CN202045638U - External framework type data glove - Google Patents
External framework type data glove Download PDFInfo
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- CN202045638U CN202045638U CN2011201523287U CN201120152328U CN202045638U CN 202045638 U CN202045638 U CN 202045638U CN 2011201523287 U CN2011201523287 U CN 2011201523287U CN 201120152328 U CN201120152328 U CN 201120152328U CN 202045638 U CN202045638 U CN 202045638U
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- rocking arm
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Abstract
The utility model discloses an external framework type data glove and relates to the data glove for detecting the motion state of the fingers of one human hand. In order to solve the shortcomings of high price, complex system, difficulty in maintenance and the like of the existing data glove sensor, the external framework type data glove is designed to be attached outside the human hand for detecting the motion of joints, a low-price potential device is used for replacing a conventional data glove sensor, and a unique connection way and an ingenious joint measuring point layout are further adopted for reducing or eliminating the hindrance and the impacts of a detection mechanism on the motion of the fingers of an operator. When the operator uses the data glove, the motion of the five fingers can still keep the flexibility and the legerity to the maximum extent and the motion state of each joint can be precisely detected, thereby controlling the actions of a mechanical head or a virtual hand in a computer scene, enabling all the finger joints of a controlled slave hand to perform synergic and consistent actions with all the finger joints of the operator and enabling the complex control of the slave hand with multiple degrees of freedom to become intuitive, simple and convenient.
Description
Technical field
The utility model relates to a kind of position of each dactylus of the people's of detection hand finger in three dimensions and the data glove of motion state.
Background technology
Because science and technology development, robot is used in increasing scope gradually, teleoperation robot is widely used in working in the environment various danger, the situation complexity, that the mankind can't arrive as the robot of a kind of dependable performance, technology maturation, what it adopted is very reliable control mode, directly sends instruction by the operator and controls.Carrying out along with teleoperation robot of task becomes increasingly complex, make people when pursuing reliability, also its flexibility is had higher requirement, and to implement distant operation to the complicated mechanical hand, a plurality of joints coordinated movement of various economic factors together of a plurality of fingers of control manipulator, to realize specific function, this just need use data glove, data glove is the manipulator of robot to be implemented the efficient apparatus of distant operation, and it is pointed the positional information of each dactylus and follows the tracks of the staff finger motion as the finger of control instruction control manipulator by measure operator.In addition, the virtual emulation technology constantly develops in recent years, and its main interactive device is exactly a data glove, for example in a scene by computer virtual, the virtual staff of control a pair of dismounting or put together machines etc. also has recreation, 3D cartoon making all to need to use data glove.The bend sensor of data glove is the core component of data glove, have only a few countries to develop in the world, so the price of data glove is very expensive, single gloves price is up to six or seven ten thousand yuans, and existing data glove sensor life-time is short, be difficult for changing, had a strong impact on popularizing, promoting the use of of data glove.
Summary of the invention
The purpose of this utility model be at existing data glove cost an arm and a leg, system complex, shortcoming such as difficult in maintenance, the method that a kind of outer sensor detects joint motions has been proposed, greatly reduce the cost of data glove, and just can realize control teleoperation robot with the simplest system.Difficult point of the present utility model is to be attached to the design of the framework of staff outside, because the volume of outer sensor is bigger, add link gears such as rocking arm, connecting rod, can disturb the motion of finger, but the utility model is by the optimal design to outside framework, between each joint pedestal, adopt unique connected mode, and each joint measurment put ingenious layout, reduce or eliminated obstruction and the influence of testing agency operator's finger motion, make the operator when using this data glove, the motion of its five fingers can also keep farthest flexibly with light and handy.The movement angle in each joint of thumb is measured by corresponding mathematical algorithm by four potentiometers that are arranged on the thumb, the movement angle in each joint of forefinger is measured by corresponding mathematical algorithm by four potentiometers that are arranged on the forefinger, the movement angle in each joint of middle finger is measured by corresponding mathematical algorithm by four potentiometers that are arranged on the middle finger, the movement angle in nameless each joint is measured by corresponding mathematical algorithm by four potentiometers that are arranged on the third finger, and the movement angle in each joint of little finger of toe is measured by corresponding mathematical algorithm by four potentiometers that are arranged on the little finger of toe.The utility model can detect position and the motion state of each dactylus in three dimensions of thumb, forefinger, middle finger, the third finger, little finger of toe accurately, delicately, can compare favourably with existing data glove completely, and use simple, it is convenient to dress, safeguard easily, and can greatly reduce the cost of data glove.
Description of drawings
Fig. 1 is the integrally-built shaft side figure of the utility model.
Fig. 2 is the integrally-built top view of the utility model.
Fig. 3 is the structural representation of gloves 101, palm pedestal 102 and thumb testing agency 103.
Fig. 4 is the zoomed-in view of thumb testing agency 103.
Fig. 5 is the structural representation of thumb testing agency 103.
Fig. 6 is the three-view diagram and the axonometric drawing of metacarpophalangeal joints testing agency 108.
Fig. 7 is the structural representation of metacarpophalangeal joints testing agency 108.
Fig. 8 is the structural representation of forefinger testing agency 104.
Fig. 9 is the structural representation of middle finger testing agency 105.
Figure 10 is the structural representation of nameless testing agency 106.
Figure 11 is the structural representation of little finger of toe testing agency 107.
The specific embodiment
The utility model main parts size:
101. gloves 102. palm pedestals 103. thumb testing agencies
104. 106. nameless testing agencies of 105. middle finger testing agencies of forefinger testing agency
107. 108. metacarpophalangeal joints testing agencies of little finger of toe testing agency, 3. thumbs dactylus pedestal far away
4. nearly dactylus pedestal 5. thumbs of thumb are slapped dactylus pedestal 6. forefingers dactylus pedestal far away
7. nearly dactylus pedestal 9. middle fingers of forefinger middle finger joint pedestal 8. forefingers dactylus pedestal far away
10. the nearly dactylus pedestal of middle finger middle finger joint pedestal 11. middle fingers 12. nameless dactylus pedestals far away
13. nameless middle finger joint pedestal 14. nameless nearly dactylus pedestal 15. little fingers of toe dactylus pedestals far away
16. nearly dactylus pedestal 18. potentiometers of little finger of toe middle finger joint pedestal 17. little fingers of toe
22. potentiometer covers 29. potentiometer pedestals
The specific embodiment one: as Fig. 1, Fig. 2 and shown in Figure 3, described outer frame formula data glove comprises gloves 101, palm pedestal 102, thumb testing agency 103, forefinger testing agency 104, middle finger testing agency 105, nameless testing agency 106, little finger of toe testing agency 107 and metacarpophalangeal joints testing agency 108.Described outer frame formula data glove is applicable to the hand-type of the different sizes of most of operators, so most of parts all are preset with a plurality of connecting holes that are arranged in a linear, make the operator can select suitable position to connect each parts according to actual needs, allow the corresponding optimum state that reaches in position of each artis of each artis of data glove and operator finger.Described gloves 101 use flexible materials such as rubber, cotton, cloth, skin to make, and after guaranteeing that the operator is with gloves, each joint of finger still can flexible motion.Described palm pedestal 102 is provided with hole seat A, B, C, D, E, should make B, C, D and four hole seats of E place the top, metacarpophalangeal joints position of gloves 101 pairing forefingers, middle finger, the third finger and little finger of toe respectively, and palm pedestal 102 is fixed in the palm part of gloves 101 by bonding or other modes.
The specific embodiment two: as Fig. 1, Fig. 2, Fig. 3, Fig. 4 and shown in Figure 5, described thumb testing agency 103 comprises thumb palm dactylus pedestal 5, thumb nearly dactylus pedestal 4 and the thumb far away dactylus pedestal 3 hinged with palm pedestal 102 orders, every two adjacent pedestal hinged places all are equipped with the potentiometer of measuring joint action, detect position and the motion state of each dactylus of thumb in three dimensions.Described thumb palm dactylus pedestal 5 is fixed in pairing thumb palm dactylus position on the gloves 101 by bonding or other modes, described thumb palm dactylus pedestal 5 is along the irregular contour of the outside muscle of staff thumb palm dactylus, adopt semi-circular encirclement (palm dactylus back side-palm dactylus lateral surface-palm dactylus front) thumb palm dactylus, the position that is positioned at the thumb palm dactylus back side at this pedestal is provided with a rocking arm F, and the lateral surface position is provided with a hole seat G.The rocking arm F of described thumb palm dactylus pedestal 5 and rocking arm 19 link the spherical linkage that bar 21 fits in by bulb 20 and bulb and are connected, described rocking arm 19 is affixed by screw 35 with the axle of potentiometer 18, and described potentiometer 18 is fixed in the hole seat A of palm pedestal 102 by screw 35.Action implementation process: when operator's articulatio carpometacarpicus communis (CP) moves, the thumb palm dactylus pedestal 5 that depends on the thumb palm dactylus is followed motion together, and link bar 21 by the rocking arm F push-and-pull bulb of thumb palm dactylus pedestal 5, thereby the axle that drives with the affixed potentiometer 18 of rocking arm 19 rotates, and makes potentiometer 18 energy measurements in the seat A of hole go out operator's articulatio carpometacarpicus communis (CP) motion angle and state.
The nearly dactylus pedestal 4 of described thumb is fixed in the nearly dactylus of pairing thumb position on the gloves 101 by bonding or other modes, the nearly dactylus of the nearly dactylus pedestal 4 semi-surrounding thumbs of described thumb, cross section is " C " shape, opening is towards the finger face of the nearly dactylus of thumb, the position that is positioned at the nearly dactylus lateral surface of thumb at this pedestal is provided with two hole seat H and K, and the position of two hole seats corresponds respectively to metacarpophalangeal joints of thumb (MP) and interphalangeal joint (DIP).The nearly dactylus pedestal 4 of described thumb passes through rocking arm 28 with thumb palm dactylus pedestal 5, connecting rod 26; rocking arm 27 is hinged; the axle of the bottom of described rocking arm 28 (embedded bearing 23) and potentiometer 18 is affixed by screw 36; described potentiometer 18 is by potentiometer lid 22 and screw 35; screw 36 is fixed in the hole seat H of the nearly dactylus pedestal 4 of thumb; described rocking arm 28 is hinged by screw 24 with connecting rod 26 1 ends; described connecting rod 26 other ends and rocking arm 27 are hinged by screw 24; described rocking arm 27 (embedded bearing 23) is affixed by screw 36 with the axle of potentiometer 18, described potentiometer 18 is fixed in the hole seat G of thumb palm dactylus pedestal 5 by screw 35.The action implementation process: the nearly dactylus of staff thumb can rotate around metacarpophalangeal joints (MP), it can be decomposed into the componental movement on the both direction, one is the flexion and extension that is parallel to the nearly dactylus of thumb side, and another is abduction and the motion of interior receipts that is parallel to the nearly dactylus of the thumb back side.When the metacarpophalangeal joints (MP) of operator's thumb when doing flexion and extension, the nearly dactylus pedestal 4 of thumb that depends on the nearly dactylus of thumb is followed motion together, and by the rocking arm 28 push-and-pulls connecting rod 26 hinged with it, thereby the axle that drives with the affixed potentiometer 18 of rocking arm 27 rotates, angle and state that the metacarpophalangeal joints (MP) that make potentiometer 18 energy measurements in the seat G of hole go out operator's thumb bend and stretch; When the metacarpophalangeal joints (MP) of operator's thumb are done abduction and the motion of interior receipts, on this direction of action, thumb palm dactylus pedestal 5 is rigidly connected with the axle of rocking arm 27, connecting rod 26, rocking arm 28 and potentiometer 18, so potentiometer 18 relative its axles that depend in the nearly dactylus pedestal 4 direct hole seat H of drive of thumb on the nearly dactylus of thumb rotate, and make potentiometer 18 energy measurements in the seat H of hole go out metacarpophalangeal joints (MP) abduction of operator's thumb and the angle and the state of interior receipts.
Described thumb dactylus pedestal 3 far away is fixed in pairing thumb dactylus far away position on the gloves 101 by bonding or other modes, one end of described thumb dactylus pedestal 3 far away is for surrounding the cylindricality of thumb dactylus far away, the other end is a hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards thumb interphalangeal joint (DIP), and the position that is positioned at thumb dactylus far away side at this pedestal is provided with a chute.Described thumb dactylus pedestal 3 far away is hinged by rocking arm 25 with the nearly dactylus pedestal 4 of thumb, described rocking arm 25 1 ends embed in the chute of thumb dactylus pedestal 3 far away, and it is spacing by screw 24, the axle of described rocking arm 25 (the embedded bearing 23) other end and potentiometer 18 is affixed by screw 36, and described potentiometer 18 is fixed in the hole seat K of the nearly dactylus pedestal 4 of thumb by potentiometer lid 22 and screw 35, screw 36.Action implementation process: when the interphalangeal joint (DIP) of operator's thumb when doing flexion and extension, the thumb dactylus pedestal 3 far away that depends on the thumb dactylus far away is followed motion together, thereby the axle that drives with the affixed potentiometer 18 of rocking arm 25 rotates, angle and state that the interphalangeal joint (DIP) that makes potentiometer 18 energy measurements in the seat K of hole go out operator's thumb bends and stretches.
The specific embodiment three: as Fig. 1, Fig. 6 and shown in Figure 7, described metacarpophalangeal joints testing agency 108 comprises two potentiometers 18, the axle of one of them potentiometer 18 is affixed by screw 36 with potentiometer pedestal 29 bottoms (embedded bearing 39), the hole seat L of described potentiometer pedestal 29 and another potentiometer 18 are affixed by screw 36, the axle of described potentiometer 18 is affixed by screw 36 with rocking arm 27 (embedded bearing a 23) end, and described rocking arm 27 other ends and connecting rod 38 1 ends are hinged by screw 24.
The specific embodiment four: as Fig. 1, Fig. 2, Fig. 6, Fig. 7 and shown in Figure 8, described forefinger testing agency 104 comprises and the hinged nearly dactylus pedestal 8 of metacarpophalangeal joints testing agency 108, forefinger, forefinger middle finger joint pedestal 7 and the forefinger dactylus pedestal 6 far away of palm pedestal 102 orders, every two adjacent pedestal hinged places all are equipped with the potentiometer of measuring joint action, detect position and the motion state of each dactylus of forefinger in three dimensions.The nearly dactylus pedestal 8 of described forefinger is fixed in the nearly dactylus of pairing forefinger position on the gloves 101 by bonding or other modes, the nearly dactylus of the nearly dactylus pedestal 8 semi-surrounding forefingers of described forefinger, cross section is " C " shape, opening is towards the finger face of the nearly dactylus of forefinger, the position that is positioned at the nearly dactylus of the forefinger back side at this pedestal is provided with a hole seat and a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.Rocking arm on the nearly dactylus pedestal 8 of described forefinger and the connecting rod of metacarpophalangeal joints testing agency 108 38 is hinged by screw 24, and described metacarpophalangeal joints testing agency 108 bottom potential devices 18 are fixed in the hole seat B of palm pedestal 102 by screw 35.The action implementation process: the nearly dactylus of staff forefinger can rotate around metacarpophalangeal joints (MP), it can be decomposed into the componental movement on the both direction, one is the flexion and extension that is parallel to the nearly dactylus of forefinger side, another is abduction and the motion of interior receipts that is parallel to the nearly dactylus of the forefinger back side, when the metacarpophalangeal joints (MP) of operator's forefinger when doing flexion and extension, the nearly dactylus pedestal 8 of forefinger that depends on the nearly dactylus of forefinger is followed motion together, and by the rocking arm push-and-pull connecting rod 38 hinged on the nearly dactylus pedestal 8 of forefinger with it, thereby the axle that drives with the affixed potentiometer 18 of rocking arm 27 rotates, angle and state that the metacarpophalangeal joints (MP) that make potentiometer 18 energy measurements in the seat L of hole go out operator's forefinger bend and stretch; When the metacarpophalangeal joints (MP) of operator's forefinger are done abduction and the motion of interior receipts, on this direction of action, the nearly dactylus pedestal 8 of forefinger is rigidly connected with connecting rod 38, rocking arm 27, so the axle that the nearly dactylus pedestal 8 of forefinger directly drives the potentiometer 18 that is fixed in metacarpophalangeal joints testing agency 108 bottoms rotates, and makes potentiometer 18 energy measurements in the seat B of hole go out metacarpophalangeal joints (MP) abduction of operator's forefinger and the angle and the state of interior receipts.
Described forefinger middle finger joint pedestal 7 is fixed in pairing forefinger middle finger joint position on the gloves 101 by bonding or other modes, described forefinger middle finger joint pedestal 7 semi-surrounding forefinger middle finger joints, cross section is " C " shape, opening is towards the finger face of forefinger middle finger joint, the position that is positioned at the forefinger middle finger joint back side at this pedestal is provided with a hole seat and a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.Rocking arm on the described forefinger middle finger joint pedestal 7 and rocking arm 19 link the spherical linkage that bar 21 fits in by bulb 20 and bulb and are connected, described rocking arm 19 is affixed by screw 35 with the axle of potentiometer 18, and described potentiometer 18 is fixed in the hole seat of the nearly dactylus pedestal 8 of forefinger by screw 36.Action implementation process: when the PIP (PIP) of operator's forefinger when doing flexion and extension, the forefinger middle finger joint pedestal 7 that depends on the forefinger middle finger joint is followed motion together, and link bar 21 by the rocking arm push-and-pull bulb on the forefinger middle finger joint pedestal 7, thereby the axle that drives with the affixed potentiometer 18 of rocking arm 19 rotates angle and state that the PIP (PIP) that makes potentiometer 18 energy measurements that are fixed in the nearly dactylus pedestal 8 hole seats of forefinger go out operator's forefinger bends and stretches.
Described forefinger dactylus pedestal 6 far away is fixed in pairing forefinger dactylus far away position on the gloves 101 by bonding or other modes, one end of described forefinger dactylus pedestal 6 far away is for surrounding the cylindricality of forefinger dactylus far away, the other end is a hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of forefinger, the position that is positioned at the forefinger dactylus far away back side at this pedestal is provided with a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.Rocking arm on the described forefinger dactylus pedestal 6 far away and rocking arm 19 link the spherical linkage that bar 21 fits in by bulb 20 and bulb and are connected, described rocking arm 19 is affixed by screw 35 with the axle of potentiometer 18, and described potentiometer 18 is fixed in the hole seat of forefinger middle finger joint pedestal 7 by screw 36.Action implementation process: when the DIPJ (DIP) of operator's forefinger when doing flexion and extension, the forefinger dactylus pedestal 6 far away that depends on the forefinger dactylus far away is followed motion together, and link bar 21 by the rocking arm push-and-pull bulb on the forefinger dactylus pedestal 6 far away, thereby the axle that drives with the affixed potentiometer 18 of rocking arm 19 rotates angle and state that the DIPJ (DIP) that makes potentiometer 18 energy measurements that are fixed in the forefinger middle finger joint pedestal 7 hole seats go out operator's forefinger bends and stretches.
The specific embodiment five: as Fig. 1, Fig. 2, Fig. 6, Fig. 7 and shown in Figure 9, described middle finger testing agency 105 comprises and the hinged nearly dactylus pedestal 11 of metacarpophalangeal joints testing agency 108, middle finger, middle finger middle finger joint pedestal 10 and the middle finger dactylus pedestal 9 far away of palm pedestal 102 orders, every two adjacent pedestal hinged places all are equipped with the potentiometer of measuring joint action, detect position and the motion state of each dactylus of middle finger in three dimensions.The nearly dactylus pedestal 11 of described middle finger is fixed in the nearly dactylus of pairing middle finger position on the gloves 101 by bonding or other modes, the nearly dactylus of the nearly dactylus pedestal 11 semi-surrounding middle fingers of described middle finger, cross section is " C " shape, opening is towards the finger face of the nearly dactylus of middle finger, the position that is positioned at the nearly dactylus of the middle finger back side at this pedestal is provided with a hole seat and a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.Rocking arm on the nearly dactylus pedestal 11 of described middle finger and the connecting rod of metacarpophalangeal joints testing agency 108 38 is hinged by screw 24, and described metacarpophalangeal joints testing agency 108 bottom potential devices 18 are fixed in the hole seat C of palm pedestal 102 by screw 35.The action implementation process: the nearly dactylus of staff middle finger can rotate around metacarpophalangeal joints (MP), it can be decomposed into the componental movement on the both direction, one is the flexion and extension that is parallel to the nearly dactylus of middle finger side, another is abduction and the motion of interior receipts that is parallel to the nearly dactylus of the middle finger back side, when the metacarpophalangeal joints (MP) of operator's middle finger when doing flexion and extension, the nearly dactylus pedestal 11 of middle finger that depends on the nearly dactylus of middle finger is followed motion together, and by the rocking arm push-and-pull connecting rod 38 hinged on the nearly dactylus pedestal 11 of middle finger with it, thereby the axle that drives with the affixed potentiometer 18 of rocking arm 27 rotates, angle and state that the metacarpophalangeal joints (MP) that make potentiometer 18 energy measurements in the seat L of hole go out operator's middle finger bend and stretch; When the metacarpophalangeal joints (MP) of operator's middle finger are done abduction and the motion of interior receipts, on this direction of action, the nearly dactylus pedestal 11 of middle finger is rigidly connected with connecting rod 38, rocking arm 27, so the axle that the nearly dactylus pedestal 11 of middle finger directly drives the potentiometer 18 that is fixed in metacarpophalangeal joints testing agency 108 bottoms rotates, and makes potentiometer 18 energy measurements in the seat C of hole go out metacarpophalangeal joints (MP) abduction of operator's middle finger and the angle and the state of interior receipts.
Described middle finger middle finger joint pedestal 10 is fixed in pairing middle finger middle finger joint position on the gloves 101 by bonding or other modes, described middle finger middle finger joint pedestal 10 semi-surrounding middle finger middle finger joints, cross section is " C " shape, opening is towards the finger face of middle finger middle finger joint, the position that is positioned at the middle finger middle finger joint back side at this pedestal is provided with a hole seat and a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.Rocking arm on the described middle finger middle finger joint pedestal 10 and rocking arm 19 link the spherical linkage that bar 21 fits in by bulb 20 and bulb and are connected, described rocking arm 19 is affixed by screw 35 with the axle of potentiometer 18, and described potentiometer 18 is fixed in the hole seat of the nearly dactylus pedestal 11 of middle finger by screw 36.Action implementation process: when the PIP (PIP) of operator's middle finger when doing flexion and extension, the middle finger middle finger joint pedestal 10 that depends on the middle finger middle finger joint is followed motion together, and link bar 21 by the rocking arm push-and-pull bulb on the middle finger middle finger joint pedestal 10, thereby the axle that drives with the affixed potentiometer 18 of rocking arm 19 rotates angle and state that the PIP (PIP) that makes potentiometer 18 energy measurements that are fixed in the nearly dactylus pedestal 11 hole seats of middle finger go out operator's middle finger bends and stretches.
Described middle finger dactylus pedestal 9 far away is fixed in pairing middle finger dactylus far away position on the gloves 101 by bonding or other modes, one end of described middle finger dactylus pedestal 9 far away is for surrounding the cylindricality of middle finger dactylus far away, the other end is a hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of middle finger, the position that is positioned at the middle finger dactylus far away back side at this pedestal is provided with a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.Rocking arm on the described middle finger dactylus pedestal 9 far away and rocking arm 19 link the spherical linkage that bar 21 fits in by bulb 20 and bulb and are connected, described rocking arm 19 is affixed by screw 35 with the axle of potentiometer 18, and described potentiometer 18 is fixed in the hole seat of middle finger middle finger joint pedestal 10 by screw 36.Action implementation process: when the DIPJ (DIP) of operator's middle finger when doing flexion and extension, the middle finger dactylus pedestal 9 far away that depends on the middle finger dactylus far away is followed motion together, and link bar 21 by the rocking arm push-and-pull bulb on the middle finger dactylus pedestal 9 far away, thereby the axle that drives with the affixed potentiometer 18 of rocking arm 19 rotates angle and state that the DIPJ (DIP) that makes potentiometer 18 energy measurements that are fixed in the middle finger middle finger joint pedestal 10 hole seats go out operator's middle finger bends and stretches.
The specific embodiment six: as Fig. 1, Fig. 2, Fig. 6, Fig. 7 and shown in Figure 10, described nameless testing agency 106 comprises the metacarpophalangeal joints testing agency 108 hinged with palm pedestal 102 orders, nameless nearly dactylus pedestal 14, nameless middle finger joint pedestal 13 and nameless dactylus pedestal 12 far away, every two adjacent pedestal hinged places all are equipped with the potentiometer of measuring joint action, detect position and the motion state of nameless each dactylus in three dimensions.The nearly dactylus pedestal 14 of the described third finger is fixed in the nearly dactylus of pairing third finger position on the gloves 101 by bonding or other modes, the nameless nearly dactylus of nearly dactylus pedestal 14 semi-surroundings of the described third finger, cross section is " C " shape, opening is towards the finger face of the nearly dactylus of the third finger, the position that is positioned at the nameless nearly dactylus back side at this pedestal is provided with a hole seat and a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.Rocking arm on the nearly dactylus pedestal 14 of the described third finger and the connecting rod of metacarpophalangeal joints testing agency 108 38 is hinged by screw 24, and described metacarpophalangeal joints testing agency 108 bottom potential devices 18 are fixed in the hole seat D of palm pedestal 102 by screw 35.The action implementation process: the nearly dactylus of the staff third finger can rotate around metacarpophalangeal joints (MP), it can be decomposed into the componental movement on the both direction, one is the flexion and extension that is parallel to nameless nearly dactylus side, another is abduction and the motion of interior receipts that is parallel to the nameless nearly dactylus back side, when the metacarpophalangeal joints (MP) of operator's third finger when doing flexion and extension, the nameless near dactylus pedestal 14 that depends on nameless nearly dactylus is followed motion together, and by the rocking arm push-and-pull connecting rod 38 hinged on the nameless nearly dactylus pedestal 14 with it, thereby the axle that drives with the affixed potentiometer 18 of rocking arm 27 rotates, angle and state that the metacarpophalangeal joints (MP) that make potentiometer 18 energy measurements in the seat L of hole go out operator's third finger bend and stretch; When the metacarpophalangeal joints (MP) of operator's third finger are done abduction and the motion of interior receipts, on this direction of action, nameless nearly dactylus pedestal 14 is rigidly connected with connecting rod 38, rocking arm 27, so the axle that nameless nearly dactylus pedestal 14 directly drives the potentiometer 18 that is fixed in metacarpophalangeal joints testing agency 108 bottoms rotates, and makes potentiometer 18 energy measurements in the seat D of hole go out metacarpophalangeal joints (MP) abduction of operator's third finger and the angle and the state of interior receipts.
Described nameless middle finger joint pedestal 13 is fixed in pairing nameless middle finger joint position on the gloves 101 by bonding or other modes, the nameless middle finger joint of described nameless middle finger joint pedestal 13 semi-surroundings, cross section is " C " shape, opening is towards the finger face of nameless middle finger joint, the position that is positioned at the nameless middle finger joint back side at this pedestal is provided with a hole seat and a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.Rocking arm on the described nameless middle finger joint pedestal 13 and rocking arm 19 link the spherical linkage that bar 21 fits in by bulb 20 and bulb and are connected, described rocking arm 19 is affixed by screw 35 with the axle of potentiometer 18, and described potentiometer 18 is fixed in the hole seat of nameless nearly dactylus pedestal 14 by screw 36.Action implementation process: when the PIP (PIP) of operator's third finger when doing flexion and extension, the nameless middle finger joint pedestal 13 that depends on the nameless middle finger joint is followed motion together, and link bar 21 by the rocking arm push-and-pull bulb on the nameless middle finger joint pedestal 13, thereby the axle that drives with the affixed potentiometer 18 of rocking arm 19 rotates angle and state that the PIP (PIP) that makes potentiometer 18 energy measurements that are fixed in the nameless nearly dactylus pedestal 14 hole seats go out operator's third finger bends and stretches.
Described third finger dactylus pedestal 12 far away is fixed in pairing third finger dactylus far away position on the gloves 101 by bonding or other modes, one end of described third finger dactylus pedestal 12 far away is for surrounding the cylindricality of nameless dactylus far away, the other end is a hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of the third finger, the position that is positioned at the nameless dactylus back side far away at this pedestal is provided with a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.Rocking arm on the described third finger dactylus pedestal 12 far away and rocking arm 19 link the spherical linkage that bar 21 fits in by bulb 20 and bulb and are connected, described rocking arm 19 is affixed by screw 35 with the axle of potentiometer 18, and described potentiometer 18 is fixed in the hole seat of nameless middle finger joint pedestal 13 by screw 36.Action implementation process: when the DIPJ (DIP) of operator's third finger when doing flexion and extension, the dactylus pedestal 12 nameless far away that depends on the nameless dactylus far away is followed motion together, and link bar 21 by the rocking arm push-and-pull bulb on the third finger dactylus pedestal 12 far away, thereby the axle that drives with the affixed potentiometer 18 of rocking arm 19 rotates angle and state that the DIPJ (DIP) that makes potentiometer 18 energy measurements that are fixed in the nameless middle finger joint pedestal 13 hole seats go out operator's third finger bends and stretches.
The specific embodiment seven: as Fig. 1, Fig. 2, Fig. 6, Fig. 7 and shown in Figure 11, described little finger of toe testing agency 107 comprises and the hinged nearly dactylus pedestal 17 of metacarpophalangeal joints testing agency 108, little finger of toe, little finger of toe middle finger joint pedestal 16 and the little finger of toe dactylus pedestal 15 far away of palm pedestal 102 orders, every two adjacent pedestal hinged places all are equipped with the potentiometer of measuring joint action, detect position and the motion state of each dactylus of little finger of toe in three dimensions.The nearly dactylus pedestal 17 of described little finger of toe is fixed in the nearly dactylus of pairing little finger of toe position on the gloves 101 by bonding or other modes, the nearly dactylus of the nearly dactylus pedestal 17 semi-surrounding little fingers of toe of described little finger of toe, cross section is " C " shape, opening is towards the finger face of the nearly dactylus of little finger of toe, the position that is positioned at the nearly dactylus of the little finger of toe back side at this pedestal is provided with a hole seat and a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.Rocking arm on the nearly dactylus pedestal 17 of described little finger of toe and the connecting rod of metacarpophalangeal joints testing agency 108 38 is hinged by screw 24, and described metacarpophalangeal joints testing agency 108 bottom potential devices 18 are fixed in the hole seat E of palm pedestal 102 by screw 35.The action implementation process: the nearly dactylus of staff little finger of toe can rotate around metacarpophalangeal joints (MP), it can be decomposed into the componental movement on the both direction, one is the flexion and extension that is parallel to the nearly dactylus of little finger of toe side, another is abduction and the motion of interior receipts that is parallel to the nearly dactylus of the little finger of toe back side, when the metacarpophalangeal joints (MP) of operator's little finger of toe when doing flexion and extension, the nearly dactylus pedestal 17 of little finger of toe that depends on the nearly dactylus of little finger of toe is followed motion together, and by the rocking arm push-and-pull connecting rod 38 hinged on the nearly dactylus pedestal 17 of little finger of toe with it, thereby the axle that drives with the affixed potentiometer 18 of rocking arm 27 rotates, angle and state that the metacarpophalangeal joints (MP) that make potentiometer 18 energy measurements in the seat L of hole go out operator's little finger of toe bend and stretch; When the metacarpophalangeal joints (MP) of operator's little finger of toe are done abduction and the motion of interior receipts, on this direction of action, the nearly dactylus pedestal 17 of little finger of toe is rigidly connected with connecting rod 38, rocking arm 27, so the axle that the nearly dactylus pedestal 17 of little finger of toe directly drives the potentiometer 18 that is fixed in metacarpophalangeal joints testing agency 108 bottoms rotates, and makes potentiometer 18 energy measurements in the seat E of hole go out metacarpophalangeal joints (MP) abduction of operator's little finger of toe and the angle and the state of interior receipts.
Described little finger of toe middle finger joint pedestal 16 is fixed in pairing little finger of toe middle finger joint position on the gloves 101 by bonding or other modes, described little finger of toe middle finger joint pedestal 16 semi-surrounding little finger of toe middle finger joints, cross section is " C " shape, opening is towards the finger face of little finger of toe middle finger joint, the position that is positioned at the little finger of toe middle finger joint back side at this pedestal is provided with a hole seat and a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.Rocking arm on the described little finger of toe middle finger joint pedestal 16 and rocking arm 19 link the spherical linkage that bar 21 fits in by bulb 20 and bulb and are connected, described rocking arm 19 is affixed by screw 35 with the axle of potentiometer 18, and described potentiometer 18 is fixed in the hole seat of the nearly dactylus pedestal 17 of little finger of toe by screw 36.Action implementation process: when the PIP (PIP) of operator's little finger of toe when doing flexion and extension, the little finger of toe middle finger joint pedestal 16 that depends on the little finger of toe middle finger joint is followed motion together, and link bar 21 by the rocking arm push-and-pull bulb on the little finger of toe middle finger joint pedestal 16, thereby the axle that drives with the affixed potentiometer 18 of rocking arm 19 rotates angle and state that the PIP (PIP) that makes potentiometer 18 energy measurements that are fixed in the nearly dactylus pedestal 17 hole seats of little finger of toe go out operator's little finger of toe bends and stretches.
Described little finger of toe dactylus pedestal 15 far away is fixed in pairing little finger of toe dactylus far away position on the gloves 101 by bonding or other modes, one end of described little finger of toe dactylus pedestal 15 far away is for surrounding the cylindricality of little finger of toe dactylus far away, the other end is a hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of little finger of toe, the position that is positioned at the little finger of toe dactylus far away back side at this pedestal is provided with a rocking arm, and rocking arm is perpendicular to the dactylus back side at place.Rocking arm on the described little finger of toe dactylus pedestal 15 far away and rocking arm 19 link the spherical linkage that bar 21 fits in by bulb 20 and bulb and are connected, described rocking arm 19 is affixed by screw 35 with the axle of potentiometer 18, and described potentiometer 18 is fixed in the hole seat of little finger of toe middle finger joint pedestal 16 by screw 36.Action implementation process: when the DIPJ (DIP) of operator's little finger of toe when doing flexion and extension, the little finger of toe dactylus pedestal 15 far away that depends on the little finger of toe dactylus far away is followed motion together, and link bar 21 by the rocking arm push-and-pull bulb on the little finger of toe dactylus pedestal 15 far away, thereby the axle that drives with the affixed potentiometer 18 of rocking arm 19 rotates angle and state that the DIPJ (DIP) that makes potentiometer 18 energy measurements that are fixed in the little finger of toe middle finger joint pedestal 16 hole seats go out operator's little finger of toe bends and stretches.
As another example of the present utility model, also can replace potentiometer with other sensors, can play equally and detect the people position of each dactylus of hand finger in three dimensions and the purpose of motion state, realize the purpose of this utility model.
Under the situation that principle of the present utility model is suffered damage; the details of above-mentioned formation and the specific embodiment only are as example and illustrated thing; it can not break away from scope of the present utility model and extensively change, and these all belong within the protection of the present utility model.
Claims (9)
1. outer frame formula data glove, be used for and computer, the interactive device of manipulator, form by gloves (101), palm pedestal (102), thumb testing agency (103), forefinger testing agency (104), middle finger testing agency (105), nameless testing agency (106), little finger of toe testing agency (107) and metacarpophalangeal joints testing agency (108);
It is characterized in that:
This device is worn on the operator on hand;
Palm pedestal (102) is fixed on the palm part on the gloves (101);
Thumb testing agency (103) is installed in the thumb position on the gloves (101), and is hinged with palm pedestal (102);
Forefinger testing agency (104) is installed in the forefinger position on the gloves (101), and is hinged with palm pedestal (102) by metacarpophalangeal joints testing agency (108);
Middle finger testing agency (105) is installed in the middle finger position on the gloves (101), and is hinged with palm pedestal (102) by metacarpophalangeal joints testing agency (108);
Nameless testing agency (106) is installed in the nameless position on the gloves (101), and is hinged with palm pedestal (102) by metacarpophalangeal joints testing agency (108);
Little finger of toe testing agency (107) is installed in the little finger of toe position on the gloves (101), and is hinged with palm pedestal (102) by metacarpophalangeal joints testing agency (108);
Each hinged place is equipped with the parts of measuring joint action, detects position and the motion state of each dactylus of finger in three dimensions.
2. outer frame formula data glove according to claim 1, it is characterized in that: the parts of measuring joint action comprise potentiometer, be fixed on each pedestal by screw, be connected with adjacent another pedestal with connecting rod by rocking arm, thereby measure two adjacent on finger angles that dactylus is bent to form, and finger palm dactylus is with respect to the angle of palm bending.
3. outer frame formula data glove according to claim 1 is characterized in that: described thumb testing agency (103) links bar (21), potentiometer lid (22), bearing (23), screw (24,35,36), connecting rod (26) and rocking arm (19,25,27,28) by thumb palm dactylus pedestal (5), the nearly dactylus pedestal of thumb (4), thumb dactylus pedestal far away (3), gloves (101), palm pedestal (102), potentiometer (18), bulb (20), bulb and forms; Described thumb palm dactylus pedestal (5) is fixed on gloves (101) and goes up pairing thumb palm dactylus position, and along the irregular contour of the outside muscle of staff thumb palm dactylus, adopt semi-circular encirclement (palm dactylus back side-palm dactylus lateral surface-palm dactylus front) thumb palm dactylus, the position that is positioned at the thumb palm dactylus back side at this pedestal is provided with a rocking arm F, the lateral surface position is provided with a hole seat G, it is hinged that the rocking arm (F) of thumb palm dactylus pedestal (5) and another rocking arm (19) link bar (21) by bulb (20) and bulb, described rocking arm (19) is affixed by screw (35) with the axle of potentiometer (18), and described potentiometer (18) is fixed in the hole seat (A) of palm pedestal (102) by screw (35); The nearly dactylus pedestal of described thumb (4) is fixed on the nearly dactylus of the pairing thumb of gloves (101) position, the nearly dactylus of semi-surrounding thumb, cross section is " C " shape, opening is towards the finger face of the nearly dactylus of thumb, the position that is positioned at the nearly dactylus lateral surface of thumb at this pedestal is provided with two hole seat (H, K), the position of two hole seats corresponds respectively to the metacarpophalangeal joints (MP) and the interphalangeal joint (DIP) of thumb, potentiometer (18) is by potentiometer lid (22) and screw (35,36) be fixed in the hole seat (H) of the nearly dactylus pedestal of thumb (4), the axle of described potentiometer (18) is affixed by screw (36) with rocking arm (28) bottom of embedded bearing (23), described rocking arm (28) is hinged by screw (24) with connecting rod (26) one ends, described connecting rod (26) other end and rocking arm (27) are hinged by screw (24), the embedded bearing of described rocking arm (27) (23) is affixed by screw (36) with the axle of potentiometer (18), and described potentiometer (18) is fixed in the hole seat (G) of thumb palm dactylus pedestal (5) by screw (35); Thumb dactylus pedestal far away (3) is fixed on the pairing thumb of gloves (101) dactylus far away position, one end is for surrounding the cylindricality of thumb dactylus far away, the other end is a hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards thumb interphalangeal joint (DIP), the position that is positioned at thumb dactylus far away side at this pedestal is provided with a chute; rocking arm (25) one ends embed in the chute of thumb dactylus pedestal far away (3); and spacing by screw (24); and the axle of the other end of the embedded bearing of described rocking arm (25) (23) and potentiometer (18) is affixed by screw (36), and described potentiometer (18) is fixed in the hole seat (K) of the nearly dactylus pedestal of thumb (4) by potentiometer lid (22) and screw (35; 36).
4. outer frame formula data glove according to claim 1, it is characterized in that: described metacarpophalangeal joints testing agencies (108) are by rocking arm (27), potentiometer pedestal (29), screw (24,36), connecting rod (38), bearing (23,39) and two potentiometers (18) form, the axle of one of them potentiometer (18) is affixed by screw (36) with the potentiometer pedestal (29) of the embedded bearing in bottom (39), the hole seat (L) of described potentiometer pedestal (29) is affixed by screw (36) with another potentiometer (18), the axle of described potentiometer (18) is affixed by screw (36) with rocking arm (27) one ends of embedded bearing (23), and described rocking arm (27) other end and connecting rod (38) one ends are hinged by screw (24).
5. outer frame formula data glove according to claim 1 is characterized in that: described forefinger testing agency (104) links bar (21) by metacarpophalangeal joints testing agency (108), the nearly dactylus pedestal of forefinger (8), forefinger middle finger joint pedestal (7), forefinger dactylus pedestal far away (6), gloves (101), palm pedestal (102), potentiometer (18), rocking arm (19), bulb (20), bulb and screw (24,35,36) is formed; The nearly dactylus pedestal of forefinger (8) is fixed on the nearly dactylus of the pairing forefinger of gloves (101) position, the nearly dactylus of semi-surrounding forefinger, cross section is " C " shape, opening is towards the finger face of the nearly dactylus of forefinger, the position that is positioned at the nearly dactylus of the forefinger back side at this pedestal is provided with a hole seat and a rocking arm; rocking arm is perpendicular to the dactylus back side at place; the connecting rod (38) of the rocking arm of the nearly dactylus pedestal of described forefinger (8) and metacarpophalangeal joints testing agency (108) is hinged by screw (24), and the potentiometer (18) of described metacarpophalangeal joints testing agencies (108) bottom is fixed in the hole seat (B) of palm pedestal (102) by screw (35); Forefinger middle finger joint pedestal (7) is fixed on the pairing forefinger middle finger joint of gloves (101) position, semi-surrounding forefinger middle finger joint, cross section is " C " shape, opening is towards the finger face of forefinger middle finger joint, the position that is positioned at the forefinger middle finger joint back side at this pedestal is provided with a hole seat and a rocking arm; rocking arm is perpendicular to the dactylus back side at place; it is hinged that the rocking arm of described forefinger middle finger joint pedestal (7) and another rocking arm (19) link bar (21) by bulb (20) and bulb; described rocking arm (19) is affixed by screw (35) with the axle of potentiometer (18), and described potentiometer (18) is fixed in the hole seat of the nearly dactylus pedestal of forefinger (8) by screw (36); Forefinger dactylus pedestal far away (6) is fixed on the pairing forefinger of gloves (101) dactylus far away position, one end is for surrounding the cylindricality of forefinger dactylus far away, the other end is a hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of forefinger, the position that is positioned at the forefinger dactylus far away back side at this pedestal is provided with a rocking arm; rocking arm is perpendicular to the dactylus back side at place; it is hinged that the rocking arm of described forefinger dactylus pedestal far away (6) and another rocking arm (19) link bar (21) by bulb (20) and bulb; described rocking arm (19) is affixed by screw (35) with the axle of potentiometer (18), and described potentiometer (18) is fixed in the hole seat of forefinger middle finger joint pedestal (7) by screw (36).
6. outer frame formula data glove according to claim 1 is characterized in that: described middle finger testing agency (105) links bar (21) by metacarpophalangeal joints testing agency (108), the nearly dactylus pedestal of middle finger (11), middle finger middle finger joint pedestal (10), middle finger dactylus pedestal far away (9), gloves (101), palm pedestal (102), potentiometer (18), rocking arm (19), bulb (20), bulb and screw (24,35,36) is formed; The nearly dactylus pedestal of middle finger (11) is fixed on the nearly dactylus of the pairing middle finger of gloves (101) position, the nearly dactylus of semi-surrounding middle finger, cross section is " C " shape, opening is towards the finger face of the nearly dactylus of middle finger, the position that is positioned at the nearly dactylus of the middle finger back side at this pedestal is provided with a hole seat and a rocking arm; rocking arm is perpendicular to the dactylus back side at place; the connecting rod (38) of the rocking arm of the nearly dactylus pedestal of described middle finger (11) and metacarpophalangeal joints testing agency (108) is hinged by screw (24), and the potentiometer (18) of described metacarpophalangeal joints testing agencies (108) bottom is fixed in the hole seat (C) of palm pedestal (102) by screw (35); Middle finger middle finger joint pedestal (10) is fixed on the pairing middle finger middle finger joint of gloves (101) position, semi-surrounding middle finger middle finger joint, cross section is " C " shape, opening is towards the finger face of middle finger middle finger joint, the position that is positioned at the middle finger middle finger joint back side at this pedestal is provided with a hole seat and a rocking arm; rocking arm is perpendicular to the dactylus back side at place; it is hinged that the rocking arm of described middle finger middle finger joint pedestal (10) and another rocking arm (19) link bar (21) by bulb (20) and bulb; described rocking arm (19) is affixed by screw (35) with the axle of potentiometer (18), and described potentiometer (18) is fixed in the hole seat of the nearly dactylus pedestal of middle finger (11) by screw (36); Middle finger dactylus pedestal far away (9) is fixed on the pairing middle finger of gloves (101) dactylus far away position, one end is for surrounding the cylindricality of middle finger dactylus far away, the other end is a hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of middle finger, the position that is positioned at the middle finger dactylus far away back side at this pedestal is provided with a rocking arm; rocking arm is perpendicular to the dactylus back side at place; it is hinged that the rocking arm of described middle finger dactylus pedestal far away (9) and another rocking arm (19) link bar (21) by bulb (20) and bulb; described rocking arm (19) is affixed by screw (35) with the axle of potentiometer (18), and described potentiometer (18) is fixed in the hole seat of middle finger middle finger joint pedestal (10) by screw (36).
7. outer frame formula data glove according to claim 1 is characterized in that: described nameless testing agency (106) by metacarpophalangeal joints testing agency (108), nameless nearly dactylus pedestal (14), nameless middle finger joint pedestal (13), nameless dactylus pedestal (12), gloves (101), palm pedestal (102), potentiometer (18), rocking arm (19), bulb (20) far away, bulb links bar (21) and screw (24,35,36) is formed; Nameless nearly dactylus pedestal (14) is fixed on the nearly dactylus of the pairing third finger of gloves (101) position, the nameless nearly dactylus of semi-surrounding, cross section is " C " shape, opening is towards the finger face of the nearly dactylus of the third finger, the position that is positioned at the nameless nearly dactylus back side at this pedestal is provided with a hole seat and a rocking arm; rocking arm is perpendicular to the dactylus back side at place; the connecting rod (38) of the rocking arm of the nearly dactylus pedestal of the described third finger (14) and metacarpophalangeal joints testing agency (108) is hinged by screw (24), and the potentiometer (18) of described metacarpophalangeal joints testing agencies (108) bottom is fixed in the hole seat (D) of palm pedestal (102) by screw (35); Nameless middle finger joint pedestal (13) is fixed on the pairing nameless middle finger joint of gloves (101) position, the nameless middle finger joint of semi-surrounding, cross section is " C " shape, opening is towards the finger face of nameless middle finger joint, the position that is positioned at the nameless middle finger joint back side at this pedestal is provided with a hole seat and a rocking arm; rocking arm is perpendicular to the dactylus back side at place; it is hinged that the rocking arm of described nameless middle finger joint pedestal (13) and another rocking arm (19) link bar (21) by bulb (20) and bulb; described rocking arm (19) is affixed by screw (35) with the axle of potentiometer (18), and described potentiometer (18) is fixed in the hole seat of nameless closely dactylus pedestal (14) by screw (36); Nameless dactylus pedestal (12) far away is fixed on the pairing third finger of gloves (101) dactylus far away position, one end is for surrounding the cylindricality of nameless dactylus far away, the other end is a hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of the third finger, the position that is positioned at the nameless far away dactylus back side at this pedestal is provided with a rocking arm; rocking arm is perpendicular to the dactylus back side at place; it is hinged that the rocking arm of described third finger dactylus pedestal far away (12) and another rocking arm (19) link bar (21) by bulb (20) and bulb; described rocking arm (19) and potentiometer (18) spool to pass through screw (35) affixed, described potentiometer (18) is fixed in the hole seat of nameless middle finger joint pedestal (13) by screw (36).
8. outer frame formula data glove according to claim 1 is characterized in that: described little finger of toe testing agency (107) links bar (21) by metacarpophalangeal joints testing agency (108), the nearly dactylus pedestal of little finger of toe (17), little finger of toe middle finger joint pedestal (16), little finger of toe dactylus pedestal far away (15), gloves (101), palm pedestal (102), potentiometer (18), rocking arm (19), bulb (20), bulb and screw (24,35,36) is formed; The nearly dactylus pedestal of little finger of toe (17) is fixed on the nearly dactylus of the pairing little finger of toe of gloves (101) position, the nearly dactylus of semi-surrounding little finger of toe, cross section is " C " shape, opening is towards the finger face of the nearly dactylus of little finger of toe, the position that is positioned at the nearly dactylus of the little finger of toe back side at this pedestal is provided with a hole seat and a rocking arm; rocking arm is perpendicular to the dactylus back side at place; the connecting rod (38) of the rocking arm of the nearly dactylus pedestal of described little finger of toe (17) and metacarpophalangeal joints testing agency (108) is hinged by screw (24), and the potentiometer (18) of described metacarpophalangeal joints testing agencies (108) bottom is fixed in the hole seat (E) of palm pedestal (102) by screw (35); Little finger of toe middle finger joint pedestal (16) is fixed on the pairing little finger of toe middle finger joint of gloves (101) position, semi-surrounding little finger of toe middle finger joint, cross section is " C " shape, opening is towards the finger face of little finger of toe middle finger joint, the position that is positioned at the little finger of toe middle finger joint back side at this pedestal is provided with a hole seat and a rocking arm; rocking arm is perpendicular to the dactylus back side at place; it is hinged that the rocking arm of described little finger of toe middle finger joint pedestal (16) and another rocking arm (19) link bar (21) by bulb (20) and bulb; described rocking arm (19) is affixed by screw (35) with the axle of potentiometer (18), and described potentiometer (18) is fixed in the hole seat of the nearly dactylus pedestal of little finger of toe (17) by screw (36); Little finger of toe dactylus pedestal far away (15) is fixed on the pairing little finger of toe of gloves (101) dactylus far away position, one end is for surrounding the cylindricality of little finger of toe dactylus far away, the other end is a hemispherical, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of little finger of toe, the position that is positioned at the little finger of toe dactylus far away back side at this pedestal is provided with a rocking arm; rocking arm is perpendicular to the dactylus back side at place; it is hinged that the rocking arm of described little finger of toe dactylus pedestal far away (15) and another rocking arm (19) link bar (21) by bulb (20) and bulb; described rocking arm (19) is affixed by screw (35) with the axle of potentiometer (18), and described potentiometer (18) is fixed in the hole seat of little finger of toe middle finger joint pedestal (16) by screw (36).
9. according to claim 4,5,6,7 or 8 described outer frame formula data glove, it is characterized in that: potentiometer is for measuring the parts of joint action, be fixed on each pedestal by screw, be connected with adjacent another pedestal with connecting rod by rocking arm, thereby measure two adjacent on finger angles that dactylus is bent to form, and finger palm dactylus is with respect to the angle of palm bending.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201523287U CN202045638U (en) | 2011-05-13 | 2011-05-13 | External framework type data glove |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201523287U CN202045638U (en) | 2011-05-13 | 2011-05-13 | External framework type data glove |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202045638U true CN202045638U (en) | 2011-11-23 |
Family
ID=44985961
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201523287U Expired - Fee Related CN202045638U (en) | 2011-05-13 | 2011-05-13 | External framework type data glove |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202045638U (en) |
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| CN102773861A (en) * | 2011-05-13 | 2012-11-14 | 苏茂 | Outer frame type data glove |
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| CN104571597A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Thumb metacarpophalangeal joint movement detection device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102773861A (en) * | 2011-05-13 | 2012-11-14 | 苏茂 | Outer frame type data glove |
| CN102773861B (en) * | 2011-05-13 | 2015-01-07 | 苏茂 | Outer frame type data glove |
| CN104571597A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Thumb metacarpophalangeal joint movement detection device |
| CN104552226A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Minitype force feedback detecting and driving device |
| CN104552228A (en) * | 2013-10-21 | 2015-04-29 | 苏茂 | Thumb far knuckle joint movement detection device |
| CN104545930A (en) * | 2013-10-21 | 2015-04-29 | 苏茂 | Human hand forefinger movement detection device |
| CN104626203A (en) * | 2013-11-08 | 2015-05-20 | 苏茂 | Straight rod type index finger motion detecting device |
| CN105291139A (en) * | 2014-06-03 | 2016-02-03 | 赵德朝 | Finger movement detection device based on Hall effect |
| CN105291139B (en) * | 2014-06-03 | 2017-04-19 | 赵德朝 | Finger movement detection device based on Hall effect |
| CN106078699A (en) * | 2016-08-15 | 2016-11-09 | 黄河科技学院 | Hand decompression machinery ESD |
| CN106078699B (en) * | 2016-08-15 | 2018-06-22 | 黄河科技学院 | The mechanical exoskeleton device of hand decompression |
| CN108687744A (en) * | 2017-04-08 | 2018-10-23 | 金子楗 | A kind of ectoskeleton based on touch feedback |
| CN107378920A (en) * | 2017-09-07 | 2017-11-24 | 吉林大学 | A kind of outer skeleton precision data gloves |
| CN107378920B (en) * | 2017-09-07 | 2018-09-07 | 吉林大学 | A kind of outer skeleton precision data gloves |
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