CN111966228A - Exoskeleton data glove - Google Patents
Exoskeleton data glove Download PDFInfo
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- CN111966228A CN111966228A CN202011143059.8A CN202011143059A CN111966228A CN 111966228 A CN111966228 A CN 111966228A CN 202011143059 A CN202011143059 A CN 202011143059A CN 111966228 A CN111966228 A CN 111966228A
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- exoskeleton
- module
- data
- data transceiver
- finger
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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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Rehabilitation Tools (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The invention discloses exoskeleton data gloves, which relate to the technical field of data gloves and comprise an exoskeleton frame, six-axis gyroscopes, angle sensors, miniature vibration motors and data receiving and transmitting devices, wherein the six-axis gyroscopes are arranged above palms of the exoskeleton frame, the six-axis gyroscopes are arranged above knuckles closest to the palms, the angle sensors are arranged at joints of the knuckles, the two joints are connected through joint connecting rods, the miniature vibration motors are arranged at finger tips of each finger, each data receiving and transmitting device comprises a data receiving and transmitting module, and the data receiving and transmitting module is used for processing signals collected by the six-axis gyroscopes and the corresponding angle sensors, transmitting the signals fed back by an upper computer to the miniature vibration motors. The angle sensor and the six-axis gyroscope are integrated on the exoskeleton frame, the data transceiver module is integrated in the mounting box fixed on the arm of the user, the interference on the actual action of the user can be avoided when the exoskeleton device is used, the production cost is low, and the exoskeleton device is suitable for large-scale popularization.
Description
Technical Field
The invention relates to the technical field of data gloves, in particular to exoskeleton data gloves.
Background
The data gloves are a hand interaction mode which is important in the VR field, the hand motion of a user is captured by installing various sensors on the data gloves, but the existing data gloves have the following defects: most of the existing data gloves can only detect palm position information of a user, production cost is high, actual requirements of large-scale popularization are difficult to meet, and in addition, the data receiving and transmitting devices of the existing data gloves can be installed on the gloves, so that actual actions of the user can be influenced sometimes when the gloves are used.
Disclosure of Invention
The invention aims to provide an exoskeleton data glove to solve the defects caused by the prior art.
An exoskeleton data glove comprises an exoskeleton frame, a six-axis gyroscope, an angle sensor, a micro vibration motor and a data transceiver;
the six-axis gyroscope is fixedly mounted above a palm of the exoskeleton frame, the six-axis gyroscope is also fixedly mounted above a knuckle of each finger closest to the palm, the angle sensor is mounted at a joint of each two knuckles, the two joints of the same finger are connected through a joint connecting rod, and the miniature vibration motor is fixedly mounted at a fingertip of each finger;
the data transceiver comprises a data transceiver module, a mounting box and fixing rings, the data transceiver module is used for transmitting signals acquired by the six-axis gyroscope and the angle sensor and palm postures and knuckle rotation angles calculated by fusion to an upper computer, then transmitting signals fed back by the upper computer to the miniature vibration motor, the data transceiver module is arranged in the mounting box, the fixing rings are symmetrically arranged on two sides of the lower end face of the mounting box and are made of arc-shaped elastic materials, and the fixing rings are used for fixing the data transceiver on the arms of a user.
Preferably, the data transceiver module includes controller, wiFi module, bluetooth module, USB module and rechargeable lithium cell, the output of six gyroscopes, angle sensor's output respectively with controller electric connection, the output and the miniature shock motor electric connection of controller, the input of wiFi module, bluetooth module's input and the input of USB module respectively with controller electric connection, the positive negative pole of rechargeable lithium cell respectively with controller electric connection.
Preferably, a flexible cloth is arranged between the palm and each finger.
The invention has the following advantages:
the angle sensor is integrated at the joints of the fingers of the exoskeleton frame, the six-axis gyroscopes are respectively installed on the palm and the knuckle closest to the palm, so that the hand movement of a user can be captured in all directions, the acquired data are transmitted to the data transceiver module to be processed, the processed data are transmitted to the upper computer through the WiFi module or the Bluetooth module or the USB module, the data transceiver module is integrated into the installation box, the installation box is fixed on the arm of the user through the fixing ring, when the user moves, the interference on the actual movement of the user can be avoided to the maximum extent, the upper computer processes the received information and then transmits the processed information to the data transceiver module through the WiFi module or the Bluetooth module or the USB module to be processed, and the processed data transceiver module controls the micro vibration motor to vibrate.
Drawings
Fig. 1 is a schematic overall three-dimensional structure of the present invention.
Fig. 2 is a side view of the exoskeleton frame of the present invention.
Fig. 3 is a bottom view of the exoskeleton frame of the present invention.
Fig. 4 is a schematic structural diagram of a data transceiver device according to the present invention.
Wherein: 1. the exoskeleton comprises an exoskeleton framework, a palm, 12 fingers, 121, knuckles, 2 and six-axis gyroscopes, 3, an angle sensor, 4, a joint connecting rod, 5, a miniature vibration motor, 6, a data transceiver, 61, a mounting box, 62, a fixing ring, 7 and flexible cloth.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
As shown in fig. 1-4, the present invention provides an exoskeleton data glove, which comprises an exoskeleton frame 1, a six-axis gyroscope 2, an angle sensor 3, a micro vibration motor 5 and a data transceiver 6;
the six-axis gyroscope 2 is fixedly installed above a palm 11 of the exoskeleton frame 1, the six-axis gyroscope 2 is also fixedly installed above a knuckle 121 of each finger 12 closest to the palm 11, the angle sensor 3 is installed at a joint of each two knuckles 121, two joints of the same finger 12 are connected through a joint connecting rod 4, and the micro vibration motor 5 is fixedly installed at a fingertip of each finger 12;
the data transceiver 6 comprises a data transceiver module, a mounting box 61 and a fixing ring 62, the data transceiver module is used for transmitting signals acquired by the six-axis gyroscope 2 and the angle sensor 3 and calculated palm 11 posture and knuckle 121 rotation angle by fusion to an upper computer, then transmitting signals fed back by the upper computer to the micro vibration motor 5, the data transceiver module is arranged in the mounting box 61, the fixing ring 62 is symmetrically arranged on two sides of the lower end face of the mounting box 61, the fixing ring 62 is made of an arc elastic material, and the fixing ring 62 is used for fixing the data transceiver 6 on the arm of a user.
In this embodiment, data transceiver module includes controller, wiFi module, bluetooth module, USB module and rechargeable lithium cell, the output of six gyroscopes 2, angle sensor 3's output respectively with controller electric connection, the output and the 5 electric connection of miniature shock motor of controller, the input of wiFi module, bluetooth module and the input of USB module respectively with controller electric connection, the positive negative pole of rechargeable lithium cell respectively with controller electric connection.
In this embodiment, a flexible cloth 7 is disposed between the palm 11 and each finger 12.
The specific implementation mode and principle are as follows:
in practical application, the exoskeleton frame 1 can be worn on the hand of a user, the data transceiver 6 is fixed on the arm of the user through the fixing ring 62 on the lower end face of the mounting box 61, one of the WiFi module, the Bluetooth module or the USB module is connected with an upper computer before use, when the exoskeleton hand simulation device is used in a simulated environment, when the hand of the user acts, the six-axis gyroscope 2 and the angle sensor 3 can monitor the state and the action of all joints of the palm and the fingers of the user in real time, collected data information is sent to the controller, the controller analyzes and processes the data, the processed data is transmitted to the upper computer through the WiFi module, the Bluetooth module or the USB module which is connected with the upper computer, when the user touches a virtual article, the upper computer sends a signal to the controller through the WiFi module, the Bluetooth module or the USB module which is connected with the upper computer, the controller receives the information and then controls the micro vibration motor 5 to vibrate to prompt the user, so that the user can have real touch when contacting the virtual article.
The invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the inventive concept and solution of the invention, or to apply the inventive concept and solution directly to other applications without modification.
Claims (3)
1. An exoskeleton data glove, comprising: the exoskeleton robot comprises an exoskeleton frame (1), a six-axis gyroscope (2), an angle sensor (3), a micro vibration motor (5) and a data transceiver (6);
the six-axis gyroscope (2) is fixedly mounted above a palm (11) of the exoskeleton frame (1), the six-axis gyroscope (2) is also fixedly mounted above a knuckle (121) of each finger (12) closest to the palm (11), the angle sensor (3) is mounted at the joint of each two knuckles (121), two joints of the same finger (12) are connected through a joint connecting rod (4), and the miniature vibration motor (5) is fixedly mounted at the fingertip of each finger (12);
the data transceiver (6) comprises a data transceiver module, a mounting box (61) and fixing rings (62), the data transceiver module is used for transmitting signals collected by the six-axis gyroscope (2) and the angle sensor (3) and palm (11) postures and knuckle (121) rotation angles calculated by fusion to an upper computer, then transmitting signals fed back by the upper computer to the micro vibration motor (5), the data transceiver module is arranged in the mounting box (61), the fixing rings (62) are symmetrically arranged on two sides of the lower end face of the mounting box (61), the fixing rings (62) are made of arc-shaped elastic materials, and the fixing rings (62) are used for fixing the data transceiver (6) on the arms of a user.
2. The exoskeleton data glove of claim 1, wherein: the data transceiver module includes controller, wiFi module, bluetooth module, USB module and rechargeable lithium cell, the output of six gyroscopes (2), the output of angle sensor (3) respectively with controller electric connection, the output and the miniature shock motor (5) electric connection of controller, the input of wiFi module, bluetooth module's input and the input of USB module respectively with controller electric connection, the positive negative pole of rechargeable lithium cell respectively with controller electric connection.
3. The exoskeleton data glove of claim 1, wherein: and a flexible cloth (7) is arranged between the palm (11) and each finger (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011143059.8A CN111966228A (en) | 2020-10-23 | 2020-10-23 | Exoskeleton data glove |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011143059.8A CN111966228A (en) | 2020-10-23 | 2020-10-23 | Exoskeleton data glove |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111966228A true CN111966228A (en) | 2020-11-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011143059.8A Pending CN111966228A (en) | 2020-10-23 | 2020-10-23 | Exoskeleton data glove |
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| Country | Link |
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| CN (1) | CN111966228A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113625875A (en) * | 2021-08-09 | 2021-11-09 | 沈阳工业大学 | Comprehensive system glove capable of feeding back simultaneously |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208477476U (en) * | 2018-05-03 | 2019-02-05 | 广东省智能制造研究所 | Position feedback gloves for virtual reality |
| CN110162181A (en) * | 2019-05-28 | 2019-08-23 | 欣旺达电子股份有限公司 | Virtual reality glove |
-
2020
- 2020-10-23 CN CN202011143059.8A patent/CN111966228A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208477476U (en) * | 2018-05-03 | 2019-02-05 | 广东省智能制造研究所 | Position feedback gloves for virtual reality |
| CN110162181A (en) * | 2019-05-28 | 2019-08-23 | 欣旺达电子股份有限公司 | Virtual reality glove |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113625875A (en) * | 2021-08-09 | 2021-11-09 | 沈阳工业大学 | Comprehensive system glove capable of feeding back simultaneously |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201120 |
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| RJ01 | Rejection of invention patent application after publication |