CN209265392U - A kind of data glove - Google Patents
A kind of data glove Download PDFInfo
- Publication number
- CN209265392U CN209265392U CN201920243269.0U CN201920243269U CN209265392U CN 209265392 U CN209265392 U CN 209265392U CN 201920243269 U CN201920243269 U CN 201920243269U CN 209265392 U CN209265392 U CN 209265392U
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- finger
- testing agency
- pedestal
- sensor
- ring
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Abstract
The utility model discloses a kind of data glove, including the palm pedestal for being set in palmar hand and it is set in the finger testing agency of finger section, finger testing agency includes thumb, index finger, middle finger, Ming Zhi testing agency and little finger of toe testing agency, finger testing agency includes two strain-ga(u)ge transducers for being worn on the sensor of three finger joint the back of the hand respectively and being arranged between three sensors, the strain-ga(u)ge transducer is for being bonded articulations digitorum manus, the sensor being arranged in three finger joints includes the first gyro sensor that distal phalanx is arranged, second gyro sensor of proximal phalanx is set and the third gyro sensor of middle phalanx is set, index finger testing agency, middle finger testing agency, the proximal phalanx end of nameless testing agency and little finger of toe testing agency is provided with curvature sensor bar between palm pedestal, The curvature sensor bar facilitates and is adjusted according to not homochirality, so that the finger joint action data of acquisition is more accurate for being bonded articulations digitorum manus.
Description
Technical field
The utility model relates to intelligent machine device data acquisition device fields, and in particular to arrive a kind of data glove.
Background technique
Dextrous Hand can simulate manpower operation, in deep-sea detecting, the battlefield removal of mines, the carrying of core material and space equipment maintenance etc.
There is great application prospect in high-risk environment.However, the working environment that Dextrous Hand is faced has high complexity and can not be pre-
The property surveyed, is limited, these complex environments of the processing for its entirely autonomous by technologies such as artificial intelligence, automatic control and sensors
And accurate operation is completed, is a task that is extremely challenging and being difficult to realize in a short time.Dextrous Hand master-slave control method
It is that Dextrous Hand is directly controlled by manpower, the various complex environments being likely encountered with the direct decision Dextrous Hand of the wisdom of human brain are distant
It controls Dextrous Hand and completes operation task, be current more feasible method.Accuracy, real-time and the stability of dexterous hands movement is
Measure the main indicator of Dextrous Hand master-slave control method.
The exercise data of manpower articulations digitorum manus mainly passes through dermoskeleton frame mechanism, surface electromyogram signal and data glove and obtains at present
It takes.The driver of Dextrous Hand mainly has direct current generator, servo cylinder and air muscle etc..Scholars just attempt to drive by Dextrous Hand
Various combination between dynamic device and finger joint motions data capture method, master & slave control dexterity hands movement, to realize compared with
Good movement is accurate, real-time and stability.Relative to dermoskeleton frame mechanism and surface electromyogram signal, data glove can be more smart
Really obtain the movement angle of manpower articulations digitorum manus.But existing data glove is not adapted to there is apparatus structure solidification
The data of the hand-type of different wearers, acquisition are in deviation, and then it is inclined to cause the movement of Dextrous Hand and realistic simulation people to exist
Difference, and existing Dextrous Hand is caused to execute some operational motion degrees of deviation height for needing high accurancy and precision.
Utility model content
In view of the deficienciess of the prior art, facilitating basis the purpose of this utility model is to provide a kind of data glove
Homochirality is not adjusted, so that the finger joint action data of acquisition is more accurate.
To achieve the above object, the utility model provides a kind of data glove, including the palm for being set in palmar hand
Pedestal and the finger testing agency for being set in finger section,
The finger testing agency includes thumb testing agency, index finger testing agency, middle finger testing agency, third finger detection
Mechanism and little finger of toe testing agency,
The finger testing agency includes that the sensor being worn on three finger joint the back of the hand directions respectively and setting exist
Two strain-ga(u)ge transducers between three sensors, the strain-ga(u)ge transducer are arranged for being bonded articulations digitorum manus in three finger joints
On sensor include the first gyro sensor that distal phalanx is set, the second gyro sensor of proximal phalanx be set
And the third gyro sensor of middle phalanx is set,
The index finger testing agency, middle finger testing agency, nameless testing agency and little finger of toe testing agency close save refer to
Epiphysis is provided with curvature sensor bar between palm pedestal, and the curvature sensor bar is for being bonded articulations digitorum manus.
The finger testing agency further includes wearable device as a further improvement of the utility model, is worn on finger joint
On three sensors be fixedly connected with wearable device, the wearable device be snap ring structure, the strain-ga(u)ge transducer both ends
It is provided with the first elastic traction rope, is provided with the first retracting device in the wearable device, first retracting device and the first bullet
Property traction rope connection, and for furl the first elastic traction rope.
The wearable device includes hinged seat to be hinged with hinged seat as a further improvement of the utility model,
Cricoid finger ring is opened in two semi-rings, the mutual snapping formation of two semi-rings, and the semi-ring and hinged seat are provided with articulated shaft, the semi-ring
Be connected with each other by articulated shaft and hinged seat, be arranged with torsional spring on the articulated shaft, the torsional spring keep semi-ring have one to another
The close elastic torsion of one semi-ring.
The palm pedestal is made of four support bars and pedestal as a further improvement of the utility model, four branch
Stay for positioning four sesamoid bones of palm index finger, middle finger, the third finger and little finger of toe respectively, and four support bars are far from nearly section
Phalanges end and pedestal are hinged, and curvature sensor bar both ends are provided with the second elastic traction rope, and four support bars are close
Proximal phalanx end is provided with the second retracting device, which connect with the second elastic traction rope, which leads
Messenger is provided with elastic pinch plate for furling the second elastic traction rope, the pedestal, which is hinged with pedestal, should
Elastic pinch plate is used to pedestal clamping being worn on palm back.
The pedestal is provided with locking device as a further improvement of the utility model, and the locking device is for locking
Four support bars limit its rotation, and the pedestal includes upper plate and lower plate, are respectively provided between the upper plate and lower plate
There are four mounting groove, it is provided with mounting post in the mounting groove, described support bar one end is provided with lantern ring, lantern ring socket installation
Column is simultaneously rotatablely connected with mounting post, is detachably connected between the upper plate and lower plate by connecting column, the locking device
It is arranged on upper plate, the corresponding installation groove location of the upper plate is provided with through-hole, and the locking device, which is provided with, protrudes into through-hole
Locating part, the locating part limit lantern ring rotation.
The lantern ring upper surface is provided with the first limiting tooth, the locating part as a further improvement of the utility model,
It is mutually contradicted with lantern ring, the locating part and lantern ring mutually contradict the second limiting tooth being provided on one side with the first limit tooth engagement.
The upper plate is provided with clamping groove as a further improvement of the utility model, and the locking device limit is set
It sets in clamping groove, by spring part elastic connection, which keeps the limit of locking device for the locking device and upper plate
Position part is mutually contradicted with lantern ring to be engaged.
First limiting tooth and the second limiting tooth are arranged in twill as a further improvement of the utility model,.
Data glove provided by the utility model, by the way that gyro sensor is arranged in finger joint and is set at articulations digitorum manus
Strain-ga(u)ge transducer and curvature sensor bar are set, gyro sensor is to detect finger finger joint direction in space and detect in sky
Between angular speed on three directions manpower is determined by data feedback to determine the spatial coordinated information of each finger joint of finger
Accurate posture is subject to the curvature sensor bar of strain-ga(u)ge transducer to determine the bending degree of finger, to assist in identifying finger
Posture, when wearing, can accurately pass gyroscope by being flexible coupling between gyro sensor and strain-ga(u)ge transducer
Sensor is worn on the finger joint middle section of different manpowers, and strain-ga(u)ge transducer is bonded at finger-joint and is arranged, to take hand
The accurate data of movement cuts down individual difference bring deviation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of the utility model wearable device；
Fig. 3 is the scheme of installation of the utility model palm pedestal.
Detailed description of the invention: 1, palm pedestal；2, finger testing agency；3, thumb testing agency；4, index finger testing agency；5, in
Refer to testing agency；6, nameless testing agency；7, little finger of toe testing agency；8, strain-ga(u)ge transducer；9, the first gyro sensor；
10, the second gyro sensor；11, third gyro sensor；12, curvature sensor bar；13, wearable device；14, the first bullet
Property traction rope；15, the first retracting device；16, hinged seat；17, semi-ring；18, torsional spring；19, support bar；20, pedestal；21, second
Elastic traction rope；22, the second retracting device；23, elastic pinch plate；24, locking device；25, upper plate；26, lower plate；27, pacify
Tankage；28, mounting post；29, lantern ring；30, through-hole；31, locating part；32, the first limiting tooth；33, the second limiting tooth；34, it is clamped
Slot；35, spring part.
Specific embodiment
The utility model is described in further detail below in conjunction with attached drawing and embodiment and effect example, rather than limits this
Utility model.
As shown in Figure 1-3, a kind of data glove, including the palm pedestal 1 for being set in palmar hand and is set in hand
The finger testing agency 2 in finger portion,
The finger testing agency 2 includes thumb testing agency 3, index finger testing agency 4, middle finger testing agency 5, the third finger
Testing agency 6 and little finger of toe testing agency 7,
The finger testing agency 2 includes that the sensor being worn on three finger joint the back of the hand directions respectively and setting exist
Two strain-ga(u)ge transducers 8 between three sensors, the strain-ga(u)ge transducer 8 is for being bonded articulations digitorum manus, foil gauge sensing
Device 8 occurs to stretch or be shunk when manpower finger bends and acts, and strain-ga(u)ge transducer 8 receives the change of resistance signal value
Change, to monitor finger movement movement,
The sensor being arranged in three finger joints includes the first gyro sensor 9 that distal phalanx is arranged, is arranged close
It saves the second gyro sensor 10 of phalanges and the third gyro sensor 11 of middle phalanx is set, the index finger detection
Mechanism 4, middle finger testing agency 5, nameless testing agency 6 and the proximal phalanx end of little finger of toe testing agency 7 with palm pedestal 1
Between be provided with curvature sensor bar 12, the curvature sensor bar 12 is for being bonded articulations digitorum manus；
1 position of palm pedestal is equipped with processor, which includes being provided with flexible circuit board, is arranged at articulations digitorum manus
Strain-ga(u)ge transducer 8 and curvature sensor and finger joint at gyro sensor connect with flexible circuit board,
Data glove may include flexible gloves, which is bonded hand skin, which preferably uses
Silica gel or rubber material make its surface have certain frictional force, finger testing agency 2 and palm pedestal 1 when wearing, socket
In elastomeric glove, facilitate sliding, and is less likely to occur to shift after positioning.
By gyro sensor being arranged in finger joint and setting strain-ga(u)ge transducer 8 and curvature biography at articulations digitorum manus
Feel item 12, gyro sensor to detect finger finger joint direction in space and detect angular speed on the direction of three, space,
To determine the spatial coordinated information of each finger joint of finger, the accurate posture of manpower is determined by data feedback, is subject to foil gauge biography
The curvature sensor bar 12 of sensor 8 determines the bending degree of finger, to assist in identifying finger gesture, gyro sensor with
And by being flexible coupling between strain-ga(u)ge transducer 8, when wearing, gyro sensor accurately can be worn on different manpowers
Finger joint middle section, and will strain-ga(u)ge transducer 8 be bonded finger-joint at be arranged, to take the accurate data of hands movement, disappear
Subtract individual difference bring deviation.
As a kind of improved specific embodiment, the finger testing agency 2 further includes wearable device 13, is worn on finger
Three sensors on section are fixedly connected with wearable device 13, and the wearable device 13 is snap ring structure, and snap ring structure can select
The snap ring structure for selecting retaining ring or the articulated type connection using elastic material makes wearable device 13 suitable by the way that snap ring structure is arranged
The different people for referring to and enclosing are answered, and do not interfere manpower to execute movement in manpower movement, are provided with the pendant in thumb proximal phalanx
Wearing device 13 can be adhesion arrangement, the second gyro sensor 10 to be adhered to the middle position of thumb proximal phalanx,
8 both ends of strain-ga(u)ge transducer are provided with the first elastic traction rope 14, and is provided in the wearable device 13
One retracting device 15, first retracting device 15 are connect with the first elastic traction rope 14, and for furling the first elastic traction rope
14, by the way that retracting device is arranged, strain-ga(u)ge transducer 8 is kept to be attached at articulations digitorum manus always.
As a kind of improved specific embodiment, the wearable device 13 include hinged seat 16 and with 16 phase of hinged seat
Cricoid finger ring is opened in mutually two hinged semi-rings 17, the two mutual snapping of semi-ring 17 formation, and the semi-ring 17 is set with hinged seat 16
It is equipped with articulated shaft, which is connected with each other by articulated shaft and hinged seat 16, is arranged with torsional spring 18 on the articulated shaft, the torsion
Spring 18 keeps semi-ring 17 to have an elastic torsion close to another semi-ring 17, and 13 structure of wearable device is simple, hinged seat
16 with finger binding face are set as flexure plane, and the width of its hinged seat 16 is less than or equal to 1 centimetre, in preferred semi-ring 17
It is provided with anti-skidding adhesive tape in side, increases the frictional force with elastomeric glove.
As a kind of improved specific embodiment, the palm pedestal 1 is made of four support bars 19 and pedestal 20, and four
A support bar 19 for positioning four sesamoid bones of palm index finger, middle finger, the third finger and little finger of toe, four support bars 19 respectively
Hinged far from proximal phalanx end and pedestal 20,12 both ends of curvature sensor bar are provided with the second elastic traction rope 21, and four
The support bar 19 is provided with the second retracting device 22 close to proximal phalanx end, second retracting device 22 and the second elastic traction
21 connection of rope, the second elastic traction rope 21 are provided with elastic pinch plate for furling the second elastic traction rope 21, the pedestal 20
23, which is hinged with pedestal 20, which is used to the clamping of pedestal 20 being worn on palm back, passes through
Four support bars 19 are set by palm pedestal 1, curvature sensor bar 12 and four support bars 19 are connected with each other, support bar 19
It can mutually be coincide by adjusting with sesamoid bone direction when wearing, with the orientation of precise positioning curvature sensor bar 12, so that quasi-
Really judge digital flexion direction and angle, it is same to make curvature sensor bar 12 be bonded finger-joint by the way that retracting device is arranged.
As a kind of improved specific embodiment, the pedestal 20 is provided with locking device 24, which uses
Its rotation is limited in locking four support bars 19, the pedestal 20 includes upper plate 25 and lower plate 26,25 He of upper plate
It is respectively provided between lower plate 26 there are four mounting groove 27, is provided with mounting post 28, the support bar 19 1 in the mounting groove 27
End is provided with lantern ring 29, which is socketed mounting post 28 and is rotatablely connected with mounting post 28, the upper plate 25 and lower plate
It is detachably connected between 26 by connecting column, connecting column can be bolt, upper plate 25 and lower plate 26 and be connected by bolt thread
It connects, another embodiment of connecting column is that fixture block is arranged in connection column end, is provided with the card laterally penetrated through on lower plate 26
Slot, the card slot slide for fixture block, and card slot is oblique, so that upper plate 25 and lower plate 26 are mutual when fixture block inwardly slides
Close, the locking device 24 is arranged on upper plate 25, and corresponding 27 position of mounting groove of the upper plate 25 is provided with through-hole 30, institute
It states locking device 24 and is provided with the locating part 31 for protruding into through-hole 30, which limits lantern ring 29 and rotate, and locating part 31 passes through
It contradicts and rubs with lantern ring 29, limitation lantern ring 29 rotates, with the position of support bar 19 after positioning adjustment.
As a kind of improved specific embodiment, 29 upper surface of lantern ring is provided with the first limiting tooth 32, the limit
Position part 31 and lantern ring 29 mutually contradict, which mutually contradicts to be provided on one side and engage with the first limiting tooth 32 with lantern ring 29
The second limiting tooth 33, pass through setting the first limiting tooth 32 and the second limiting tooth 33, mutually contradict the rotation of gear-meshing time limit system.
As a kind of improved specific embodiment, the upper plate 25 is provided with clamping groove 34, the locking device 24
Limit is arranged in clamping groove 34, and the locking device 24 passes through 35 elastic connection of spring part, the spring part 35 with upper plate 25
It keeps the locating part 31 of locking device 24 mutually to contradict with lantern ring 29 to engage, when needing to adjust support bar 19, by locking device
24 are lifted up, and locating part 31 lifts restrictions with lantern ring 29, and then adjust the angle of support bar 19.
As a kind of improved specific embodiment, first limiting tooth 32 and the second limiting tooth 33 are arranged in twill.
Above are merely preferred embodiments of the utility model, the protection scope of the utility model is not limited merely to above-mentioned
Embodiment, technical solution belonging to the idea of the present invention belong to the protection scope of the utility model.It should be pointed out that pair
For those skilled in the art, several improvements and modifications without departing from the principle of the utility model,
These improvements and modifications also should be regarded as the protection scope of the utility model.
Claims (8)
1. a kind of data glove, it is characterised in that: including the palm pedestal (1) for being set in palmar hand and be set in finger
The finger testing agency (2) in portion,
The finger testing agency (2) includes thumb testing agency (3), index finger testing agency (4), middle finger testing agency (5), nothing
Ming Zhi testing agency (6) and little finger of toe testing agency (7),
The finger testing agency (2) includes the sensor being worn on three finger joint the back of the hand directions respectively and is arranged three
Two strain-ga(u)ge transducers (8) between a sensor, the strain-ga(u)ge transducer (8) are used to be bonded articulations digitorum manus,
The sensor being arranged in three finger joints includes the first gyro sensor (9) that distal phalanx is arranged, is arranged and is closely saving
The second gyro sensor (10) of phalanges and the third gyro sensor (11) that middle phalanx is set,
The index finger testing agency (4), middle finger testing agency (5), nameless testing agency (6) and little finger of toe testing agency (7)
Proximal phalanx end curvature sensor bar (12) are provided between palm pedestal (1), which is used for
It is bonded articulations digitorum manus.
2. a kind of data glove according to claim 1, which is characterized in that the finger testing agency (2) further includes wearing
Device (13) are worn, three sensors being worn in finger joint are fixedly connected with wearable device (13), and the wearable device (13) is
Snap ring structure,
Strain-ga(u)ge transducer (8) both ends are provided with the first elastic traction rope (14), are provided in the wearable device (13)
First retracting device (15), first retracting device (15) are connect with the first elastic traction rope (14), and for furling the first bullet
Property traction rope (14).
3. a kind of data glove according to claim 2, which is characterized in that the wearable device (13) includes hinged seat
(16) and with hinged seat (16) cricoid finger is opened in two semi-rings (17) being hinged, the mutually snapping formation of two semi-rings (17)
Ring, the semi-ring (17) and hinged seat (16) are provided with articulated shaft, and the semi-ring (17) is mutual by articulated shaft and hinged seat (16)
Connection is arranged with torsional spring (18) on the articulated shaft, the torsional spring (18) keep semi-ring (17) have one to another semi-ring (17)
Close elastic torsion.
4. a kind of data glove according to claim 1 or 2 or 3, which is characterized in that the palm pedestal (1) is by four
Support bar (19) and pedestal (20) composition, four support bars (19) for positioning palm index finger, middle finger, the third finger and small respectively
Four sesamoid bones referred to, four support bars (19) far from proximal phalanx end and pedestal (20) hingedly, the curvature sensor bar
(12) both ends are provided with the second elastic traction rope (21), and four support bars (19) are provided with volume Two close to proximal phalanx end
Receiving apparatus (22), second retracting device (22) are connect with the second elastic traction rope (21), which uses
In furling the second elastic traction rope (21), the pedestal (20) is provided with elastic pinch plate (23), the elastic pinch plate (23) and pedestal
(20) it is hinged, which is used to pedestal (20) clamping being worn on palm back.
5. a kind of data glove according to claim 4, which is characterized in that the pedestal (20) is provided with locking device
(24), which limits its rotation for locking four support bars (19), and the pedestal (20) includes upper plate
(25) and lower plate (26), it is respectively provided with that there are four mounting groove (27), the peaces between the upper plate (25) and lower plate (26)
It is provided with mounting post (28) in tankage (27), described support bar (19) one end is provided with lantern ring (29), the lantern ring (29) socket peace
It fills column (28) and is rotatablely connected with mounting post (28), it is detachable by connecting column between the upper plate (25) and lower plate (26)
Connection, the locking device (24) are arranged on upper plate (25), and corresponding mounting groove (27) position of the upper plate (25) is provided with
Through-hole (30), the locking device (24) are provided with the locating part (31) for protruding into through-hole (30), which limits lantern ring
(29) it rotates.
6. a kind of data glove according to claim 5, which is characterized in that lantern ring (29) upper surface is provided with first
Limiting tooth (32), the locating part (31) and lantern ring (29) mutually contradict, and the locating part (31) and lantern ring (29) mutually contradict one
Face is provided with the second limiting tooth (33) engaged with the first limiting tooth (32).
7. a kind of data glove according to claim 6, which is characterized in that the upper plate (25) is provided with clamping groove
(34), in clamping groove (34), the locking device (24) passes through with upper plate (25) for locking device (24) the limit setting
Spring part (35) elastic connection, the spring part (35) keep the locating part (31) of locking device (24) and lantern ring (29) mutually to contradict
Engagement.
8. a kind of data glove according to claim 7, which is characterized in that first limiting tooth (32) and the second limit
Tooth (33) is arranged in twill.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920243269.0U CN209265392U (en) | 2019-02-26 | 2019-02-26 | A kind of data glove |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920243269.0U CN209265392U (en) | 2019-02-26 | 2019-02-26 | A kind of data glove |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209265392U true CN209265392U (en) | 2019-08-16 |
Family
ID=67585391
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920243269.0U Active CN209265392U (en) | 2019-02-26 | 2019-02-26 | A kind of data glove |
Country Status (1)
| Country | Link |
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| CN (1) | CN209265392U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109710082A (en) * | 2019-02-26 | 2019-05-03 | 浙江工贸职业技术学院 | A kind of data glove |
-
2019
- 2019-02-26 CN CN201920243269.0U patent/CN209265392U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109710082A (en) * | 2019-02-26 | 2019-05-03 | 浙江工贸职业技术学院 | A kind of data glove |
| CN109710082B (en) * | 2019-02-26 | 2024-04-16 | 浙江工贸职业技术学院 | Data glove |
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