CN110658913B - Pressure unit and force feedback data glove based on electromagnetic effect - Google Patents
Pressure unit and force feedback data glove based on electromagnetic effect Download PDFInfo
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- CN110658913B CN110658913B CN201810718709.3A CN201810718709A CN110658913B CN 110658913 B CN110658913 B CN 110658913B CN 201810718709 A CN201810718709 A CN 201810718709A CN 110658913 B CN110658913 B CN 110658913B
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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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Abstract
The invention relates to a pressure unit, which comprises an enclosing body, and a side wall limiting block, a power part, a compression mechanism and a lever mechanism which are arranged in the enclosing body, wherein the enclosing body is of a spherical structure made of a soft material, and the interior of the enclosing body is hollow; be equipped with the activity space in the lateral wall stopper, compression mechanism sets up in the activity space and can follow activity space linear motion, lever mechanism has two and establishes in the compression mechanism both sides respectively, two lever mechanism's outer wall butt is at the internal side wall of enclosure and support the enclosure, lever mechanism's first end is connected in the compression mechanism upper end, power spare can stretch out and draw back certainly, and the power spare both ends are connected respectively at lever mechanism's second end and lateral wall stopper, the last pivot that is equipped with of lever mechanism, and lever mechanism can follow the pivot and rotate. The pressure unit can be deformed by itself, so that a user of the pressure unit can feel the touch pressure. The invention also provides a force feedback data glove using the pressure unit.
Description
Technical Field
The invention relates to a touch sensing device, in particular to a pressure unit and a force feedback data glove based on an electromagnetic effect.
Background
VR has not focused solely on the field of computer graphics, it has been directed to broader fields such as video conferencing, networking technologies, and distributed computing technologies, and has evolved towards distributed virtual reality. Virtual reality technology has become an important means for new product design and development. The cooperative virtual reality is a hot spot of new research and application of VR technology, and introduces new technical problems including human factors, network, database technology and the like. Such as human factors, it has been necessary to consider how multiple participants interact with each other in a shared space, the behavior of virtual objects in a virtual space under the combined action of multiple participants, and the like. Collaborative design in a VR environment, team members may engage in activities of constructing and manipulating virtual objects in a virtual environment, either synchronously or asynchronously, and may perform activities of evaluating, discussing, and redesigning the virtual objects. The distributed virtual environment enables designers distributed in different geographic positions to face the same virtual design object, and by cooperatively using sound and video tools in the shared virtual environment, design defects can be eliminated at the initial stage of design, the time of the product on the market is reduced, and the product quality is improved. In addition, VR has become an important tool for constructing virtual prototypes, supporting virtual prototypes technology. VE-virtual environment technology enables engineers to interact with their design prototypes (virtual prototypes) in real time in three-dimensional space.
With the rapid development of computer software and hardware technologies and the improvement of animation requirements, in more and more high and new technical fields, motion capture has already entered into a practical stage and has been successfully applied to many aspects such as virtual reality and games. The input mode of the motion sensing equipment is more and more diversified, and different motion sensing equipment is provided according to different use scenes. For gesture recognition, data gloves are mostly adopted at present, but the current data gloves can only detect gestures and cannot provide feedback such as touch and the like, so that the sense of reality of people is low.
Disclosure of Invention
In order to solve the above problems, the present invention provides a pressure unit which can be deformed by itself so that a user of the pressure unit can feel a touch pressure.
In order to achieve the purpose, the invention adopts the technical scheme that:
a pressure unit comprises an enclosing body, and a side wall limiting block, a power part, a compression mechanism and a lever mechanism which are arranged in the enclosing body, wherein the enclosing body is of a spherical structure made of soft materials, and the interior of the enclosing body is hollow; the side wall limiting block is internally provided with a movable space, the compression mechanism is arranged in the movable space and can linearly move along the movable space, two lever mechanisms are arranged on two sides of the compression mechanism respectively, the outer walls of the two lever mechanisms are abutted against the inner side wall of the enclosure body and support the enclosure body, the first end of each lever mechanism is connected to the upper end of the compression mechanism, the power part can automatically stretch, two ends of the power part are connected to the second end of each lever mechanism and the side wall limiting block respectively, each lever mechanism is provided with a rotating shaft, and the lever mechanisms can rotate along the rotating shafts;
the power part can pull the lever mechanism to rotate along the rotating shaft and drive the lower end of the compression mechanism to move downwards.
Preferably, the lever mechanism is in a shape of "G", and the lever mechanism includes an arc-shaped first arm and a linear second arm, wherein a first end of the first arm is a free end, and a second end of the first arm extends towards the arc-shaped inner side of the first arm to form the second arm; the outer side of the first arm abuts against the inner side wall of the surrounding body.
Preferably, the pivot is provided on the second arm.
Preferably, the pivot is located proximate to the junction of the first arm and the second arm.
Preferably, the power member is a spring coil.
Preferably, the compression mechanism further comprises a return spring which provides an upward return pull force when the lower end of the compression mechanism moves downward.
Preferably, the upper portion of the compressing mechanism further comprises a top stopper for being supported at the top of the inner side of the enclosure.
Preferably, the lower end of the compression mechanism is provided with a pressure-bearing device, the pressure-bearing device is a cross-section part of the spherical body, an arc-shaped surface of the pressure-bearing device abuts against the lower inner side surface of the enclosing body, and the lower end of the compression mechanism abuts against the horizontal surface of the pressure-bearing device.
The invention also discloses a force feedback data glove based on the electromagnetic effect, which comprises a glove main body and the pressure unit.
In the technical scheme of the force feedback data glove based on the electromagnetic effect, preferably, the pressure units are arranged at the positions corresponding to the fingers and the palm, and the central area of the glove body corresponding to the palm is a non-pressure unit arrangement area.
The beneficial effects of the invention are as follows:
when a user wears the glove for use, when the glove worn by the user touches an object in a game or a virtual scene, the processing unit judges the stress direction according to the shape of the data glove, selects the spring coil in the contact point corresponding to the direction to be electrified, and the spring coil is contracted due to the electromagnetic effect after being electrified, so that the lever mechanism is pulled and presses the compression mechanism, pressure is generated for the user, the user is enabled to generate touch, and the user can feel the feeling of being personally on the scene.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a force feedback data glove based on electromagnetic effect.
Fig. 2 is a schematic structural view of the pressure unit.
Fig. 3 is a schematic structural view of a lever mechanism in the pressure unit.
The reference numerals include:
10-glove body, 20-touch glove, 30-data glove, 40-pressure unit, 410-top stop
Block, 420-side wall stop block, 430-lever mechanism, 431-first arm, 432-second arm, 440-turn
Shaft, 450-compression mechanism, 451-compression end, 452-support end, 460-spring coil, 470-bearing
Provided is a device.
Detailed Description
The present invention is described in detail below with reference to the attached drawings.
Example 1
As shown in fig. 1-3, the present embodiment provides a pressure unit 40, which includes an enclosure, and a sidewall limiting block 420, a power component, a compression mechanism 450 and a lever mechanism 430, which are disposed in the enclosure, wherein the enclosure is a spherical structure made of a soft material, and the interior of the enclosure is hollow; the side wall limiting block 420 is internally provided with a movable space, the compression mechanism 450 is arranged in the movable space and can linearly move along the movable space, two lever mechanisms 430 are arranged at two sides of the compression mechanism 450 respectively, the outer walls of the two lever mechanisms 430 are abutted against the inner side wall of the enclosure body and support the enclosure body, the first end of each lever mechanism 430 is connected to the upper end of the compression mechanism 450, the power part can automatically extend and retract, two ends of the power part are respectively connected to the second end of the lever mechanism 430 and the side wall limiting block 420, the lever mechanism 430 is provided with a rotating shaft 440, and the lever mechanism 430 can rotate along the rotating shaft 440; the power member can pull the lever mechanism 430 to rotate along the rotating shaft 440 and drive the lower end of the compressing mechanism 450 to move downward.
As shown in fig. 1, the present pressure unit 40 is mainly applied to a glove for virtual equipment, wherein the glove includes a glove body 10, a data glove 30 is disposed on the glove body 10, a touch glove 20 is disposed on the data glove 30, and the pressure unit 40 is correspondingly disposed on the touch glove 20.
When a user wears the glove, the position of the glove is detected through the VR equipment, namely, the scene in the VR program corresponds, when a virtual character in the scene contacts a virtual object in the scene, the position corresponding to the contact object of the palm of the virtual character is a point A, and the pressure unit 40 corresponding to the area of the point A on the glove correspondingly works, so that the simulation effect can be completed.
The working principle of the pressure unit 40 is as follows, the whole of the enclosure is spherical, the enclosure can be made of tough organic materials, and the enclosure can be deformed properly and cannot be punctured. The position of the sidewall limiting block 420 is fixed, the main body of the compressing mechanism 450 is columnar, and the compressing mechanism 450 can reciprocate up and down in the internal movable space. When the power members are relatively contracted, the lever mechanism 430 rotates around the rotating shaft 440, and at this time, the lever mechanism 430 on the left side of the compression mechanism 450 rotates clockwise along the rotating shaft 440, and correspondingly, the lever mechanism 430 on the right side of the compression mechanism 450 rotates counterclockwise along the rotating shaft 440. The two lever mechanisms 430 act simultaneously to press the compressing end 451 of the compressing mechanism 450 downward, which in turn presses the lower end of the compressing mechanism 450, i.e. the supporting end 452, downward, so that the pressure is sensed outside the enclosure.
In order to support the top of the enclosure, a rod-shaped top stopper 410 is provided on the top of the compression mechanism 450, and the top stopper 410 can support the top of the enclosure so that the enclosure is not deformed by the lateral pushing of the lever mechanism 430. The upper portion of the compression mechanism 450 also includes a top stopper 410, the top stopper 410 being adapted to be supported on the inside top of the enclosure.
In the present embodiment, the lever mechanism 430 is in a "G" shape, and the lever mechanism 430 includes an arc-shaped first arm 431 and a linear second arm 432, wherein a first end of the first arm 431 is a free end, and a second end of the first arm 431 extends to the arc-shaped inner side of the first arm 431 to form the second arm 432; the outer side of the first arm 431 abuts against the inner side wall of the enclosure. This leverage mechanism 430 can achieve leverage in a small space.
As shown in fig. 3, a rotating shaft 440 is preferably provided on the second arm 432. When the rotating shaft 440 is disposed on the second arm 432, when the lever mechanism 430 rotates, the first arm 431 bends upward, so that the first arm 431 presses the enclosure in the upward and outward direction, but the distance from the outer end of the lever mechanism 430 to the longitudinal symmetry center of the compressing mechanism 450 becomes shorter, and the overall enclosure is maintained in a loose state, so that when the compressing mechanism 450 is extended downward, the volume problem of the enclosure should not be hindered.
In the present embodiment, the rotation shaft 440 is disposed near the connection between the first arm 431 and the second arm 432, and only a small moment is required to complete the rotation lever mechanism 430. In this embodiment, the rotating shaft 440 is disposed at the lower third of the second arm 432.
The compression mechanism 450 further includes a return spring that provides an upward return pull force when the lower end of the compression mechanism 450 is moved downward.
The lower end of the compression mechanism 450 is provided with a pressure-bearing device 470, the pressure-bearing device 470 is a cross-section part of a spherical body, an arc-shaped surface of the pressure-bearing device 470 abuts against the lower inner side surface of the surrounding body, and the lower end of the compression mechanism 450 abuts against the horizontal surface of the pressure-bearing device 470. The arcuate surface of the pressure bearing device 470 makes the use feel more comfortable.
Example 2
The present embodiment also proposes a force feedback data glove 30 based on electromagnetic effect, comprising a glove body 10 and a pressure unit 40 according to any one of the above.
In the technical scheme of the force feedback data glove 30 based on the electromagnetic effect, the pressure unit 40 is arranged at the position corresponding to the fingers and the position corresponding to the palm, and the central area of the glove body 10 corresponding to the palm is a non-pressure unit 40 arrangement area.
When a user wears the glove for use, when the glove worn by the user touches an object in a game or a virtual scene, the processing unit judges the stress direction according to the shape of the data glove 30, selects the spring coil 460 in the contact point corresponding to the stress direction to be electrified, and the spring coil 460 is contracted due to the electromagnetic effect after being electrified, pulls the lever mechanism 430 and presses the compression mechanism 450, so that pressure is generated on the user, the user is enabled to generate touch, and the user can generate the feeling of being personally on the scene.
In general, glove body 10 includes a data glove 30 and a touch glove 20, with touch glove 20 being in conformable connection with data glove 30. The data glove 30 may detect the gestures of the fingers and palm and send the gesture information to the processing unit. The touch glove 20 includes touch points, which are spherical or ellipsoidal and are disposed on the finger portion and the palm portion of the touch glove 20, and the palm portion is not provided with touch points since the palm portion does not substantially contact the object during normal holding.
The contact comprises a top limit block 410, a side wall limit block 420, a lever mechanism 430, a rotating shaft 440, a compression mechanism 450, a spring coil 460 and a pressure-bearing device 470, wherein the lever mechanism 430 is in a 'G' shape, the rotating shaft 440 is arranged at the middle inflection point of the 'G' shape, and the lever mechanism 430 can rotate around the rotating shaft 440. The lever mechanism 430 has a first end connected to the spring coil 460 and a second end abutting the compression mechanism 450. The compression end 451 of the compression mechanism 450 abuts against the second end of the upper end of the lever mechanism 430, and the support end 452 of the compression mechanism 450 abuts against the pressure receiving device 470. The side wall of the compressing mechanism 450 contacts with the side wall stopper 420, and the side wall stopper 420 can prevent the compressing mechanism 450 from moving laterally, so as to ensure that the compressing mechanism 450 is in an upright state. A first end of the spring coil 460 is secured to the sidewall stop 420. The power element is a spring coil 460, the spring coil 460 has the advantage of small volume, and can simultaneously realize two advantages of spring tension and coil magnetic deformation, and in other embodiments, other devices capable of self-stretching deformation can be adopted.
When the spring coil 460 pulls the lever mechanism 430, the upper end of the lever mechanism 430 presses the compression mechanism 450, and the compression mechanism 450 generates pressure on the pressure-bearing device 470, and the pressure is transmitted to the outside of the contact through the pressure-bearing device 470. The compression mechanism 450 is provided with a spring mechanism therein, which can help the compression mechanism 450 and the auxiliary compression mechanism 450 to be restored after the external force is removed.
The foregoing is only a preferred embodiment of the present invention, and many variations in the detailed description and the application range can be made by those skilled in the art without departing from the spirit of the present invention, and all changes that fall within the protective scope of the invention are therefore considered to be within the scope of the invention.
Claims (9)
1. A pressure unit, characterized by: the glove is used for force feedback data gloves, each force feedback data glove comprises a glove main body, the pressure units are arranged at positions corresponding to fingers and positions corresponding to palms, and a non-pressure unit arrangement area is arranged in a palm center area corresponding to the glove main body;
when a glove worn by a user touches an object in a game or a virtual scene, the processing unit judges the stress direction according to the shape of the data glove, selects a power part in a contact in the corresponding direction to be electrified, and pulls a lever mechanism and enables the lever mechanism to press a compression mechanism after the power part is electrified, so that pressure is generated on the user; the side wall limiting block is internally provided with a movable space, the compression mechanism is arranged in the movable space and can linearly move along the movable space, two lever mechanisms are arranged on two sides of the compression mechanism respectively, the outer walls of the two lever mechanisms are abutted against the inner side wall of the enclosure body and support the enclosure body, the first end of each lever mechanism is connected to the upper end of the compression mechanism, the power part can automatically stretch, two ends of the power part are connected to the second end of each lever mechanism and the side wall limiting block respectively, each lever mechanism is provided with a rotating shaft, and the lever mechanisms can rotate along the rotating shafts;
when the power part contracts relatively, the lever mechanisms rotate around the rotating shaft, the two lever mechanisms act simultaneously, the upper end of the compression mechanism is extruded downwards, the lower end of the compression mechanism is driven to extrude downwards, and the surrounding body is enabled to feel pressure outside.
2. The pressure unit of claim 1, wherein: the lever mechanism is G-shaped and comprises an arc-shaped first arm and a linear second arm, wherein the first end of the first arm is a free end, and the second end of the first arm extends towards the arc-shaped inner side of the first arm to form the second arm; the outer side of the first arm abuts against the inner side wall of the surrounding body.
3. The pressure unit of claim 2, wherein: the rotating shaft is arranged on the second arm.
4. A pressure unit as claimed in claim 3, characterized in that: the rotating shaft is arranged at a position close to the connection position of the first arm and the second arm.
5. The pressure unit of claim 1, wherein: the power part is a spring coil.
6. The pressure unit of claim 1, wherein: the compression mechanism further includes a return spring that provides an upward return tension when the lower end of the compression mechanism moves downward.
7. The pressure unit of claim 1, wherein: the upper part of the compression mechanism also comprises a top limiting block which is used for supporting the top of the inner side of the enclosing body.
8. The pressure unit of claim 1, wherein: the lower end of the compression mechanism is provided with a pressure-bearing device, the pressure-bearing device is a cross-sectional part of the spherical body, an arc-shaped surface of the pressure-bearing device abuts against the lower inner side surface of the surrounding body, and the lower end of the compression mechanism abuts against the horizontal surface of the pressure-bearing device.
9. Force feedback data gloves based on electromagnetic effect, its characterized in that: comprising a glove body and a pressure unit according to any of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810718709.3A CN110658913B (en) | 2018-06-29 | 2018-06-29 | Pressure unit and force feedback data glove based on electromagnetic effect |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810718709.3A CN110658913B (en) | 2018-06-29 | 2018-06-29 | Pressure unit and force feedback data glove based on electromagnetic effect |
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| CN110658913A CN110658913A (en) | 2020-01-07 |
| CN110658913B true CN110658913B (en) | 2023-04-18 |
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| CN107648017A (en) * | 2017-11-09 | 2018-02-02 | 上海司羿智能科技有限公司 | Ectoskeleton drive device, assistance exoskeleton system and its driving and boosting method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011055845A1 (en) * | 2011-11-29 | 2013-05-29 | Phoenix Contact Gmbh & Co. Kg | Terminal with toggle lever operation |
| US9468847B2 (en) * | 2014-04-30 | 2016-10-18 | Umm Al-Qura University | Tactile feedback gloves |
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2018
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102152314A (en) * | 2010-12-13 | 2011-08-17 | 天津工业大学 | Clucking power feedback system in touching device |
| CN103112472A (en) * | 2013-01-29 | 2013-05-22 | 常州庞丰机电科技有限公司 | Hydraulic pressure braking clamp device |
| CN103699221A (en) * | 2013-12-11 | 2014-04-02 | 浙江理工大学 | Fingertip force feedback device |
| CN205766201U (en) * | 2016-06-27 | 2016-12-07 | 慧灵科技（深圳）有限公司 | A kind of electronic jaw of band force feedback |
| 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 |
| CN107648017A (en) * | 2017-11-09 | 2018-02-02 | 上海司羿智能科技有限公司 | Ectoskeleton drive device, assistance exoskeleton system and its driving and boosting method |
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| CN110658913A (en) | 2020-01-07 |
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