CN109407849A - Hand motion acquisition equipment with force feedback - Google Patents
Hand motion acquisition equipment with force feedback Download PDFInfo
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- CN109407849A CN109407849A CN201811296950.8A CN201811296950A CN109407849A CN 109407849 A CN109407849 A CN 109407849A CN 201811296950 A CN201811296950 A CN 201811296950A CN 109407849 A CN109407849 A CN 109407849A
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- connecting rod
- force feedback
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- thumb
- pedestal
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- 230000033001 locomotion Effects 0.000 title claims abstract description 72
- 230000007246 mechanism Effects 0.000 claims abstract description 76
- 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 abstract description 54
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 210000003813 thumb Anatomy 0.000 claims description 57
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- 230000001939 inductive effect Effects 0.000 claims description 19
- 238000004891 communication Methods 0.000 claims description 4
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- 230000005540 biological transmission Effects 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 210000004932 little finger Anatomy 0.000 description 2
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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
-
- 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
Abstract
This application involves a kind of hand motion acquisition equipment with force feedback, comprising: pedestal, the device for force feedback being connect with pedestal, the link mechanism being connect with device for force feedback and the fixation kit for link mechanism and pedestal to be fixed on to hand；Device for force feedback includes driving mechanism and first connecting rod, and the first end of first connecting rod is connect with driving mechanism, and the second end of first connecting rod is flexibly connected with link mechanism；Angle sensor device assembly, angle sensor device assembly are configured as detecting the rotation angle of link mechanism or device for force feedback relative to the rotation angle of pedestal and generate detection signal；And control circuit, control circuit is electrically connected to angle sensor device assembly and driving mechanism, it is configured as the detection signal of angular transducer being sent to host computer, and the one or more control signal control driving mechanisms sent according to host computer can finely control the size and location of force feedback to first connecting rod output position and feedback of corresponding size.
Description
Technical field
This application involves movement capture and force feedback technique fields, more particularly to a kind of hand motion with force feedback
Acquisition equipment.
Background technique
In the scene of virtual reality, in order to enhance perception of the user to virtual world, it can usually be applied to hand motion
Capture technique and force feedback technique.
Currently, all there are many different schemes for hand motion capture technique and force feedback technique.For example, common hand motion
Capture scheme has computer vision motion capture, inertia detection unit (Inertial measurement unit, IMU) movement
Capture, bending sensor motion capture etc.；Common force feedback technique also has electric disc stay-supported, linear motor direct-driven formula etc..
In terms of force feedback, some devices with force feedback are had existed in the market, for example, a kind of device with force feedback is curved
Bent sensor glove can by the pull of the rotation control steel wire of electric disc, by the withdrawal tape movable pulley of steel wire to finger tip into
Row pulls, and realizes force feedback.Academia also once attempts to connect one group of push and pull system by linear motor, is driven and is connected by linear motor
Lever system directly pushes and pulls finger tip, realizes force feedback.
But in the scheme of above-mentioned force feedback, the feedback force provided be only with and without difference, isochrone driving etc. schemes
It will cause miniaturization and portability that bigger system delay and its enormousness occupied seriously affect product, thus
It cannot achieve finer force feedback and better usage experience.
Summary of the invention
Based on this, it is necessary in view of the above technical problems, provide the light precise controlling for being able to achieve force feedback of one kind
Hand motion acquisition equipment with force feedback.
A kind of hand motion acquisition equipment with force feedback, comprising: pedestal, the force feedback being connect with pedestal dress
The link mechanism that set, is connect with the device for force feedback and for the link mechanism and pedestal to be fixed on consolidating for hand
Determine component；
The device for force feedback includes driving mechanism and first connecting rod, the first end of the first connecting rod and the driving
Mechanism connection, the second end of the first connecting rod are flexibly connected with the link mechanism；
Angle sensor device assembly, the angle sensor device assembly be configured as detecting the rotation angle of the link mechanism or
The device for force feedback relative to the pedestal rotation angle and generate detection signal；With
Control circuit, the control circuit are electrically connected to the angle sensor device assembly and the driving mechanism, are configured
For the detection signal of the angular transducer is sent to host computer, and the one or more controls sent according to the host computer
Signal controls the driving mechanism to the first connecting rod output position and feedback of corresponding size.
The control circuit includes first processor and second processor in one of the embodiments, at described first
Reason device is set to the pedestal, and the second processor is electrically connected to first processor, and the second processor is configured as root
According to the control instruction of the first processor, the driving mechanism is controlled to the first connecting rod output position and correspondingly sized
Feedback.
The driving mechanism includes motor in one of the embodiments, and the first of the motor and the first connecting rod
End connection.
The driving mechanism further includes gearbox in one of the embodiments,；The gearbox respectively with the motor
It is connected with the first end of the first connecting rod.
The angle sensor device assembly includes thumb inductive pick-up component and at least one set in one of the embodiments,
Non- thumb inductive pick-up component, the device for force feedback include thumb device for force feedback and at least one non-thumb force feedback dress
It sets；The thumb inductive pick-up component and the non-thumb inductive pick-up component include multiple rotation sensors, described
Thumb device for force feedback and the non-thumb device for force feedback include at least one force feedback module.
The thumb inductive pick-up component includes connecting respectively with the control circuit in one of the embodiments,
First rotation sensor, the second rotation sensor and third rotation sensor, the third rotation sensor are mounted on the bottom
On seat, first rotation sensor is arranged in the thumb device for force feedback, and first rotation sensor with it is described
The first end of first connecting rod in thumb device for force feedback connects；Second rotation sensor is rotated with described first respectively
Sensor is connected with the third rotation sensor, and the axis of first rotation sensor and second rotation sensor
Axis between angle degree within the scope of preset first angle, the axis of second rotation sensor and the third
Angle degree between the axis of rotation sensor is within the scope of the first angle；
Each non-thumb inductive pick-up component includes the 4th rotation being electrically connected to the control circuit respectively
Sensor and the 5th rotation sensor, the 4th rotation sensor are arranged at corresponding described four and refer in device for force feedback,
And the 4th rotation sensor is connect with the first end of the first connecting rod in the non-thumb device for force feedback；Described 5th
Rotation sensor is respectively mounted on the base, the axis of the 4th rotation sensor and the axis of the 5th rotation sensor
Angle degree between line is within the scope of the first angle, and the angle between the axis of four the 5th rotation sensors
Degree is within the scope of preset second angle, between the axis of four the 5th rotation sensors and the bottom surface of the pedestal
Angle degree is within the scope of the first angle.
The link mechanism includes the straight-bar of adjustable length in one of the embodiments, and, adjustable length or can
The special-shaped connecting rod of shape is replaced, in the special-shaped connecting rod, one end of the straight-bar is provided with for the fixation kit setting
Structure is adjusted, the second end of the first connecting rod is connect with the adjustment structure, the other end of the straight-bar and the abnormity
Connecting rod is flexibly connected.
Described device further includes the telescopic stretching structure of length in one of the embodiments,；The stretching structure
One end is connect with the device for force feedback, and the other end of the stretching structure is connect with the link mechanism.
The stretching structure includes second connecting rod, third connecting rod, connecting rob bushing and screw in one of the embodiments,；
One end of the second connecting rod is connect with the device for force feedback, and the other end of the second connecting rod and the connecting rob bushing connect
It connects；One end of the third connecting rod is connect with the link mechanism, and the other end of the third connecting rod protrudes into the connecting rob bushing,
The screw is connect the third with the screw hole of the other end of the third connecting rod by the aperture on the connecting rob bushing and connected
Bar and the connecting rob bushing.
Described device further includes the external accessory connecting with the pedestal in one of the embodiments, and the outside is attached
Part includes at least one of touch screen, control stick, button, tracker and driver plate.
The external accessory is electrically connected with the pedestal in one of the embodiments,.
The external accessory is detachably connected with the pedestal by annex connecting structure in one of the embodiments,
The annex connecting structure includes sliding slot, the sliding block connecting rod and screw that can slide into the sliding slot, and the sliding slot is arranged described
On pedestal；The screw is used to fix the sliding block connecting rod in one end of sliding block connecting rod slide-in sliding slot
On the base, the other end with the external accessory of the sliding block connecting rod are detachably connected.
The first processor includes wireless communication module in one of the embodiments,.
Power supply device is additionally provided in the pedestal in one of the embodiments,.
The power supply device includes battery in one of the embodiments,.
The fixation kit includes palmar fixing device and device for fixing finger in one of the embodiments,.
The palmar fixing device is strap configurations, glove structure, finger nested structure or hand in one of the embodiments,
Ring structure.
The finger fixation kit is band structure or fingerstall structure in one of the embodiments,.
Hand motion acquisition equipment provided by the embodiments of the present application with force feedback, angle sensor device assembly are available
The rotation angle of link mechanism or device for force feedback relative to pedestal rotation angle and generate detection signal, will test signal feedback
To control circuit, control circuit will test signal and be sent to host computer, and host computer sends to control circuit according to detection signal and controls
System instruction, control circuit can control driving mechanism to first connecting rod output position and corresponding according to the control instruction of host computer
The feedback of size, that is, the position for the control feedback force that control circuit can be finer and size.The band of the application is strong anti-
The hand motion acquisition equipment of feedback, can either realize the motion capture of human body corresponding site, and realize fine force feedback simultaneously,
Force feedback function and motion capture collaborative share angle sensor device assembly are allowed in structure design, realize movement capture and force feedback
Be combined into one.It is smaller in customized device for force feedback volume in the embodiment of the present application, performance is more superior, delay is lower, match
The motor control algorithms for closing control circuit, may be implemented the output of flexible variable torque, simulate the different hardness of object, give user
More true sense of touch experience.Moreover, the product more one of the hand motion acquisition equipment provided in this embodiment with force feedback
Body, overall structure is more stable, realizes lighter wearing experience.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the hand motion acquisition equipment with force feedback provided by the embodiments of the present application；
Fig. 1 a is the structural representation of another hand motion acquisition equipment with force feedback provided by the embodiments of the present application
Figure；
Fig. 1 b is that a kind of partial structurtes of the hand motion acquisition equipment with force feedback provided by the embodiments of the present application are shown
It is intended to；
Fig. 2 is a kind of structural representation for hand motion acquisition equipment with force feedback that another embodiment of the application provides
Figure；
Fig. 3 is a kind of partial structurtes signal of hand motion acquisition equipment with force feedback provided by the embodiments of the present application
Figure；
Fig. 4 is that the partial structurtes of another hand motion acquisition equipment with force feedback provided by the embodiments of the present application are shown
It is intended to；
Fig. 5 is a kind of angular transducer group of the hand motion acquisition equipment with force feedback provided by the embodiments of the present application
The side view of part；
Fig. 6 is respectively a kind of angle sensor of hand motion acquisition equipment with force feedback provided by the embodiments of the present application
The top view of device assembly；
Fig. 7 is that the partial structurtes of another hand motion acquisition equipment with force feedback provided by the embodiments of the present application are shown
It is intended to；
Fig. 8 is a kind of structural representation for hand motion acquisition equipment with force feedback that another embodiment of the application provides
Figure；
Fig. 9 a- Fig. 9 d is a kind of office for hand motion acquisition equipment with force feedback that another embodiment of the application provides
Portion's structural schematic diagram；
Figure 10 a- Figure 10 c is a kind of stretching structure schematic diagram that one embodiment of the application provides.
Description of symbols:
1: pedestal；
2: device for force feedback；
21: driving mechanism；
211: motor；
212: gearbox；
22: first connecting rod；
3: link mechanism；
31: straight-bar；
32: special-shaped connecting rod；
4: fixation kit；
41: palmar fixing device；
42: device for fixing finger；
51: first processor；
511: wireless communication module；
52: second processor；
61: thumb device for force feedback；
62: non-thumb device for force feedback；
71: the first rotation sensors；
72: the second rotation sensors；
73: third rotation sensor；
74: the four rotation sensors；
75: the five rotation sensors；
8: external accessory；
81: control stick；
82: button；
91: sliding slot；
92: sliding block connecting rod；
93: screw；
94: sealing sliding block；
101: second connecting rod；
102: third connecting rod；
103: connecting rob bushing；
104: screw；
105: aperture；
106: screw hole.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not
For limiting the application.
The hand motion acquisition equipment with force feedback of the application can provide adjustable continuous force in user hand finger tip
Feedback, to simulate the shape and rigidity of dummy object, this can be used for robot control, Mechanical course and game etc..
It is used in some remote operation scenes perhaps virtual reality scenario in order to capture the hand motion of user or increase
The true sense of touch at family can use the hand motion acquisition equipment with force feedback.For example, that the band can be used is strong anti-by user
The hand motion acquisition equipment of feedback manipulates the robot bomb disposal outside one kilometer of user, the hand that user passes through movement oneself
The hand for carrying out remote control robot goes to grab and removes explosives.Catching object part in a flash, band force feedback
Hand motion acquisition equipment can to user apply feedback force so that user generate hold sense, can it is finer understanding grab
The part status of object is held, to assist completing the task of safety dismantling explosives.Alternatively, user can lead to when playing game
The both hands that head-mounted display sees oneself in virtual world are crossed, increase faces existing sense, dummy object is grabbed in virtual world
When, when the coordinate of finger is overlapped with the three-dimensional coordinate for being crawled object, host computer can give the hand motion with force feedback
Acquisition equipment sends instruction, so that the hand motion acquisition equipment with force feedback applies feedback force to the hand of user, so that
It is general that user seemingly really holds real-world object in real world.
Fig. 1 is a kind of structural schematic diagram of the hand motion acquisition equipment with force feedback provided by the embodiments of the present application.
Fig. 1 a is the structural schematic diagram of another hand motion acquisition equipment with force feedback provided by the embodiments of the present application, and Fig. 1 b is
The partial structural diagram of a kind of hand motion acquisition equipment with force feedback provided by the embodiments of the present application, such as Fig. 1 and figure
Shown in 1a, which includes pedestal 1, the device for force feedback connecting with pedestal 12 and power
The link mechanism 3 that feedback device 2 connects and the fixation kit 4 for link mechanism 3 and pedestal 1 to be fixed on to hand；Such as figure
Shown in 1b, device for force feedback 2 includes driving mechanism 21 and first connecting rod 22, the first end and driving mechanism 21 of first connecting rod 22
Connection, the second end of first connecting rod 22 are flexibly connected with link mechanism 3；Angle sensor device assembly, angle sensor device assembly quilt
It is configured to detect the rotation angle of link mechanism or device for force feedback relative to the rotation angle of pedestal and generates detection signal；And control
Circuit processed, control circuit are electrically connected to angle sensor device assembly and driving mechanism 21, are configured as the detection of angular transducer
Signal is sent to host computer, and controls driving mechanism 21 to first connecting rod according to one or more control signals that host computer is sent
Export 22 positions and feedback of corresponding size.
In the present embodiment, device for force feedback 2 can be flexibly connected by modes such as connecting rod, hinge, bearings with pedestal 1,
Device for force feedback 2 includes driving mechanism 21 and first connecting rod 22, wherein driving mechanism 21 can be the structures such as motor, transmission device
At for providing the mechanism of driving force, driving mechanism 21 can be exported to first connecting rod 22 under the control of the control circuit to be fed back
Position and different size, different directions and continuous feedback, feedback force is acted on into user's hand to realize.Wherein, should
Feedback can be stiffness feedback, vibrational feedback, temperature feedback, touch feedback etc..By taking damping feedback as an example, when the rigidity of object
When higher, control circuit controls the position that device for force feedback 2 exports high torque and torque；When the rigidity of object is lower, control
Circuit control device for force feedback 2 processed exports the position of low torque and torque, so that the hand of user stops at the position of output
Only, and by different size of torque experience the rigidity and shape of object.The hand motion acquisition equipment with force feedback is whole
It may include multiple device for force feedback 2, for example, one or more device for force feedback 2 are arranged to thumb, refer to setting one to other four
A or multiple device for force feedback 2, alternatively, one or more device for force feedback 2 can also be respectively set to each finger.
The above-mentioned rotation angle that can detecte link mechanism with angle sensor device assembly or the opposite pedestal of device for force feedback
Rotation angle simultaneously generates detection signal, which is hand motion signal, and collected mobile phone action signal is returned
To control circuit.Angle sensor device assembly may include multiple rotation sensors, can be specifically arranged according to the freedom degree of finger
The number of rotation sensor in angular transducer device assembly, for example, the freedom degree of thumb is set as 3, then the corresponding angle of thumb
Sensor module includes 3 rotation sensors, and the freedom degree that residue four refers to is disposed as 2, then index finger, middle finger, the third finger, small thumb
Refer to that corresponding angle sensor device assembly includes 2 rotation sensors, alternatively, the freedom degree of thumb is set as 4, then thumb is corresponding
Angle sensor device assembly include 4 rotation sensors, the freedom degrees that residue four refers to are disposed as 3, then index finger, middle finger, unknown
Refer to, the corresponding angle sensor device assembly of little finger includes 3 rotation sensors, but is not limited thereto in the application.Wherein,
Any angles such as potentiometer, Hall angular transducer, Non-contact Magnetic angular transducer, encoder can be used in rotation sensor
Sensor.
In the present embodiment, control circuit is equivalent to the control system of the hand motion acquisition equipment with force feedback, should
Control circuit can be communicated with host computer, send the hand motion signal that angle sensor device assembly acquires to host computer, can be with
Receive host computer send host computer instruction, according to host computer instruct in object rigidity, control driving 21 mechanisms to first connect
22 output position of bar and feedback of corresponding size.Host computer can be computer, mobile phone, game machine, server, computer equipment
Deng.
Hand motion capture had not only may be implemented in hand motion acquisition equipment provided in this embodiment with force feedback, but also can
To provide force feedback, realization principle is as follows: the rotation angle or force feedback of the available link mechanism of angle sensor device assembly
Device relative to pedestal rotation angle and generate detection signal, will test signal and feed back to control circuit, control circuit will test
Signal is sent to host computer, host computer according to the detection signal reconstruction hand model, and establish each finger tip and the back of the hand it
Between relative coordinate relationship the hand model of reconstruction is mapped on hand, then by virtual portrait by the relative coordinate relationship
Start the collision detection for carrying out object interaction and physical state judges.When the hand and target object that detect virtual portrait occur
When collision, for example, the corresponding physical state of the dummy object is judged when the hand of virtual portrait catches some dummy object,
Calculate the direction vector and size of the feedback force that should actually generate according to physical state, and by the direction vector and size
It is sent to control circuit, control circuit is according to the position of the corresponding feedback force of each finger, direction vector and size, control driving
Mechanism is to the position of first connecting rod output feedback, the feedback in respective vectors direction and size, so that first connecting rod and link mechanism
Can in the specific period, at a particular angle, specifically feedback carry out power simulation so that the corresponding site of user's body
Specific position is rested on, the stiffness that user can exert oneself that driving mechanism is overcome to export by the corresponding site of body feeds back, shakes
Dynamic feedback, temperature feedback, touch feedback etc. feel rigidity, temperature, sense of touch of object etc..For example, when people is grabbing an object
When body, true user's hand can not hold this object, but can make the adhered shape of user's hand by force feedback
The state of object, and allow user to perceive the rigidity and shape of object by different size of dynamics, it makes one to generate and grab
The firmly illusion of object.
Hand motion acquisition equipment provided by the embodiments of the present application with force feedback, angle sensor device assembly are available
The rotation angle of link mechanism or device for force feedback relative to pedestal rotation angle and generate detection signal, will test signal feedback
To control circuit, control circuit will test signal and be sent to host computer, and host computer sends to control circuit according to detection signal and controls
System instruction, control circuit can control the big of the feedback force that driving mechanism is exported to first connecting rod according to the control instruction of host computer
Small and position, that is, the position of the size for the control feedback force that control circuit can be finer and feedback force.The band of the application
The hand motion acquisition equipment of force feedback, can either realize hand motion capture, and realize fine force feedback simultaneously, tie
Structure design allows force feedback function and motion capture collaborative share angle sensor device assembly, realizes the conjunction of movement capture and force feedback
Two be one.It is smaller in customized device for force feedback volume in the embodiment of the present application, performance is more superior, delay is lower, cooperation control
The output of flexible variable torque may be implemented in the motor control algorithms of circuit processed, simulates the different hardness of object, more to user
True sense of touch experience.Moreover, the product of the hand motion acquisition equipment provided in this embodiment with force feedback is more integrated,
Overall structure is more stable, realizes lighter wearing experience.
Top mounting subassembly 4 shown in Fig. 1 is used to pedestal 1 and link mechanism 3 being fixed on hand, optionally, such as Fig. 1 b
With shown in Fig. 2, which may include for the palmar fixing device 41 of firm banking and for fixing link mechanism 3
Device for fixing finger 42.Palmar fixing device 41 can be strap configurations, glove structure, finger nested structure or Bracelet structure etc..
For example, the palmar fixing device 41 can be but not limited to nylon bandage, it is also possible to any shape, the compound people of any material
The wearing of body engineering designs.Optionally, finger fixation kit 42 is band structure or fingerstall structure, for example, finger fixation kit
42 can be but not limited to nylon cable tie and finger-stall, be also possible to silica gel/plastic cement fingerstall, or arbitrarily can be used to fixed finger
Mechanical mechanism.For example, finger fixation kit 42 can be include velcro fastener nylon cable tie formula wearing mode, pass through Buddhist nun
Imperial hasp is fixed on finger tip；The finger-stall by different size and unlike material, make user by a human finger size come
Select the finger-stall needed for it.
Fig. 3 is a kind of partial structurtes signal of hand motion acquisition equipment with force feedback provided by the embodiments of the present application
Figure.As shown in Figures 2 and 3, control circuit includes first processor 51 and second processor 52, and first processor 51 is set to bottom
Seat 1, second processor 52 is electrically connected to first processor 51, and second processor 52 is configured as the control according to first processor 52
System instruction, control driving mechanism 21 export 22 torques of corresponding size to first connecting rod.Optionally, second processor 52 can be set
It sets on pedestal 1, second processor 52 also can be set in device for force feedback 2, without restriction in the present embodiment.
In the present embodiment, two processors can be set in control circuit, first processor 51 is set in pedestal 1,
First processor is communicated with host computer, the collected hand motion signal of angular transducer is sent to host computer, and will
The control instruction that host computer returns is parsed, and is sent to second processor 52, second processor 52 is according to first processor 51
Control instruction, control driving mechanism 21 to first connecting rod output 22 feedback position and feedback of corresponding size.For example, first
It includes object rigidity in host computer instruction that processor 51, which receives, and first processor 51 calculates each finger according to object rigidimeter
Corresponding feedback force size, angles and positions, and the corresponding feedback force size of each finger and angle are sent to corresponding
Two processors 52, second processor 52 export corresponding torque and torque position according to feedback force size and angle control driving mechanism
It sets.
Optionally, as shown in Fig. 2, first processor 51 includes wireless communication module 511, wireless control may be implemented, more
Add and facilitate utilization, which can be any module for carrying out wireless data transmission, including but not limited to bluetooth mould
Block, radio frequency (NRF) module, Wireless Fidelity (Wireless-Fidelity, Wi-Fi) module, 2G module, infrared module, 3G mould
Block, 4G module etc..
Hand motion acquisition equipment provided in this embodiment with force feedback, control circuit include 51 He of first processor
Second processor 52, first processor is communicated with host computer, and the collected hand motion signal of angular transducer is sent
It is parsed to host computer, and by the control instruction that host computer returns, is sent to second processor 52,52 basis of second processor
The control instruction of first processor 51, control driving mechanism 21 export the position of 22 torques and torque of corresponding size to first connecting rod
It sets, two processors undertake certain function respectively, control precision can be improved, also, two processors form modularization and set
Meter, facilitates maintenance, management and heat dissipation.
Fig. 4 is that the partial structurtes of another hand motion acquisition equipment with force feedback provided by the embodiments of the present application are shown
It is intended to.As shown in Figure 3 and Figure 4, optionally, driving mechanism includes motor 211, the first end company of motor 211 and first connecting rod
It connects.
Wherein, motor 211 can be brushed DC motor, hollow-cup motor, brushless motor, gear motor etc..Optionally,
Driving mechanism can also include gearbox 212, and gearbox 212 is connect with the first end of motor 211 and first connecting rod respectively, become
Fast case 212 can be using driving methods such as worm screw, umbrella ruler, gears.
In the present embodiment, by taking gear motor as an example, the power that device for force feedback 2 can provide continuous adjustable section is anti-
Feedback, second processor 52 control motor rotation and feedback output by controlling the electric current of motor 211.For example, working as object rigidity
Gao Shi, second processor 52 input high current to motor 211, so that motor 211 is exported by gearbox 212 to first connecting rod 22
User's hand is rested on specific position by high torque and same level.When object rigidity is low, second processor 52 is to motor
211 input low currents, so that motor 211 exports low torque and same level, Yong Huke to first connecting rod 22 by gearbox 212
It exerts oneself to feel the rigidity of dummy object the torque and same level that overcome motor to export with the corresponding site by body.
Fig. 5 is a kind of angular transducer group of the hand motion acquisition equipment with force feedback provided by the embodiments of the present application
The side view of part, Fig. 6 are respectively a kind of angle of hand motion acquisition equipment with force feedback provided by the embodiments of the present application
The top view of sensor module.Angle sensor device assembly includes that thumb inductive pick-up component and at least one set of non-thumb induction pass
Sensor component, as shown in Fig. 2, device for force feedback includes thumb device for force feedback 61 and at least one non-thumb device for force feedback
62；Thumb inductive pick-up component and non-thumb inductive pick-up component include multiple rotation sensors, thumb force feedback dress
Setting with non-thumb device for force feedback includes at least one force feedback module.Wherein, each force feedback module may include driving
Mechanism 21 and first connecting rod 22.
Optionally, as shown in Figure 5 and Figure 6, thumb inductive pick-up component includes first connected to the control circuit respectively
Rotation sensor 71, the second rotation sensor 72 and third rotation sensor 73, third rotation sensor 73 are mounted on pedestal 1
On, the first rotation sensor 71 is arranged in thumb device for force feedback 61, and the first rotation sensor 71 is filled with thumb force feedback
Set the first end connection of the first connecting rod in 61；Second rotation sensor 72 is revolved with the first rotation sensor 71 and third respectively
Turn the connection of sensor 73, and the angle degree between the axis of the first rotation sensor 71 and the axis of the second rotation sensor 72
Angle within the scope of preset first angle, between the axis of the second rotation sensor and the axis of third rotation sensor 73
Degree is within the scope of first angle；Each non-thumb inductive pick-up component includes the 4 be electrically connected respectively with control circuit
Rotation sensor 74 and the 5th rotation sensor 75, the 4th rotation sensor 74 are arranged at corresponding non-thumb device for force feedback
In 62, and the 4th rotation sensor 74 is connect with the first end of the first connecting rod in non-thumb device for force feedback 62；5th rotation
Turn sensor 75 to be installed on pedestal 1, between the axis of the 4th rotation sensor 74 and the axis of the 5th rotation sensor 75
Angle degree within the scope of first angle, and the angle degree between the axis of four the 5th rotation sensors 75 is preset
Within the scope of second angle, the angle degree between the axis of four the 5th rotation sensors 75 and the bottom surface of pedestal 1 is at first jiao
It spends in range.
In the present embodiment, since the ectoskeleton structure of thumb is relatively special, thumb is provided with 3 rotation sensors, the
One rotation sensor 71, the second rotation sensor 72, the axis of third rotation sensor 73 are orthogonal two-by-two, divide in space
Not along three different directions.Index finger, middle finger, the third finger and little finger are respectively arranged 2 rotation sensors, and third rotation passes
Non- thumb inductive pick-up component is connected by sensor 73 with thumb inductive pick-up component, and all rotation sensors are all connected with
To control circuit.Each rotation sensor can be connected with control circuit by electric wire, be also possible to be wirelessly connected.Each rotation
The rotation angle or device for force feedback that sensor can acquire link mechanism in real time have obtained hand relative to the rotation angle of pedestal
Hand motion signal is fed back to control circuit by portion's action signal, then by control circuit is sent to hand motion signal upper
Machine carries out hand modeling.Optionally, above-mentioned each rotation sensor is the rotation sensor of absolute position, is carrying out hand motion
When capture, due to using the rotation sensor of absolute position, without cumbersome calibration, and it is used for a long time and will not generates
Data-bias greatly improves the stability and reading accuracy used.The movement of Three Degree Of Freedom used by thumb captures, more
The precisely careful fractionation movement for capturing thumb.
It should be noted that first angle range and second angle range can be those skilled in the art according to practical need
Seek the angular range of setting, for example, first angle may range from 70 °~110 °, second angle may range from -20 °~
It 20 °, is not limited in the application.
Optionally, more rotation sensors and device for force feedback can also be respectively set referring to thumb and four, for example,
Rotation sensor or device for force feedback can be set in the link position in link mechanism, then thumb may include that 4 rotations pass
Sensor and 2 device for force feedback, other four refer to respectively may include 3 rotation sensors and 2 device for force feedback, in the application not
As limit.
Optionally, as shown in fig. 7, link mechanism 3 includes that the straight-bar 31 of adjustable length and the abnormity of adjustable length connect
Extension bar 32, fixation kit 4 are arranged in special-shaped connecting rod 32, and one end of straight-bar 31 is provided with adjustment structure, and the of first connecting rod
Two ends are connect with adjustment structure, and the other end of straight-bar 31 is flexibly connected with special-shaped connecting rod 32.Wherein, which can be with
For sliding slot, elastic material, foldable structure, connect-disconnect structure, latch locking structure etc..
In the present embodiment, first connecting rod 22 is connected to special-shaped connecting rod 32 by adjusting structure, and straight-bar 31 and abnormity are even
Extension bar 32 can be connected by articulate, and fixation kit 4 can be by docking bolt and special-shaped connecting rod 32 at being flexibly connected.
The abnormity connecting rod 32 can be the Special shaped connecting rod of arbitrary shape, as long as can connect finger tip and first connecting rod.It is optional
The length of ground, straight-bar 31 and special-shaped connecting rod 32 can by the modes such as sliding slot, renewal part, more conversion materials, replacement structure into
Row is adjusted, this device can be adapted to different size of finger length and hand size by length.
Optionally, as shown in figure 8, the hand motion acquisition equipment with force feedback further includes the outside connecting with pedestal
Attachment 8, external accessory 8 include at least one of control stick 81, button 82, tracker, touch tablet and driver plate.The device may be used also
To add one or more buttons, driver plate, distant bar or other users control again.These external accessories can be attached to pedestal 1, or
The position of person, these external accessories can be arbitrary.For example, external accessory is between thumb and index finger, it can be in fixation
When to pedestal, one or more buttons and control stick are connected.However, these buttons and control stick can also be added to ectoskeleton
On any position.Meanwhile the external accessories such as button, control stick can provide the inputs such as position, angle rotation or key.
Optionally, external accessory 8 is electrically connected with pedestal 1.External accessory can be rigid connection between pedestal, outside
Department enclosure can be communicated between pedestal.
Optionally, as shown in Fig. 9 a-9d, external accessory 8 is detachably connected with pedestal 1 by annex connecting structure, attachment
Connection structure includes sliding slot 91, the sliding block connecting rod 92 and screw 93 that can slide into sliding slot 91, and sliding slot 91 is arranged on pedestal 1；Spiral shell
Silk 93 is for when one end of sliding block connecting rod 92 slides into sliding slot 91, sliding block connecting rod 92 to be fixed on pedestal 1, sliding block connection
The other end of bar 92 is detachably connected with external accessory 8.Optionally, annex connecting structure can also include sealing sliding block 94, when
When not needing external accessory, sealing sliding block 94 is slid into sliding slot 91, when needing to connect external accessory, will seal sliding block 94 first
It is skidded off from sliding slot 91, sliding block connecting rod 92 is then slid into sliding slot 91, it is fixed with screw 93, finally connect as needed in sliding block
Extension bar (1) end connects different external accessories 8.
In the present embodiment, control stick, button, touch tablet can also be increased in the hand motion acquisition equipment with force feedback
Control stick, button, tracker, touch can also be passed through other than the input mode of the five fingers is provided with external accessories such as driver plates
The external accessories such as plate and driver plate provide new input method to host computers such as computer, mobile phones, can be reversed compatible traditional handle,
The control modes such as driver plate, button.
In particular, increase tracker on the hand motion acquisition equipment with force feedback, tracker can be for power
The hand motion acquisition equipment of feedback provides position and angle in space.Optionally, tracker can rigidly connect with pedestal 1
It connects, tracker is also possible to be electrically connected with pedestal 1, and tracker is dynamic for the hand with force feedback by wireless or wired mode
Make acquisition equipment provide position in space and angle, for example, tracker can position machine directly up wirelessly
The location information and angle information of the device in space are sent, alternatively, tracker can also be by wired mode or wireless
Mode sends the location information and angle information of the device in space to first processor 51, then should by first processor 51
Device location information in space and angle information are sent to host computer.
In the present embodiment, increase tracker in the hand motion acquisition equipment with force feedback, in addition to providing the defeated of the five fingers
Enter except mode, new input method can also be provided to host computers such as computer, mobile phones by tracker, can be reversed compatible biography
The control modes such as handle, the driver plate of system.
In one of the embodiments, as shown in Figure 10 a-10c, which further includes the telescopic stretching structure of length；
One end of stretching structure is connect with device for force feedback, and the other end of stretching structure is connect with link mechanism.In power in the present embodiment
Telescoping mechanism is increased between feedback device and link mechanism, the length of stretching structure can be adjusted according to the hand size of user
Select most suitable, user's finger is longer, can suitably extend stretching structure, vice versa.
Optionally, stretching structure includes second connecting rod 101, third connecting rod 102, connecting rob bushing 103 and screw 104；Second
One end of connecting rod 101 is connect with device for force feedback 2, and 101 other ends of second connecting rod are connect with connecting rob bushing 103；Third connecting rod
102 one end is connect with link mechanism, and the other end of third connecting rod 102 protrudes into connecting rob bushing 103, and screw 104 is served as a contrast by connecting rod
Aperture 105 on set 103 connect third connecting rod 102 and connecting rob bushing 103 with the screw hole 106 of the other end of third connecting rod 102.
In the present embodiment, there is wavy aperture 105 on connecting rob bushing 103, also has in the end of third connecting rod 102 and be equipped with list
Screw 104 is squeezed into wavy aperture 105 and third connecting rod 102 after determining length according to hand-type by a screw hole 106
In the screw hole 106 of the other end, third connecting rod 102 and connecting rob bushing 103 are locked.
Optionally, power supply device is additionally provided in pedestal 1, power supply device is used for as the hand motion capture with force feedback
The power devices such as first processor, second processor, each rotation sensor, motor in device provide electric energy, to guarantee to have
The hand motion acquisition equipment of force feedback runs well.The power supply device may include battery, can also include cable power, nothing
Line power supply, wireless charging device etc..
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The several embodiments of the application 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 concept of this application, various modifications and improvements can be made, these belong to the protection of the application
Range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (18)
1. a kind of hand motion acquisition equipment with force feedback characterized by comprising pedestal is connect with the pedestal
Device for force feedback, the link mechanism being connect with the device for force feedback and for the link mechanism and pedestal to be fixed on
The fixation kit of hand；
The device for force feedback includes driving mechanism and first connecting rod, the first end of the first connecting rod and the driving mechanism
Connection, the second end of the first connecting rod are flexibly connected with the link mechanism；
Angle sensor device assembly, the angle sensor device assembly are configured as detecting the rotation angle or described of the link mechanism
Device for force feedback relative to the pedestal rotation angle and generate detection signal；With
Control circuit, the control circuit are electrically connected to the angle sensor device assembly and the driving mechanism, be configured as by
The detection signal of the angular transducer is sent to host computer, and the one or more control signals sent according to the host computer
The driving mechanism is controlled to the first connecting rod output position and feedback of corresponding size.
2. the apparatus according to claim 1, which is characterized in that the control circuit includes first processor and second processing
Device, the first processor are set to the pedestal, and the second processor is electrically connected to first processor, the second processing
Device is configured as the control instruction according to the first processor, controls the driving mechanism to the first connecting rod output position
And feedback of corresponding size.
3. the apparatus according to claim 1, which is characterized in that the driving mechanism includes motor, the motor with it is described
The first end of first connecting rod connects.
4. device according to claim 3, which is characterized in that the driving mechanism further includes gearbox；The gearbox
It is connect respectively with the first end of the motor and the first connecting rod.
5. device according to claim 1-4, which is characterized in that the angle sensor device assembly includes thumb sense
Inductive sensing device assembly and at least one set of non-thumb inductive pick-up component, the device for force feedback include thumb device for force feedback and
At least one non-thumb device for force feedback；The thumb inductive pick-up component and the non-thumb inductive pick-up component wrap
Multiple rotation sensors are included, the thumb device for force feedback and the non-thumb device for force feedback include at least one force feedback
Module.
6. device according to claim 5, which is characterized in that the thumb inductive pick-up component include respectively with it is described
The first rotation sensor, the second rotation sensor and the third rotation sensor of control circuit connection, the third rotation sensing
Device is mounted on the base, and first rotation sensor is arranged in the thumb device for force feedback, and first rotation
Turn sensor to connect with the first end of the first connecting rod in the thumb device for force feedback；The second rotation sensor difference
It is connect with first rotation sensor and the third rotation sensor, and the axis of first rotation sensor and described
Angle degree between the axis of second rotation sensor within the scope of preset first angle, second rotation sensor
Angle degree between axis and the axis of the third rotation sensor is within the scope of the first angle；
Each non-thumb inductive pick-up component includes the 4th rotation sensing being electrically connected to the control circuit respectively
Device and the 5th rotation sensor, the 4th rotation sensor is arranged at corresponding described four and refers in device for force feedback, and institute
The 4th rotation sensor is stated to connect with the first end of the first connecting rod in the non-thumb device for force feedback；5th rotation
Sensor is respectively mounted on the base, the axis of the axis of the 4th rotation sensor and the 5th rotation sensor it
Between angle degree within the scope of the first angle, and the angle degree between the axis of four the 5th rotation sensors
Angle within the scope of preset second angle, between the axis of four the 5th rotation sensors and the bottom surface of the pedestal
Degree is within the scope of the first angle.
7. device according to claim 1-4, which is characterized in that the link mechanism includes adjustable length
Straight-bar, and, the special-shaped connecting rod of adjustable length or replaceable shape, the fixation kit setting is in the special-shaped connecting rod
On, one end of the straight-bar is provided with adjustment structure, and the second end of the first connecting rod is connect with the adjustment structure, described
The other end of straight-bar is flexibly connected with the special-shaped connecting rod.
8. device according to claim 1-4, which is characterized in that described device, which further includes that length is telescopic, stretches
Shrinking structure；One end of the stretching structure is connect with the device for force feedback, the other end of the stretching structure and the connecting rod
Structure connection.
9. device according to claim 8, which is characterized in that the stretching structure includes second connecting rod, third connecting rod, company
Bushing and screw；One end of the second connecting rod is connect with the device for force feedback, the other end of the second connecting rod and institute
State connecting rob bushing connection；One end of the third connecting rod is connect with the link mechanism, and the other end of the third connecting rod protrudes into
The connecting rob bushing, the screw are connected by the screw hole of the other end of aperture and the third connecting rod on the connecting rob bushing
Connect the third connecting rod and the connecting rob bushing.
10. device according to claim 1-4, which is characterized in that described device further includes connecting with the pedestal
The external accessory connect, the external accessory include at least one of touch screen, control stick, button, tracker and driver plate.
11. device according to claim 10, which is characterized in that the external accessory is electrically connected with the pedestal.
12. device according to claim 10, which is characterized in that the external accessory is connect with the pedestal by attachment
Structure is detachably connected, and the annex connecting structure includes sliding slot, the sliding block connecting rod and screw that can slide into the sliding slot, described
Sliding slot is arranged on the base；The screw is used in one end of sliding block connecting rod slide-in sliding slot, will be described
Sliding block connecting rod is fixed on the base, and the other end and the external accessory of the sliding block connecting rod are detachably connected.
13. device according to claim 1-4, which is characterized in that the first processor includes wireless communication
Module.
14. device according to claim 1-4, which is characterized in that be additionally provided with power supply device in the pedestal.
15. device according to claim 1-4, which is characterized in that the power supply device includes battery.
16. device according to claim 1-4, which is characterized in that the fixation kit includes the fixed dress of palm
It sets and device for fixing finger.
17. device according to claim 16, which is characterized in that the palmar fixing device is strap configurations, gloves knot
Structure, finger nested structure or Bracelet structure.
18. device according to claim 16, which is characterized in that the finger fixation kit is band structure or fingerstall knot
Structure.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811296950.8A CN109407849A (en) | 2018-11-01 | 2018-11-01 | Hand motion acquisition equipment with force feedback |
| PCT/CN2019/097382 WO2020087999A1 (en) | 2018-11-01 | 2019-07-24 | Hand action capturing device having force feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811296950.8A CN109407849A (en) | 2018-11-01 | 2018-11-01 | Hand motion acquisition equipment with force feedback |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109407849A true CN109407849A (en) | 2019-03-01 |
Family
ID=65470933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811296950.8A Withdrawn CN109407849A (en) | 2018-11-01 | 2018-11-01 | Hand motion acquisition equipment with force feedback |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109407849A (en) |
| WO (1) | WO2020087999A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110859688A (en) * | 2019-12-06 | 2020-03-06 | 中国科学院长春光学精密机械与物理研究所 | Intelligent shoe for artificial limb control and control method of artificial limb |
| WO2020088015A1 (en) * | 2018-11-01 | 2020-05-07 | 深圳岱仕科技有限公司 | Hand action capturing device |
| WO2020087999A1 (en) * | 2018-11-01 | 2020-05-07 | 深圳岱仕科技有限公司 | Hand action capturing device having force feedback |
| CN111813259A (en) * | 2020-06-05 | 2020-10-23 | 南京信息工程大学 | Fingerstall type force touch device for touch screen and feedback control method thereof |
| CN112298623A (en) * | 2020-09-29 | 2021-02-02 | 北京空间飞行器总体设计部 | Self-adaptive capturing despin device |
| WO2023236422A1 (en) * | 2022-06-08 | 2023-12-14 | 苏州大学 | Two-finger gripping force and tactile feedback device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2863535B1 (en) * | 2003-12-15 | 2009-01-30 | Commissariat Energie Atomique | ACTUATING BLOCK OF A JOINT SEGMENT TRAIN AND MANUAL INTERFACE COMPRISING THE SAME |
| CN103158162B (en) * | 2011-12-19 | 2015-09-16 | 苏茂 | External-framework type bidirectional force feedback data glove |
| CN206426118U (en) * | 2016-12-09 | 2017-08-22 | 王陈正志 | A kind of connecting rod force feedback gloves |
| CN109407849A (en) * | 2018-11-01 | 2019-03-01 | 深圳岱仕科技有限公司 | Hand motion acquisition equipment with force feedback |
| CN209216041U (en) * | 2018-11-01 | 2019-08-06 | 深圳岱仕科技有限公司 | Hand motion acquisition equipment with force feedback |
-
2018
- 2018-11-01 CN CN201811296950.8A patent/CN109407849A/en not_active Withdrawn
-
2019
- 2019-07-24 WO PCT/CN2019/097382 patent/WO2020087999A1/en active Application Filing
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020088015A1 (en) * | 2018-11-01 | 2020-05-07 | 深圳岱仕科技有限公司 | Hand action capturing device |
| WO2020087999A1 (en) * | 2018-11-01 | 2020-05-07 | 深圳岱仕科技有限公司 | Hand action capturing device having force feedback |
| CN110859688A (en) * | 2019-12-06 | 2020-03-06 | 中国科学院长春光学精密机械与物理研究所 | Intelligent shoe for artificial limb control and control method of artificial limb |
| CN110859688B (en) * | 2019-12-06 | 2021-07-16 | 中国科学院长春光学精密机械与物理研究所 | Intelligent shoe for artificial limb control and control method of artificial limb |
| CN111813259A (en) * | 2020-06-05 | 2020-10-23 | 南京信息工程大学 | Fingerstall type force touch device for touch screen and feedback control method thereof |
| CN111813259B (en) * | 2020-06-05 | 2023-08-22 | 南京信息工程大学 | Finger stall type force touch device for touch screen and feedback control method thereof |
| CN112298623A (en) * | 2020-09-29 | 2021-02-02 | 北京空间飞行器总体设计部 | Self-adaptive capturing despin device |
| WO2023236422A1 (en) * | 2022-06-08 | 2023-12-14 | 苏州大学 | Two-finger gripping force and tactile feedback device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020087999A1 (en) | 2020-05-07 |
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Application publication date: 20190301 |