CN110162181A - Virtual reality glove - Google Patents
Virtual reality glove Download PDFInfo
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- CN110162181A CN110162181A CN201910452650.2A CN201910452650A CN110162181A CN 110162181 A CN110162181 A CN 110162181A CN 201910452650 A CN201910452650 A CN 201910452650A CN 110162181 A CN110162181 A CN 110162181A
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- fingerstall
- virtual reality
- finger joint
- reality glove
- elastic component
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- 230000003044 adaptive effect Effects 0.000 claims abstract description 80
- 210000001145 finger joint Anatomy 0.000 claims description 89
- 238000004891 communication Methods 0.000 claims description 16
- 239000004677 Nylon Substances 0.000 claims description 13
- 229920001778 nylon Polymers 0.000 claims description 13
- 238000004088 simulation Methods 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000010287 polarization Effects 0.000 claims description 6
- 239000002390 adhesive tape Substances 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000000875 corresponding effect Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000003562 lightweight material Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000029052 metamorphosis Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
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- 239000011800 void material Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The invention discloses a kind of virtual reality glove, which includes: gloves cover board, is set on the back of the hand, including first end and second end；Fingerstall is rotatably connected with gloves cover board, is set on finger, and first end is close to fingerstall；Adaptive elastomeric element, including third end and the 4th end, the 4th end are fixed on close to the position of second end；Non-elastic component is arranged on fingerstall, including the 5th end and the 6th end, the 5th end are fixed on fingerstall, fingerstall can be followed to move synchronously；Posture acquisition module, it is positioned close to the position of first end, respectively with third end and six end connecting, the active force being applied on non-elastic component can be transmitted to adaptive elastomeric element, and its status information is acquired, so that controller passes through the posture that its status information judges gloves.In this way, the present invention can identify itself posture, provide technical support to provide true grasping experience, and structure is simple, provides technical support to reduce the volume and weight of gloves.
Description
Technical field
The present invention relates to technical field of virtual reality more particularly to a kind of virtual reality gloves.
Background technique
Virtual reality technology (VR, Virtual Reality) refer to using computer technology create one it is three-dimensional virtual
Environment is immersed to user in the virtual environment, to bring better user experience, be a kind of is with the things of real world
The computer simulation system of prototype foundation.
Virtual reality technology mainly includes body-sensing interaction technique, 3D haptic technology, stereo display technique and motion capture
Technology etc..Present inventor has found that existing virtual reality glove, some is without acting in long-term R&D process
Capture system, it is difficult to provide true grasp for user and experience；Some motion capture systems install multiple valuableness sensor or
Person's structure is complex, is easy to increase the volume and weight of virtual reality glove.
Summary of the invention
The invention mainly solves the technical problem of providing a kind of virtual reality gloves, can identify itself posture, to mention
Technical support is provided for really grasping experience, and structure is simple, provides technical support to reduce the volume and weight of gloves.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: a kind of virtual reality glove, institute are provided
Stating virtual reality glove includes: gloves cover board, for being set in the back of the hand comprising opposite first end and second end；Fingerstall,
It is rotatably connected with the gloves cover board, for being set in finger, the first end of the gloves cover board is proximate to the fingerstall
One end；Adaptive elastomeric element, including opposite third end and the 4th end, the 4th end is fixed on close to the gloves lid
The position of the second end of plate；Non-elastic component is arranged on the fingerstall comprising the 5th opposite end and the 6th end, it is described
5th end is fixed on the fingerstall, and the non-elastic component can follow the fingerstall synchronous movement；Posture acquisition module, if
Set close to the gloves cover board first end position, respectively with the third end of the adaptive elastomeric element and the non-ballistic
The active force being applied on the non-elastic component can be transmitted to by the six end connecting of property component, the Posture acquisition module
The adaptive elastomeric element, and the status information of the adaptive elastomeric element can be acquired, so that controller is described in
The status information of adaptive elastomeric element judges the posture of the virtual reality glove；Wherein, when the Posture acquisition module is adopted
When collecting the adaptive elastomeric element and being in the status information of natural length, the controller can be judged described virtual existing
Real gloves, which are in, opens posture, when the Posture acquisition module collects the shape that the adaptive elastomeric element is in tensile elongation
When state information, the controller can judge that the virtual reality glove is in and grasp posture.
Wherein, the virtual reality glove further include: finger gesture fixed module, for the fixation according to the controller
Instruction controls the non-elastic component and keeps current location, and then positions the fingerstall.
Wherein, the virtual reality glove further include: spatial position sensing module, for perceiving the virtual reality glove
Spatial position；Pressure sensor is arranged on the fingerstall, for perceiving the pressure size being applied on the fingerstall；Its
In, the controller passes through on the posture of the virtual reality glove, the spatial position of the virtual reality glove, the fingerstall
Pressure size and object spatial position, can judge whether the virtual reality glove grasps the target
Object；Wherein, the virtual reality glove further include: analog component makes the void for executing the dummy instruction of the controller
Quasi- reality glove simulates the stress under virtual environment；When the controller, which is judged to grasp, arrives the object, hair
It send the fixed instruction that the finger gesture fixed module is made to control the non-elastic component to keep current location and position described
Fingerstall, and the dummy instruction is sent simultaneously, the analog component executes the dummy instruction, makes the virtual reality glove mould
Draw up the stress under virtual environment；Wherein, the virtual reality glove further includes control circuit board, the control circuit board
It is fixedly connected with the gloves cover board, the Posture acquisition module, the finger gesture fixed module, spatial position perception
Module is arranged in the control circuit board；Wherein, communication module and power management are additionally provided in the control circuit board
Module；The communication module is used for transmission signal of communication, the Posture acquisition module, the finger gesture fixed module, described
Spatial position sensing module, the pressure sensor, the analog component by the communication module and the controller into
Row communication；The power management module for powering, respectively with the Posture acquisition module, the finger gesture stent
Block, the spatial position sensing module and communication module connection；Wherein, the Posture acquisition module includes potentiometer；
The finger gesture fixed module includes micromotor, and the micromotor and the potentiometer are coaxially connected；The space bit
Setting sensing module includes electronic gyroscope；Wherein, the analog component is vibration generator, and the vibration generator is arranged in institute
It states on fingerstall；The analog component is minitype polarization device；Wherein, the adaptive elastomeric element is adaptive tension spring；It is described non-
Elastomeric element is linear non-elastic component；The non-elastic component is nylon marline；Wherein, the controller setting is set in control
It is standby upper；The control equipment is host computer.
Wherein, the quantity of the fingerstall is five；The quantity of the adaptive elastomeric element is five, and five described adaptive
Elastomeric element is answered to be arranged at intervals on the position of corresponding each fingerstall；The quantity of the non-elastic component is five；The appearance
The quantity of state acquisition module is five, each Posture acquisition module respectively with each adaptive elastomeric element and each
The non-elastic component connection, each Posture acquisition module are used to acquire the state letter of the respective adaptive elastomeric element
Breath, so that the controller judges the posture of corresponding fingerstall.
Wherein, each fingerstall includes: nearly finger joint connecting rod, nearly finger joint coupler link, nearly finger joint elasticity subassembly, finger joint
Connect pin shaft, remote finger joint connecting rod, nearly finger joint finger-stall and remote finger joint finger-stall；Described nearly finger joint connecting rod one end and the gloves
Cover board is rotatably connected, the nearly finger joint connecting rod other end and described nearly finger joint coupler link one end slidable connection, described close
Finger joint elasticity subassembly is arranged between the nearly finger joint connecting rod and the nearly finger joint coupler link, the nearly finger joint coupler link
The other end connect pin shaft by the finger joint with described remote finger joint connecting rod one end and is rotatably connected, and the nearly finger joint finger-stall is fixed
It is arranged below the nearly finger joint connecting rod, the remote finger joint finger-stall is fixed at below the remote finger joint connecting rod；Its
In, the virtual reality glove further include: multiple vertical connecting rods are arranged in the direction far from the fingerstall, vertical spacing each
On the fingerstall；Multiple threadiness non-elastic component constrainers, are respectively fixedly disposed on each vertical connecting rod；Wherein, each
Multiple institutes of each fingerstall are arranged in by multiple linear non-elastic component constrainers for the threadiness non-elastic component
It states on vertical connecting rod, one end of each linear non-elastic component is fixed on the line close to each fingerstall end
In shape non-elastic component constrainer, the other end of each linear non-elastic component is adopted with the corresponding posture respectively
Collect module connection；Wherein, the quantity of the vertical connecting rod of each fingerstall is three, and the threadiness of each fingerstall is non-
The quantity of elastomeric element constrainer is three；Three vertical connecting rods of each fingerstall are respectively fixedly disposed at the nearly finger
Section connecting rod is connect close to the position of the first end of the gloves cover board, in the nearly finger joint coupler link with the remote finger joint connecting rod
Position and in position of the remote finger joint connecting rod far from the nearly finger joint coupler link；Wherein, the non-resilient portion of threadiness
Part constrainer is cord constrainer.
Wherein, the bottom surface in the remote finger joint finger-stall is arranged in the pressure sensor；The vibration transmitter is set
Set the bottom surface in the nearly finger joint finger-stall.
Wherein, the fingerstall is rotatably connected by hinge and the gloves cover board；The fingerstall passes through universal joint and institute
State the connection of gloves cover board.
Wherein, the upper surface of the gloves cover board is plane, and the control circuit board is bolted to connection described
The upper surface of gloves cover board；The lower surface of the gloves cover board is cambered surface, and with the back of the hand adhered shape.
Wherein, the virtual reality glove further include: adhesive tape is arranged on the gloves cover board, and being used for will be described virtual
Reality glove is fixed on manpower.
Wherein, the second end of the gloves cover board is provided with fixation member, the 4th end of the adaptive elastomeric element with
The fixation member of the gloves cover board connects.
The beneficial effects of the present invention are: being in contrast to the prior art, virtual reality glove of the present invention includes gloves lid
Plate, fingerstall, adaptive elastomeric element, non-elastic component and Posture acquisition module, the adaptive elasticity of Posture acquisition module connection
Component and non-elastic component, the position attachment that gloves cover board is connect with fingerstall is arranged in Posture acquisition module, substantially in manpower hand
At the root joint position of finger, adaptive elastomeric element is arranged in gloves cover board, and substantially in the position of the back of the hand, non-elastic component is set
It sets in fingerstall, substantially in the position of finger, (i.e. manpower finger is not bent) non-elastic component is in nature shape when gloves stretch
State will not be shunk, and adaptive elastomeric element is in the state of natural length, when the manpower digital flexion of wearing, drive gloves curved
Song can shrink generation active force, which is transmitted to adaptive by Posture acquisition module since non-elastic component is without elasticity
Elastomeric element is answered, adaptive elastomeric element is stretched, is in tensile elongation state, the shape of the natural length of adaptive elastomeric element
State information and tensile elongation status information pass through Posture acquisition module and acquire, and controller is collected by Posture acquisition module
The status information of adaptive elastomeric element can judge the posture of virtual reality glove, i.e. opening posture or grasping posture.Such as
The each fingerstall of fruit is respectively provided with independent non-elastic component, corresponding Posture acquisition module and adaptive elastomeric element, then controlling
Device processed can judge virtual reality hand by the status information of the collected adaptive elastomeric element of respective Posture acquisition module
The posture of each fingerstall is covered, and then provides technical support to judge whether each fingerstall grasps object, is further accurate
Simulation grasps tactile experience and provides technical support；In addition, non-elastic component, corresponding Posture acquisition module and adaptive elasticity
Component, the structure is relatively simple, technical support can be provided to reduce the volume of gloves, if non-elastic component, corresponding appearance
State acquisition module and adaptive elastomeric element can be reduction using the simple or micro-component or module of light material production
The weight of gloves provides technical support.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.Wherein:
Fig. 1 is the general structure schematic diagram of one embodiment of virtual reality glove of the present invention；
Fig. 2 is the detailed construction schematic diagram of Fig. 1；
Fig. 3 is the detailed construction schematic diagram for looking up angular direction of Fig. 1；
Fig. 4 is the structural schematic diagram of the control circuit board of Fig. 1；
Fig. 5 is the structural schematic diagram of a fingerstall of Fig. 1；
Fig. 6 is the longitudinal profile schematic diagram of the fingerstall of Fig. 5.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, rather than whole embodiments.Based on this
Embodiment in application, those of ordinary skill in the art are obtained every other under the premise of not making creative labor
Embodiment shall fall in the protection scope of this application.
It include: gloves cover board 1 in conjunction with the virtual reality glove referring to Fig. 1 to Fig. 6, the embodiment of the present invention, fingerstall 5, adaptive
Answer elastomeric element 3, non-elastic component 507 and Posture acquisition module 202.
Gloves cover board 1 is for being set in the back of the hand comprising opposite first end and second end, the first of gloves cover board 1
End is proximate to one end of fingerstall 5.In order to enhance wear comfort, the lower surface of gloves cover board 1 is cambered surface, and the cambered surface and the back of the hand
Adhered shape.In order to make the hand of gloves cover board 1 and operator by reusable, in one embodiment, on gloves cover board 1 also
It is provided with adhesive tape 4, adhesive tape 4 is used to virtual reality glove being fixed on manpower.Gloves cover board 1 is the case where meeting bearing capacity
Under, it, can be using light material, such as light plastic, etc. in order to reduce the weight of VR gloves.
Fingerstall 5 is rotatably connected with gloves cover board 1, and fingerstall 5 is for being set in finger.Fingerstall 5 in the present embodiment
Quantity can be 2-5, and for true user's physical examination, VR gloves include 5 fingerstall 5.It can between fingerstall 5 and gloves cover board 1
To be connected by a hinge.Without limitation to the specific structure of fingerstall 5, the fingerstall of RV gloves can answer the present embodiment in the prior art
For in the embodiment of the present invention.
Adaptive elastomeric element 3 includes opposite third end and the 4th end, and the 4th end is fixed on the close to gloves cover board 1
The position at two ends, third end are connect with Posture acquisition module 202；In one embodiment, the second end of gloves cover board 1 is provided with solid
Determine component (such as spud pile), the 4th end of adaptive elastomeric element 3 is connect with the fixation member of gloves cover board 1.In this implementation
In example, there are two types of states for adaptive elastomeric element 3, i.e., without under the state and pulling force effect under pulling force effect in natural length
In tensile elongation state, respectively corresponds VR gloves and open posture and grasp posture；Under a stretching force, adaptive elastomeric element 3
It can be stretched, when pulling force effect disappears, the state of natural length can be recovered immediately.In one embodiment, adaptively
Elastomeric element 3 is adaptive tension spring 3, and tension spring is tension spring, is subject to the helical spring of axial tension, is being not subject to load
When, it is typically all between the circle and circle of tension spring and tight very close to each other.
Non-elastic component 507 is arranged on fingerstall 5, including the 5th opposite end and the 6th end, the of non-elastic component 507
Five ends are fixed on fingerstall 5, and the 6th end is connect with Posture acquisition module 202.Non-elastic component 507 can follow fingerstall 5 synchronous
Therefore activity when controlling the holding current location of non-elastic component 507, can fix fingerstall 5, prevent fingerstall 5 further curved
It is bent.
Posture acquisition module 202 is positioned close to the position of the first end of gloves cover board 1, respectively with adaptive elastomeric element
3 third end and the six end connecting of non-elastic component 507, Posture acquisition module 202 can will be applied to non-elastic component 507
On active force be transmitted to adaptive elastomeric element 3, stretch adaptive elastomeric element 3 under a stretching force.Posture acquisition mould
Block 202 can also acquire the status information of adaptive elastomeric element 3, so that controller passes through the state of adaptive elastomeric element 3
Information judges the posture of virtual reality glove；Wherein, it is in certainly when Posture acquisition module 202 collects adaptive elastomeric element 3
When the status information of right length, controller can judge that virtual reality glove is in and open posture, when Posture acquisition module 202
When collecting adaptive elastomeric element 3 and being in the status information of tensile elongation, controller can be judged at virtual reality glove
In grasping posture.
Virtual reality glove of the embodiment of the present invention includes gloves cover board 1, fingerstall 5, adaptive elastomeric element 3, non-resilient portion
Part 507 and Posture acquisition module 202, Posture acquisition module 202 connect adaptive elastomeric element 3 and non-elastic component 507, appearance
The position attachment that gloves cover board 1 is connect with fingerstall 5 is arranged in state acquisition module 202, substantially in the root joint position of manpower finger
Place is set, adaptive elastomeric element 3 is arranged in gloves cover board 1, and substantially in the position of the back of the hand, non-elastic component 507 is arranged in fingerstall
5, substantially in the position of finger, when gloves stretch (i.e. manpower finger is not bent) non-elastic component 507 in the raw, no
It can shrink, adaptive elastomeric element 3 is in the state of natural length, when the manpower digital flexion of wearing, gloves bending is driven, by
In non-elastic component 507 without elasticity, generation active force can be shunk, which is transmitted to certainly by Posture acquisition module 202
Elastomeric element 3 is adapted to, adaptive elastomeric element 3 is stretched, is in tensile elongation state, the natural length of adaptive elastomeric element 3
The status information and tensile elongation status information of degree pass through the acquisition of Posture acquisition module 202, and controller passes through Posture acquisition mould
The status information of the collected adaptive elastomeric element 3 of block 202 can judge the posture of virtual reality glove, i.e. opening posture
Or grasp posture.If each fingerstall 5 be respectively provided with independent non-elastic component 507, corresponding Posture acquisition module 202 and from
Elastomeric element 3 is adapted to, then state of the controller by the collected adaptive elastomeric element 3 of respective Posture acquisition module 202
Information can judge the posture of each fingerstall 5 of virtual reality glove, and then to judge whether each fingerstall 5 grasps object
Technical support is provided, further tactile experience is grasped for accurate simulation and technical support is provided；In addition, non-elastic component 507, correspondence
Posture acquisition module 202 and adaptive elastomeric element 3, the structure is relatively simple, can provide for the volume of reduction gloves
Technical support, if non-elastic component 507, corresponding Posture acquisition module 202 and adaptive elastomeric element 3 use lightweight material
Expect the simple or micro-component or module of production, technical support can be provided to reduce the weight of gloves.
Wherein, virtual reality glove further include: finger gesture fixed module 203, finger gesture fixed module 203 are used for
Non-elastic component 507 is controlled according to the fixed instruction of controller and keeps current location, and then positions fingerstall 5.Due to non-resilient portion
Part 507 is arranged on fingerstall, and without elasticity, when making non-elastic component 507 keep current location, fingerstall 5 can not be bent, i.e.,
Fingerstall 5 can be made to position.When manpower is grasped to object, after finger is contacted with object, being can not be further curved, is similarly
It simulates virtual reality glove to grasp to object, needs to position fingerstall, fingerstall 5 is prevented further to be bent.
Further, virtual reality glove further include: spatial position sensing module 201 and pressure sensor 512.Spatial position
Sensing module 201 is used to perceive the spatial position of virtual reality glove；Pressure sensor 512 is arranged on fingerstall 5, for perceiving
The pressure size being applied on fingerstall 5.Wherein, controller passes through the posture of virtual reality glove, the space of virtual reality glove
The spatial position of position, the pressure size on fingerstall 5 and object, can judge whether virtual reality glove grasps mesh
Mark object.Due to combine the posture of virtual reality glove, the spatial position of virtual reality glove, the pressure size on fingerstall 5 and
The spatial position of object, the judgement are more accurate；Further, if in conjunction with each fingerstall 5 of virtual reality glove posture,
The spatial position of the spatial position of each fingerstall 5 of virtual reality glove, the pressure size on each fingerstall 5 and object,
It more accurate can judge whether each fingerstall 5 of virtual reality glove grasps object, be subsequent more accurate grasping
Tactile experience provides technical support.
Wherein, virtual reality glove further include: analog component 513.The simulation that analog component 513 is used to execute controller refers to
It enables, so that virtual reality glove is simulated the stress under virtual environment, that is, simulate tactile experience；When controller is judged to grab
When holding object, send fixed instruction make finger gesture fixed module 203 control non-elastic component 507 keep current location and
Fixed fingerstall 5, and dummy instruction is sent simultaneously, analog component 513 executes dummy instruction, simulates virtual reality glove virtually
Stress under environment.
When controller, which is judged to grasp, arrives object, VR gloves positioning fingerstall 5 simulates stress simultaneously, makes user virtual
Very true 3D is generated under environment grasps experience.
Due to combine the posture of virtual reality glove, the spatial position of virtual reality glove, the pressure size on fingerstall 5 with
And the spatial position of object, the time which makes simulation grasp experience is more accurate, increases true 3D and grasps experience.Such as
Fruit further combined with the posture of each fingerstall 5 of virtual reality glove, each fingerstall 5 of virtual reality glove spatial position,
The spatial position of pressure size and object on each fingerstall 5, being capable of each finger of more accurate judgement virtual reality glove
Whether set 5 grasps object, and the time which makes the simulation of each fingerstall 5 grasp experience is more accurate, further increases
True 3D grasps experience.
In conjunction with referring to Fig. 1 to Fig. 4, in one embodiment, virtual reality glove further includes control circuit board 2, control circuit
Plate 2 is fixedly connected with gloves cover board 1, Posture acquisition module 202, finger gesture fixed module 203, spatial position sensing module
201 are arranged in control circuit board 2.
Further, communication module 204 and power management module 205 are additionally provided in control circuit board 2；Communication module 204
It is used for transmission signal of communication, Posture acquisition module 202, finger gesture fixed module 203, spatial position sensing module 201, pressure
Sensor 512, analog component 513 are communicated by communication module 204 with controller；Power management module 205 is for supplying
Electricity, respectively with Posture acquisition module 202, finger gesture fixed module 203, spatial position sensing module 201 and communicate mould
Block 204 connects, and is these module for power supply.
Wherein, the upper surface of gloves cover board 1 is plane, and control circuit board 2 is bolted to connection in gloves cover board 1
Upper surface.In this way, it can make full use of and save space, so as to reduce the volume of virtual reality glove.
Spatial position sensing module 201 includes spatial position detection hardware and software, spatial position point are analyzed in spatial position
It analyses software and needs matched hardware environment, this is easy the volume and weight for increasing virtual reality glove.In order to reduce virtual reality
The volume and weight of gloves, spatial position detection hardware and spatial position analysis software are installed separately, and spatial position detection is hard
Part is mounted on virtual reality glove, and software installation is analyzed on the control device in spatial position, such as host computer.Spatial position inspection
Surveying hardware can be common electronic gyroscope.
Equally, Posture acquisition module 202 includes Posture acquisition hardware and posture analysis software, and Posture acquisition hardware installation exists
On virtual reality glove, posture analysis software is installed on the control device, such as host computer.Posture acquisition hardware can be current potential
Device or profile encoder.
Wherein, finger gesture fixed module 203 includes micromotor and the electric machine controller instructed to micromotor,
Electric machine controller may be mounted in control equipment, such as host computer.
In a concrete application, the hardware of Posture acquisition module 202 is potentiometer, and finger gesture fixed module 203 executes
Instruction is micromotor, and micromotor is coaxially connected with potentiometer.
Adaptive 3 one end of elastomeric element is connected with Posture acquisition module 202, the other end and 1 upper surface of gloves cover board
Fixation member is connected, and when adaptive elastomeric element 3 is in natural length, virtual reality glove is in open configuration, when adaptive
Virtual reality glove, which is in, when elastomeric element 3 being answered to be in tensional state grasps posture, and the potentiometer of Posture acquisition module 202 is one
The component that a rotation angular amount and potentiometer resistance are positively correlated, can be converted into potentiometer for the attitudes vibration of fingerstall 5
The variation of electric signal.
Analog component 513 can use the various parts for simulating tactile physical examination in the prior art, in one embodiment, in order to
Reduce the volume and weight of VR gloves, analog component 513 is vibration generator 513, and vibration generator 513 is arranged on fingerstall 5；
Further, analog component 513 is minitype polarization device 513.Minitype polarization device 513 is when virtual reality glove and dummy object contact
The vibration of certain frequency can be generated, to finger with true 3D tactile experience.
Wherein, adaptive elastomeric element 3 is adaptive tension spring 3；Non-elastic component 507 is needed to meet and be drawn without elasticity
Mechanical strength is stretched, a in one embodiment, non-elastic component 507 is linear non-elastic component 507, such as: steel wire, cord, etc.
Deng；Further, in order to reduce the weight of virtual reality glove simultaneously, the non-elastic component 507 is nylon marline 507；It is adaptive
The weight of virtual reality glove can be mitigated by answering tension spring 3 and nylon marline 507.
Wherein, controller is arranged on the control device；Controlling equipment is host computer.Controller and virtual reality glove in addition to
It is outer to be able to carry out communication, it is respectively independent in structure, in this way, the volume of virtual reality glove can be reduced, also can
Enough reduce the weight of virtual reality glove.
As shown in Figure 1, in one embodiment, in order to simulate and increase more true user's physical examination, the quantity of fingerstall 5 is
Five；The quantity of adaptive elastomeric element 3 is five, and five adaptive elastomeric elements 3 are arranged at intervals on corresponding each fingerstall 5
Position；The quantity of non-elastic component 507 is five；The quantity of Posture acquisition module 202 is five, each Posture acquisition module
202 connect with each adaptive elastomeric element 3 and each non-elastic component 507 respectively, and each Posture acquisition module 202 is for adopting
The status information of the respective adaptive elastomeric element 3 of collection, so that controller judges the posture of corresponding fingerstall 5.
In one embodiment, specifically incorporated by reference to referring to figs. 5 and 6, in order to sufficiently simulate manpower grasping movement characteristic,
Each fingerstall 5 includes: nearly finger joint connecting rod 501, nearly finger joint coupler link 502, nearly finger joint elasticity subassembly 503, finger joint connecting pin
Axis 505, remote finger joint connecting rod 504, nearly finger joint finger-stall 510 and remote finger joint finger-stall 511.One end of nearly finger joint connecting rod 501 with
Gloves cover board 1 is rotatably connected, one end slidable connection of the other end of nearly finger joint connecting rod 501 and nearly finger joint coupler link 502,
Nearly finger joint elasticity subassembly 503 is arranged between nearly finger joint connecting rod 501 and nearly finger joint coupler link 503, nearly finger joint coupler link
503 other end connect pin shaft 505 by finger joint with one end of remote finger joint connecting rod 504 and connects, and the nearly fixation of finger joint finger-stall 510 is set
It sets below nearly finger joint connecting rod 501, remote finger joint finger-stall 511 is fixed at below remote finger joint connecting rod 504.
Wherein, fingerstall 5 is rotatably connected by the first end of hinge and gloves cover board 1；Further, fingerstall 5 passes through universal
Section 509 is connect with the first end of gloves cover board 1.Specifically, the first end of one end of nearly finger joint connecting rod 501 and gloves cover board 1 is logical
It crosses the realization of universal joint 509 to be rotatably connected, the root of fingerstall 5 can in this way had, and there are three rotational freedoms.
In order to be arranged linear non-elastic component 507 on each fingerstall 5, virtual reality glove further include: multiple perpendicular companies
Bar 506 and multiple linear non-elastic component constrainers 508.
Multiple vertical connecting rods 506 are arranged on each fingerstall 5 in the direction far from fingerstall 5, vertical spacing；Multiple threadiness non-ballistic
Property part constraint device 508, is respectively fixedly disposed on each vertical connecting rod 506；Wherein, each linear non-elastic component 507 passes through
Multiple threadiness non-elastic component constrainers 508 are arranged on multiple vertical connecting rods 506 of each fingerstall 5, each non-resilient portion of threadiness
One end of part 507 is fixed in the linear non-elastic component constrainer 508 of each 5 end of fingerstall, and each threadiness is non-resilient
The other end of component 507 is connected with corresponding Posture acquisition module 202 respectively.
Wherein, when linear non-elastic component 507 is cord, linear non-elastic component constrainer 508 can be cord constraint
Device 508.In this way, it is capable of the position of the further linear non-elastic component 507 of specification.
Further, the quantity of the vertical connecting rod 506 of each fingerstall 5 is three, the linear non-elastic component constraint of each fingerstall 5
The quantity of device 508 is three；Three vertical connecting rods 506 of each fingerstall 5 are respectively fixedly disposed at nearly finger joint connecting rod 501 close to gloves
The position of the first end of cover board 1, in the position that nearly finger joint coupler link 502 is connect with remote finger joint connecting rod 504, (nearly finger joint cooperation connects
Bar 502, remote finger joint connecting rod 504 and vertical connecting rod 506 connect pin shaft 505 by finger joint together and connect) and in remote finger joint connecting rod
504 positions far from nearly finger joint coupler link 502.
Wherein, the bottom surface in remote finger joint finger-stall 511 is arranged in pressure sensor 512；The setting of vibration transmitter 513 exists
Bottom surface in nearly finger joint finger-stall 510.When VR gloves grasp object, the stress in remote finger joint finger-stall 511 is more accurate,
The bottom surface in remote finger joint finger-stall 511 is arranged in pressure sensor 512, can obtain more accurate force feedback.Nearly finger joint
For finger-stall 510 close to 5 root of fingerstall, the vibration close to 5 root of fingerstall can more make user obtain more true tactile physical examination.
In a practical application, the acquisition process of the spatial attitude of finger is: when the hand of operator is in elongation state,
It is straight configuration that five fingerstall 5 are under the action of adaptive tension spring 3；When the finger of operator is when grasping, remote finger joint connects
Bar 504 and nearly finger joint connecting rod 501 can be rotated down rotating around pin shaft 505 is connected between finger, and nylon marline 507 is in tensioning state,
The potentiometer rotation of Posture acquisition module 202 is pulled, adaptive tension spring 3 starts gradually to be extended by pulling force, nearly 501 He of finger joint connecting rod
Nearly finger joint is shunk the compression of connecting rod 502 and is gradually shortened, and length of connecting rod shortens the true feelings for more meeting metamorphosis when finger grasps
Condition.Control circuit board 2 uploads to host computer, host computer control after collecting the signal of the potentiometer of five Posture acquisition modules 202
Algorithm in processing procedure sequence calculates five fingerstall (i.e. finger) in the posture in space according to the signal of upload, and in computer screen
It displays in real time out on curtain.
In above-mentioned practical application, the acquisition process for grasping feedback haptic is: in the curved mistake of five fingerstall 5 of VR gloves
Cheng Zhong, when host computer provides the control signal for having caught object according to the variation of the stress of pressure sensor 512, finger gesture
The micromotor of fixed module 203 is from following the rotation of nylon marline 507 to become to keep current location motionless, while nylon marline
507, without elasticity, can not continue to shrink, and each connecting rod of fingerstall 5 keeps current pose, at this point, minitype polarization device 513 starts to shake
Dynamic, simulation catches the tactile of object to generate, that is, people is allowed to generate the actual experience for catching virtual target object.
In above-mentioned practical application, the process of VR gloves release object is: and grasped when operator prepares release
When object, from keeping, current location is motionless to be become to follow 507 turns of nylon marline the micromotor of finger gesture fixed module 203
Dynamic, the potentiometer of Posture acquisition module 202 back rotates under the action of adaptive tension spring 3, is restored to original position, and consolidates
The nylon marline 507 being scheduled on the potentiometer of Posture acquisition module 202 is also correspondingly pulled, in the effect of nylon marline 507
Under, five fingerstall 5 are restored to the state stretched originally.
Generally speaking, first, the VR gloves of the embodiment of the present invention use an electronic gyroscope, five precision potentiator groups
At spatial position sensing module and Posture acquisition module, be converted into current variable by the rotation angle variables of potentiometer, adopt
Collection is transmitted to host computer to feed back the spatial position of VR gloves and posture, can have while guaranteeing VR gloves posture perception precision
Effect reduces the lift-launch amount of VR gloves, reduces the volume of cost and VR gloves；The second, on the fingerstall of the VR gloves of the embodiment of the present invention
The sensitive pressure sensor of installation and minitype polarization device are inlayed, pressure sensor is used to feed back the grasp force during crawl, supply
The data of host computer synthetic attitude and grasp force judge whether to catch object completely, when object is caught in host computer judgement,
Control signal is provided, micromotor stopping follows rotation to keep current location, and nylon marline keeps tensioning state, and VR gloves are kept
Current crawl posture, while polarizer starts to shake, simulation manpower catches the tactilely-perceptible of object, gives true crawl
Tactile experience；Third, the embodiment of the present invention VR gloves using adaptive tension spring, nylon marline and lightweight connecting bar composition machine
Structure is drive lacking formula structure, and overall weight is lighter, small in size, and VR glove donning experience sense will be substantially better than other products；4th,
The universal joint of each fingerstall root of the VR gloves of the embodiment of the present invention can allow fingerstall there are three rotary freedom, and fingerstall has bigger
Space, can be with self-adapting grasping object of different shapes；The transmission formed using nylon marline and adaptive tension spring
Mechanism has feature semi-flexible, and when grabbing irregular shape object, some of them fingerstall catches object and keeps posture,
His fingerstall can unaffected continuation envelope close up until catching object completely, this more meets movement crawl experience of manpower.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of virtual reality glove, which is characterized in that the virtual reality glove includes:
Gloves cover board, for being set in the back of the hand comprising opposite first end and second end；
Fingerstall is rotatably connected with the gloves cover board, and for being set in finger, the first end of the gloves cover board is proximate to
One end of the fingerstall；
Adaptive elastomeric element, including opposite third end and the 4th end, the 4th end is fixed on close to the gloves cover board
Second end position；
Non-elastic component is arranged on the fingerstall comprising the 5th opposite end and the 6th end, the 5th end are fixed on institute
It states on fingerstall, the non-elastic component can follow the fingerstall synchronous movement；
Posture acquisition module is positioned close to the position of the first end of the gloves cover board, respectively with the adaptive elastic portion
The third end of part and the six end connecting of the non-elastic component, the Posture acquisition module can will be applied to described non-resilient
Active force on component is transmitted to the adaptive elastomeric element, and can acquire the state letter of the adaptive elastomeric element
Breath, so that controller judges by the status information of the adaptive elastomeric element posture of the virtual reality glove；
Wherein, when the Posture acquisition module, which collects the adaptive elastomeric element, is in the status information of natural length,
The controller can judge that the virtual reality glove is in and open posture, when the Posture acquisition module collect it is described
When adaptive elastomeric element is in the status information of tensile elongation, the controller can be judged at the virtual reality glove
In grasping posture.
2. virtual reality glove according to claim 1, which is characterized in that the virtual reality glove further include:
Finger gesture fixed module keeps present bit for controlling the non-elastic component according to the fixed instruction of the controller
It sets, and then positions the fingerstall.
3. virtual reality glove according to claim 2, which is characterized in that the virtual reality glove further include:
Spatial position sensing module, for perceiving the spatial position of the virtual reality glove；
Pressure sensor is arranged on the fingerstall, for perceiving the pressure size being applied on the fingerstall；
Wherein, the controller passes through the posture of the virtual reality glove, the spatial position, described of the virtual reality glove
It is described can to judge whether the virtual reality glove grasps for the spatial position of pressure size and object on fingerstall
Object；
Wherein, the virtual reality glove further include:
Analog component simulates the virtual reality glove under virtual environment for executing the dummy instruction of the controller
Stress；When the controller, which is judged to grasp, arrives the object, sending the fixed instruction makes the finger appearance
State fixed module controls the non-elastic component and keeps current location and position the fingerstall, and sends the simulation simultaneously and refer to
It enables, the analog component executes the dummy instruction, and the virtual reality glove is made to simulate the stress under virtual environment；
Wherein, the virtual reality glove further includes control circuit board, the control circuit board and the fixed company of the gloves cover board
It connects, the Posture acquisition module, the finger gesture fixed module, the spatial position sensing module are arranged at the control
On circuit board；
Wherein, communication module and power management module are additionally provided in the control circuit board；The communication module is used for transmission
Signal of communication, the Posture acquisition module, the finger gesture fixed module, the spatial position sensing module, the pressure
Sensor, the analog component are communicated by the communication module with the controller；The power management module is used
In power supply, respectively with the Posture acquisition module, the finger gesture fixed module, the spatial position sensing module and
The communication module connection；
Wherein, the Posture acquisition module includes potentiometer；The finger gesture fixed module includes micromotor, described miniature
Motor and the potentiometer are coaxially connected；The spatial position sensing module includes electronic gyroscope；
Wherein, the analog component is vibration generator, and the vibration generator is arranged on the fingerstall；The analog component
For minitype polarization device；
Wherein, the adaptive elastomeric element is adaptive tension spring；The non-elastic component is linear non-elastic component；It is described non-
Elastomeric element is nylon marline；
Wherein, the controller is arranged on the control device；The control equipment is host computer.
4. virtual reality glove according to claim 1-3, which is characterized in that the quantity of the fingerstall is five
It is a；The quantity of the adaptive elastomeric element is five, and five adaptive elastomeric elements are arranged at intervals on corresponding each institute
State the position of fingerstall；The quantity of the non-elastic component is five；The quantity of the Posture acquisition module is five, each described
Posture acquisition module is connect with each adaptive elastomeric element and each non-elastic component respectively, each posture
Acquisition module is used to acquire the status information of the respective adaptive elastomeric element, for the controller judge it is corresponding
The posture of the fingerstall.
5. virtual reality glove according to claim 4, which is characterized in that each fingerstall include: nearly finger joint connecting rod,
Nearly finger joint coupler link, nearly finger joint elasticity subassembly, finger joint connect pin shaft, remote finger joint connecting rod, nearly finger joint finger-stall and far refer to
Save finger-stall；Described nearly finger joint connecting rod one end is rotatably connected with the gloves cover board, the nearly finger joint connecting rod other end and institute
State nearly finger joint coupler link one end slidable connection, the nearly finger joint elasticity subassembly setting the nearly finger joint connecting rod with it is described
Between nearly finger joint coupler link, the nearly finger joint coupler link other end is connected with described remote finger joint connecting rod one end by the finger joint
Outbound axis is rotatably connected, and the nearly finger joint finger-stall is fixed at below the nearly finger joint connecting rod, the remote finger joint hand
Fingerstall is fixed at below the remote finger joint connecting rod；
Wherein, the virtual reality glove further include:
Multiple vertical connecting rods are arranged on each fingerstall in the direction far from the fingerstall, vertical spacing；
Multiple threadiness non-elastic component constrainers, are respectively fixedly disposed on each vertical connecting rod；
Wherein, each linear non-elastic component is arranged by multiple linear non-elastic component constrainers each described
On multiple vertical connecting rods of fingerstall, one end of each linear non-elastic component is fixed on close to each fingerstall
In the linear non-elastic component constrainer of end, the other end of each linear non-elastic component respectively with it is corresponding
The Posture acquisition module connection；
Wherein, the quantity of the vertical connecting rod of each fingerstall is three, the non-resilient portion of threadiness of each fingerstall
The quantity of part constrainer is three；Three vertical connecting rods of each fingerstall are respectively fixedly disposed at the nearly finger joint connecting rod
Close to the position of the first end of the gloves cover board, in the position that the nearly finger joint coupler link is connect with the remote finger joint connecting rod
And in position of the remote finger joint connecting rod far from the nearly finger joint coupler link；
Wherein, the linear non-elastic component constrainer is cord constrainer.
6. virtual reality glove according to claim 5, which is characterized in that the pressure sensor is arranged in the remote finger
Save the bottom surface in finger-stall；The bottom surface in the nearly finger joint finger-stall is arranged in the vibration transmitter.
7. virtual reality glove according to claim 4, which is characterized in that the fingerstall passes through hinge and the gloves lid
Plate is rotatably connected；The fingerstall is connect by universal joint with the gloves cover board.
8. virtual reality glove according to claim 4, which is characterized in that the upper surface of the gloves cover board is plane,
The control circuit board is bolted to connection in the upper surface of the gloves cover board；The lower surface of the gloves cover board is arc
Face, and with the back of the hand adhered shape.
9. virtual reality glove according to claim 1, which is characterized in that the virtual reality glove further include:
Adhesive tape is arranged on the gloves cover board, for the virtual reality glove to be fixed on manpower.
10. virtual reality glove according to claim 1, which is characterized in that the second end of the gloves cover board is provided with
4th end of fixation member, the adaptive elastomeric element is connect with the fixation member of the gloves cover board.
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| CN201910452650.2A CN110162181B (en) | 2019-05-28 | 2019-05-28 | Virtual reality gloves |
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| CN201910452650.2A CN110162181B (en) | 2019-05-28 | 2019-05-28 | Virtual reality gloves |
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| CN110162181B (en) | 2021-11-30 |
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Address after: 518106 Building 1-5, Aiqun Road, Tongfu Industrial Zone, Shangwu Community, Shiyan Street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Puresis Testing Technology Co.,Ltd. Country or region after: China Address before: 518101 floor 1-5 of plant 4-7, Aiqun Road, Shangwu community, Shiyan street, Bao'an District, Shenzhen, Guangdong Province Patentee before: SHENZHEN PRECISE TESTING TECHNOLOGY CO.,LTD. Country or region before: China |