CN109460146B - Force feedback gloves based on software driver - Google Patents
Force feedback gloves based on software driver Download PDFInfo
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- CN109460146B CN109460146B CN201811237973.1A CN201811237973A CN109460146B CN 109460146 B CN109460146 B CN 109460146B CN 201811237973 A CN201811237973 A CN 201811237973A CN 109460146 B CN109460146 B CN 109460146B
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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
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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
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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Abstract
The invention relates to a force feedback glove based on a soft driver, which comprises the soft driver and a control system of the soft driver, wherein the soft driver can be bent and generates elastic force; one end of the soft driver is connected with the back of the hand, and the other end of the soft driver is connected with the finger tip through the rigid connecting rod, so that the force transmission is realized; in a free space state, the resistance generated by bending of the soft driver does not exceed a limited value within the range that the finger can grasp; when the glove is in a constrained space state, the soft driver is inflated and bent, and the force generated by the soft driver is transmitted to the fingers through the rigid connecting rod, so that the feedback force is generated, namely, the dual requirements of the force feedback glove in a free space and a constrained space are met simultaneously. The force feedback glove can increase the immersion of a user in interacting with virtual reality, allow the user to touch and manipulate virtual objects in an intuitive and direct manner, and is lightweight and low-cost, while still providing realistic haptic feedback.
Description
Technical Field
The invention relates to a force feedback glove, in particular to a force feedback glove based on a soft driver.
Background
To enhance the immersive sensation of interaction with the virtual world, glove-like haptic devices have been developed. The user can touch and manipulate the virtual object in an intuitive and direct manner by using a dexterous operation and a sensitive perception capability of a human hand. The existing force feedback gloves are generally composed of rigid connection and structures, are heavy, cause fatigue after being worn for a long time, are expensive, and are used for realizing force feedback by simply limiting the movement of fingers according to the principle, so that continuous feedback force change cannot be provided. Its weight and expensive price are not very friendly to consumers and developers, users cannot get a good experience, and the expensive price cannot be affordable. Therefore, consumers and developers urgently need a light-weight and low-cost force feedback glove, a continuously variable feedback force can be provided for users, people can feel good tactile feedback in a virtual world by combining a VR helmet, and interaction between the users and the virtual environment is smoother and more real.
Disclosure of Invention
It is an object of the present invention to overcome the deficiencies of the prior art by providing a soft-actuator based force feedback glove that increases the immersion of the user in interacting with virtual reality, allows the user to touch and manipulate virtual objects in an intuitive and direct manner, is lightweight, low cost, and still provides realistic haptic feedback.
The technical scheme of the invention is as follows: a force feedback glove based on a soft driver comprises the soft driver and a control system of the soft driver, wherein the soft driver can be bent and generates elastic force; one end of the soft driver is connected with the back of the hand, and the other end of the soft driver is connected with the finger tip through the rigid connecting rod, so that the force transmission is realized; in a free space state, the resistance generated by bending of the soft driver does not exceed a limited value within the range that the finger can grasp; when the space is restrained, the soft driver is inflated and bent, and the force generated by the soft driver is transmitted to the finger through the rigid connecting rod, so that the feedback force is generated.
Further, the rigid link is shaped as a broken line or a smooth curve for avoiding interference of fingers with the rigid link.
Further, the straight length of both ends of the rigid link needs to satisfy the following condition: in the free space state, the resistance generated by the bending of the soft driver does not exceed a limited value within the range that the finger can grasp.
Further, the rigid link is shaped as a circular arc.
Further, the soft driver comprises a deformation layer and a non-deformation layer, one side of the deformation layer is installed close to the back side of the hand, and one side of the non-deformation layer is installed far away from the back side of the hand
Further, the deformation layer of the soft driver is made of silica gel and fiber silk.
Further, the non-deformable layer of the soft drive is made of a glass fiber mesh.
Furthermore, a connecting piece is arranged between the rigid connecting rod and the finger tip.
Further, the connecting piece comprises a finger tip sleeve and a finger tip groove.
Further, the control system includes computer, controller and pneumatic executive component, and the controller includes the singlechip, and pneumatic executive component includes: air pump, cylinder, air cleaner, relief pressure valve and solenoid valve.
The invention has the following beneficial effects: the soft driver is adopted, so that the dual requirements of the force feedback glove in a free space and a constrained space can be better met; the rigid structural part is made of resin materials through 3D printing, the light weight and the attractive appearance of the structure are guaranteed under the condition that enough rigidity is guaranteed, the overall quality of the glove is greatly reduced, the overall part of the glove is sewn through magic tapes, the overall lightness of the glove is guaranteed, the size of the glove can be adjusted to adapt to the sizes of different hands, and meanwhile, the glove can be directly installed on other existing data gloves to achieve linkage of functions; the force feedback glove increases the immersion of the user in interacting with the virtual reality, allows the user to touch and manipulate virtual objects in an intuitive and direct manner, is lightweight and low cost, while still providing realistic haptic feedback.
Drawings
Fig. 1 is a schematic view of the overall structure of a feedback glove.
FIG. 2 is a length diagram of a soft driver.
FIG. 3a is an overall view of the software driver.
Fig. 3b is a perspective schematic view of the soft driver.
Figure 3c is a cross-sectional view of the soft body driver taken along the direction A-A.
Figure 3d is a cross-sectional view of the soft body driver taken along the direction B-B.
Fig. 4 is a schematic diagram of the unfolded state of the fingers in free space.
Fig. 5 is a schematic view of the finger grip in free space.
Fig. 6 is a schematic view of a rigid link structure.
Fig. 7 is a schematic view of the structure of the connector.
FIG. 8 is a schematic diagram of a control system.
Figure 9 schematic diagram of a physical prototype.
Wherein the figures include the following reference numerals: 1. a software driver; 2. a rigid link; 3. a connecting member; 4. a finger; 5. silica gel; 6. fiber yarn; 7. a non-deformable layer; 8. a fingertip cover; 9. a finger tip groove.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
A force feedback glove based on a soft driver comprises a soft driver 1 and a control system of the soft driver, wherein the soft driver 1 can be bent and generates elastic force; one end of the soft driver 1 is connected with the back of the hand, and the other end is connected with the finger tip of the finger 4 through the rigid connecting rod 2, so that the force transmission is realized; in the free space state, the resistance generated by bending the soft driver 1 does not exceed a limited value within the range that the fingers 4 can grasp; when the glove is in a constrained space state, the soft driver 1 is inflated and bent, and the force generated by the soft driver 1 is transmitted to the finger 4 through the rigid connecting rod 2, so that the feedback force is generated, namely, the dual requirements of the force feedback glove in a free space and a constrained space are met simultaneously. A connecting piece 3 is also arranged between the rigid connecting rod 2 and the finger tip of the finger 4. Rigidity connecting rod 2 and connecting piece 3 all adopt resin material 3D to print and make, under guaranteeing sufficient rigidity, guarantee that the structure light weight is pleasing to the eye, the overall quality of the gloves that have significantly reduced, the whole part of gloves adopts the magic to paste to make up, has guaranteed the holistic light of gloves.
The soft driver 1 can be bent under a certain pressure to generate acting force, and is firstly applied to the field of medical rehabilitation, but the field of medical rehabilitation requires active force, and the field of force feedback requires passive force, so that the application principle and the application purpose are different, and the structure is different. As shown in fig. 3a, 3b, 3c and 3d, the soft actuator 1 can be a filament reinforced soft actuator, the soft actuator 1 comprises a deformable layer and a non-deformable layer 7, the deformable layer is made of silica gel 5 and fiber filaments 6 and can be stretched, the non-deformable layer 7 is made of glass fiber net and can not be stretched, the non-deformable layer 7 is used for limiting the stretching of one side of the soft actuator, and the stretching of the deformable layer is matched to realize the bending of the soft actuator 1; the fiber 6 can limit the expansion of the soft driver to improve the air pressure which can be borne by the soft driver and improve the output force, and the fiber 6 adopts Kevlar fiber. One end of the soft driver 1 is connected with the back of the hand, and the other end is connected with the rigid connecting rod 2, as shown in fig. 2, the connecting part of the soft driver 1 and the back of the hand is not bendable, the length of the part is a fixed length, the length of the soft driver which can be bent is an effective length, and the real length of the soft driver is equal to the effective length plus the fixed length. The longer the effective length of the driver, the greater the force that can be output, but the length of the soft driver is limited to the size of the human hand, and the size of the glove is moderate, so as to ensure that the volume of the glove is not too large, and the portability and the lightness are affected, therefore, the effective length of the soft driver is preferably the same as that of the finger.
The rigid connecting rod 2 is an important component of the force feedback glove, and the shape and the structure of the rigid connecting rod directly influence the using effect of the glove. In the design process, the requirements of the force feedback glove of the soft driver on free space and constrained space and two states of palm stretching and grasping in the use process are mainly considered.
In the free space state, that is, when the soft driver is in the air pressure state, the resistance generated by bending the soft driver 1 must be small enough within the finger grippable range, in this embodiment, the finger grippable range is set to be the full extension state of the finger to the grippable limit state, the finger grippable limit state is the state that the finger grips the columnar object with the diameter of 20mm, and the resistance generated by bending the soft driver 1 does not exceed 1N.
As shown in fig. 4, the two ends of the rigid link 2 are respectively connected with the finger tip and the end of the soft driver 1, the length of the finger tip and the effective length of the soft driver are both determined, when the finger is in the stretching state, due to the supporting function of the rigid link 2, the soft driver 1 will form a pre-bending amount, and the normal bending force of the soft driver 1 is F, which is a pushing force relative to the finger; as shown in fig. 5, when the finger is in the grasping state, the normal bending force of the soft driver 1 is F ', F ' is a pulling force relative to the finger, when the two normal bending forces F and F ' of the soft driver 1 are 1N, the maximum bending amount allowed by the soft driver is obtained, the length of the rigid link in the two states is the maximum length and the minimum length allowed by the rigid link, and the positions of the connection points of the soft driver 1 and the rigid link 2 are respectively A (x is x)A，yA) And A' (x)A′，yA') and the positions of the connecting points of the rigid connecting rod 2 and the finger tips are B (x) respectivelyB，yB) And B' (x)B′，yB') which are the limit ranges of the bending amount of the soft driver 1, the moving position of the connecting point of the rigid connecting rod 2 and the soft driver 1 in the free state must be between A and A', and the moving position of the connecting point of the rigid connecting rod 2 and the fingertip must be B (x)B，yB) And B' (x)B′，yB') between.
In order to ensure the light structure of the force feedback glove, the structure of the connecting rod needs to be simple and light, and then the simplest single connecting rod form is adopted. During the use process of the glove, the connecting rod is rigid, so the linear length L of the two ends of the rigid connecting rod 2 is fixed no matter what the shape of the connecting rod is, and the value range of the linear length of the two ends of the rigid connecting rod 2 is obtained.
As shown in fig. 4, in the finger extended state in free space:
as shown in fig. 5, in the finger-gripping state in free space:
thereby obtaining the linear length range l of the rigid connecting rodA′B′≤L≤lAB. Through analysis, the smaller L in the gripping state, the larger the deformation of the soft driver, the larger the generated force, the larger the gripping resistance of the palm, and the more obvious the resistance increase after inflation, which is not beneficial to the optimization of the performance of the constraint space, so L should be as large as possible, and L is finally selected to be LAB。
As shown in fig. 5, when the user uses the force feedback glove, the rigid link 2 is likely to interfere with the fingers during the gripping process, and when the rigid link 2 does not interfere with the fingers at the finger gripping limit (gripping a columnar object having a diameter of 20 mm), the rigid link 2 is not interfered in other states, so that it is necessary to determine the shape of the rigid link 2 after determining the length of the rigid link 2, and stress concentration occurs when using a rigid structure having an excessive angle, and thus a smooth curve is preferable as the shape of the rigid link 2. Therefore, it is necessary to determine the shape curve equation of the rigid link 2 under the condition that the fingers do not interfere with the rigid link 2 in the finger grip limit state.
The circular arc is the most common smooth curve, the invention provides a method for determining the curve equation of the circular arc, and in order to calculate the radius R of the circular arc, the following calculation models are provided:
the equation of the arc where the rigid connecting rod is located is as follows:
x2+y2+Dx+Ey+F＝0(D2+E2-4F＞0)
wherein A', (xA′，yA′)、B′(xB′，yB′And) are the two end points of the rigid link, necessarily on the arc. The length of the rigid link 2 is LABTo determine the specific location of a', it can be determined graphically: as shown in FIG. 6, the radius is l with B' as the centerABO point is the center of a circle and the radius is lABThe radius is taken as a circle, and the intersection point of the two circles is the position of A'.
Considering the finger structure, rigid link 2 first interferes with the finger joints near the ends of the finger, which is defined as point C' (x)C′，yC') the point C' is exactly on the arc on which the link is located in the critical condition, i.e. when the rigid link just interferes with the finger. After three points A ', B ' and C ' on the arc are determined, the coordinates of the three points are substituted into the equation of the arc, so that the values of D, E, F three points can be obtained, the radius R of the arc can be obtained according to the following formula, and the shape of the connecting rod can be obtained.
In order to ensure that the rigid connecting rod 2 is reliably connected with the finger tip, a connecting piece 3 is arranged between the rigid connecting rod 2 and the finger tip.
As shown in fig. 7, the connecting member 3 comprises a fingertip sleeve 8 and a fingertip groove 9, the fingertip sleeve 8 clamps the fingertip of the finger tightly, the fingertip of the finger is placed in the fingertip groove 9, and an included angle θ is formed between the axis of the fingertip sleeve 8 and the axis of the fingertip groove 9, so that the fingertip is enough comfortable and convenient when the connecting member 3 is worn. Meanwhile, screw holes are formed in the upper portion and the lower portion of the fingertip sleeve 8 of the connecting piece 3, and the thickness of fingers of different users can be adapted through adjustment of the two screws.
Each part swivelling joint department of gloves adopts for high strength axle sleeve screw (SCM435 alloy steel, rust-resistant high rigidity), and the frictional force of rotation department reduces greatly, is favorable to the transmission of gloves feedback force, lets the user more press close to reality in the use, can not produce unnecessary vibrations sensation, can improve the smoothness nature that the user used simultaneously, lets the user can not produce fatigue in the in-process of using for a long time and feels.
The glove main body adopts the magic tape, can adjust the size so as to adapt to the sizes of different hands, and can be directly arranged on the existing other data gloves simultaneously so as to realize the linkage of functions. The magic tape greatly improves the speed of wearing the gloves, and the gloves can be well worn in a short time. The magic tape has lighter weight and meets the requirement of the overall weight of the glove, and the glove weight is further reduced. The type of magic subsides adopts A level magic to paste, can realize tearing more than 3000 times, has guaranteed the life and the reliability of gloves. One end of the soft driver 1 can be connected with the back of the hand by using a magic tape, and the use of users with different palm sizes can be adapted by adjusting the position of the end part of the soft driver 1 on the back of the hand.
As shown in fig. 8, the control system of the force feedback glove comprises a computer, a controller and a pneumatic actuator, wherein the controller comprises a single chip microcomputer, and the pneumatic actuator comprises: air pump, cylinder, air cleaner, relief pressure valve and solenoid valve. Note that the scheme in fig. 8 represents a force feedback control system for only one finger, with the remaining fingers using the same control principle.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (8)
1. A force feedback glove based on a soft driver is characterized in that: the control system comprises a soft driver and a soft driver, wherein the soft driver can be bent and generates elastic force;
one end of the soft driver is connected with the back of the hand, and the other end of the soft driver is connected with the finger tip through a rigid connecting rod, so that the force transmission is realized; in a free space state, the resistance generated by bending of the soft driver does not exceed a limited value within the range that fingers can grasp; when the space is constrained, the soft driver is inflated and bent, and the force generated by the soft driver is transmitted to the finger through the rigid connecting rod, so that a feedback force is generated;
the two ends of the rigid connecting rod are respectively connected with the finger tips and the end parts of the soft driver, when the fingers are in a stretching state and a grasping state, the length of the rigid connecting rod is the maximum length and the minimum length allowed by the rigid connecting rod, and the positions of the connecting points of the soft driver and the rigid connecting rod are respectively A (x)A，yA) And A' (x)A′，yA′) The positions of the connecting points of the rigid connecting rod and the finger tip are respectively B (x)B，yB) And B' (x)B′，yB′) The two positions are the limit range of the bending amount of the soft driver, the moving position of the connecting point of the rigid connecting rod and the soft driver is between A and A' in the free state, and the moving position of the connecting point of the rigid connecting rod and the fingertip is between B (x)B，yB) And B' (x)B′，yB′) To (c) to (d);
in the finger extended state in free space:
in a finger-gripping state in free space:
thereby obtaining the linear length range l of the rigid connecting rodA′B′≤L≤lAB；
The smaller L in the grasping state, the greater the deformation of the soft actuator, the greater the force generated, the greater the grasping resistance of the palm, and the more pronounced the resistance increase after inflation, which is detrimental to the optimization of the constrained space performance, so L ═ LAB；
The rigid connecting rod is in a circular arc shape, and the equation of the circular arc where the rigid connecting rod is located is as follows:
x2+y2+Dx+Ey+F＝0(D2+E2-4F＞0)：
wherein A' (x)A′，yA′)、B′(xB′，yB′) The length of the rigid connecting rod is L ═ LABFor determining the specific position of A ', it can be determined by drawing, using B' as centre of circle and radius as lAB0 point is the center of a circle and the radius is lABMaking a circle for the radius, wherein the intersection point of the two circles is the position of A'; the rigid link first interferes with the finger joints near the finger tip, defining it as point C' (x)C′，yC′) In a critical state, namely when the rigid connecting rod just interferes with the finger, the point C' is just on the arc where the connecting rod is located; determining coordinates of three points A ', B ' and C ' on the circular arc, substituting the coordinates of the three points into an equation where the circular arc is located to obtain D, E, F values of the three points, and obtaining the radius R of the circular arc according to a following formula;
2. the soft actuator-based force feedback glove of claim 1, wherein: the software driver comprises a deformation layer and a non-deformation layer, one side of the deformation layer is close to the hand back side to be installed, and one side of the non-deformation layer is far away from the hand back side to be installed.
3. The soft actuator-based force feedback glove of claim 2, wherein: the deformation layer of the soft driver is made of silica gel and fiber silk.
4. The soft actuator-based force feedback glove of claim 2, wherein: the non-deformable layer of the soft drive is made of fiberglass mesh.
5. The soft actuator-based force feedback glove of claim 1, wherein: the straight lengths of the two ends of the rigid connecting rod need to satisfy the following conditions: in the free space state, the resistance generated by the bending of the soft driver does not exceed a limited value within the range that fingers can grasp.
6. The soft actuator-based force feedback glove of claim 1, wherein: a connecting piece is also arranged between the rigid connecting rod and the finger tip.
7. The soft actuator-based force feedback glove of claim 6, wherein: the connecting piece comprises a finger tip sleeve and a finger tip groove.
8. The soft actuator-based force feedback glove of claim 1, wherein: the control system includes computer, controller and pneumatic executive component, and the controller includes the singlechip, and pneumatic executive component includes: air pump, cylinder, air cleaner, relief pressure valve and solenoid valve.
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| US6042555A (en) * | 1997-05-12 | 2000-03-28 | Virtual Technologies, Inc. | Force-feedback interface device for the hand |
| KR101578345B1 (en) * | 2014-09-03 | 2015-12-17 | 재단법인 실감교류인체감응솔루션연구단 | Apparatus for generating force feedback |
| CN206426118U (en) * | 2016-12-09 | 2017-08-22 | 王陈正志 | A kind of connecting rod force feedback gloves |
| CN107479698A (en) * | 2017-07-28 | 2017-12-15 | 北京航空航天大学 | A kind of more fingers collaboration force feedback of air pressure driving and touch feedback gloves apparatus |
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