CN209044518U - Hand mechanical exoskeleton - Google Patents
Hand mechanical exoskeleton Download PDFInfo
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- CN209044518U CN209044518U CN201821793700.0U CN201821793700U CN209044518U CN 209044518 U CN209044518 U CN 209044518U CN 201821793700 U CN201821793700 U CN 201821793700U CN 209044518 U CN209044518 U CN 209044518U
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Abstract
The utility model relates to a kind of hand mechanical exoskeletons.The hand mechanical exoskeleton receives one or more control instructions that host computer generates by control device, and corresponding touch feedback is exported according to control instruction and controls signal to the first driving chip, make the first driving chip that corresponding first haptic feedback devices be driven to carry out touch feedback, thus, ectoskeleton main body can generate touch feedback, so that user generates true touch feeling.
Description
Technical field
The utility model relates to technical field of virtual reality, more particularly to a kind of hand mechanical exoskeleton.
Background technique
In the scene of virtual reality, in order to enhance perception of the user to virtual world, it is mechanical outer usually to use hand
Bone captures the motion information of manpower, and hand mechanical exoskeleton has the five fingers compatible with the five fingers of manpower mechanism.Wearing
Afterwards, when the finger movement of user, hand mechanical exoskeleton will capture the function situation of finger, realize and believe human hand movement
The capture of breath.With the development of virtual reality technology, hand mechanical exoskeleton also starts to be provided simultaneously with force feedback function.
However, current hand mechanical exoskeleton only has motion capture or motion capture to reinforce feedback function, nothing mostly
Method simulates sense of touch, so that not being available family generates true touch feeling.
Utility model content
Based on this, it is necessary to for sense of touch can not be simulated existing for hand mechanical exoskeleton, to not be available family generation
The problem of true touch feeling, provides a kind of hand mechanical exoskeleton.
In order to realize the purpose of this utility model, the utility model adopts the following technical solution:
A kind of hand mechanical exoskeleton, the hand mechanical exoskeleton include ectoskeleton main body, the connection ectoskeleton master
Multiple link mechanisms of body and fixation device for the link mechanism and the ectoskeleton main body to be fixed on to hand,
The hand mechanical exoskeleton further include:
Control device in the ectoskeleton main body is set, and the control device is configured as receiving what host computer generated
One or more control instructions export corresponding touch feedback according to the control instruction and control signal；
The first haptic feedback devices of one or more in the ectoskeleton main body are set；
The first driving chip being connected between the control device and corresponding first haptic feedback devices, described first
Driving chip is configured as driving corresponding first haptic feedback devices to be touched according to the touch feedback control signal received
Feel feedback.
Above-mentioned hand mechanical exoskeleton receives one or more control instructions that host computer generates by control device, and
Corresponding touch feedback is exported according to control instruction and controls signal to the first driving chip, keeps the driving of the first driving chip corresponding
First haptic feedback devices carry out touch feedback, thus, touch feedback can be generated on the specific region of ectoskeleton main body, so that
User generates true touch feeling.
The fixed device includes device for fixing finger and palmar fixing device, the hand in one of the embodiments,
Portion's mechanical exoskeleton further include:
The second haptic feedback devices on the link mechanism or on the device for fixing finger are set；
The second driving chip being connected between the control device and corresponding second haptic feedback devices, described second
Driving chip is configured as driving corresponding second haptic feedback devices to be touched according to the touch feedback control signal received
Feel feedback.
The touch feedback is vibrational feedback in one of the embodiments, and first haptic feedback devices include the
One vibrator；Second haptic feedback devices include the second vibrator.
The fixed device includes device for fixing finger and palmar fixing device, the hand in one of the embodiments,
Portion's mechanical exoskeleton further include:
Third haptic feedback devices on the palmar fixing device are set；
The third driving chip being connected between the control device and corresponding third haptic feedback devices, the third
Driving chip is configured as driving corresponding third haptic feedback devices to be touched according to the touch feedback control signal received
Feel feedback.
The control device is additionally configured to export corresponding power according to the control instruction in one of the embodiments,
Feedback control signal, the hand mechanical exoskeleton further include:
Device for force feedback on the link mechanism is set, and the device for force feedback is configured as according to the force feedback
It controls signal and exports force feedback.
The control device is additionally configured to export corresponding temperature according to the control instruction in one of the embodiments,
Spend feedback control signal；The hand mechanical exoskeleton further include:
The first temperature feedback arrangement on the fixed device is set, and first temperature feedback arrangement connects the control
Device processed, first temperature feedback arrangement are configured as carrying out temperature feedback according to the temperature feedback control signal；And/or
Second temperature feedback device in the ectoskeleton main body is set, described in the second temperature feedback device connection
Control device, the second temperature feedback device are configured as carrying out temperature feedback according to the temperature feedback control signal.
First temperature feedback arrangement includes the first cooling module and/or the first heating in one of the embodiments,
Element；The second temperature feedback device includes the second cooling module and/or the second heating elements.
Detailed description of the invention
Fig. 1 is the overall structure diagram of hand mechanical exoskeleton in an embodiment；
Fig. 2 is the decomposition texture schematic diagram of hand mechanical exoskeleton in Fig. 1；
Fig. 3 is the decomposition texture schematic diagram of hand mechanical exoskeleton in Fig. 1；
Fig. 4 is the decomposition texture schematic diagram of hand mechanical exoskeleton in Fig. 1；
Fig. 5 is the flow chart of the feedback of hand mechanical exoskeleton in an embodiment；
Fig. 6 is the flow chart of step S104 and S105 in an embodiment corresponding diagram 5；
Fig. 7 is the flow chart of step S104 and S105 in another embodiment corresponding diagram 5；
Fig. 8 is the flow chart of step S104 and S105 in another embodiment corresponding diagram 5.
Specific embodiment
The utility model is more fully retouched below with reference to relevant drawings for the ease of understanding the utility model,
It states.The preferred embodiment of the utility model is given in attached drawing.But the utility model can come in many different forms in fact
It is existing, however it is not limited to embodiment described herein.On the contrary, purpose of providing these embodiments is makes public affairs to the utility model
The understanding for opening content is more thorough and comprehensive.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.In the utility model embodiment and appended power
The "an" of singular used in sharp claim, " described " and "the" are also intended to including most forms, unless context
It clearly expresses other meaning.It is also understood that term "and/or" used herein refers to and includes one or more related
Connection is listed any or all of project and may be combined.
It should be noted that it can be directly another when element is referred to as " be fixed on or be installed on " another element
On a element or there may also be elements placed in the middle.When an element is considered as " connect or connect " another element, it
It can be directly to another element, be also possible between the two that there are centering elements.When an element and another element
" contact ", it, which can be, directly contacts with another element, it is also possible to exist simultaneously centering elements, connect indirectly with another element
Touching.
It is the structural schematic diagram of one of embodiment hand mechanical exoskeleton referring to Fig. 1, Fig. 1.
In the present embodiment, hand mechanical exoskeleton includes ectoskeleton main body 1, the multiple connecting rods for connecting ectoskeleton main body 1
Structure 2, the fixation device 3 for link mechanism 2 and ectoskeleton main body 1 to be fixed on to hand, hand mechanical exoskeleton further include
Control device (not shown), the first driving chip (not shown) and one be arranged in ectoskeleton main body 1 or
Multiple first haptic feedback devices 4 (referring specifically to Fig. 2).Details are as follows:
Control device is arranged in ectoskeleton main body 1, is configured as receiving the one or more that host computer generates and controlling referring to
It enables, corresponding touch feedback is exported according to control instruction and controls signal.
First driving chip is connected between control device and corresponding first haptic feedback devices 4, is configured as basis
The touch feedback control signal received drives corresponding first haptic feedback devices 4 to carry out touch feedback.
In the utility model embodiment, control device receives one or more control instructions that host computer generates, according to
Control instruction exports corresponding touch feedback and controls signal.Wherein, one or more control instructions that host computer generates include being
The no instruction letter for opening touch feedback, starting which haptic feedback devices and carrying out touch feedback with degree in what manner
Breath；It includes the touch feedback form and touching for needing to carry out the first haptic feedback devices 4 of touch feedback that touch feedback, which controls signal,
Feel value of feedback.Control device generates corresponding touch feedback according to corresponding control instruction and controls signal as a result, and exports and extremely need to
Carry out the corresponding driving chip of haptic feedback devices of touch feedback.And other be generalized machine be judged as do not need open tactile
The haptic feedback devices 4 of feedback, then its corresponding driving chip can't receive touch feedback control signal, thus maintain to work as
Preceding action state.
Wherein, host computer can be computer, mobile phone, game machine, server, computer equipment etc..Host computer one or more
The generating process of a control instruction specifically may is that the detection signal according to the detecting element being arranged on hand mechanical exoskeleton
Hand model is rebuild, and establishes the relative coordinate relationship between each finger tip and the back of the hand, it, will by the relative coordinate relationship
The hand model of reconstruction is mapped to virtual portrait on hand, then starts progress object interactive collision detection and physical property
Judgement.Wherein, physical property includes surface physical properties.When the hand for detecting virtual portrait collides with target contactant
When, for example, when the hand of virtual portrait catches some dummy object, judge the corresponding target, contact of the dummy object and
Its surface physical properties calculates the position for the touch feedback that should actually generate and the category of feedback according to surface physical properties
Property, and the position of touch feedback and attribute are sent to control device.Specifically, surface physical properties are including but not limited to virtual
The preset surface texture feature of target contactant in environment, different surface texture features are corresponding with different touch feedback categories
Property.In one embodiment, touch feedback is carried out in the form vibrated, then touch feedback attribute includes but is not limited to Oscillation Amplitude
Size, vibrational waveform and vibration frequency, corresponding vibration is generated according to touch feedback attribute.
In one embodiment, control device includes wireless communication module, and wireless control, more convenient benefit may be implemented
With the wireless communication module can be any module for carrying out wireless data transmission, including but not limited to bluetooth module, radio frequency
(NRF) module, wireless (Wireless-Fidelity, Wi-Fi) module, 2G module, infrared module, 3G module, 4G module etc.
Deng.In one embodiment, control device can be microprocessor.
In the utility model embodiment, the first haptic feedback devices 4 include be arranged in ectoskeleton main body 1 one or
Multiple first haptic feedback devices, for providing the touch feedback of hand back part.In one embodiment, referring to fig. 2, the first touching
On the 1 shell different location of ectoskeleton main body that feel feedback device 4 is dispersed in, signal is controlled in ectoskeleton according to touch feedback
The specific region of main body 1 generates touch feedback, so that user generates true touch feeling.
In one embodiment, touch feedback is vibrational feedback, and the first haptic feedback devices 4 include the first vibrator, the
One vibrator is connect by conducting wire with the first driving chip.Wherein, the first vibrator include but is not limited to linear vibration electric motor, partially
Heart vibrating motor etc..First vibrator is driven by the specific vibrational waveform that the first driving chip generates.The vibration of first vibrator
Dynamic direction is vertical with human hands surface or near normal, can be utmostly to lose with the smallest directly by people to vibrate
Hand perceives.
In the utility model embodiment, the first driving chip is connected to control device and corresponding first touch feedback dress
It sets between 4.In one embodiment, the first driving chip can be set in ectoskeleton main body 1, specifically, can be set
On position identical with control device, also it can be set on position identical with the first haptic feedback devices 4, naturally it is also possible to
It is arranged in other positions.First driving chip specifically can be driving chip, when touch feedback is vibrational feedback, driving chip
It is configured to generate certain vibration waveform according to Tactile control signal, to drive the first haptic feedback devices 4 to generate difference
Vibration.
Hand mechanical exoskeleton provided by the embodiment of the utility model receives one that host computer generates by control device
Or multiple control instructions, and corresponding touch feedback control signal is exported to the first driving chip according to control instruction, make first
Driving chip drives corresponding first haptic feedback devices to carry out touch feedback, thus, energy on the specific region of ectoskeleton main body 1
Touch feedback is enough generated, so that user generates true touch feeling.
Further, fixed device 3 includes device for fixing finger 31 and palmar fixing device 32 (referring to Fig. 3), in order to make
User more dimensionally experiences touch feeling, and hand mechanical exoskeleton can also include being arranged on link mechanism 2 or finger
It fixes the second haptic feedback devices 5 of device 31 and is connected between control device and corresponding second haptic feedback devices 5
Second driving chip.Wherein, the second driving chip is configured as corresponding according to the touch feedback control signal driving received
Second haptic feedback devices 5 carry out touch feedback.
In the utility model embodiment, the second haptic feedback devices 5 include being arranged on the corresponding link mechanism 2 of thumb
Haptic feedback devices, further include that other are arranged in four to refer to haptic feedback devices on corresponding link mechanisms 2；Alternatively, including
Haptic feedback devices on the corresponding device for fixing finger 31 of thumb are set, and setting is consolidated in other corresponding fingers of four fingers
Determine the haptic feedback devices on device 31；Alternatively, including the tactile being arranged on the corresponding device for fixing finger 31 of Toe Transplantation for Segmental Finger
Feedback device, and the haptic feedback devices being arranged on the corresponding link mechanism 2 of Toe Transplantation for Segmental Finger.Wherein, device for fixing finger
31 include but is not limited to band structure or fingerstall structure.Second haptic feedback devices 5 control signal in finger according to touch feedback
Partial specific region generates touch feedback at finger tip, so that user generates true touch feeling.For example, when virtual
Only have index finger to contact with dummy object in space, then only setting is on the corresponding link mechanism 2 of index finger or index finger is corresponding
Device for fixing finger 31 on the second haptic feedback devices 5 carry out touch feedback.
In one embodiment, referring to fig. 4, link mechanism 2 includes straight connecting rod 21 and finger abnormity connecting rod 22, the second tactile
Feedback device 5 is arranged on finger abnormity connecting rod 22.Wherein, one end of straight connecting rod 21 is connect with ectoskeleton main body 1, straight connecting rod 21
The other end connect with one end of finger abnormity connecting rod 22, the other end of special-shaped connecting rod 22 is connected and fixed device 3.Wherein, second
Haptic feedback devices 5 can be fixed on finger abnormity connecting rod 22 by way of sticking double faced adhesive tape adds card slot fixed, be also possible to
Other any modes.In another embodiment, the second haptic feedback devices 5 can also be arranged on straight connecting rod 21.
In one embodiment, touch feedback is vibrational feedback, and the second haptic feedback devices 5 include the second vibrator, the
Two vibrator is connect by conducting wire with the second driving chip, wherein conducting wire will not influence use along 2 cabling of link mechanism.Its
In, the second vibrator includes but is not limited to linear vibration electric motor, eccentric vibrating motor etc..Second vibrator is by the second driving chip
The specific vibrational waveform driving generated.The direction of vibration of second vibrator is vertical with human hands surface or near normal, from
And vibration can be utmostly directly to be perceived by manpower with the smallest loss.
In the utility model embodiment, the second driving chip is connected to control device and corresponding second touch feedback dress
It sets between 5.Second driving chip can be set in ectoskeleton main body 1, also can be set on link mechanism 2, specifically, can
To be arranged on position identical with control device, also can be set on position identical with the second haptic feedback devices 5, when
So also it can be set in other positions.Second driving chip specifically can be driving chip, when touch feedback is vibrational feedback,
Driving chip is configured to generate certain vibration waveform according to Tactile control signal, to drive the second haptic feedback devices 5
Generate different vibrations.
Further, in order to make user more dimensionally experience touch feeling, hand mechanical exoskeleton can also include setting
It sets the third haptic feedback devices on palmar fixing device 32 and is connected to control device and corresponding third touch feedback dress
Third driving chip between setting, third driving chip are configured as being corresponded to according to the touch feedback control signal driving received
Third haptic feedback devices carry out touch feedback.
Wherein, palmar fixing device 32 includes but is not limited to strap configurations, glove structure or Bracelet structure.Third tactile is anti-
It presents device and is used to control signal according to touch feedback in the specific region of palm portion generation touch feedback, so that user's generation is true
Real touch feeling.
In one embodiment, touch feedback is vibrational feedback, and third haptic feedback devices include third vibrator, third
Vibrator is connect by conducting wire with third driving chip, wherein the haptic feedback devices being arranged on palmar fixing device are led
Line can be fitted on palmar fixing device, and the specific actual setting position in conjunction with haptic feedback devices carries out cabling design.The
Three vibrators include but is not limited to linear vibration electric motor, eccentric vibrating motor etc..Third vibrator is generated by third driving chip
Specific vibrational waveform driving.The direction of vibration of third vibrator is vertical with human hands surface or near normal, to shake
Moving can be utmostly directly to be perceived by manpower with the smallest loss.
In the utility model embodiment, third driving chip is connected to control device and corresponding third touch feedback dress
Between setting.Third driving chip can be set in ectoskeleton main body 1, also can be set on link mechanism 2, can also be arranged
On fixed device 3.Specifically, can be set on position identical with control device, also can be set with third tactile
On the identical position of feedback device, naturally it is also possible to be arranged in other positions.Third driving chip specifically can be driving chip,
When touch feedback is vibrational feedback, driving chip is configured to generate certain vibration waveform according to Tactile control signal,
To drive third haptic feedback devices to generate different vibrations.
Further, in order to experience touch feeling with making user's various dimensions while experience force feedback, control device is also matched
It is set to and corresponding force-feedback control signal is exported according to control instruction, hand mechanical exoskeleton further includes being arranged on link mechanism
Device for force feedback, device for force feedback be configured as according to force-feedback control signal export force feedback.
In the utility model embodiment, control device is additionally configured to export corresponding force feedback control according to control instruction
Signal processed.Wherein, control instruction includes whether to open force feedback, starts which device for force feedback and in what manner and degree
Carry out the command information of force feedback；Force-feedback control signal includes the force feedback value for needing to carry out the device for force feedback of force feedback.
In one embodiment, device for force feedback can be fed back by way of built-in vibrator is vibrated, then force feedback value
The including but not limited to size of Oscillation Amplitude, vibrational waveform and vibration frequency generate corresponding vibration according to force feedback value；When
When force feedback value is bigger, then corresponding Oscillation Amplitude is also bigger.In another embodiment, force feedback can also be with Motor torque
Form carry out, the size of force feedback correspond to different torques, as a result, according to the different torques of the corresponding generation of the size of force feedback.
Specifically, when the hand of upper computer detection to virtual portrait catches some dummy object, judge the dummy object
Corresponding target, contact and its physical property calculate the position for the force feedback that should actually generate according to physical property
With force feedback value, and the position of force feedback and force feedback value are sent to control device.Specifically, physical property includes rigidity
Value, different rigidity values are corresponding with different force feedback sizes.
In the utility model embodiment, device for force feedback includes microprocessor, driving mechanism and drive link, and driving connects
The first end of bar is connect with driving mechanism, and the second end of drive link is flexibly connected with link mechanism.Wherein, microprocessor
Setting position it is unrestricted, for receiving control device output control signal, and according to control signal drive driving mechanism.
The utility model embodiment additionally provides another hand mechanical exoskeleton, on the basis of the above embodiments, should
The control device of hand mechanical exoskeleton is additionally configured to export corresponding temperature feedback control signal according to control instruction；The hand
Portion's mechanical exoskeleton further includes the first temperature feedback arrangement and/or second temperature feedback device.
In one embodiment, the setting of the first temperature feedback arrangement is on fixed device 3, the connection of the first temperature feedback arrangement
Control device, the first temperature feedback arrangement are configured as carrying out temperature feedback according to temperature feedback control signal.Specifically, first
Temperature feedback arrangement includes the temperature feedback arrangement being arranged on palmar fixing device 32, and/or is arranged in device for fixing finger
Temperature feedback arrangement on 31, respectively palm and finger provide temperature feedback.That is, the first temperature feedback arrangement can be only arranged
It on palmar fixing device 32, can also be provided only on device for fixing finger 31, alternatively, being also possible to the combination of the two.
In one embodiment, the region that ectoskeleton main body 1 is contacted with human body the back of the hand is arranged in second temperature feedback device
On, second temperature feedback device connects control device, and second temperature feedback device is configured as according to temperature feedback control signal
Carry out temperature feedback.Specifically, second temperature feedback device is arranged on the back of the hand cushion 6 of ectoskeleton main body, provides for the back of the hand
Temperature feedback.
In the utility model embodiment, the fixed form of the first temperature feedback arrangement and second temperature feedback device includes
But it is not limited to that suture, bonding, mechanical snap fixes.First temperature feedback arrangement and second temperature feedback device pass through conducting wire respectively
It is connected with control device.Wherein, the conducting wire that the first temperature feedback arrangement on device for fixing finger is arranged in can be along connecting rod knot
Structure cabling will not influence use.
It should be noted that the first temperature feedback arrangement does not limit setting on fixed device 3, second temperature feedback dress
Set also limit be not arranged on the region that ectoskeleton main body 1 is contacted with human body the back of the hand, it is any on hand ectoskeleton can be with people
Temperature feedback arrangement can be arranged in the place that body hand is in contact.
In the utility model embodiment, the first temperature feedback arrangement includes the first cooling module and/or the first heating member
Part；Second temperature feedback device includes the second cooling module and/or the second heating elements.Wherein, the first cooling module and second
Cooling module includes but is not limited to semiconductor chilling plate；The thickness of semiconductor chilling plate is in grade, specifically at 10 millimeters
Within, size is according to actually being set；Semiconductor chilling plate is the heating when turning cold when energization.At one
In embodiment, semiconductor chilling plate can be controlled by PWM wave (Pulse-Width Modulation, pulse width modulated waveform)
Temperature change size.Wherein, heating elements include but is not limited to adding thermal resistance, resistance wire, when heating elements are powered, heating member
The temperature of part increases.
In the utility model embodiment, control device is additionally configured to export corresponding temperature feedback according to control instruction
Control signal.Wherein, control instruction includes whether opening temperature feedback, which temperature feedback arrangement and in what manner is started
The command information of temperature feedback is carried out with degree；Temperature feedback control signal includes the first temperature feedback dress for carrying out temperature feedback
It sets and/or the temperature feedback value of second temperature feedback device.Control device is anti-according to the corresponding temperature of control instruction generation as a result,
Feedforward control signal controls corresponding temperature feedback arrangement and carries out temperature feedback.And other be generalized machine be judged as do not need open temperature
The temperature feedback arrangement of degree feedback then maintains Current Temperatures.
Specifically, when the hand of upper computer detection to virtual portrait and target contactant collide, judge that this is virtual
The corresponding target, contact of object and its surface temperature parameter generate corresponding target temperature according to surface temperature parameter, and will
The position of temperature feedback and corresponding target temperature are sent to control device, and control device generates different duty according to target temperature
PWM wave control corresponding temperature feedback arrangement.Wherein, the more high then temperature change of duty ratio is more, otherwise duty ratio is smaller
Temperature then levels off to room temperature.
Hand mechanical exoskeleton provided by the embodiment of the utility model receives one that host computer generates by control device
Or multiple control instructions, and corresponding touch feedback control signal is exported to each driving chip according to control instruction, make each driving
The corresponding haptic feedback devices of chip drives carry out touch feedback, thus, it can be produced on the specific region of hand mechanical exoskeleton
Raw touch feedback, so that user generates true touch feeling.On this basis, control device exports temperature also according to control instruction
Feedback control signal is spent to corresponding temperature feedback arrangement, and corresponding temperature feedback arrangement is made to carry out temperature feedback, thus, hand
Temperature feedback can be generated on the specific region of mechanical exoskeleton, make user while obtaining true touch feeling and temperature sense
By.
Referring to Fig. 5, the utility model embodiment additionally provides a kind of based on hand machinery dermoskeleton described in embodiment as above
The feedback of bone.The feedback includes step S101, S102, S103, S104 and S105.
In S101, phantom hand model of the hand mechanical exoskeleton in virtual scene is established.
In the utility model embodiment, S101 specifically: according to the detecting element being arranged on hand mechanical exoskeleton
Detection signal establish phantom hand model, and the relative coordinate relationship between each finger tip and the back of the hand is established, by this
The hand model of foundation is mapped to virtual portrait on hand by relative coordinate relationship, then starts the collision for carrying out object interaction
The judgement of detection and physical property.
In S102, when phantom hand model and target contactant collide, target contact in virtual scene is obtained
The target, contact and physical property of object.
In the utility model embodiment, S102 when detecting phantom hand model and target contactant collides,
Then obtain the corresponding target, contact of target contactant and its physical property.
In S103, one or more control instructions are generated according to physical property.
In the utility model embodiment, S103 is calculated according to the physical property of target, contact and should actually be given birth to
At feedback position and size, generate and the relevant control instruction of the attribute of position and feedback fed back.Wherein, physical property
Including the preset surface texture feature of target contactant in virtual environment, different surface texture features is corresponding with different anti-
Present size.
In S104, corresponding feedback control signal is generated according to control instruction.
In the utility model embodiment, S104 can specifically be executed by control device, and control device refers to according to control
It enables and generates corresponding feedback control signal.
In S105, respective feedback is carried out according to feedback control signal.
In the utility model embodiment, S105 can specifically be executed by driving chip and each feedback device, driving
Chip controls signal according to touch feedback and controls each feedback device progress touch feedback.
The feedback of the present embodiment, by obtaining the target, contact of target contactant in virtual scene, root
One or more control instructions are generated according to the physical property of target, contact, and corresponding feedback is generated according to control instruction and is controlled
Signal processed makes hand mechanical exoskeleton that can generate respective feedback on target, contact to be fed back, to use
Family generates true impression.
In one embodiment, S103 calculates the tactile that should actually generate according to the physical property of target, contact
The position of feedback and feedback attributes, and corresponding generation control instruction relevant to the position of touch feedback and feedback attributes.Wherein,
Physical property includes surface texture feature, and different surface texture features is corresponding with different touch feedback attributes.Referring to Fig. 6,
S104 includes S201, and S105 includes S202 and S203.
In S201, corresponding touch feedback is generated according to control instruction and controls signal.
In S202, signal is controlled according to corresponding touch feedback and generates corresponding vibrational waveform.
In S203, vibration is generated according to vibrational waveform and carries out touch feedback.
In the utility model embodiment, each driving chip controls signal according to corresponding touch feedback and generates corresponding vibration
Dynamic waveform generates vibration progress touch feedback to control haptic feedback devices according to vibrational waveform.Therefore, hand mechanical exoskeleton
Touch feedback can be generated on target, contact, so that user generates true touch feeling.
In one embodiment, S103 is calculated according to the physical property of target, contact should actually generate force feedback
Position and force feedback value, and corresponding generate control instruction relevant to the position of force feedback and force feedback value.Wherein, physical
Matter includes rigidity value, and different-stiffness value corresponds to different force feedback values.Include S301 referring to Fig. 7, S104, S105 include S302 with
And S303.
In S301, corresponding force-feedback control signal is generated according to control instruction.
In S302, corresponding vibrational waveform is generated according to corresponding force-feedback control signal.
In S303, vibration is generated according to vibrational waveform and carries out vibration force feedback.
In the utility model embodiment, S302 can specifically obtain corresponding vibrational waveform by control device, thus
S303 controls corresponding device for force feedback according to vibrational waveform and generates vibration progress force feedback, to simulate the shape of dummy object
And rigidity.Therefore, force feedback can be generated on the specific region of hand mechanical exoskeleton, to simulate dummy object shape and
Rigidity provides true sense of touch experience for user.
It should be noted that in other cases, step S302 and S303 may be replaced by step S312 and S313,
In, step S312 is that corresponding torque is generated according to corresponding force-feedback control signal, and step S313 is to carry out power according to torque
Feedback.
In one embodiment, S103 calculates that should actually to generate temperature anti-according to the physical property of target, contact
The position of feedback and size, and corresponding generation control instruction relevant to temperature parameter.Wherein, physical property includes temperature parameter,
Different temperature parameters corresponds to different temperature feedback sizes.Include S401 referring to Fig. 8, S104, S105 include S402, S403 with
And S404.
In S401, corresponding temperature feedback control signal is generated according to control instruction.
In the utility model embodiment, S401 generates corresponding temperature according to control instruction relevant to temperature parameter and feeds back
Control signal.
In S402, corresponding target temperature is generated according to corresponding temperature feedback control signal.
In S403, the corresponding pulse width modulated waveform of target temperature is obtained.
In S404, temperature feedback is carried out according to pulse width modulated waveform.
In the utility model embodiment, it is wide that S403 specifically can obtain the corresponding pulse of target temperature by control device
Modulation waveform is spent, so that S404, which controls corresponding temperature feedback arrangement according to pulse width modulated waveform, carries out temperature feedback.Cause
This, can generate temperature feedback on the specific region of hand mechanical exoskeleton, make user while obtaining true temperature sensation.
It should be noted that in other embodiments, difference according to the actual situation, S103 can individually connect according to target
The physical property of touching position calculates position and the feedback attributes of the touch feedback that should actually generate, the position of temperature feedback
And one of position and force feedback value of size and force feedback, and generate the control instruction of corresponding one of feedback；?
Position and the feedback attributes of the touch feedback that should actually generate, the position of temperature feedback can be calculated according to physical property
And at least two in the position and force feedback value of size and force feedback, and generate corresponding control instruction, then S104 and
The corresponding feedback control step of S105 is also corresponding to be changed, so that user experiences a variety of actual experiences simultaneously.And various feedback controls
It when coexisting, can carry out, can also successively carry out simultaneously.Meanwhile the step that each feedback control is corresponding, can according to position or when
Between difference successively carry out or carry out simultaneously.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it cannot be understood as the limitations to utility model patent range.It should be pointed out that for the common skill of this field
For art personnel, without departing from the concept of the premise utility, various modifications and improvements can be made, these are belonged to
The protection scope of the utility model.Therefore, the scope of protection shall be subject to the appended claims for the utility model patent.
Claims (7)
1. a kind of hand mechanical exoskeleton, which is characterized in that the hand mechanical exoskeleton includes ectoskeleton main body, described in connection
Multiple link mechanisms of ectoskeleton main body and for the link mechanism and the ectoskeleton main body to be fixed on consolidating for hand
Determine device, the hand mechanical exoskeleton further include:
Control device in the ectoskeleton main body is set, and the control device is configured as receiving one that host computer generates
Or multiple control instructions, corresponding touch feedback is exported according to the control instruction and controls signal；
The first haptic feedback devices of one or more in the ectoskeleton main body are set；
The first driving chip being connected between the control device and corresponding first haptic feedback devices, first driving
Chip is configured as driving corresponding first haptic feedback devices progress tactile anti-according to the touch feedback control signal received
Feedback.
2. hand mechanical exoskeleton according to claim 1, which is characterized in that the fixed device includes the fixed dress of finger
It sets and palmar fixing device, the hand mechanical exoskeleton further include:
The second haptic feedback devices on the link mechanism or on the device for fixing finger are set；
The second driving chip being connected between the control device and corresponding second haptic feedback devices, second driving
Chip is configured as driving corresponding second haptic feedback devices progress tactile anti-according to the touch feedback control signal received
Feedback.
3. hand mechanical exoskeleton according to claim 2, which is characterized in that the touch feedback is vibrational feedback, institute
Stating the first haptic feedback devices includes the first vibrator；Second haptic feedback devices include the second vibrator.
4. hand mechanical exoskeleton according to claim 1, which is characterized in that the fixed device includes the fixed dress of finger
It sets and palmar fixing device, the hand mechanical exoskeleton further include:
Third haptic feedback devices on the palmar fixing device are set；
The third driving chip being connected between the control device and corresponding third haptic feedback devices, the third driving
Chip is configured as driving corresponding third haptic feedback devices progress tactile anti-according to the touch feedback control signal received
Feedback.
5. hand mechanical exoskeleton according to claim 1, which is characterized in that the control device is additionally configured to basis
The control instruction exports corresponding force-feedback control signal, the hand mechanical exoskeleton further include:
Device for force feedback on the link mechanism is set, and the device for force feedback is configured as according to the force-feedback control
Signal exports force feedback.
6. hand mechanical exoskeleton according to claim 1-5, which is characterized in that the control device is also matched
It is set to and corresponding temperature feedback control signal is exported according to the control instruction；The hand mechanical exoskeleton further include:
The first temperature feedback arrangement on the fixed device is set, and first temperature feedback arrangement connects the control dress
It sets, first temperature feedback arrangement is configured as carrying out temperature feedback according to the temperature feedback control signal；And/or
Second temperature feedback device in the ectoskeleton main body is set, and the second temperature feedback device connects the control
Device, the second temperature feedback device are configured as carrying out temperature feedback according to the temperature feedback control signal.
7. hand mechanical exoskeleton according to claim 6, which is characterized in that first temperature feedback arrangement includes the
One cooling module and/or the first heating elements；The second temperature feedback device includes the second cooling module and/or the second heating
Element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821793700.0U CN209044518U (en) | 2018-11-01 | 2018-11-01 | Hand mechanical exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821793700.0U CN209044518U (en) | 2018-11-01 | 2018-11-01 | Hand mechanical exoskeleton |
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| Publication Number | Publication Date |
|---|---|
| CN209044518U true CN209044518U (en) | 2019-06-28 |
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|---|---|---|---|
| CN201821793700.0U Active CN209044518U (en) | 2018-11-01 | 2018-11-01 | Hand mechanical exoskeleton |
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| CN (1) | CN209044518U (en) |
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