CN109426346A - A kind of data glove based on force feedback technique - Google Patents
A kind of data glove based on force feedback technique Download PDFInfo
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- CN109426346A CN109426346A CN201810779783.6A CN201810779783A CN109426346A CN 109426346 A CN109426346 A CN 109426346A CN 201810779783 A CN201810779783 A CN 201810779783A CN 109426346 A CN109426346 A CN 109426346A
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- Prior art keywords
- module
- force feedback
- interface
- main control
- data glove
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
- G06F13/4282—Bus transfer protocol, e.g. handshake; Synchronisation on a serial bus, e.g. I2C bus, SPI bus
-
- 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
The invention discloses a kind of data glove based on force feedback technique, several interfaces connected including main control module with main control module；Interface includes wireless communication interface, angle acquisition interface, force feedback interface, program download interface and expanding peripherals interface；Wireless communication interface connects wireless serial module, the angle acquisition interface connects angle acquisition module, the force feedback interface attachment force feedback collection module；Main control module also passes through wireless serial module and is connected to mechanical arm, controls the movement of mechanical arm；By each undefined interface, secondary development is realized, acquire different data, avoid the unicity of valid data；Using modular mode, functions of modules is independent, ensure that the stability and high efficiency of work, structure is simple, at low cost.
Description
Technical field
The present invention relates to force-feedback control technical field, more particularly to a kind of data based on force feedback technique
Gloves.
Background technique
Currently, virtual reality technology has been widely applied in every field, the appearance of data glove is virtual reality system
Provide a kind of completely new interactive means；Data glove is the main interactive device of virtual reality applications, it is virtual as one
The simulation interaction of hand or control for 3D virtual reality scenario, can carry out grasping body, movement, assembly, manipulation, control, data
Gloves can be used in the 3D such as WTK, Vega virtual reality or scene simulation software there are also wired, wireless, left hand, point of the right hand.
But in terms of the data glove of the prior art has the disadvantage in that (1) Applied economy: the encapsulation used on the market
Good sensor, is greatly limited, scaling difficulty using the accuracy of data；Valid data are obtained for the operators
Type is single, price is expensive；(2) configuration aspects: structure is complicated for data glove on the market, and cost of manufacture is higher.
Therefore, how a kind of touch feedback that can accurately acquire data, realization and mechanical arm in varied situations is provided
The data glove based on force feedback technique the problem of being those skilled in the art's urgent need to resolve.
Summary of the invention
In view of this, the present invention provides a kind of data glove based on force feedback technique, using modular construction mode,
Modules functional independence, is shared out the work and helped one another, and can accurately acquire required data, and structure is simple, ensure that work stability and
High efficiency.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of data glove based on force feedback technique, which is characterized in that including main control module and with the main control module
Several interfaces of connection；
The interface includes that wireless communication interface, angle acquisition interface, force feedback interface, program download interface and extension are outer
If interface；The wireless communication interface connects wireless serial module, the angle acquisition interface connects angle acquisition module and curved
Bent sensor, the force feedback interface attachment force feedback collection module；
The main control module is also connected to mechanical arm by the wireless serial module, and it is anti-that the mechanical arm is equipped with the power
Present acquisition module；
The angle acquisition module connection gyroscope, bending sensor and different types of angular transducer；The expansion
It opens up Peripheral Interface and connects different types of equipment；Described program download interface is upgraded and is debugged to the algorithm of program；
The control data information of the wireless serial module, the azimuth motion information of the angle acquisition module, bending pass
The digital flexion information of sensor and the force feedback acquisition module feedback information are transmitted to the main control module.
Preferably, the main control module is also connected with power module, the power module connect the wireless serial module,
The angle acquisition module and the force feedback acquisition module；The power module includes power supply and voltage regulator circuit.
Preferably, the resistance signal of force feedback acquisition module output is by the wireless serial module transfer to described
Main control module.
Preferably, the received resistance signal of the main control module is transmitted to the terminal display list of the main control module connection
Member；Judge that mechanical arm grabs whether object succeeds by the size of resistance value.
Preferably, the terminal diaplay unit is the electrical screen or PC control terminal of data glove setting.
Preferably, force feedback acquisition module includes force feedback sensor, and the force feedback sensor surface is equipped with one layer of electricity
Material is hindered, resistance value changes with the deformation of the force feedback sensor.
Preferably, main control module uses 32 embedded chip STM32F105RBT6, increases OTG function, CAN bus
Function is reinforced, and resource is more abundant, is fully able to meet the needs of system.
Preferably, power module is depressured chip by LM1117-3.3V using external+5V power supply as system main power source
The voltage of+5V is converted into+3.3V voltage, supplies electricity to modules；In outputting and inputting for LM1117-3.3V decompression chip
Decoupling capacitor is parallel between end and ground to reduce the ripple of input voltage.
Preferably, power module isolates whole system, when system power supply not enough power supply, can replace battery at any time,
Improve data glove uses time and efficiency, better meets the demand of user.
Preferably, wireless serial module carries out data glove data communication, the interface end of data glove using NRF24L01
It is reserved with wireless communication interface, can preferably promote the exploitation experience of user.
Preferably, angle acquisition module uses MPU6050 angular transducer, is communicated by I2C agreement with single-chip microcontroller,
The interface of multiple angles sensor can provide the selection space of various modes to client, carry out secondary development for user and provide more
Good hardware condition.
Preferably, the main control module and the wireless serial module are by SPI protocol progress data communication, with reality
Existing control of the data glove to peripheral hardware.
Preferably, force feedback sensor includes flexible circuit board, force sensing element, elastic packaging material, is connected by conducting wire
To signal processing circuit；There are two connecting terminal, male terminal and female terminals on force-sensitive material, are coated on flexibility with force-sensitive material
The big portion of circuit board, the pressure in opponent's abutment face carry out static and dynamic and measure, and sensor will be applied to sensor sensing region
Pressure conversion at resistance signal.
It can be seen via above technical scheme that compared with prior art, the present disclosure provides one kind to be based on force feedback
The data glove of technology, by main control module, power module, wireless serial module, angle acquisition module to finger and arm
The acquisition of different motion azimuth information, through chip processing, wireless transmission obtains accurate data information；It is acquired by force feedback
Module is accurately in real time wirelessly transmitted to the posture situation of mechanical arm the main control module of data glove, makes operator with more straight
It connects, more naturally, significantly more efficient mode is interacted with virtual world, greatly strengthens interactive and feeling of immersion, realize empty
The touch feedback in near-ring border.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 attached drawing is system structure diagram provided by the invention；
Fig. 2 attached drawing is main control module circuit diagram provided by the invention；
Fig. 3 attached drawing is power module circuitry figure provided by the invention；
Fig. 4 attached drawing is force feedback acquisition module circuit diagram provided by the invention；
Fig. 5 attached drawing is reset circuit figure provided by the invention；
Fig. 6 attached drawing is I2C serial port circuit figure provided by the invention.
In Fig. 1:
1 it is main control module, 2 be wireless serial module, 3 be angle acquisition module, 31 be angular transducer, 32 is gyro
Instrument, 4 be power module, 41 be power supply and voltage regulator circuit, 5 be force feedback acquisition module, 51 be force feedback sensor, 6 be terminal
Display unit, 7 are bending sensor.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a kind of data glove based on force feedback technique, using modular construction, Ge Gemo
Block functional independence, is shared out the work and helped one another, and ensure that the stability and high efficiency of work, structure is simple, at low cost.
It is a kind of modular structure block diagram of the data glove based on force feedback technique provided by the invention, packet referring to attached drawing 1
Include main control module 1, wireless serial module 2, angle acquisition module 3, angular transducer 31, gyroscope 32, power module 4, power supply
And voltage regulator circuit 41, force feedback acquisition module 5, force feedback sensor 51, terminal diaplay unit 6, bending sensor 7.
It is the circuit diagram of main control module provided by the invention and power module referring to attached drawing 2 and attached drawing 3；Attached drawing 4 is
Force feedback acquisition module circuit diagram, attached drawing 5 are reset circuit figure and attached drawing 6 is I2C serial port circuit figure.
In order to further optimize the above technical scheme, main control module 1 is using 32 embedded chips with OTG function
The CAN bus function of STM32F105RBT6, chip STM32F105RBT6 are reinforced.
In order to further optimize the above technical scheme, power module 4 is led to using external+5V power supply as system main power source
It crosses LM1117-3.3V decompression chip and the voltage of+5V is converted into+3.3V voltage, supply electricity to modules, meanwhile, LM1117-
3.3V, which is depressured between input, output end and the ground of chip, is parallel with decoupling capacitor reduction input voltage ripple.
In order to further optimize the above technical scheme, wireless serial module 2 carries out data glove data using NRF24L01
Communication, the interface end of data glove reserve wireless communication interface, improve User Exploitation experience.
In order to further optimize the above technical scheme, angle acquisition module 3 uses MPU6050 angular transducer, passes through I2C
Agreement is communicated with single-chip microcontroller.
In order to further optimize the above technical scheme, main control module 1 is also connected to mechanical arm by wireless serial module 2,
Mechanical arm is equipped with force feedback acquisition module 5.
In order to further optimize the above technical scheme, the resistance signal that force feedback acquisition module 5 exports passes through wireless serial
Module 2 is transmitted to main control module 1.
In order to further optimize the above technical scheme, the received resistance signal of main control module 1 is transmitted to the connection of main control module 1
Terminal diaplay unit 6.
In order to further optimize the above technical scheme, terminal diaplay unit 6 is the electrical screen or PC of data glove setting
Control terminal.
In order to further optimize the above technical scheme, force feedback acquisition module 5 carries out any contact area pressure static
It is measured with dynamic, pressure signal is converted into resistance signal.
In order to further optimize the above technical scheme, force feedback sensor 51 includes flexible circuit board, force sensing element, elasticity
Encapsulating material.
In order to further optimize the above technical scheme, the control chip STM32F105RBT6 of main control module 1 is reserved with journey
Sequence download interface is upgraded and is debugged to programmed algorithm after convenient；Several undefined keys are reserved, Function Extension is facilitated；
Undefined I/O interface is reserved, addition peripheral hardware is facilitated.
Further, power module 4 is connect respectively with main control module 1, wireless serial module 2, angle acquisition module 3 to mention
Power supply source, main control module 1 are connect with wireless serial module 2, angle acquisition module 3, bending sensor 7 respectively, receive wireless string
Mouth mold block 2 is responsible for the control information of transmission, and angle acquisition module 3, bending sensor 7 detect the motion information of manpower posture；Machine
The force feedback acquisition module 5 of tool arm provides the force feedback information of force feedback sensor 51 to main control module 1；Main control module 1 and nothing
Carry out data transmission communicating by SPI protocol between line serial port module 2, to realize control of the data glove to peripheral apparatus.
The present invention is further described for attached drawing in conjunction with the embodiments.
Embodiment 1
Data glove of the invention is used for fantasy sport, and workflow is as follows:
Firstly, system power-on reset；
Then, when being grabbed to an object, when hand finds suitable crawl position, and finger carries out bending crawl,
The angular movement that the movement azimuth information for the hand that the angular transducer 31 that angle acquisition module 3 connects is collected, gyroscope 32 are collected
Detection information, bending sensor 7 collect digital flexion information and force feedback sensor 51 collect feedback information, reflection at
Data transfer to STM32F105RBT6 processing chip to be handled, and are transferred to virtual control part by wireless serial module 2, if
The power that operator implements is too small, and the information of grasping body failure can be shown in the end PC and remind operator by terminal diaplay unit, this
When, operator finally grabs by changing the curvature of finger and the size of dynamics and successfully realizes that the tactile of virtual environment is anti-
Feedback；When realizing remote transmission, the angular transducer and communication module of different model can also be replaced at any time, required for obtaining
Different classes of accurate data, more easily progress secondary development.
Wherein, 51 surface of force feedback sensor of force feedback acquisition module 5 is one layer of special resistance material, works as force feedback
Sensor by the effect of power deformation occurs when, the resistance value on surface changes, and firmly degree is bigger, and resistance value is bigger.
Embodiment 2
Data glove of the invention connects mechanical arm, and workflow is as follows:
Firstly, system power-on reset；
Then, when the finger of operator moves, mechanical arm also will do it consistent movement；When to a machine components
When being grabbed, according to the position of part and size, the adjustment that manpower carries out position namely adjusts the location information of mechanical arm,
When mechanical arm is grabbed, the angular movement that the movement azimuth information for the hand that angular transducer 31 is collected, gyroscope 32 are collected is examined
Measurement information, bending sensor 33 collect digital flexion information and force feedback sensor 51 collect force feedback information its reflection at
Data transfer to STM32F105RBT6 processing chip to be handled, and show eventually by wireless serial module transfer to terminal single
Member, if the bending angle of operator is too small inadequate with the active force of implementation, mechanical arm does not touch object, and force feedback passes
Resistance value is transferred to terminal diaplay unit 6 by wireless serial module 2 by sensor 51, and display resistance value is infinity, and pressure is
Zero, at this point, main control module issues a signal to bending sensor 7 and angle acquisition module 3 carries out the attitudes vibration of finger, that is, change
The state for becoming mechanical arm, when the resistance value of force feedback sensor feedback is a fixed value, mechanical arm catches object, is achieved in
The touch feedback of virtual environment；When realizing remote transmission, the angular transducer of different model can also be replaced at any time and is led to
Believe module, different classes of accurate data required for obtaining, more easily progress secondary development.
Wherein, 51 surface of force feedback sensor of force feedback acquisition module 5 is one layer of special resistance material, works as force feedback
Sensor by the effect of power deformation occurs when, the resistance value on surface changes, and firmly degree is bigger, and resistance value is bigger.
In conclusion a kind of data glove based on force feedback technique provided by the invention, provides one kind for operator
General, direct man-machine interaction mode is applicable to multiple degrees of freedom hand model and carries out the virtual of complex operations to dummy object
Reality system；In terms of Applied economy: using the combination of force feedback sensor and gyroscope, can accurately acquire finger and
The motion conditions of arm different direction, and reflected into data and be wirelessly transferred, realize the touch feedback of virtual environment；?
Configuration aspects: the present invention uses modular structure design pattern, and all modules functional independence is shared out the work and helped one another, structure letter
Single, the difficulty and low manufacture cost of circuit design moreover, ensure that the stability and high efficiency of work, while having compared with high pass
With property, accuracy, portable feature, there is great market popularization value.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of data glove based on force feedback technique, which is characterized in that including main control module (1) and with the main control module
(1) several interfaces connected；
The interface includes that wireless communication interface, angle acquisition interface, force feedback interface, program download interface and expanding peripherals connect
Mouthful；Wireless communication interface connection wireless serial module (2), angle acquisition interface connection angle acquisition module (3) and
Bending sensor (7), the force feedback interface attachment force feedback collection module (5)；
The main control module (1) is also connected to mechanical arm by the wireless serial module (2), and the mechanical arm is equipped with the power
Feedback collection module (5)；
Angle acquisition module (3) connection gyroscope (32) and different types of angular transducer (31)；Outside the extension
If interface connects different types of equipment；Described program download interface is upgraded and is debugged to the algorithm of program；
The azimuth motion information, described of the control data information of the wireless serial module (2), the angle acquisition module (3)
The feedback information of the digital flexion information of bending sensor (7) and the force feedback acquisition module (5) is transmitted to the master control
Module (1).
2. a kind of data glove based on force feedback technique according to claim 1, which is characterized in that the force feedback is adopted
The resistance signal of collection module (5) output is transmitted to the main control module (1) by the wireless serial module (2).
3. a kind of data glove based on force feedback technique according to claim 2, which is characterized in that the main control module
(1) received resistance signal is transmitted to the terminal diaplay unit (6) of the main control module (1) connection.
4. a kind of data glove based on force feedback technique according to claim 3, which is characterized in that the terminal is shown
Unit (6) is the electrical screen or PC control terminal of data glove setting.
5. a kind of data glove based on force feedback technique according to claim 1, which is characterized in that the main control module
(1) it is also connected with power module (4), the power module (4) connects the wireless serial module (2), the angle acquisition mould
Block (3) and the force feedback acquisition module (5).
6. a kind of data glove based on force feedback technique according to claim 2, which is characterized in that the power module
(4) using external+5V power supply as system main power source, the voltage of+5V is converted to by+3.3V voltage by decompression chip, it is described
It is depressured between the input and output side of chip and is parallel with decoupling capacitor.
7. a kind of data glove based on force feedback technique according to claim 1, which is characterized in that the force feedback is adopted
Collection module (5), which overstocks power to contact surface, to carry out static state and dynamically measures, and pressure signal is converted into resistance signal.
8. a kind of data glove based on force feedback technique according to claim 1, which is characterized in that the angle sensor
Device is communicated by I2C agreement with single-chip microcontroller.
9. a kind of data glove based on force feedback technique according to claim 1, which is characterized in that the main control module
(1) data communication is carried out by SPI protocol with the wireless serial module (2).
10. a kind of data glove based on force feedback technique according to claim 1, which is characterized in that the power supply mould
Block (4) is using the battery being conveniently replaceable as system power supply.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810779783.6A CN109426346A (en) | 2018-07-16 | 2018-07-16 | A kind of data glove based on force feedback technique |
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| CN201810779783.6A CN109426346A (en) | 2018-07-16 | 2018-07-16 | A kind of data glove based on force feedback technique |
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| CN201810779783.6A Pending CN109426346A (en) | 2018-07-16 | 2018-07-16 | A kind of data glove based on force feedback technique |
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Cited By (1)
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| CN111161409A (en) * | 2019-12-27 | 2020-05-15 | 中国航空工业集团公司沈阳飞机设计研究所 | Aircraft support equipment verification system |
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