plate, and the body other end and the link mechanism are rotatable
It is connected, the body is for being set in forearm；The position output mechanism, the drawing piece, the oil storage cabin and the oil
Guan Jun is installed in the plate face of the guide plate, and the oil cylinder is arranged on the body.
9. the feedback glove according to claim 1 for virtual reality, which is characterized in that further include vibration machine,
Force snesor, inertial navigator and several gyro sensors, the vibration machine are arranged in institute with the force snesor
It states on fingerstall；The inertial navigator and several described gyro sensors be distributed in the fingerstall, the link mechanism and
The exoskeleton hand is put on.
10. the feedback glove for virtual reality according to claim 1 to 9 any one, which is characterized in that further include
Controller, the controller are arranged on ectoskeleton gloves, and the controller is electrically connected with the driving mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810415221.3A CN108646916B (en) | 2018-05-03 | 2018-05-03 | Feedback glove for virtual reality |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810415221.3A CN108646916B (en) | 2018-05-03 | 2018-05-03 | Feedback glove for virtual reality |
Publications (2)
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110196637A (en) * | 2019-05-15 | 2019-09-03 | 北京航空航天大学 | A kind of activity supporting point lever variation rigidity mechanism and singly refer to force feedback gloves |
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