CN202771366U

CN202771366U - An outside frame-type bidirectional force feedback data glove

Info

Publication number: CN202771366U
Application number: CN 201120530620
Authority: CN
Inventors: 苏茂
Original assignee: Individual
Current assignee: Individual
Priority date: 2011-12-19
Filing date: 2011-12-19
Publication date: 2013-03-06
Anticipated expiration: 2021-12-19

Abstract

The utility model relates to an outside frame-type bidirectional force feedback data glove. The force feedback data glove is capable of detecting states of motions of fingers of the human hand and has the functions of bidirectional active driving and feedback of force born by a slave manipulator. The utility model is aimed at solving the problems of separation of joint measurement mechanisms and a force feedback mechanism, complex system and structure, difficulty in maintenance, incapability of bidirectional active driving and high price of a conventional force feedback data glove. The outside frame-type bidirectional force feedback data glove integrates the joint detection mechanisms and force feedback mechanism and adopts a special connection mode and an artful joint measurement point layout, so that the maximum flexibility of the five fingers of an operator using the data glove is guaranteed, the state of motion of each joint of the fingers can be detected accurately, each finger joint of the controlled slave manipulator can move consistently along with the corresponding finger joint of the operator, and the force-bearing condition of the slave manipulator in specific work environment can be fed back to the operator for improving sense of immediacy of virtual reality or remote operation.

Description

External framework type bilateral force feedback data glove

Technical field

The utility model relates to a kind of detection staff finger motion state, and has the data glove of two-way active drive and force feedback function.

Background technology

Because the development of science and technology, 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, so that people are when pursuing reliability, also its dirigibility is had higher requirement, and to implement distant operation to the mechanical arm of complexity, the together coordinated movement of various economic factors of a plurality of joints of a plurality of fingers of control mechanical arm, to realize specific function, this just need use data glove, and the data glove with force feedback function is the mechanical arm of robot to be implemented the efficient apparatus of distant operation, it is pointed the positional information of each dactylus and follows the tracks of the staff finger motion as the finger of steering order control mechanical arm by measure operator, and the stressing conditions of each joint of mechanical arm in motion process can be simulated in data glove, act on the operator on hand, make the operator produce very strong telepresenc.In addition, Virtual Simulation development in recent years, its main interactive device is exactly force feedback data gloves, for example in a scene by computer virtual, the virtual staff of control a pair of dismounting or put together machines etc. also has game, 3D cartoon making etc. all to need to use force feedback data gloves, but force feedback data gloves system complex in the market, price is very expensive, makes it can't popularize in a large number, promote and use.

Summary of the invention

The purpose of this utility model is, system complex expensive for existing force feedback data gloves, the shortcoming such as difficult in maintenance, proposed a kind of the two-way active driving device of external angular transducer and joint to be combined as a whole, when detecting staff joint motions information, also the power visual information that feeds back is changed into the method that power or moment directly act on staff, greatly simplified complicated force feedback data gloves system.The utility model be for computing machine, the interactive device such as mechanical arm, by gloves, the palm pedestal, thumb detects driving mechanism, forefinger detects driving mechanism, middle finger detects driving mechanism, the nameless driving mechanism that detects, little finger of toe detects driving mechanism and metacarpophalangeal joints detect the driving mechanism composition, the palm pedestal is fixed on the palm part on the gloves, thumb detects driving mechanism, forefinger detects driving mechanism, middle finger detects driving mechanism, nameless detection driving mechanism and little finger of toe detection driving mechanism are individually fixed in the thumb on the gloves, forefinger, middle finger, the third finger and little finger of toe position, and hinged by metacarpophalangeal joints detection driving mechanism and palm pedestal separately.The utility model has added clutch coupling in the driver part in joint, when there is force feedback signal in system, drive motor connects driven joint, and the joint is applied the effect of power, when system does not have force feedback signal, drive motor disconnects the connection in driven joint, has reduced and reduced the resistance of joint motions, makes the motion in joint more smooth and easy.Corresponding angular transducer passes through corresponding mathematical algorithm measurement to the movement angle of five finger-joints of force feedback data gloves on the gloves by being arranged on, all joints all are provided with independently driver part on the decomposition direction of its direction of motion or compound movement, each driver part again with driven joint on corresponding angular transducer cooperating form closed-loop control, with the realizable force FEEDBACK CONTROL and improve its accuracy.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, and each joint had two-way active drive and force feedback function, use simple, it is convenient to dress, safeguard easily, and can greatly reduce the cost of force feedback data gloves.

Description of drawings

Fig. 1 is the integrally-built shaft side figure of the utility model.

Fig. 2 is the integrally-built lower view of the utility model.

Fig. 3 is gloves 101 and palm pedestal 102 and each dactylus mechanism decomposing schematic representation.

Fig. 4 is the structural representation of driver part 111.

Fig. 5 is the articulatio carpometacarpicus communis structural representation that thumb detects driving mechanism 103.

Fig. 6 is the zoomed-in view that thumb detects driving mechanism 103.

Fig. 7 is the structural representation that thumb detects driving mechanism 103.

Fig. 8 is three-view diagram and the axonometric drawing that metacarpophalangeal joints detect driving mechanism 108.

Fig. 9 is the structural representation that metacarpophalangeal joints detect driving mechanism 108.

Figure 10 is three-view diagram and the axonometric drawing of detection of joints driving mechanism 109.

Figure 11 is the structural representation of detection of joints driving mechanism 109.

Figure 12 is the structural representation that forefinger detects driving mechanism 104.

Figure 13 is the structural representation that middle finger detects driving mechanism 105.

Figure 14 is the nameless structural representation that detects driving mechanism 106.

Figure 15 is three-view diagram and the axonometric drawing of little finger of toe detection of joints driving mechanism 110.

Figure 16 is the structural representation of little finger of toe detection of joints driving mechanism 110.

Figure 17 is the structural representation that little finger of toe detects driving mechanism 107.

Embodiment

The utility model main parts size:

101. gloves 102. palm pedestals 103. thumbs detect driving mechanism

104. forefinger detects driving mechanism 105. middle fingers and detects the driving mechanism 106. nameless driving mechanisms that detect

107. little finger of toe detects driving mechanism 108. metacarpophalangeal joints and detects driving mechanism 109. detection of joints driving mechanisms

110. little finger of toe detection of joints driving mechanism 111. driver parts 3. thumbs dactylus pedestal far away

4. nearly dactylus pedestal 5. thumbs of thumb are slapped dactylus pedestal 6. forefingers dactylus pedestal far away

9. middle finger dactylus pedestal far away 12. nameless dactylus pedestal 15. little fingers of toe dactylus pedestals far away far away

18. angular transducer 20. bulbs 21. bulbs link bar

22. gear case base 29. metacarpophalangeal joints pedestals 40. micromachines

41. clutch friction plate 42. friction disc slide bars 43. returning pull-springs

44. clutch case 53. dactylus pedestals 58. dactylus pedestals

60. train of reduction gears

Embodiment one: such as Fig. 1, Fig. 2 and shown in Figure 3, described external framework type bilateral force feedback data glove comprises that gloves 101, palm pedestal 102, thumb detection driving mechanism 103, forefinger detect driving mechanism 104, middle finger detects driving mechanism 105, nameless detection driving mechanism 106, little finger of toe detection driving mechanism 107 and metacarpophalangeal joints and detects driving mechanism 108.Described external framework type bilateral force feedback 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 mounting holes that are arranged in a linear, make the operator can select according to actual needs suitable position that associated components is installed, allow the corresponding optimum condition that reaches in position of each articulation point that each articulation point and the operator of data glove point.Described gloves 101 use the flexible materials such as rubber, cotton, cloth, skin to make, and after guaranteeing that the operator is with upper 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 respectively the top, metacarpophalangeal joints position of gloves 101 corresponding forefingers, middle finger, the third finger and little finger of toe, and palm pedestal 102 is fixed in the palm part of gloves 101 by bonding or other modes.

Embodiment two: such as Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and shown in Figure 7, described thumb detects driving mechanism 103 and 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 angular transducer 18 and the driver part 111 that detects joint motions information, detect position and the motion state of each dactylus of thumb in three dimensions, and under the effect of driver part 111 the realizable force feedback function.

As shown in Figure 4, described driver part 111 comprises micromachine 40 and clutch coupling, described clutch coupling is comprised of clutch friction plate 41, friction disc slide bar 42, returning pull-spring 43, clutch case 44, friction disc slide bar 42 is affixed with the axle of micromachine 40, two slice clutch friction discs 41 are inserted in respectively friction disc slide bar 42 two ends, be connected with returning pull-spring 43 between the two slice clutch friction discs 41, clutch case 44 is inserted in the axle of micromachine 40, be sliding contact between the axle of clutch case 44 and micromachine 40, clutch case 44 is provided with transmission gear.Action implementation process: when micromachine 40 rotating speeds are higher than certain value, the pulling force that two slice clutch friction discs 41 overcome returning pull-spring 43 contacts to two terminal slips of friction disc slide bar 42 and with the inwall of clutch case 44 respectively, clutch case 44 is produced friction force, drive clutch case 44 and rotate; When micromachine 40 rotating speeds were lower than certain value, two slice clutch friction discs 41 slided to axis direction under the effect of returning pull-spring 43, separated with the inwall of clutch case 44, and cut-out clutch case 44 is connected with micromachine 40.

Such as Fig. 5, Fig. 6 and shown in Figure 7, described thumb palm dactylus pedestal 5 is fixed in corresponding thumb palm dactylus position on the gloves 101 by bonding or other modes, 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 is positive) 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 thumb palm dactylus pedestal 5 is connected by bulb 20 is connected bar 21 cooperations with bulb spherical linkage with rocking arm 19, described rocking arm 19 is affixed by screw 35 with the axle of angular transducer 18, described angular transducer 18 is fixed in the hole seat A of palm pedestal 102 by screw 36, the axis coinciding that gear axis on the described rocking arm 19 and rocking arm rotate, the gear of described rocking arm 19 is by the cooperation of train of reduction gears 60 and the gear engagement of driver part 111, described driver part 111 is installed in the hole seat N of palm pedestal 102, and this driving mechanism is fixing by gear box cover 45.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 together motion, and link bar 21 by bulb and drive rocking arms 19 and rotate, so that can measure angle and the state of operator's articulatio carpometacarpicus communis (CP) motion in the seat A of hole with the angular transducer 18 of rocking arm 19 interlocks, when control system during without force feedback signal, driver part 111 attonitys in the hole seat N then; rocking arm 19 actions are interference-free; when control system has force feedback signal; then the driver part in the hole seat N 111 starts; the cooperation by train of reduction gears 60 applies one in the same way or reverse power to rocking arm 19 in its direction of motion; the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat A of hole again of control system; use corresponding mathematical algorithm to export constantly and revise the size of driving force; to promote or hinder articulatio carpometacarpicus communis (CP) motion of thumb, realize the force feedback function in this joint.

As shown in Figure 7, the nearly dactylus pedestal 4 of described thumb is fixed in the nearly dactylus of corresponding thumb position on the gloves 101 by bonding or other modes, the nearly dactylus of the nearly dactylus pedestal 4 semi-surrounding thumbs of thumb, its xsect that surrounds the junction is " C " shape, opening is towards the positive side of palm, 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 the metacarpophalangeal joints of thumb (MP) and interphalangeal joint (DIP).The nearly dactylus pedestal 4 of thumb passes through rocking arm 28 with thumb palm dactylus pedestal 5, connecting rod 26; rocking arm 27 is hinged; the bottom of described rocking arm 28 (embedded bearing 23) and the axle of angular transducer 18 are affixed by screw 36; described angular transducer 18 is fixed in the hole seat H of the nearly dactylus pedestal 4 of thumb by gear case base 22 and screw 35; axis coinciding that the gear axis on the described rocking arm 28 and rocking arm rotate; the gear of described rocking arm 28 is by the cooperation of train of reduction gears 60 and the gear engagement of driver part 111; described driver part 111 is installed on the nearly dactylus pedestal 4 of thumb, and this driving mechanism is fixing by gear box cover 47 and gear box cover 48.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 angular transducer 18, described angular transducer 18 is fixed in the hole seat G of thumb palm dactylus pedestal 5 by screw 35, the axis coinciding that gear axis on the described rocking arm 27 and rocking arm rotate, the gear of described rocking arm 27 is by the cooperation of train of reduction gears 60 and the gear engagement of driver part 111, described driver part 111 is installed on the thumb palm dactylus pedestal 5, and this driving mechanism is fixing by gear box cover 46.the action implementation process: the nearly dactylus of staff thumb can rotate around metacarpophalangeal joints (MP), it can be decomposed into to the componental movement on both direction, one is the flexion and extension that is parallel to the nearly dactylus of thumb side, another is abduction or 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 while doing flexion and extension, the nearly dactylus pedestal 4 of thumb that depends on the nearly dactylus of thumb is followed motion together, and drive rocking arm 27 rotations by rocking arm 28 and connecting rod 26, angle and state that the metacarpophalangeal joints (MP) that make the angular transducer 18 that links with rocking arm 27 in the seat G of hole can measure operator's thumb bend and stretch, when control system during without force feedback signal, thumb is slapped driver part 111 attonitys on dactylus pedestal 5, rocking arm 27 actions are interference-free, when control system has force feedback signal, the driver part 111 on thumb palm dactylus pedestal 5 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 27, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat G of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) flexion and extension of thumb, realize the force feedback function in this joint, when the metacarpophalangeal joints (MP) of operator's thumb are done abduction or the motion of interior receipts, on this direction of action, thumb palm dactylus pedestal 5 and rocking arm 27, connecting rod 26, rocking arm 28 is rigidly connected, so the nearly dactylus pedestal 4 of thumb that depends on the nearly dactylus of thumb directly drives angular transducer 18 rotations in the seat H of hole, make the angular transducer 18 in the seat H of hole can measure metacarpophalangeal joints (MP) abduction of operator's thumb or angle and the state of interior receipts, when control system during without force feedback signal, driver part 111 attonitys on the nearly dactylus pedestal 4 of thumb, rocking arm 28 actions are interference-free, when control system has force feedback signal, the driver part on the nearly dactylus pedestal 4 of thumb 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 28, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat H of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) abduction or the motion of interior receipts of thumb, realize the force feedback function in this joint.

As shown in Figure 7, described thumb dactylus pedestal 3 far away is fixed in corresponding thumb dactylus far away position on the gloves 101 by bonding or other modes, one end of thumb dactylus pedestal 3 far away is for surrounding the cylindricality of thumb dactylus far away, the other end is semisphere, 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 lateral surface far away at this pedestal is provided with a chute.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 spacing by screw 24, the axle of described rocking arm 25 (the embedded bearing 23) other end and angular transducer 18 is affixed by screw 36, described angular transducer 18 is fixed in the hole seat K of the nearly dactylus pedestal 4 of thumb by gear case base 22 and screw 35, the axis coinciding that gear axis on the described rocking arm 25 and rocking arm rotate, the gear of described rocking arm 25 is by the cooperation of train of reduction gears 60 and the gear engagement of driver part 111, described driver part 111 is installed on the nearly dactylus pedestal 4 of thumb, and this driving mechanism is fixing by gear box cover 49.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 together motion, thereby driving rocking arm 25 rotates, so that the angular transducer 18 that links with rocking arm 25 in the seat K of hole can be measured angle and state that the interphalangeal joint (DIP) of operator's thumb bends and stretches, when control system during without force feedback signal, driver part 111 attonitys on the nearly dactylus pedestal 4 of thumb then; rocking arm 25 actions are interference-free; when control system has force feedback signal; then the driver part on the nearly dactylus pedestal 4 of thumb 111 starts; the cooperation by train of reduction gears 60 applies one in the same way or reverse power to rocking arm 25 in its direction of motion; the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat K of hole again of control system; use corresponding mathematical algorithm to export constantly and revise the size of driving force; to promote or hinder interphalangeal joint (DIP) motion of thumb, realize the force feedback function in this joint.

Embodiment three: such as Fig. 1, Fig. 8 and shown in Figure 9, described metacarpophalangeal joints detect driving mechanism 108 and comprise driver part 111, rocking arm 27, metacarpophalangeal joints pedestal 29, connecting rod 38, gear box cover 50 and two angular transducers 18.Metacarpophalangeal joints pedestal 29 bottoms (embedded bearing 39) are affixed by screw 36 with the axle of an angular transducer 18, described metacarpophalangeal joints pedestal 29 can rotate around the axle center of bottom angular transducer (18), described metacarpophalangeal joints pedestal 29 bottom outer rims are provided with gear 59, the axis coinciding of the angular transducer 18 of the axle center of gear 59 and metacarpophalangeal joints pedestal 29 bottoms, another angular transducer 18 is fixed in the hole seat L of metacarpophalangeal joints pedestal 29 by screw 35, one end of the axle of described angular transducer 18 and rocking arm 27 (embedded bearing 23) is affixed by screw 36, the axis coinciding that gear axis on the described rocking arm 27 and rocking arm rotate, the gear of described rocking arm 27 is by the cooperation of train of reduction gears 60 and the gear engagement of driver part 111, described driver part 111 is installed on the metacarpophalangeal joints pedestal 29, and described rocking arm 27 other ends and connecting rod 38 1 ends are hinged by screw 24.

Embodiment four: such as Fig. 1, Figure 10 and shown in Figure 11, described detection of joints driving mechanism 109 comprises driver part 111, angular transducer 18, rocking arm 19, gear box cover 51, gear box cover 52 and dactylus pedestal 53.Dactylus pedestal 53 is provided with a hole seat M and and arranges the mounting hole Q that is used for bulb 20 or screw 24, described angular transducer 18 is fixed in the hole seat M of dactylus pedestal 53 by screw 36, the axle of the angular transducer 18 in the described hole seat M and rocking arm 19 are affixed by screw 35, the axis coinciding that gear axis on the described rocking arm 19 and rocking arm rotate, the gear of described rocking arm 19 is by the cooperation of train of reduction gears 60 and the gear engagement of driver part 111, described driver part 111 is installed on the dactylus pedestal 53, the affixed bulb 20 of described rocking arm 19 other ends.

Embodiment five: such as Fig. 1, Fig. 2, Fig. 3, Fig. 9, Figure 11 and shown in Figure 12, described forefinger detects driving mechanism 104 and comprises the metacarpophalangeal joints detection driving mechanism 108 hinged with palm pedestal 102 orders, the detection of joints driving mechanism 109 at the nearly dactylus of forefinger position, the detection of joints driving mechanism 109 at forefinger middle finger joint position and forefinger dactylus pedestal 6 far away, every two adjacent mechanism hinged places all are equipped with angular transducer 18 and the driver part 111 that detects joint action, detect position and the motion state of each dactylus of forefinger in three dimensions, and under the effect of driver part 111 the realizable force feedback function.

Such as Fig. 9, Figure 11 and shown in Figure 12, dactylus pedestal 53 on the detection of joints driving mechanism 109 at the nearly dactylus of described forefinger position is fixed in the nearly dactylus of corresponding forefinger position on the gloves 101 by bonding or other modes, the nearly dactylus of described dactylus pedestal 53 semi-surrounding forefingers, its xsect that surrounds the junction is " C " shape, and opening is towards the positive side of palm.Described metacarpophalangeal joints detect the connecting rod 38 of driving mechanism 108 and the detection of joints driving mechanism 109 at the nearly dactylus of forefinger position is articulated in mounting hole Q place by screw 24, the angular transducer 18 that described metacarpophalangeal joints detect driving mechanism 108 bottoms is fixed in the hole seat B of palm pedestal 102, described metacarpophalangeal joints detect the outer rim gear 59 of driving mechanism 108 by the cooperation and the gear engagement that is installed in the driver part 111 on the palm pedestal 102 of train of reduction gears 60, and this driving mechanism is fixing by gear box cover 54.the action implementation process: the nearly dactylus of Human Index Finger can rotate around metacarpophalangeal joints (MP), it can be decomposed into to the componental movement on both direction, one is the flexion and extension that is parallel to the nearly dactylus of forefinger side, another is abduction or 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 while doing flexion and extension, the detection of joints driving mechanism 109 that depends on the nearly dactylus of forefinger is followed to move together and pass through connecting rod 38 and is driven rocking arms 27 and rotate, angle and state that the metacarpophalangeal joints (MP) that make the angular transducer 18 that links with rocking arm 27 in the seat L of hole can measure operator's forefinger bend and stretch, when control system during without force feedback signal, metacarpophalangeal joints detect driver part 111 attonitys on driving mechanism 108, rocking arm 27 actions are interference-free, when control system has force feedback signal, metacarpophalangeal joints detect driver part 111 startups on driving mechanism 108, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 27, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat L of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) flexion and extension of forefinger, realize the force feedback function in this joint, when the metacarpophalangeal joints (MP) of operator's forefinger are done abduction or the motion of interior receipts, on this direction of action, detection of joints driving mechanism 109 and connecting rod 38, rocking arm 27 is rigidly connected, so detection of joints driving mechanism 109 directly drives metacarpophalangeal joints and detects driving mechanism 108 around the rotation of the axle center of the angular transducer 18 of its bottom, make the angular transducer 18 in the seat B of hole can measure metacarpophalangeal joints (MP) abduction of operator's forefinger or angle and the state of interior receipts, when control system during without force feedback signal, driver part 111 attonitys on palm pedestal 102, the motion of metacarpophalangeal joints detection driving mechanism 108 is interference-free, when control system has force feedback signal, the driver part on palm pedestal 102 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power to metacarpophalangeal joints detection driving mechanism 108 on its direction of motion, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat B of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) abduction or the motion of interior receipts of forefinger, realize the force feedback function in this joint.

Such as Figure 11 and shown in Figure 12, dactylus pedestal 53 on the detection of joints driving mechanism 109 at described forefinger middle finger joint position is fixed in corresponding forefinger middle finger joint position on the gloves 101 by bonding or other modes, described dactylus pedestal 53 semi-surrounding forefinger middle finger joints, its xsect that surrounds the junction is " C " shape, and opening is towards the positive side of palm.The rocking arm 19 of the detection of joints driving mechanism 109 at the nearly dactylus of described forefinger position is connected by bulb 20 is connected bar 21 cooperations with bulb spherical linkage with the dactylus pedestal 53 of the detection of joints driving mechanism 109 at forefinger middle finger joint position.Action implementation process: when the PIP (PIP) of operator's forefinger when doing flexion and extension, the detection of joints driving mechanism 109 that depends on forefinger middle finger joint position is followed together motion, and the rocking arm 19 that links on the detection of joints driving mechanism 109 that bar 21 drives the nearly dactylus of forefingers position by bulb rotates, so that can measure angle and the state that the PIP (PIP) of operator's forefinger bends and stretches with the angular transducer 18 of rocking arm 19 interlock, when control system during without force feedback signal, driver part 111 attonitys on the detection of joints driving mechanism 109 at the nearly dactylus of forefinger position then, the middle finger joint of operator's forefinger can rotate around the PIP (PIP) of forefinger interference-free, when control system has force feedback signal, then the driver part on the detection of joints driving mechanism 109 at the nearly dactylus of forefinger position 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power to rocking arm 19 in its direction of motion, the simultaneously variation of the joint angles that detects according to the angular transducer 18 with rocking arm 19 interlocks again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder PIP (PIP) motion of forefinger, realize the force feedback function in this joint.

Such as Figure 11 and shown in Figure 12, described forefinger dactylus pedestal 6 far away is fixed in corresponding 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 semisphere, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of forefinger, and 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.The rocking arm 19 of the detection of joints driving mechanism 109 at described forefinger middle finger joint position is connected by bulb 20 is connected bar 21 cooperations with bulb spherical linkage with forefinger dactylus pedestal 6 far away.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 together motion, and the rocking arm 19 that links on the detection of joints driving mechanism 109 that bar 21 drives forefinger middle finger joint positions by bulb rotates, so that can measure angle and the state that the DIPJ (DIP) of operator's forefinger bends and stretches with the angular transducer 18 of rocking arm 19 interlock, when control system during without force feedback signal, driver part 111 attonitys on the detection of joints driving mechanism 109 at forefinger middle finger joint position then, the dactylus far away of operator's forefinger can rotate around the DIPJ (DIP) of forefinger interference-free, when control system has force feedback signal, then the driver part on the detection of joints driving mechanism 109 at forefinger middle finger joint position 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power to rocking arm 19 in its direction of motion, the simultaneously variation of the joint angles that detects according to the angular transducer 18 with rocking arm 19 interlocks again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder DIPJ (DIP) motion of forefinger, realize the force feedback function in this joint.

Embodiment six: such as Fig. 1, Fig. 2, Fig. 3, Fig. 9, Figure 11 and shown in Figure 13, described middle finger detects driving mechanism 105 and comprises the metacarpophalangeal joints detection driving mechanism 108 hinged with palm pedestal 102 orders, the detection of joints driving mechanism 109 at the nearly dactylus of middle finger position, the detection of joints driving mechanism 109 at middle finger middle finger joint position and middle finger dactylus pedestal 9 far away, every two adjacent mechanism hinged places all are equipped with angular transducer 18 and the driver part 111 that detects joint action, detect position and the motion state of each dactylus of middle finger in three dimensions, and under the effect of driver part 111 the realizable force feedback function.

Such as Fig. 9, Figure 11 and shown in Figure 13, dactylus pedestal 53 on the detection of joints driving mechanism 109 at the nearly dactylus of described middle finger position is fixed in the nearly dactylus of corresponding middle finger position on the gloves 101 by bonding or other modes, the nearly dactylus of described dactylus pedestal 53 semi-surrounding middle fingers, its xsect that surrounds the junction is " C " shape, and opening is towards the positive side of palm.Described metacarpophalangeal joints detect the connecting rod 38 of driving mechanism 108 and the detection of joints driving mechanism 109 at the nearly dactylus of middle finger position is articulated in mounting hole Q place by screw 24, the angular transducer 18 that described metacarpophalangeal joints detect driving mechanism 108 bottoms is fixed in the hole seat C of palm pedestal 102, described metacarpophalangeal joints detect the outer rim gear 59 of driving mechanism 108 by the cooperation and the gear engagement that is installed in the driver part 111 on the palm pedestal 102 of train of reduction gears 60, and this driving mechanism is fixing by gear box cover 55.the action implementation process: the nearly dactylus of staff middle finger can rotate around metacarpophalangeal joints (MP), it can be decomposed into to the componental movement on both direction, one is the flexion and extension that is parallel to the nearly dactylus of middle finger side, another is abduction or 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 while doing flexion and extension, the detection of joints driving mechanism 109 that depends on the nearly dactylus of middle finger is followed to move together and pass through connecting rod 38 and is driven rocking arms 27 and rotate, angle and state that the metacarpophalangeal joints (MP) that make the angular transducer 18 that links with rocking arm 27 in the seat L of hole can measure operator's middle finger bend and stretch, when control system during without force feedback signal, metacarpophalangeal joints detect driver part 111 attonitys on driving mechanism 108, rocking arm 27 actions are interference-free, when control system has force feedback signal, metacarpophalangeal joints detect driver part 111 startups on driving mechanism 108, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 27, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat L of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) flexion and extension of middle finger, realize the force feedback function in this joint, when the metacarpophalangeal joints (MP) of operator's middle finger are done abduction or the motion of interior receipts, on this direction of action, detection of joints driving mechanism 109 and connecting rod 38, rocking arm 27 is rigidly connected, so detection of joints driving mechanism 109 directly drives metacarpophalangeal joints and detects driving mechanism 108 around the rotation of the axle center of the angular transducer 18 of its bottom, make the angular transducer 18 in the seat C of hole can measure metacarpophalangeal joints (MP) abduction of operator's middle finger or angle and the state of interior receipts, when control system during without force feedback signal, driver part 111 attonitys on palm pedestal 102, the motion of metacarpophalangeal joints detection driving mechanism 108 is interference-free, when control system has force feedback signal, the driver part on palm pedestal 102 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power to metacarpophalangeal joints detection driving mechanism 108 on its direction of motion, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat C of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) abduction or the motion of interior receipts of middle finger, realize the force feedback function in this joint.

Such as Figure 11 and shown in Figure 13, dactylus pedestal 53 on the detection of joints driving mechanism 109 at described middle finger middle finger joint position is fixed in corresponding middle finger middle finger joint position on the gloves 101 by bonding or other modes, described dactylus pedestal 53 semi-surrounding middle finger middle finger joints, its xsect that surrounds the junction is " C " shape, and opening is towards the positive side of palm.The rocking arm 19 of the detection of joints driving mechanism 109 at the nearly dactylus of described middle finger position is connected by bulb 20 is connected bar 21 cooperations with bulb spherical linkage with the dactylus pedestal 53 of the detection of joints driving mechanism 109 at middle finger middle finger joint position.Action implementation process: when the PIP (PIP) of operator's middle finger when doing flexion and extension, the detection of joints driving mechanism 109 that depends on middle finger middle finger joint position is followed together motion, and the rocking arm 19 that links on the detection of joints driving mechanism 109 that bar 21 drives the nearly dactylus of middle fingers position by bulb rotates, so that can measure angle and the state that the PIP (PIP) of operator's middle finger bends and stretches with the angular transducer 18 of rocking arm 19 interlock, when control system during without force feedback signal, driver part 111 attonitys on the detection of joints driving mechanism 109 at the nearly dactylus of middle finger position then, the middle finger joint of operator's middle finger can rotate around the PIP (PIP) of middle finger interference-free, when control system has force feedback signal, then the driver part on the detection of joints driving mechanism 109 at the nearly dactylus of middle finger position 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power to rocking arm 19 in its direction of motion, the simultaneously variation of the joint angles that detects according to the angular transducer 18 with rocking arm 19 interlocks again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder PIP (PIP) motion of middle finger, realize the force feedback function in this joint.

Such as Figure 11 and shown in Figure 13, described middle finger dactylus pedestal 9 far away is fixed in corresponding 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 semisphere, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of middle finger, and 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.The rocking arm 19 of the detection of joints driving mechanism 109 at described middle finger middle finger joint position is connected by bulb 20 is connected bar 21 cooperations with bulb spherical linkage with middle finger dactylus pedestal 9 far away.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 together motion, and the rocking arm 19 that links on the detection of joints driving mechanism 109 that bar 21 drives middle finger middle finger joint positions by bulb rotates, so that can measure angle and the state that the DIPJ (DIP) of operator's middle finger bends and stretches with the angular transducer 18 of rocking arm 19 interlock, when control system during without force feedback signal, driver part 111 attonitys on the detection of joints driving mechanism 109 at middle finger middle finger joint position then, the dactylus far away of operator's middle finger can rotate around the DIPJ (DIP) of middle finger interference-free, when control system has force feedback signal, then the driver part on the detection of joints driving mechanism 109 at middle finger middle finger joint position 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power to rocking arm 19 in its direction of motion, the simultaneously variation of the joint angles that detects according to the angular transducer 18 with rocking arm 19 interlocks again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder DIPJ (DIP) motion of middle finger, realize the force feedback function in this joint.

Embodiment seven: such as Fig. 1, Fig. 2, Fig. 3, Fig. 9, Figure 11 and shown in Figure 14, the described nameless driving mechanism 106 that detects comprises the metacarpophalangeal joints detection driving mechanism 108 hinged with palm pedestal 102 orders, the detection of joints driving mechanism 109 at nameless nearly dactylus position, the detection of joints driving mechanism 109 at nameless middle finger joint position and nameless dactylus pedestal 12 far away, every two adjacent mechanism hinged places all are equipped with angular transducer 18 and the driver part 111 that detects joint action, detect position and the motion state of nameless each dactylus in three dimensions, and under the effect of driver part 111 the realizable force feedback function.

Such as Fig. 9, Figure 11 and shown in Figure 14, dactylus pedestal 53 on the detection of joints driving mechanism 109 at the nearly dactylus of described third finger position is fixed in the nearly dactylus of corresponding third finger position on the gloves 101 by bonding or other modes, the nameless nearly dactylus of described dactylus pedestal 53 semi-surroundings, its xsect that surrounds the junction is " C " shape, and opening is towards the positive side of palm.The connecting rod 38 that described metacarpophalangeal joints detect driving mechanism 108 is articulated in mounting hole Q place with the nameless closely detection of joints driving mechanism 109 at dactylus position by screw 24, the angular transducer 18 that described metacarpophalangeal joints detect driving mechanism 108 bottoms is fixed in the hole seat D of palm pedestal 102, described metacarpophalangeal joints detect the outer rim gear 59 of driving mechanism 108 by the cooperation and the gear engagement that is installed in the driver part 111 on the palm pedestal 102 of train of reduction gears 60, and this driving mechanism is fixing by gear box cover 55.the action implementation process: the nearly dactylus of the staff third finger can rotate around metacarpophalangeal joints (MP), it can be decomposed into to the componental movement on both direction, one is the flexion and extension that is parallel to nameless nearly dactylus side, another is abduction or 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 while doing flexion and extension, the detection of joints driving mechanism 109 that depends on nameless nearly dactylus is followed to move together and pass through connecting rod 38 and is driven rocking arms 27 rotations, angle and state that the metacarpophalangeal joints (MP) that make the angular transducer 18 that links with rocking arm 27 in the seat L of hole can measure operator's third finger bend and stretch, when control system during without force feedback signal, metacarpophalangeal joints detect driver part 111 attonitys on driving mechanism 108, rocking arm 27 actions are interference-free, when control system has force feedback signal, metacarpophalangeal joints detect driver part 111 startups on driving mechanism 108, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 27, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat L of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) flexion and extension of the third finger, realize the force feedback function in this joint, when the metacarpophalangeal joints (MP) of operator's third finger are done abduction or the motion of interior receipts, on this direction of action, detection of joints driving mechanism 109 and connecting rod 38, rocking arm 27 is rigidly connected, so detection of joints driving mechanism 109 directly drives metacarpophalangeal joints and detects driving mechanism 108 around the rotation of the axle center of the angular transducer 18 of its bottom, make the angular transducer 18 in the seat D of hole can measure metacarpophalangeal joints (MP) abduction of operator's third finger or angle and the state of interior receipts, when control system during without force feedback signal, driver part 111 attonitys on palm pedestal 102, the motion of metacarpophalangeal joints detection driving mechanism 108 is interference-free, when control system has force feedback signal, the driver part on palm pedestal 102 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power to metacarpophalangeal joints detection driving mechanism 108 on its direction of motion, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat D of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) abduction or the motion of interior receipts of the third finger, realize the force feedback function in this joint.

Such as Figure 11 and shown in Figure 14, dactylus pedestal 53 on the detection of joints driving mechanism 109 at described nameless middle finger joint position is fixed in corresponding nameless middle finger joint position on the gloves 101 by bonding or other modes, the nameless middle finger joint of described dactylus pedestal 53 semi-surroundings, its xsect that surrounds the junction is " C " shape, and opening is towards the positive side of palm.The rocking arm 19 of the detection of joints driving mechanism 109 at the nearly dactylus of described third finger position is connected by bulb 20 is connected bar 21 cooperations with bulb spherical linkage with the dactylus pedestal 53 of the detection of joints driving mechanism 109 at nameless middle finger joint position.Action implementation process: when the PIP (PIP) of operator's third finger when doing flexion and extension, the detection of joints driving mechanism 109 that depends on nameless middle finger joint position is followed together motion, and the rocking arm 19 that links on the detection of joints driving mechanism 109 that bar 21 drives nameless nearly dactylus position by bulb rotates, so that can measure angle and the state that the PIP (PIP) of operator's third finger bends and stretches with the angular transducer 18 of rocking arm 19 interlock, when control system during without force feedback signal, driver part 111 attonitys on the detection of joints driving mechanism 109 at nameless nearly dactylus position then, the middle finger joint of operator's third finger can rotate around the PIP (PIP) of the third finger interference-free, when control system has force feedback signal, then the driver part on the detection of joints driving mechanism 109 at nameless nearly dactylus position 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power to rocking arm 19 in its direction of motion, the simultaneously variation of the joint angles that detects according to the angular transducer 18 with rocking arm 19 interlocks again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder PIP (PIP) motion of the third finger, realize the force feedback function in this joint.

Such as Figure 11 and shown in Figure 14, described third finger dactylus pedestal 12 far away is fixed in corresponding 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 semisphere, 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.The rocking arm 19 of the detection of joints driving mechanism 109 at described nameless middle finger joint position is connected by bulb 20 is connected bar 21 cooperations with bulb spherical linkage with nameless dactylus pedestal 12 far away.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 together motion, and the rocking arm 19 that links on the detection of joints driving mechanism 109 that bar 21 drives nameless middle finger joint position by bulb rotates, so that can measure angle and the state that the DIPJ (DIP) of operator's third finger bends and stretches with the angular transducer 18 of rocking arm 19 interlock, when control system during without force feedback signal, driver part 111 attonitys on the detection of joints driving mechanism 109 at nameless middle finger joint position then, the dactylus far away of operator's third finger can rotate around the DIPJ (DIP) of the third finger interference-free, when control system has force feedback signal, then the driver part on the detection of joints driving mechanism 109 at nameless middle finger joint position 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power to rocking arm 19 in its direction of motion, the simultaneously variation of the joint angles that detects according to the angular transducer 18 with rocking arm 19 interlocks again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder DIPJ (DIP) motion of the third finger, realize the force feedback function in this joint.

Embodiment eight: such as Fig. 1, Figure 15 and shown in Figure 16, described little finger of toe detection of joints driving mechanism 110 comprises driver part 111, angular transducer 18, rocking arm 19, gear box cover 57 and dactylus pedestal 58.Described dactylus pedestal 58 is provided with a hole seat P and and arranges the mounting hole R that is used for bulb 20 or screw 24, described angular transducer 18 is fixed in the hole seat P of dactylus pedestal 58 by screw 35, the axle of the angular transducer 18 in the described hole seat P and rocking arm 19 are affixed by screw 35, the axis coinciding that gear axis on the described rocking arm 19 and rocking arm rotate, the gear of described rocking arm 19 is by the cooperation of train of reduction gears 60 and the gear engagement of driver part 111, described driver part 111 is installed on the dactylus pedestal 58, the affixed bulb 20 of described rocking arm 19 other ends.

Embodiment nine: such as Fig. 1, Fig. 2, Fig. 3, Fig. 9, Figure 16 and shown in Figure 17, described little finger of toe detects driving mechanism 107 and comprises the metacarpophalangeal joints detection driving mechanism 108 hinged with palm pedestal 102 orders, the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus of little finger of toe position, the little finger of toe detection of joints driving mechanism 110 at little finger of toe middle finger joint position and little finger of toe dactylus pedestal 15 far away, every two adjacent mechanism hinged places all are equipped with angular transducer 18 and the driver part 111 that detects joint action, detect position and the motion state of each dactylus of little finger of toe in three dimensions, and under the effect of driver part 111 the realizable force feedback function.

Such as Fig. 9, Figure 16 and shown in Figure 17, dactylus pedestal 58 on the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus of described little finger of toe position is fixed in the nearly dactylus of corresponding little finger of toe position on the gloves 101 by bonding or other modes, the nearly dactylus of described dactylus pedestal 58 semi-surrounding little fingers of toe, its xsect that surrounds the junction is " C " shape, and opening is towards the positive side of palm.Described metacarpophalangeal joints detect the connecting rod 38 of driving mechanism 108 and the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus of little finger of toe position is articulated in mounting hole R place by screw 24, the angular transducer 18 that described metacarpophalangeal joints detect driving mechanism 108 bottoms is fixed in the hole seat E of palm pedestal 102, described metacarpophalangeal joints detect the outer rim gear 59 of driving mechanism 108 by the cooperation and the gear engagement that is installed in the driver part 111 on the palm pedestal 102 of train of reduction gears 60, and this driving mechanism is fixing by gear box cover 56.the action implementation process: the nearly dactylus of staff little finger of toe can rotate around metacarpophalangeal joints (MP), it can be decomposed into to the componental movement on both direction, one is the flexion and extension that is parallel to the nearly dactylus of little finger of toe side, another is abduction or 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 while doing flexion and extension, the little finger of toe detection of joints driving mechanism 110 that depends on the nearly dactylus of little finger of toe is followed to move together and pass through connecting rod 38 and is driven rocking arms 27 and rotate, angle and state that the metacarpophalangeal joints (MP) that make the angular transducer 18 that links with rocking arm 27 in the seat L of hole can measure operator's little finger of toe bend and stretch, when control system during without force feedback signal, metacarpophalangeal joints detect driver part 111 attonitys on driving mechanism 108, rocking arm 27 actions are interference-free, when control system has force feedback signal, metacarpophalangeal joints detect driver part 111 startups on driving mechanism 108, cooperation by train of reduction gears 60 applies one in the same way or reverse power on its direction of motion to rocking arm 27, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat L of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) flexion and extension of little finger of toe, realize the force feedback function in this joint, when the metacarpophalangeal joints (MP) of operator's little finger of toe are done abduction or the motion of interior receipts, on this direction of action, little finger of toe detection of joints driving mechanism 110 and connecting rod 38, rocking arm 27 is rigidly connected, so little finger of toe detection of joints driving mechanism 110 directly drives metacarpophalangeal joints and detects driving mechanism 108 around the rotation of the axle center of the angular transducer 18 of its bottom, make the angular transducer 18 in the seat E of hole can measure metacarpophalangeal joints (MP) abduction of operator's little finger of toe or angle and the state of interior receipts, when control system during without force feedback signal, driver part 111 attonitys on palm pedestal 102, the motion of metacarpophalangeal joints detection driving mechanism 108 is interference-free, when control system has force feedback signal, the driver part on palm pedestal 102 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power to metacarpophalangeal joints detection driving mechanism 108 on its direction of motion, the simultaneously variation of the joint angles that detects according to the angular transducer 18 in the seat E of hole again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder metacarpophalangeal joints (MP) abduction or the motion of interior receipts of little finger of toe, realize the force feedback function in this joint.

Such as Figure 16 and shown in Figure 17, dactylus pedestal 58 on the little finger of toe detection of joints driving mechanism 110 at described little finger of toe middle finger joint position is fixed in corresponding little finger of toe middle finger joint position on the gloves 101 by bonding or other modes, described dactylus pedestal 58 semi-surrounding little finger of toe middle finger joints, its xsect that surrounds the junction is " C " shape, and opening is towards the positive side of palm.The rocking arm 19 of the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus of described little finger of toe position is connected by bulb 20 is connected bar 21 cooperations with bulb spherical linkage with the dactylus pedestal 58 of the little finger of toe detection of joints driving mechanism 110 at little finger of toe middle finger joint position.Action implementation process: when the PIP (PIP) of operator's little finger of toe when doing flexion and extension, the little finger of toe detection of joints driving mechanism 110 that depends on little finger of toe middle finger joint position is followed together motion, and the rocking arm 19 that links on the little finger of toe detection of joints driving mechanism 110 that bar 21 drives the nearly dactylus of little fingers of toe position by bulb rotates, so that can measure angle and the state that the PIP (PIP) of operator's little finger of toe bends and stretches with the angular transducer 18 of rocking arm 19 interlock, when control system during without force feedback signal, driver part 111 attonitys on the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus of little finger of toe position then, the middle finger joint of operator's little finger of toe can rotate around the PIP (PIP) of little finger of toe interference-free, when control system has force feedback signal, then the driver part on the little finger of toe detection of joints driving mechanism 110 at the nearly dactylus of little finger of toe position 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power to rocking arm 19 in its direction of motion, the simultaneously variation of the joint angles that detects according to the angular transducer 18 with rocking arm 19 interlocks again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder PIP (PIP) motion of little finger of toe, realize the force feedback function in this joint.

Such as Figure 16 and shown in Figure 17, described little finger of toe dactylus pedestal 15 far away is fixed in corresponding 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 semisphere, the longitudinal section of whole pedestal is " U " shape, opening is towards the DIPJ (DIP) of little finger of toe, and 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.The rocking arm 19 of the little finger of toe detection of joints driving mechanism 110 at described little finger of toe middle finger joint position is connected by bulb 20 is connected bar 21 cooperations with bulb spherical linkage with little finger of toe dactylus pedestal 15 far away.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 together motion, and the rocking arm 19 that links on the little finger of toe detection of joints driving mechanism 110 that bar 21 drives little finger of toe middle finger joint positions by bulb rotates, so that can measure angle and the state that the DIPJ (DIP) of operator's little finger of toe bends and stretches with the angular transducer 18 of rocking arm 19 interlock, when control system during without force feedback signal, driver part 111 attonitys on the little finger of toe detection of joints driving mechanism 110 at little finger of toe middle finger joint position then, the dactylus far away of operator's little finger of toe can rotate around the DIPJ (DIP) of little finger of toe interference-free, when control system has force feedback signal, then the driver part on the little finger of toe detection of joints driving mechanism 110 at little finger of toe middle finger joint position 111 starts, cooperation by train of reduction gears 60 applies one in the same way or reverse power to rocking arm 19 in its direction of motion, the simultaneously variation of the joint angles that detects according to the angular transducer 18 with rocking arm 19 interlocks again of control system, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promote or hinder DIPJ (DIP) motion of little finger of toe, realize the force feedback function in this joint.

As another example of the present utility model, also can replace angular transducer 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.

As another example of the present utility model, also can allow the micro-driving motor that is connected with transmission gear replace driver part 111, directly drive train of reduction gears 60 or joint, save the clutch coupling link, can play to the joint equally the effect of the power of applying, realize the purpose of this utility model.

In the situation that principle of the present utility model is suffered damage; the details of above-mentioned formation and 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

1. external framework type bilateral force feedback data glove, be used for and computing machine, the interactive device of mechanical arm, formed by gloves (101), palm pedestal (102), thumb detection driving mechanism (103), forefinger detection driving mechanism (104), middle finger detection driving mechanism (105), nameless driving mechanism (106), little finger of toe detection driving mechanism (107) and the metacarpophalangeal joints detection driving mechanisms (108) of detecting;

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), and the hole seat on the palm pedestal (102) (B, C, D, E) places respectively the top, metacarpophalangeal joints position of the corresponding forefinger of gloves (101), middle finger, the third finger and little finger of toe;

Thumb detection driving mechanism (103) is installed in the thumb position on the gloves (101), and is hinged with palm pedestal (102);

Forefinger detection driving mechanism (104) is installed in the index on the gloves (101), and it is hinged with palm pedestal (102) to detect driving mechanisms (108) by metacarpophalangeal joints;

Middle finger detection driving mechanism (105) is installed in the middle finger position on the gloves (101), and it is hinged with palm pedestal (102) to detect driving mechanisms (108) by metacarpophalangeal joints;

Nameless detection driving mechanism (106) is installed in the nameless position on the gloves (101), and it is hinged with palm pedestal (102) to detect driving mechanisms (108) by metacarpophalangeal joints;

Little finger of toe detection driving mechanism (107) is installed in the little finger of toe position on the gloves (101), and it is hinged with palm pedestal (102) to detect driving mechanisms (108) by metacarpophalangeal joints;

Each hinge point all is equipped with angular transducer (18) and the driver part (111) that detects joint action, can apply as required the effect realizable force FEEDBACK CONTROL of power in the angle that detects each joint motions of finger and state to it.

2. external framework type bilateral force feedback data glove according to claim 1 is characterized in that: described thumb detects driving mechanism (103) and comprises thumb palm dactylus pedestal (5), the nearly dactylus pedestal of thumb (4), thumb dactylus pedestal far away (3), gloves (101), palm pedestal (102), driver part (111), angular transducer (18), bulb (20), bulb links bar (21), gear case base (22), bearing (23), screw (24,35,36), connecting rod (26); rocking arm (19; 25; 27; 28); gear box cover (46; 47; 48; 49) and train of reduction gears (60); Thumb palm dactylus pedestal (5) is fixed on the upper corresponding thumb palm dactylus of gloves (101) position, and along the irregular contour of the outside muscle of staff thumb palm dactylus, adopt " C " shape to surround thumb palm dactylus, opening is towards the thumb palm dactylus side that links to each other with palm muscle, 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), thumb palm dactylus pedestal

(5) rocking arm (F) is connected by the spherical linkage that bulb (20) and bulb link bar (21) cooperation with another rocking arm (19), described rocking arm (19) is fixed on the axle of angular transducer (18) by screw (35), angular transducer (18) is fixed in the hole seat (A) of palm pedestal (102) by screw (36), gear on described rocking arm (19) is by the cooperation of train of reduction gears (60) and the gear engagement of driver part (111), driver part (111) is arranged in the hole seat (N) of palm pedestal (102), this driving mechanism is fixing by gear box cover (45), the nearly dactylus pedestal of thumb (4) is fixed in the upper nearly dactylus of corresponding thumb of gloves (101) position, and the nearly dactylus of semi-surrounding thumb, its cross section that surrounds junction is " C " shape, opening is towards the positive side of palm, the position that is positioned at the nearly dactylus lateral surface of thumb at this pedestal is provided with two hole seat (H, K), Zuo De position, two holes corresponds respectively to metacarpophalangeal joints MP and the interphalangeal joint DIP of thumb, angular transducer (18) is fixed in the hole seat (H) of the nearly dactylus pedestal of thumb (4) by gear-box base (22) and screw (35), the axle of described angular transducer (18) is fixed in rocking arm (28) bottom of embedded bearing (23) by screw (36), gear on rocking arm (28) is by the cooperation and the gear engagement that is arranged on the driver part (111) on the nearly dactylus pedestal of thumb (4) of train of reduction gears (60), this driving mechanism is by gear box cover (47, 48) fixing, described rocking arm (28) is hinged by screw (24) with connecting rod (26) one ends, connecting rod (26) other end and rocking arm (27) are hinged by screw (24), the embedded bearing of rocking arm (27) (23) is also affixed by screw (36) with the axle of angular transducer (18), described angular transducer (18) is fixed in the hole seat (G) of thumb palm dactylus pedestal (5), gear on described rocking arm (27) is by the cooperation and the gear engagement that is arranged on the driver part (111) on thumb palm dactylus pedestal (5) of train of reduction gears (60), this driving mechanism is fixing by gear box cover (46), thumb dactylus pedestal far away (3) is fixed in the upper corresponding thumb dactylus far away of gloves (101) position, one end of thumb dactylus pedestal far away (3) is for surrounding the cylindricality of thumb dactylus far away, the other end is 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 lateral surface far away on thumb dactylus pedestal far away (3) 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), the axle of described rocking arm (25) embedded bearing (23) other end and angular transducer (18) is affixed by screw (36), described angular transducer (18) is fixed in the hole seat (K) of the nearly dactylus pedestal of thumb (4) by gear-box base (22) and screw (35), gear on described rocking arm (25) is by the cooperation and the gear engagement that is arranged on the driver part (111) on the nearly dactylus pedestal of thumb (4) of train of reduction gears (60), this driving mechanism is fixing by gear box cover (49).

3. external framework type bilateral force feedback data glove according to claim 1 is characterized in that: described forefinger detects driving mechanism (104) and comprises gloves (101), palm pedestal (102), metacarpophalangeal joints detect driving mechanism (108), detection of joints driving mechanism (109), driver part (111), forefinger dactylus pedestal far away (6), angular transducer (18); rocking arm (19); bulb (20); bulb links bar (21); screw (24); connecting rod (38); dactylus pedestal (53); gear box cover (54); gear (59) and train of reduction gears (60); Detection of joints driving mechanism (109) is installed respectively at the nearly dactylus position of forefinger and middle finger joint position, dactylus pedestal (53) on the detection of joints driving mechanism (109) is individually fixed in the upper corresponding forefinger nearly dactylus position of gloves (101) and middle finger joint position, and semi-surrounding dactylus, its xsect that surrounds the junction is " C " shape, opening is towards the positive side of palm, the detection of joints driving mechanism (109) of the connecting rod (38) that metacarpophalangeal joints detect driving mechanisms (108) by screw (24) and the nearly dactylus of forefinger position is articulated in mounting hole (Q) and locates, the angular transducer (18) that metacarpophalangeal joints detect driving mechanism (108) bottom is fixed in the hole seat (B) of palm pedestal (102), its outer rim gear (59) is by the cooperation and the gear engagement that is installed in the driver part (111) on the palm pedestal (102) of train of reduction gears (60), and this driving mechanism is fixing by gear box cover (54); The bulb (20) that the rocking arm (19) of the detection of joints driving mechanism (109) at the nearly dactylus of forefinger position links by bulb on detection of joints driving mechanism (109) mounting hole (Q) at bar (21) and forefinger middle finger joint position is hinged; Forefinger dactylus pedestal far away (6) is fixed in the upper corresponding forefinger dactylus far away position of gloves (101), one end of forefinger dactylus pedestal far away (6) is for surrounding the cylindricality of forefinger dactylus far away, the other end is semisphere, 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 forefinger dactylus pedestal far away (6) is provided with a rocking arm; rocking arm is perpendicular to the dactylus back side at place, and the rocking arm (19) of the detection of joints driving mechanism (109) at forefinger middle finger joint position is connected by bulb (20) is connected bar (21) cooperation with bulb spherical linkage with forefinger dactylus pedestal far away (6).

4. external framework type bilateral force feedback data glove according to claim 1 is characterized in that: described middle finger detects driving mechanism (105) and comprises gloves (101), palm pedestal (102), metacarpophalangeal joints detect driving mechanism (108), detection of joints driving mechanism (109), driver part (111), middle finger dactylus pedestal far away (9), angular transducer (18); rocking arm (19); bulb (20); bulb links bar (21); screw (24); connecting rod (38); dactylus pedestal (53); gear box cover (55); gear (59) and train of reduction gears (60); Detection of joints driving mechanism (109) is installed respectively at the nearly dactylus position of middle finger and middle finger joint position, dactylus pedestal (53) on the detection of joints driving mechanism (109) is individually fixed in the upper corresponding middle finger nearly dactylus position of gloves (101) and middle finger joint position, and semi-surrounding dactylus, its xsect that surrounds the junction is " C " shape, opening is towards the positive side of palm, the detection of joints driving mechanism (109) of the connecting rod (38) that metacarpophalangeal joints detect driving mechanisms (108) by screw (24) and the nearly dactylus of middle finger position is articulated in mounting hole (Q) and locates, the angular transducer (18) that metacarpophalangeal joints detect driving mechanism (108) bottom is fixed in the hole seat (C) of palm pedestal (102), its outer rim gear (59) is by the cooperation and the gear engagement that is installed in the driver part (111) on the palm pedestal (102) of train of reduction gears (60), and this driving mechanism is fixing by gear box cover (55); The bulb (20) that the rocking arm (19) of the detection of joints driving mechanism (109) at the nearly dactylus of middle finger position links by bulb on detection of joints driving mechanism (109) mounting hole (Q) at bar (21) and middle finger middle finger joint position is hinged; Middle finger dactylus pedestal far away (9) is fixed in the upper corresponding middle finger dactylus far away position of gloves (101), one end of middle finger dactylus pedestal far away (9) is for surrounding the cylindricality of middle finger dactylus far away, the other end is semisphere, 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 middle finger dactylus pedestal far away (9) is provided with a rocking arm; rocking arm is perpendicular to the dactylus back side at place, and the rocking arm (19) of the detection of joints driving mechanism (109) at middle finger middle finger joint position is connected by bulb (20) is connected bar (21) cooperation with bulb spherical linkage with middle finger dactylus pedestal far away (9).

5. external framework type bilateral force feedback data glove according to claim 1 is characterized in that: the described nameless driving mechanism (106) that detects comprises gloves (101), palm pedestal (102), metacarpophalangeal joints detect driving mechanism (108), detection of joints driving mechanism (109), driver part (111), nameless dactylus pedestal (12) far away, angular transducer (18); rocking arm (19); bulb (20); bulb links bar (21); screw (24); connecting rod (38); dactylus pedestal (53); gear box cover (55); gear (59) and train of reduction gears (60); Detection of joints driving mechanism (109) is installed respectively at nameless nearly dactylus position and middle finger joint position, dactylus pedestal (53) on the detection of joints driving mechanism (109) is individually fixed in the upper corresponding third finger nearly dactylus position of gloves (101) and middle finger joint position, and semi-surrounding dactylus, its xsect that surrounds the junction is " C " shape, opening is towards the positive side of palm, the connecting rod (38) of metacarpophalangeal joints detection driving mechanisms (108) is articulated in mounting hole (Q) by screw (24) with the nameless closely detection of joints driving mechanism (109) at dactylus position and locates, the angular transducer (18) that metacarpophalangeal joints detect driving mechanism (108) bottom is fixed in the hole seat (D) of palm pedestal (102), its outer rim gear (59) is by the cooperation and the gear engagement that is installed in the driver part (111) on the palm pedestal (102) of train of reduction gears (60), and this driving mechanism is fixing by gear box cover (55); The bulb (20) that the rocking arm (19) of the detection of joints driving mechanism (109) at nameless nearly dactylus position links by bulb on detection of joints driving mechanism (109) mounting hole (Q) at bar (21) and nameless middle finger joint position is hinged; Nameless dactylus pedestal (12) far away is fixed in the upper corresponding third finger dactylus far away position of gloves (101), one end of nameless dactylus pedestal (12) far away is for surrounding the cylindricality of nameless dactylus far away, the other end is semisphere, 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 third finger dactylus pedestal far away (12) is provided with a rocking arm; rocking arm is perpendicular to the dactylus back side at place, and the rocking arm (19) of the detection of joints driving mechanism (109) at nameless middle finger joint position is connected by bulb (20) is connected bar (21) cooperation with bulb spherical linkage with nameless dactylus pedestal (12) far away.

6. external framework type bilateral force feedback data glove according to claim 1 is characterized in that: described little finger of toe detects driving mechanism (107) and comprises gloves (101), palm pedestal (102), metacarpophalangeal joints detect driving mechanism (108), little finger of toe detection of joints driving mechanism (110), driver part (111), little finger of toe dactylus pedestal far away (15), angular transducer (18); rocking arm (19); bulb (20); bulb links bar (21); screw (24); connecting rod (38); dactylus pedestal (58); gear box cover (56); gear (59) and train of reduction gears (60); Little finger of toe detection of joints driving mechanism (110) is installed respectively at the nearly dactylus position of little finger of toe and middle finger joint position, dactylus pedestal (58) on the little finger of toe detection of joints driving mechanism (110) is individually fixed in the upper corresponding little finger of toe nearly dactylus position of gloves (101) and middle finger joint position, and semi-surrounding dactylus, its xsect that surrounds the junction is " C " shape, opening is towards the positive side of palm, the little finger of toe detection of joints driving mechanism (110) of the connecting rod (38) that metacarpophalangeal joints detect driving mechanisms (108) by screw (24) and the nearly dactylus of little finger of toe position is articulated in mounting hole (R) and locates, the angular transducer (18) that metacarpophalangeal joints detect driving mechanism (108) bottom is fixed in the hole seat (E) of palm pedestal (102), its outer rim gear (59) is by the cooperation and the gear engagement that is installed in the driver part (111) on the palm pedestal (102) of train of reduction gears (60), and this driving mechanism is fixing by gear box cover (56); The bulb (20) that the rocking arm (19) of the little finger of toe detection of joints driving mechanism (110) at the nearly dactylus of little finger of toe position links by bulb on little finger of toe detection of joints driving mechanism (110) mounting hole (R) at bar (21) and little finger of toe middle finger joint position is hinged; Little finger of toe dactylus pedestal far away (15) is fixed in the upper corresponding little finger of toe dactylus far away position of gloves (101), one end of little finger of toe dactylus pedestal far away (15) is for surrounding the cylindricality of little finger of toe dactylus far away, the other end is semisphere, 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 little finger of toe dactylus pedestal far away (15) is provided with a rocking arm; rocking arm is perpendicular to the dactylus back side at place, and the rocking arm (19) of the little finger of toe detection of joints driving mechanism (110) at little finger of toe middle finger joint position is connected by bulb (20) is connected bar (21) cooperation with bulb spherical linkage with little finger of toe dactylus pedestal far away (15).

7. according to claim 1, 2, 3, 4, 5 or 6 described external framework type bilateral force feedback data glove is characterized in that: angular transducer (18) be with cogged rocking arm (19, 25, 27, 28) affixed, rocking arm (19, 25, 27, 28) axle center that cogs and rocking arm (19, 25, 27, 28) axis coinciding that rotates after affixed angular transducer (18), rocking arm (19, 25, 27, 28) gear is by the cooperation of train of reduction gears (60) and the gear engagement of driver part (111), when joint motions, if control system to this joint without force feedback signal, corresponding driver part (111) attonity, joint can drive rocking arm (19, 25, 27, 28) freely move without interruption, make and rocking arm (19, 25, 27, 28) angular transducer (18) of interlock can detect the angle of joint motions, if control system has force feedback signal to this joint, corresponding driver part (111) starts, and the cooperation by train of reduction gears (60) is to rocking arm (19, 25, 27, 28) on its direction of motion, apply one in the same way or reverse power, simultaneously control system again according to and rocking arm (19, 25, 27, the variation of the joint angles that the angular transducer (18) that 28) links detects, use corresponding mathematical algorithm to export constantly and revise the size of driving force, promotes or hinder this joint motions, realizes the force feedback function in this joint.

8. according to claim 1,3,4,5 or 6 described external framework type bilateral force feedback data glove, it is characterized in that: described metacarpophalangeal joints detect driving mechanisms (108) and comprise driver part (111), rocking arm (27), metacarpophalangeal joints pedestal (29), screw (24,35,36), bearing (23,39), connecting rod (38), gear box cover (50), gear (59), train of reduction gears (60) and two angular transducers (18); Metacarpophalangeal joints pedestal (29) bottom embedded bearing (39) is also affixed by screw (36) with the axle of an angular transducer (18), described metacarpophalangeal joints pedestal (29) can rotate around the axle center of angular transducer (18), metacarpophalangeal joints pedestal (29) bottom outer rim is provided with gear (59), the axis coinciding of the angular transducer (18) of the axle center of gear (59) and bottom, another angular transducer (18) is fixed in the hole seat (L) of metacarpophalangeal joints pedestal (29) by screw (35), and affixed by screw (36) with the rocking arm (27) of embedded bearing (23); that the gear on the rocking arm (27) is by the cooperation of train of reduction gears (60) and the gear engagement of driver part (111); driver part (111) is installed on the metacarpophalangeal joints pedestal (29), and rocking arm (27) other end and connecting rod (38) are hinged by screw (24).

9. according to claim 1,3,4,5 or 6 described external framework type bilateral force feedback data glove, it is characterized in that: described detection of joints driving mechanism (109) and little finger of toe detection of joints driving mechanism (110) comprise driver part (111), train of reduction gears (60), angular transducer (18), rocking arm (19), screw (35,36), gear box cover (51,52,57) and dactylus pedestal (53,58); Dactylus pedestal (53) on the described detection of joints driving mechanism (109) is provided with a hole seat (M) and and arranges the mounting hole (Q) that is used for bulb (20) or screw (24), angular transducer (18) is interior and affixed by screw (35) with rocking arm (19) by the hole seat (M) that screw (36) is fixed on dactylus pedestal (53); the axis coinciding that the axle center that rocking arm (19) cogs and rocking arm rotate; the gear of rocking arm (19) is by the cooperation of train of reduction gears (60) and the gear engagement of driver part (111); driver part (111) is installed on the dactylus pedestal (53), the affixed bulb of rocking arm (19) other end (20); Dactylus pedestal (58) on the described little finger of toe detection of joints driving mechanism (110) is provided with a hole seat (P) and and arranges the mounting hole (R) that is used for bulb (20) or screw (24), angular transducer (18) is interior and affixed by screw (35) with rocking arm (19) by the hole seat (P) that screw (35) is fixed on dactylus pedestal (58); the axis coinciding that the axle center that rocking arm (19) cogs and rocking arm rotate; the gear of rocking arm (19) is by the cooperation of train of reduction gears (60) and the gear engagement of driver part (111); driver part (111) is installed on the dactylus pedestal (58), the affixed bulb of rocking arm (19) other end (20).

10. external framework type bilateral force feedback data glove according to claim 1, it is characterized in that: driver part (111) is comprised of micromachine (40) and clutch coupling, and described clutch coupling comprises clutch friction plate (41), friction disc slide bar (42), returning pull-spring (43) and clutch case (44); Friction disc slide bar (42) is affixed with the axle of micromachine (40), two slice clutch friction discs (41) are inserted in respectively friction disc slide bar (42) two ends, be connected with returning pull-spring (43) between the two slice clutch friction discs (41), clutch case (44) is inserted in the axle of micromachine (40), with clutch friction plate (41), in friction disc slide bar (42) and returning pull-spring (43) are included in, be sliding contact between the axle of clutch case (44) and micromachine (40), clutch case (44) is provided with transmission gear; When micromachine (40) when rotating speed is higher than certain value, clutch friction plate (41) contacts with the inwall of clutch case (44), clutch case (44) is produced friction force, driving clutch case (44) rotates, when micromachine (40) when rotating speed is lower than certain value, clutch friction plate (41) separates with the inwall of clutch case (44), and cut-out clutch case (44) is connected with micromachine (40).