CN202021609U - Device for realizing MDOF (multiple degrees of freedom) force feedback of fingers - Google Patents
Device for realizing MDOF (multiple degrees of freedom) force feedback of fingers Download PDFInfo
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- CN202021609U CN202021609U CN2011201001357U CN201120100135U CN202021609U CN 202021609 U CN202021609 U CN 202021609U CN 2011201001357 U CN2011201001357 U CN 2011201001357U CN 201120100135 U CN201120100135 U CN 201120100135U CN 202021609 U CN202021609 U CN 202021609U
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- 239000002184 metal Substances 0.000 claims description 14
- 230000009467 reduction Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 5
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 8
- 230000008713 feedback mechanism Effects 0.000 abstract description 2
- 230000003993 interaction Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000000386 athletic effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Abstract
The utility model discloses a device for realizing MDOF (multiple degrees of freedom) force feedback of fingers and aims to solve the problems that a conventional force feedback data glove has a low force feedback degrees of freedom and limits the free motion of an operation hand, has a bloated structure and can not realize the two-way active force feedback drive. According to the device, a parallelogram connecting rod force feedback mechanism comprises a driver fixing bracket fixed on the fingers, a driver fixed on the driver fixing bracket, a rocker arm fixed on an output shaft of the driver, a pull rod hinged with the rocker arm, and a force feedback ring hinged with the pull rod. The device has a simple and compact structure, has abundant force feedback degrees of freedom, realizes the free follow or force feedback of the fingers of an operator according to the operation of a mechanical hand or a virtual hand in a free space or a restricted space, and enhances the feeling of remote operation or virtual reality.
Description
Technical field
The utility model relates to a kind of human-computer interface device that strengthens distant operation or virtual reality telepresenc, relates in particular to a kind of device of realizing pointing the multiple degrees of freedom force feedback.
Background technology
Be operated in the effective means that the interactive teleoperation robot system that has telepresenc down is the task that fulfils assignment under complexity or non-definite environment.On the other hand, along with the continuous development of virtual reality technology, power feels that telepresenc becomes its important developing direction just gradually.So have the main human-computer interaction device that the data glove of force feedback function becomes realizable force feel telepresenc.
At present, the comparatively ripe force feedback data gloves of development development is the Cyber-Grasp gloves in the world, and its main design feature is: it is on the basis of traditional data gloves, installs device for force feedback again additional to realize the force feedback to operator.But there is following shortcoming in it: one, the force feedback free degree to operator is few, friction is big, has limited the freely-movable of operator.Two, adopt rope to transmit the force feedback driving force, make structure too fat to move, and can not realize two-way active force feedback the operator finger.
Summary of the invention
At the above-mentioned various shortcomings that existing force feedback data gloves exists, the purpose of this utility model is to provide a kind of realization simple in structure to point the device of multiple degrees of freedom force feedback; Can realize the joint angles information of 3 frees degree of the single finger of operator is detected the device that reaches corresponding each dactylus realizable force feedback.
For achieving the above object, the technical solution adopted in the utility model is:
The utility model comprises the first driver fixed mount, first driver, first mandrel connector, the second driver fixed mount, second driver, second mandrel connector, first rocking arm, П font first pull bar, П font second pull bar, the first fixing supplementary plate, the П font first pull bar fixed mount, the П font second pull bar fixed mount, the first knuckle holder, the first force feedback finger ring, the 3rd driver holder, the 3rd driver, the 3rd mandrel connector, second rocking arm, П font the 3rd pull bar, the second fixedly supplementary plate and the second force feedback finger ring;
The first driver output shaft is fixed on downwards on the first driver fixed mount, the second driver fixed mount is fixed on the output shaft of first driver by first mandrel connector, the second driver output shaft is horizontally fixed on the second driver fixed mount, first rocking arm is fixed on the output shaft of second driver by second mandrel connector, the upper end, middle part of upper end, the middle part of П font first pull bar and П font second pull bar all by first fixedly supplementary plate be hinged on first rocking arm, the П font first pull bar fixed mount is hinged on the two ends of П font first pull bar, the П font second pull bar fixed mount is hinged on the two ends of П font second pull bar, П font first pull bar fixed mount and the П font second pull bar fixed mount are fixed on the first knuckle holder, the first force feedback finger ring is fixed on the first knuckle holder, the 3rd driver holder is fixed on the first knuckle holder, and the 3rd driver output shaft is horizontally fixed on the 3rd driver holder; Second rocking arm is fixed on by the 3rd mandrel connector on the output shaft of the 3rd driver, the middle part of П font the 3rd pull bar upper end by second fixedly supplementary plate be hinged on second rocking arm, the second force feedback finger ring is hinged on the two ends of П font the 3rd pull bar.
The output shaft of described first driver is first revolute pair, the output shaft of second driver is second revolute pair, it is the 3rd revolute pair that П font first pull bar is hinged on first rocking arm, it is the 4th revolute pair that П font second pull bar is hinged on first rocking arm, it is the 5th revolute pair that the П font first pull bar fixed mount is hinged on the two ends of П font first pull bar, it is the 6th revolute pair that the П font second pull bar fixed mount is hinged on the two ends of П font second pull bar, the 3rd driver output shaft is the 7th revolute pair, it is the 8th revolute pair that П font the 3rd pull bar is hinged on second rocking arm, and it is the 9th revolute pair that the second force feedback finger ring is hinged on the two ends of П font the 3rd pull bar.
Described second revolute pair, the 4th revolute pair, the 6th revolute pair and the corresponding joint of operator self constitute first parallelogram connection-rod structure jointly; Described the 3rd revolute pair, the 4th revolute pair, the 5th revolute pair and the 6th revolute pair constitute second parallelogram connection-rod structure; The 3rd parallelogram connection-rod structure of the common formation in described the 7th revolute pair, the 8th revolute pair, the 9th revolute pair and the corresponding joint of operator self; Above bar linkage structure has constituted to be realized the indirect detection of the corresponding joint angles of operation finger and three parallelogram connection-rod structures of ACTIVE CONTROL.
Described two force feedback ring structures are identical, all are integrated with pressure sensor; Force feedback finger ring main body is made of high-density sponge, and force feedback finger ring inwall respectively has a pressure sensor up and down; One of them force feedback finger ring outer wall level two offside all is bonded with the first metal stator and the second metal stator, and the centre of the first metal stator and the second metal stator has the aperture that is used to be articulated on the pull bar.
Described three drivers all are made up of separately drive motors, gear reduction unit and angular transducer, the gear reduction unit of drive motors separately by separately passes to separately output shaft to driving force, and the angle that angular transducer detects control output separately all is installed on each output shaft.
The beneficial effect that the utlity model has is:
1, adopt the hinged П character-shaped pull bar of rocking arm, П character-shaped pull bar two ends to be articulated in the frame for movement of force feedback finger ring, and utilize the corresponding joint of operator self to make itself and above-mentioned force feedback mechanism form the parallelogram connection-rod structure jointly, realized indirect detection and ACTIVE CONTROL to the corresponding joint angles attitude of operator.This project organization is more succinct than force feedback structure in the past, has improved the reliability of system.
2, adopt modular mentality of designing, each driver all is a general module, and the utility model is and can by increasing combination the utility model module, can makes up the feedback data gloves that can realize a plurality of fingers are carried out force feedback control to the module of a finger realizable force FEEDBACK CONTROL.
Description of drawings
Fig. 1 is a structural principle schematic diagram of the present utility model.
Fig. 2 is a stereochemical structure principle schematic of the present utility model.
Fig. 3 is a blast structural principle schematic diagram of the present utility model.
Fig. 4 is the structural principle schematic diagram of force feedback finger ring of the present utility model.
Among the figure: 1, the first driver fixed mount, 2, first driver, 2-1, first mandrel connector, 2-2, the second driver fixed mount, 3, second driver, 3-1, second mandrel connector, 4, first rocking arm, 4-1, the first fixing supplementary plate, 4-2, the first knuckle holder, 4-3 the 3rd driver holder, 5, П font first pull bar, 5-1, the П font first pull bar fixed mount, 6, П font second pull bar, 6-1, the П font second pull bar fixed mount, 7, the 3rd driver, 7-1, the 3rd mandrel connector, 8, second rocking arm, 8-1, the second fixing supplementary plate, 9, П font the 3rd pull bar, 10, the second force feedback finger ring, 11, the first force feedback finger ring, 12, force feedback finger ring main body, 13-1, the first metal stator, the 13-2 second metal stator, 14-1, first pressure sensor, 14-2, second pressure sensor, 14-3, the 3rd pressure sensor, 14-4, the 4th pressure sensor.
The specific embodiment
The utility model is described in further detail below in conjunction with drawings and Examples.
As Fig. 1, Fig. 2, shown in Figure 3, the utility model comprises the first driver fixed mount 1, first driver 2, the first mandrel connector 2-1, the second driver fixed mount 2-2, second driver 3, the second mandrel connector 3-1, first Rocker arm 4, П font first pull bar 5, П font second pull bar 6, the first fixing supplementary plate 4-1, the П font first pull bar fixed mount 5-1, the П font second pull bar fixed mount 6-1, first knuckle holder 4-2, the first force feedback finger ring 11, the 3rd driver holder 4-3, the 3rd driver 7, the 3rd mandrel connector 7-1, second rocking arm 8, П font the 3rd pull bar 9, second fixedly the supplementary plate 8-1 and the second force feedback finger ring 10;
As shown in Figure 1, the described first driver fixed mount 1 is installed on the gloves, thereby make on its back of the hand that is fixed in operator, first driver, 2 output shafts are fixed on downwards on the first driver fixed mount 1, the second driver fixed mount 2-2 is fixed on the output shaft of first driver 2 by the first mandrel connector 2-1, second driver, 3 output shafts are horizontally fixed on the second driver fixed mount 2-2, first Rocker arm 4 is fixed on the output shaft of second driver 3 by the second mandrel connector 3-1, the upper end, middle part of upper end, the middle part of П font first pull bar 5 and П font second pull bar 6 all by first fixedly supplementary plate 4-1 be hinged on first Rocker arm 4, the П font first pull bar fixed mount 5-1 is hinged on the two ends of П font first pull bar 5, the П font second pull bar fixed mount 6-1 is hinged on the two ends of П font second pull bar 6, П font first pull bar fixed mount 5-1 and the П font second pull bar fixed mount 6-1 are fixed on the first knuckle holder 4-2, the first force feedback finger ring 11 is fixed on the first knuckle holder 4-2, the 3rd driver holder 4-3 is fixed on the first knuckle holder 4-2, and the 3rd driver 7 output shafts are horizontally fixed on the 3rd driver holder 4-3; Second rocking arm 8 is fixed on the output shaft of the 3rd driver 7 by the 3rd mandrel connector 7-1, upper end, the middle part of П font the 3rd pull bar 9 by second fixedly supplementary plate 8-1 be hinged on second rocking arm 8, the second force feedback finger ring 10 is hinged on the two ends of П font the 3rd pull bar 9.
As shown in Figure 1, the output shaft of described first driver 2 is the first revolute pair 0-1, the output shaft of second driver 3 is the second revolute pair 0-2, it is the 3rd revolute pair 0-3 that П font first pull bar 5 is hinged on first Rocker arm 4, it is the 4th revolute pair 0-4 that П font second pull bar 6 is hinged on first Rocker arm 4, it is the 5th revolute pair 0-5 that the П font first pull bar fixed mount 5-1 is hinged on the two ends of П font first pull bar 5, it is the 6th revolute pair 0-6 that the П font second pull bar fixed mount 6-1 is hinged on the two ends of П font second pull bar 6, the 3rd driver output shaft is the 7th revolute pair 0-7, it is the 8th revolute pair 0-8 that П font the 3rd pull bar 9 is hinged on second rocking arm (8), and it is the 9th revolute pair 0-9 that the second force feedback finger ring 10 is hinged on the two ends of П font the 3rd pull bar 9.
As shown in Figure 1, the described second revolute pair 0-2, the 4th revolute pair 0-4, the 6th revolute pair 0-6 and the corresponding joint of operator self constitute first parallelogram connection-rod structure jointly; Described the 3rd revolute pair 0-3, the 4th revolute pair 0-4, the 5th revolute pair 0-5 and the 6th revolute pair 0-6 constitute second parallelogram connection-rod structure; The 3rd parallelogram connection-rod structure of the common formation in described the 7th revolute pair 0-7, the 8th revolute pair 0-8, the 9th revolute pair 0-9 and the corresponding joint of operator self; Above bar linkage structure has constituted to be realized the indirect detection of the corresponding joint angles of operation finger and three parallelogram connection-rod structures of ACTIVE CONTROL.
As shown in Figure 4, described two force feedback finger rings, 10,11 structures are identical, all are integrated with pressure sensor; Force feedback finger ring main body 12 is made of high-density sponge, force feedback finger ring inwall respectively has a pressure sensor up and down, is respectively the first pressure sensor 14-1, the second pressure sensor 14-2, the 3rd pressure sensor 14-3, the 4th pressure sensor 14-4; One of them force feedback finger ring 10 outer wall levels two offside all is bonded with the first metal stator 13-1 and the second metal stator 13-2, and the centre of the first metal stator 13-1 and the second metal stator 13-2 has the aperture that is used to be articulated on the pull bar.
Described three drivers all are made up of separately drive motors, gear reduction unit and angular transducer, the gear reduction unit of drive motors separately by separately passes to separately output shaft to driving force, and the angle that angular transducer detects control output separately all is installed on each output shaft.
The course of work of the present utility model is as follows:
As shown in Figure 1, during work, the first driver fixed mount 1 need be fixed on the gloves that operator wears, even the first driver fixed mount 1 is fixed on the back of the hand of operator, and the corresponding finger of operator dactylus is dressed in pairing force feedback finger ring.
Then by the described second revolute pair 0-2, the 4th revolute pair 0-4, the 6th revolute pair 0-6 with point self corresponding joint and constitute first parallelogram connection-rod structure jointly, thereby make the corner of the second driver output shaft realize real-time synchronous interaction with the corresponding joint of finger institute angle of bend.Constitute second parallelogram connection-rod structure by described the 3rd revolute pair 0-3, the 4th revolute pair 0-4, the 5th revolute pair 0-5 and the 6th revolute pair 0-6, make the first knuckle holder 4-2 parallel all the time in motion process with first Rocker arm 4, dissolved since the motion of the 3rd driver produced to pointing extra power effect.By described the 7th revolute pair 0-7, the 8th revolute pair 0-8, the 9th revolute pair 0-9 with point that self corresponding joint is common to constitute the 3rd parallelogram connection-rod structure, thus make the 3rd driver output shaft corner with point corresponding joint institute angle of bend and realize real-time synchronous interaction.
When operator's operator has movement tendency (as flexing one's fingers), can apply an active force to institute's counter stress feedback finger ring, and controller can detect this active force by the pressure sensor on the force feedback finger ring simultaneously.Thereby controller just can be judged the motion intention of operator, and the operating condition by the control respective drivers realizes the control to corresponding joint motions state then, realizes freely following or force feedback operator's finger motion.And on the other hand, the corner of driver output shaft is real-time synchronous interaction with the corresponding joint of finger institute angle of bend, be the athletic posture that the athletic posture of current drive output shaft is respective operations hand finger joint, realized detection finger real time kinematics attitude.
Claims (5)
1. a device of realizing pointing the multiple degrees of freedom force feedback is characterized in that: comprise the first driver fixed mount (1), first driver (2), first mandrel connector (2-1), the second driver fixed mount (2-2), second driver (3), second mandrel connector (3-1), first rocking arm (4), П font first pull bar (5), П font second pull bar (6), the first fixing supplementary plate (4-1), the П font first pull bar fixed mount (5-1), the П font second pull bar fixed mount (6-1), first knuckle holder (4-2), the first force feedback finger ring (11), the 3rd driver holder (4-3), the 3rd driver (7), the 3rd mandrel connector (7-1), second rocking arm (8), П font the 3rd pull bar (9), the second fixedly supplementary plate (8-1) and the second force feedback finger ring (10);
First driver (2) output shaft is fixed on downwards on the first driver fixed mount (1), the second driver fixed mount (2-2) is fixed on the output shaft of first driver (2) by first mandrel connector (2-1), second driver (3) output shaft is horizontally fixed on the second driver fixed mount (2-2), first rocking arm (4) is fixed on the output shaft of second driver (3) by second mandrel connector (3-1), upper end, the middle part of П font first pull bar (5) and the upper end, middle part of П font second pull bar (6) all pass through first fixedly supplementary plate (4-1) be hinged on first rocking arm (4), the П font first pull bar fixed mount (5-1) is hinged on the two ends of П font first pull bar (5), the П font second pull bar fixed mount (6-1) is hinged on the two ends of П font second pull bar (6), П font first pull bar fixed mount (5-1) and the П font second pull bar fixed mount (6-1) are fixed on the first knuckle holder (4-2), the first force feedback finger ring (11) is fixed on the first knuckle holder (4-2), the 3rd driver holder (4-3) is fixed on the first knuckle holder (4-2), and the 3rd driver (7) output shaft is horizontally fixed on the 3rd driver holder (4-3); Second rocking arm (8) is fixed on the output shaft of the 3rd driver (7) by the 3rd mandrel connector (7-1), upper end, the middle part of П font the 3rd pull bar (9) by second fixedly supplementary plate (8-1) be hinged on second rocking arm (8), the second force feedback finger ring (10) is hinged on the two ends of П font the 3rd pull bar (9).
2. a kind of device of realizing pointing the multiple degrees of freedom force feedback according to claim 1, it is characterized in that: the output shaft of described first driver (2) is first revolute pair (0-1), the output shaft of second driver (3) is second revolute pair (0-2), it is the 3rd revolute pair (0-3) that П font first pull bar (5) is hinged on first rocking arm (4), it is the 4th revolute pair (0-4) that П font second pull bar (6) is hinged on first rocking arm (4), it is the 5th revolute pair (0-5) that the П font first pull bar fixed mount (5-1) is hinged on the two ends of П font first pull bar (5), it is the 6th revolute pair (0-6) that the П font second pull bar fixed mount (6-1) is hinged on the two ends of П font second pull bar (6), the 3rd driver output shaft is the 7th revolute pair (0-7), it is the 8th revolute pair (0-8) that П font the 3rd pull bar (9) is hinged on second rocking arm (8), and it is the 9th revolute pair (0-9) that the second force feedback finger ring (10) is hinged on the two ends of П font the 3rd pull bar (9).
3. a kind of device of realizing pointing the multiple degrees of freedom force feedback according to claim 2 is characterized in that: described second revolute pair (0-2), the 4th revolute pair (0-4), the 6th revolute pair (0-6) and the corresponding joint of operator self constitute first parallelogram connection-rod structure jointly; Described the 3rd revolute pair (0-3), the 4th revolute pair (0-4), the 5th revolute pair (0-5) and the 6th revolute pair (0-6) constitute second parallelogram connection-rod structure; The 3rd parallelogram connection-rod structure of the common formation in described the 7th revolute pair (0-7), the 8th revolute pair (0-8), the 9th revolute pair (0-9) and the corresponding joint of operator self; Above bar linkage structure has constituted to be realized the indirect detection of the corresponding joint angles of operation finger and three parallelogram connection-rod structures of ACTIVE CONTROL.
4. a kind of device of realizing pointing the multiple degrees of freedom force feedback according to claim 1 is characterized in that: described two force feedback finger rings (10,11) structure is identical, all is integrated with pressure sensor; Force feedback finger ring main body (12) is made of high-density sponge, force feedback finger ring inwall respectively has a pressure sensor up and down, is respectively first pressure sensor (14-1), second pressure sensor (14-2), the 3rd pressure sensor (14-3), the 4th pressure sensor (14-4); One of them force feedback finger ring (10) outer wall level two offside all is bonded with the first metal stator (13-1) and the second metal stator (13-2), and the centre of the first metal stator (13-1) and the second metal stator (13-2) has the aperture that is used to be articulated on the pull bar.
5. a kind of device of realizing pointing the multiple degrees of freedom force feedback according to claim 1, it is characterized in that: described three drivers all are made up of separately drive motors, gear reduction unit and angular transducer, the gear reduction unit of drive motors separately by separately passes to separately output shaft to driving force, and the angle that angular transducer detects control output separately all is installed on each output shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201001357U CN202021609U (en) | 2011-04-08 | 2011-04-08 | Device for realizing MDOF (multiple degrees of freedom) force feedback of fingers |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201001357U CN202021609U (en) | 2011-04-08 | 2011-04-08 | Device for realizing MDOF (multiple degrees of freedom) force feedback of fingers |
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| CN202021609U true CN202021609U (en) | 2011-11-02 |
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| CN2011201001357U Expired - Lifetime CN202021609U (en) | 2011-04-08 | 2011-04-08 | Device for realizing MDOF (multiple degrees of freedom) force feedback of fingers |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102152321A (en) * | 2011-04-08 | 2011-08-17 | 浙江理工大学 | Device for realizing multiple-degree-of-freedom force feedback of fingers |
| CN103895019A (en) * | 2012-12-25 | 2014-07-02 | 苏茂 | Data glove two-way force feedback detection driving device |
| CN104535088A (en) * | 2015-01-20 | 2015-04-22 | 上海电气集团股份有限公司 | Ring type sensor device for carrier |
| CN105551339A (en) * | 2015-12-31 | 2016-05-04 | 英华达（南京）科技有限公司 | Calligraphy practicing system and method based on virtual reality system |
| CN110196637A (en) * | 2019-05-15 | 2019-09-03 | 北京航空航天大学 | A kind of activity supporting point lever variation rigidity mechanism and singly refer to force feedback gloves |
-
2011
- 2011-04-08 CN CN2011201001357U patent/CN202021609U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102152321A (en) * | 2011-04-08 | 2011-08-17 | 浙江理工大学 | Device for realizing multiple-degree-of-freedom force feedback of fingers |
| CN103895019A (en) * | 2012-12-25 | 2014-07-02 | 苏茂 | Data glove two-way force feedback detection driving device |
| CN104535088A (en) * | 2015-01-20 | 2015-04-22 | 上海电气集团股份有限公司 | Ring type sensor device for carrier |
| CN105551339A (en) * | 2015-12-31 | 2016-05-04 | 英华达（南京）科技有限公司 | Calligraphy practicing system and method based on virtual reality system |
| CN110196637A (en) * | 2019-05-15 | 2019-09-03 | 北京航空航天大学 | A kind of activity supporting point lever variation rigidity mechanism and singly refer to force feedback gloves |
| CN110196637B (en) * | 2019-05-15 | 2020-12-18 | 北京航空航天大学 | Movable fulcrum lever type rigidity changing mechanism and single-finger force feedback glove |
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Granted publication date: 20111102 Effective date of abandoning: 20130424 |
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