CN211577846U - Tactile feedback glove and VR (virtual reality) equipment assembly with same - Google Patents

Abstract

The utility model relates to a VR technical field, heavier and the relatively poor problem of portability of weight in order to solve haptic feedback gloves provides a haptic feedback gloves and have its VR equipment subassembly, include: glove body, sensing system, control system and executive component, glove body form is insulating material spare, and the sensing system includes: pressure sensor and displacement sensor. The pressure sensor and the execution part are both formed into dielectric material pieces, the pressure sensor can detect the bending of the finger joint of the glove body by utilizing the characteristics of the dielectric material, the execution part on the surface of the finger is electrified, the voltage is controlled to expand or contract the execution part, the real touch can be accurately simulated, and the accurate and sensitive touch feedback of the touch feedback glove is ensured. And the glove body can only be made of a light and thin insulating film, so that the glove body is good in air permeability, light and handy, convenient to carry and convenient to wear the touch feedback glove.

Description

Tactile feedback glove and VR (virtual reality) equipment assembly with same

Technical Field

The utility model belongs to the technical field of the VR technique and specifically relates to a subassembly is equipped to touch feedback gloves and VR that has it.

Background

VR (Virtual Reality) -Virtual Reality technology is a CPU simulation technology that can create and experience a Virtual world, and creates an interactive three-dimensional dynamic scene with a CPU, and creates a new mixed Reality by merging elements of a real world environment with Virtual Reality data, thereby enabling a user to truly experience a scene in the Virtual Reality.

At present, VR technology has been widely applied to the fields of advertisement, navigation, military service and entertainment, and in order to improve the experience of a user in virtual reality, devices such as tactile feedback are added, wherein a tactile feedback glove is one of the tactile feedback devices, and can provide tactile feedback of a hand for the user to enhance the experience of virtual reality, but the current tactile feedback glove is generally a large mechanical execution device, which results in heavy weight of the tactile feedback glove and poor portability of the tactile feedback glove.

Among them, Dielectric Elastomers (DE) are widely used to research Dielectric Elastomer transducers, including three types of Dielectric Elastomer Drivers (DEA), Dielectric Elastomer energy collectors (DEG) and Dielectric Elastomer Sensors (DEs), because they have a strain response actively to a change in an external electric field.

The main difference between DEA, DEG and DES is the different circuits connected and the different functions implemented. DE is capable of producing electrostrictive strain under the action of an external high voltage electric field, and is therefore used in the study of various DEAs. The DEG can be designed according to the inverse process of the DEA principle, and various types of energy conversion devices for converting mechanical energy into electric energy have been designed, but compared with the DEA and DEG, the DEs research really starts to be relatively late and has relatively less research results by utilizing the superiority of the DE. DES is similar to a flexible capacitor in that the application of an external force will increase the effective area and decrease the effective thickness of the DES, both of which will cause the capacitance value of the DES to change. After the relation between the external force and the capacitance value is determined, the DES electrical parameters are detected through the detection circuit, the size of the external force can be known through the known corresponding relation, and according to the principle, sensors in various forms such as pressure, tensile force, shearing force, bending force and the like can be designed. However, how DES can be applied to VR technology becomes an industry challenge.

SUMMERY OF THE UTILITY MODEL

The utility model provides a haptic feedback glove, which solves the problems of heavier weight and poorer portability of the haptic feedback glove.

The utility model also provides a VR equips subassembly with tactile feedback gloves.

According to the utility model discloses tactile feedback gloves, include: glove body, sensing system, control system and executive component, glove body form is insulating material spare, glove body has back of the hand, arm and finger, sensing system includes: pressure sensor and displacement sensor, pressure sensor forms into dielectric material spare, and pressure sensor cladding is in the outside finger joint department of gloves body, displacement sensor is located the back of the hand or the arm department of gloves body, control system includes: the interface integrator is electrically connected with the CPU, the CPU is electrically connected with the sensing system, the execution component is formed into a dielectric material piece, the fingers on the outer side of the glove body are coated with the execution component, the execution component is positioned between two adjacent pressure sensors, and the execution component is electrically connected with the interface integrator; the haptic feedback glove is configured to: the displacement sensor detects the displacement signal of the glove body, the pressure sensor detects the bending signal of the fingers of the glove body and transmits an electric signal to the CPU, the CPU processes the electric signal and simulates virtual hand information, then the virtual hand information is transmitted to the interface integrator, the interface integrator converts the voltage signal into a voltage signal and transmits the voltage signal to the execution component, and the execution component performs pressure feedback.

According to an embodiment of the present invention, a digital signal processor module and a high voltage conversion module are integrated on the interface integrator, the digital signal processor module is electrically connected to the CPU, the digital signal processor module is electrically connected to the high voltage conversion module, and the high voltage conversion module is electrically connected to the execution component;

the digital signal processor receives the virtual hand information sent by the CPU and transmits a voltage signal to the high-voltage conversion module, and the high-voltage conversion module converts the voltage signal and then provides an electric signal to the execution component.

According to the utility model discloses an embodiment, the interface integrator has still integrated USB module and DA conversion chip module, digital signal processor module with CPU passes through the USB module carries out the electricity and connects, digital signal processor module with high pressure conversion module passes through the DA conversion chip module carries out the electricity and connects.

According to the utility model discloses an embodiment, the one end of interface integrator is equipped with the arm fixed band, the arm fixed band is suitable for and fixes the interface integrator on user's arm.

According to the utility model discloses an embodiment, the cuff department of gloves body is equipped with the gloves fixed band, the gloves fixed band is suitable for fixing the gloves body on user's wrist.

According to an embodiment of the utility model, the arm fixed band with the gloves fixed band is the magic subsides fixed band.

According to the utility model discloses an embodiment, the both sides surface of pressure sensor is equipped with paints the electrode, paint the electrode with CPU passes through the sensor connecting wire and connects, just each in the gloves body on the finger the sensor connecting wire with CPU parallel connection.

According to an embodiment of the present invention, the smearing electrodes are disposed on the two side surfaces of the executing component, the smearing electrodes are connected to the high voltage converting module through electrode connecting wires, and the electrode connecting wires on the fingers in the glove body are connected to the high voltage converting module in parallel;

when the voltage of the high-voltage conversion module changes, the execution component contracts or expands to generate pressure feedback.

According to the utility model discloses an embodiment, the inside of gloves body is equipped with a plurality of independent ground slice dielectric sensors, dielectric sensor with the CPU electricity is connected, works as when the finger joint of gloves body rotates, can extrude dielectric sensor, the feedback voltage transmission that dielectric sensor produced extremely in the CPU, CPU changes corresponding voltage data through collecting a large amount of different joint shapes, right tactile feedback gloves learn the training, can realize the voltage data through the feedback and reversely push away the finger shape of gloves body.

According to another aspect of the utility model provides a VR equipment subassembly, including foretell tactile feedback gloves and VR glasses, VR glasses with the CPU electricity is connected, with VR glasses show real-time virtual hand image.

The technical effects of the utility model:

according to the utility model discloses tactile feedback gloves, pressure sensor and executive component all form the dielectric material spare, and through the characteristic that utilizes dielectric material, the pressure sensor can detect the bending of the finger joint department of gloves body, and the executive component on finger surface is circular telegram, and control voltage makes executive component inflation or shrink, can accurately simulate out true sense of touch to guarantee that tactile feedback gloves's tactile feedback is accurate, sensitive. And the gloves body can only be made by the frivolous insulating film of one deck to can guarantee that the gas permeability of gloves body is good, comparatively light and handy, convenient to carry, convenient to the wearing of tactile feedback gloves, and then solve the heavier and less than portable problem of weight of tactile feedback gloves.

Drawings

FIG. 1 is a schematic diagram of a haptic feedback glove structure according to an embodiment of the present invention;

FIG. 2 is a state diagram of the pressure sensor and actuator of the tactile feedback glove with fingers not inserted into the glove interior;

FIG. 3 is a state diagram of the pressure sensor and actuator of the tactile feedback glove with a finger inserted into the interior of the glove;

FIG. 4 is a state diagram of the DE pressure sensor and DE actuator of the haptic feedback glove after the fingers are inserted into the glove body and voltage is applied by the high voltage control system;

FIG. 5 is a schematic diagram showing that the pressure sensor transmits an electric signal to the CPU after a finger is inserted into the glove body;

FIG. 6 is a schematic diagram showing the electric signal transmitted from the execution unit to the CPU after the finger is inserted into the glove body;

FIG. 7 is a schematic diagram of the electrical signal transmitted by the high voltage control system to the actuator when the virtual finger touches the virtual object in the CPU;

FIG. 8 is a schematic view of an actuator in an initial state;

fig. 9 is a schematic diagram of the actuator in an energized state.

In the figure:

10: a tactile feedback glove; 1: a glove body; 11: glove fixing belts; 21: a pressure sensor; 3: an interface integrator; 31: a USB module; 32: a digital signal processor module; 33: a D/A conversion chip module; 34: a high voltage conversion module; 35: an arm fixing belt; 4: an execution component; 5: a sensor connecting wire; 6: an electrode connecting wire; 7: VR glasses; 8: a CPU; 9: and (4) coating an electrode.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

As shown in fig. 1-3, a haptic feedback glove 10 according to an embodiment of the present invention includes: gloves body 1, sensing system, control system and executive component 4, gloves body 1 forms into insulating material spare, and gloves body 1 has back of the hand, arm and finger, and gloves body 1 can be formed by the preparation of insulating film layer to can guarantee that gloves body 1's gas permeability is good, and is comparatively light and handy, convenient to carry, and, because gloves body 1's thickness is thinner, consequently, still be favorable to promoting the sense of touch when feeding back gloves body 1.

Specifically, as shown in fig. 1, 8-9, the sensing system includes: pressure sensor 21 and displacement sensor, pressure sensor 21 forms the dielectric material spare, and pressure sensor 21 cladding is in the outside finger joint department of gloves body 1, displacement sensor is located the back of the hand or the arm department of gloves body 1, the dielectric material spare is the electroactive polymer that can produce the strain response to external electric field, under the effect of external electric field, electrostatic attraction makes the dielectric material spare compress in the thickness direction, enlarge in the area direction, after the external electric field withdraws, the dielectric material spare can resume original shape or volume, and the dielectric material spare can be when receiving the pressure effect and take place the deformation, the different sign electric charge can appear in both ends face, consequently, form pressure sensor 21 into the dielectric material spare, guarantee that gloves body 1 can utilize self material property to detect when taking place the bending.

In addition, the dielectric material piece has the characteristics of light weight, good flexibility and high strain density, and the dielectric elastic material is easy to manufacture according to the required shape, so that the pressure sensor 21 is simple to arrange.

The displacement sensor is located at the back of the hand or the arm of the glove body 1, thereby detecting the position of the glove body 1.

In a specific embodiment, the pressure sensor 21 is adapted to detect the pressure at the finger joint of the glove body 1, so as to detect the bending degree at the finger joint, and the position sensor detects the position of the arm and the finger of the glove body 1, so that the pressure sensor 21 cooperates with the displacement sensor to detect the finger motion and the position of the glove body 1, specifically, when the user wears the tactile feedback glove 10, if the hand of the user bends, the pressure sensor 21 on the glove body 1 is squeezed, and therefore, the pressure sensor 21 sends an electrical signal, so that it is possible to identify the bending at the finger joint by the pressure sensor 21.

It should be noted that the pressure sensors 21 are disposed on the fingers of the glove body 1, and the displacement sensors are disposed on the arms, so that the sensing system can identify the bending of the fingers of the glove body 1, and the tactile feedback glove 10 can accurately feed back the sense of touch.

Further, as shown in fig. 1, the control system includes: the interface integrator 3 is electrically connected with the CPU8, the CPU8 is electrically connected with the sensing system, the interface integrator 3 is electrically connected with the CPU8, the execution unit 4 is located outside the glove body 1 and between the pressure sensors 21, and the execution unit 4 is electrically connected with the interface integrator 3, wherein the CPU8 can process the sensing electrical signals of the sensing system to obtain the data information of the virtual hand, and the interface integrator 3 can integrate a plurality of modules (i.e., the USB module 31, the digital signal processor module 32, the D/a conversion chip module 33, and the high voltage conversion module 34 mentioned below), so as to ensure that the interface integrator 3 can convert the data information into low voltage electrical signals when the CPU8 transmits the data information, thereby ensuring high working reliability of the tactile feedback glove 10.

The execution component 4 is formed into a dielectric material piece, fingers of the outside of the glove body 1 are covered by the execution component 4, and the execution component 4 is positioned between two adjacent pressure sensors 21, and the execution component 4 is electrically connected with the interface integrator 3. That is, the actuator 4 is also made of a dielectric material, and the actuator 4 is electrically connected to the interface integrator 3. in a specific embodiment, as shown in fig. 6-9, when the pressure sensor 21 detects that the glove body 1 is bent and a virtual hand on the screen touches an object, the interface integrator 3 may output a voltage to the actuator 4, and the actuator 4 expands or contracts by using the characteristics of the dielectric material, so as to perform pressure feedback on the glove body 1.

In a specific embodiment, the pressure sensor 21 and the execution component 4 can be arranged on the glove body 1 in a smearing manner, which not only ensures that the arrangement of the pressure sensor 21 and the execution component 4 is convenient, thereby facilitating the wearing of the tactile feedback glove 10, but also ensures that the tactile feedback glove 10 has a lighter weight, thereby facilitating the improvement of the portability of the tactile feedback glove 10, and further solving the problems of heavier weight and poorer portability of the tactile feedback glove 10.

The tactile feedback glove 10 is configured to: displacement sensor detects the displacement signal of the finger of gloves body 1 to and the crooked signal of the finger of pressure sensor 21 detection gloves body 1, and to CPU8 transmission electric signal, CPU8 is handled the electric signal, and simulate out virtual hand information, when virtual hand touch runs into the object, again with virtual hand information transmission to interface integrator 3, interface integrator 3 converts voltage signal transmission to executive component 4 into, executive component 4 carries out pressure feedback to the joint department of finger.

In a specific embodiment, referring to fig. 1-4, when a user experiences VR technology, the VR glasses 7 are typically used with the haptic feedback glove 10, wherein the VR glasses 7 can provide a visual virtual experience for the user, and the haptic feedback glove 10 provides a tactile virtual experience for the user, specifically, the glasses and the haptic feedback glove 10 are worn first, and then an initial signal is output to the interface integrator 3 through the CPU8, a voltage is output through the interface integrator 3, and an initial voltage is output to the actuator 4, and the actuator 4 is in a contracted state at this time, as shown in fig. 2. After the glove body 1 is worn, in order to ensure that the glove body 1 is tightly attached to the skin of the hand of the user after the glove body is worn, the execution component 4 is compressed again, the pressure sensor 21 and the displacement sensor transmit data signals to the CPU8, the CPU8 displays the shape and the position of the virtual hand, meanwhile, the virtual hand image is fed back to the VR glasses 7, and the CPU8 then sends data information signals to the interface integrator 3, so that the interface integrator 3 can change the voltage and transmit the voltage to the execution component 4, and the execution component 4 can be ensured to maintain the voltage value in the contraction state.

Then, when the fingers of the glove body 1 are bent, the pressure sensor 21 is also bent, and the CPU8 analyzes the value thereof by measuring the voltage output of the pressure sensor 21, and simulates a virtual hand shape close to the real one on the CPU8, estimates and simulates the bent shape thereof, and feeds back to the VR glasses 7. In the process, the displacement sensor measures the movement of the glove body 1 in the real environment in real time, the position of the virtual hand can be displayed on the CPU8, the pressure sensor 21 is combined, so that the virtual hand can well follow the movement of the glove body 1, and when the virtual hand touches the virtual object, the CPU8 displays the picture of the virtual hand touching the virtual object and feeds back the picture to the VR glasses 7, the CPU8 sends a touch signal to the interface integrator 3, the interface integrator 3 greatly reduces the voltage, and then the execution component 4 transmits the reduced current to cause the expansion of the execution component 4, so as to squeeze the finger joint, thereby simulating the real touch, as shown in fig. 3.

When the virtual hand leaves the virtual object, the pressure sensor 21 and the displacement sensor send signals to the CPU8, the CPU8 displays a picture that the virtual hand leaves the virtual object and feeds back the picture to the VR glasses 7, the CPU8 sends a signal for releasing the touch to the interface integrator 3, the interface integrator 3 transmits a voltage value which is restored to a value which meets the bending state of the virtual hand in the CPU8 but does not touch the object to the execution unit 4, and the execution unit 4 is restored to a material state which corresponds to the position and the shape of the virtual hand in the CPU8, so that the pressure value which the hand feels in reality meets the pressure value which the virtual hand should feel when the virtual hand bends in the CPU8, and the haptic feedback glove 10 can guarantee that the haptic feedback can accurately and real-timely give haptic feedback to the user.

From this, according to the utility model discloses according to tactile feedback gloves 10, pressure sensor 21 all forms dielectric material spare with executive component 4, and through the characteristic that utilizes dielectric material, pressure sensor 21 can detect the bending of the finger joint department of gloves body 1, and the executive component on finger surface is circular telegram, and control voltage makes executive component 4 inflation or shrink, can accurately simulate out true sense of touch to guarantee that tactile feedback gloves 10's tactile feedback is accurate, sensitive. And the glove body 1 can only be made of a light and thin insulating film, so that the glove body 1 is good in breathability, light and convenient to carry, the tactile feedback glove 10 can be conveniently worn, and the problems that the tactile feedback glove 10 is heavy in weight and poor in portability are solved.

According to an embodiment of the present invention, as shown in fig. 1, the interface integrator 3 is integrated with a digital signal processor module 32 and a high voltage conversion module 34, the digital signal processor module 32 is electrically connected with a CPU8, the digital signal processor module 32 is electrically connected with the high voltage conversion module 34, the high voltage conversion module 34 is electrically connected with the execution unit 4, the digital signal processor receives virtual hand information sent by the CPU8, and after performing digital information processing on the virtual hand information, transmits a voltage signal to the high voltage conversion module 34, the high voltage conversion module 34 converts the voltage signal and provides an electrical signal to the execution unit 4, the digital signal processor module 32 can process data information sent by the CPU8, the high voltage conversion module 34 can convert the voltage value, thereby ensuring that the interface integrator 3 can receive the data information of the CPU8 and provide the converted voltage signal to the execution unit 4, ensuring proper operation of the tactile feedback glove 10.

According to an embodiment of the present invention, as shown in fig. 1, the interface integrator 3 further integrates a USB module 31 and a D/a conversion chip module 33, the digital signal processor module 32 is electrically connected to the CPU8 through the USB module 31, the digital signal processor module 32 is electrically connected to the high voltage conversion module 34 through the D/a conversion chip module 33, the USB module 31 is a commonly used data interface module, and has the characteristics of low cost, fast data transmission and stable operation, therefore, the digital signal processor module 32 is electrically connected to the CPU8 through the USB module 31, the reliability of the connection between the digital signal processor module 32 and the CPU8 is ensured to be high, the D/a conversion chip can convert the data volume into analog volume, thereby converting the data information transmitted by the digital signal processor module 32 into analog electrical information, thereby ensuring that the digital signal processor module 32 and the high voltage conversion module 34 can convert the data information into voltage information, ensuring proper operation of the tactile feedback glove 10.

According to the utility model discloses an embodiment, as shown in fig. 1, the one end of interface integrator 3 is equipped with arm fixed band 35, and arm fixed band 35 is suitable for to fix interface integrator 3 on user's arm, that is to say, interface integrator 3 can be fixed on user's arm through arm fixed band 35 to convenient carrying to interface integrator 3.

According to the utility model discloses an embodiment, the cuff department of gloves body 1 is equipped with gloves fixed band 11, and gloves fixed band 11 is suitable for and fixes gloves body 1 on user's wrist, that is to say, gloves body 1 can be fixed in user's wrist department through gloves fixed band 11 to firm nature and convenience when guaranteeing gloves body 1 to cooperate are better.

According to the utility model discloses an embodiment, arm fixed band 35 and gloves fixed band 11 can be for the magic subsides fixed band to make things convenient for wearing and shirking of gloves body 1 and interface board.

According to the utility model discloses an embodiment, as shown in fig. 3-5, the both sides surface of pressure sensor 21 is equipped with paints electrode 9, paint electrode 9 and CPU8 and pass through sensor connecting wire 5 and be connected, thereby guarantee that CPU8 can receive the sensing signal of pressure sensor 21, and sensor connecting wire 5 and CPU8 parallel connection on each finger in the gloves body 1, that is to say, little finger on the gloves body 1, the ring finger, the middle finger, parallel connection between the sensor connecting wire 5 of painting electrode 9 on pressure sensor 21 on forefinger and the thumb, thereby guarantee that the bending motion all can carry out the individual recognition on each finger, and then guarantee that the discernment of pressure sensor 21 to the motion of gloves body 1 is accurate.

According to an embodiment of the present invention, as shown in fig. 3-4 and 6-7, the two side surfaces of the executing component 4 are provided with the smearing electrodes 9, the smearing electrodes 9 are connected with the high voltage converting module 34 through the electrode connecting wires 6, and the electrode connecting wires 6 on each finger in the glove body 1 are connected in parallel with the high voltage converting module 34, when the voltage of the high voltage converting module 34 changes, the executing component 4 can contract or expand to generate the pressure feedback.

That is, the electrode connecting wires 6 are connected with the positive and negative electrodes of the smearing electrodes 9 of the executing components 4 on the little finger, the ring finger, the middle finger, the index finger and the thumb of the glove body 1, so that the smearing electrodes 9 of the executing components 4 of each finger of the glove body 1 form separate circuits respectively, thereby ensuring that the executing components 4 can perform tactile feedback on a single finger of the glove body 1, and ensuring that the tactile feedback glove 10 has high accuracy on the tactile feedback.

According to the utility model discloses an embodiment, displacement sensor is sharp laser sensor, and sharp laser sensor is comparatively accurate, sensitive to the discernment of position removal, and in the embodiment, displacement sensor can measure the motion of the gloves body 1 among the real environment to make the motion of simulating the hand and following gloves body 1 well.

According to the utility model discloses an embodiment, the inside of gloves body 1 is equipped with a plurality of independent ground slice dielectric sensors, dielectric sensor with CPU8 electricity is connected, when gloves body 1's finger joint rotated, can extrude dielectric sensor, the feedback voltage transmission that dielectric sensor produced to CPU8 in, CPU8 changes the corresponding voltage data through collecting a large amount of different joint shapes, learns the training to tactile feedback gloves 10, can realize the finger shape of gloves body 1 of backward pushing through the voltage data of feedback.

According to another aspect of the present invention, a VR device assembly includes the above-mentioned tactile feedback glove 10 and VR glasses 7, and the VR glasses 7 are electrically connected to the CPU8 to display a real-time virtual hand image on the VR glasses 7.

In particular embodiments, the haptic feedback glove 10 and VR glasses 7 are of various sizes to accommodate the wearing needs of different users.

The above is the preferred embodiment of the present invention, and the technical personnel in the field of the present invention can also change and modify the above embodiment, therefore, the present invention is not limited to the above specific embodiment, and any obvious improvement, replacement or modification made by the technical personnel in the field on the basis of the present invention all belong to the protection scope of the present invention.

Claims (10)

1. A haptic feedback glove, comprising:

a glove body (1), the glove body (1) being formed as an insulating material, the glove body (1) having a back of the hand, arms and fingers;

a sensing system, the sensing system comprising: the glove comprises a pressure sensor (21) and a displacement sensor, wherein the pressure sensor (21) is formed into a dielectric material piece, the pressure sensor (21) covers the outer finger joint of the glove body (1), and the displacement sensor is positioned on the back of the hand or the arm of the glove body (1);

a control system, the control system comprising: the interface integrator (3) is electrically connected with the CPU (8), the CPU (8) is electrically connected with the sensing system, and the interface integrator (3) is electrically connected with the CPU (8);

the execution component (4) is formed into a dielectric material piece, fingers are wrapped outside the glove body (1) by the execution component (4), the execution component is located between two adjacent pressure sensors (21), and the execution component (4) is electrically connected with the interface integrator (3);

the haptic feedback glove (10) is configured to: the displacement sensor detects the displacement signal of gloves body (1), pressure sensor (21) detect the crooked signal of the finger of gloves body (1), and to CPU (8) transmission signal of telecommunication, CPU (8) are handled the signal of telecommunication to simulate out virtual hand information, again with virtual hand information transfer extremely interface integrator (3), interface integrator (3) are the voltage signal transmission to executive component (4) for, executive component (4) carry out pressure feedback.

2. The haptic feedback glove of claim 1 wherein the interface integrator (3) has integrated thereon a digital signal processor module (32) and a high voltage conversion module (34), the digital signal processor module (32) being electrically connected to the CPU (8), the digital signal processor module (32) being electrically connected to the high voltage conversion module (34), and the high voltage conversion module (34) being electrically connected to the actuator (4);

the digital signal processor receives the virtual hand information sent by the CPU (8) and transmits a voltage signal to the high-voltage conversion module (34), and the high-voltage conversion module (34) converts the voltage signal and then provides an electric signal to the execution component (4).

3. The haptic feedback glove according to claim 2, wherein the interface integrator (3) further integrates a USB module (31) and a D/a conversion chip module (33), the digital signal processor module (32) and the CPU (8) are electrically connected through the USB module (31), and the digital signal processor module (32) and the high voltage conversion module (34) are electrically connected through the D/a conversion chip module (33).

4. A haptic feedback glove according to claim 3 wherein the interface integrator (3) is provided at one end with an arm securing strap (35), the arm securing strap (35) being adapted to secure the interface integrator (3) to the arm of the user.

5. A glove according to claim 4, wherein the glove body (1) is provided with glove fastening straps (11) at the cuff, the glove fastening straps (11) being adapted to fasten the glove body (1) to the wrist of a user.

6. The haptic feedback glove according to claim 5, wherein the arm fixing strap (35) and the glove fixing strap (11) are hook and loop fastener fixing straps.

7. The tactile feedback glove according to claim 2, wherein the pressure sensor (21) is provided with a daubing electrode (9) on both side surfaces thereof, the daubing electrode (9) is connected with the CPU (8) through a sensor connecting line (5), and the sensor connecting line (5) on each finger in the glove body (1) is connected in parallel with the CPU (8).

8. The haptic feedback glove according to claim 7, wherein the applicator electrode (9) is provided on both side surfaces of the actuator (4), the applicator electrode (9) is connected to the high voltage conversion module (34) through an electrode connection line (6), and the electrode connection line (6) on each finger in the glove body (1) is connected in parallel to the high voltage conversion module (34);

when the voltage of the high-voltage conversion module (34) changes, the actuating component (4) contracts or expands to generate pressure feedback.

9. The glove according to claim 1, wherein a plurality of independent sheet-like dielectric sensors are disposed inside the glove body (1), the dielectric sensors are electrically connected to the CPU (8), when the finger joints of the glove body (1) rotate, the dielectric sensors are pressed, the feedback voltage generated by the dielectric sensors is transmitted to the CPU (8), and the CPU (8) collects voltage data corresponding to a large number of different joint shape changes to perform learning training on the tactile feedback glove (10), so that the finger shape of the glove body (1) can be reversely deduced through the fed-back voltage data.

10. A VR equipment assembly comprising the haptic feedback glove (10) of any of claims 1-9 and VR glasses (7), the VR glasses (7) being electrically connected to the CPU (8) to display a real-time virtual hand image at the VR glasses (7).

Images