CN212312029U - Exoskeleton type data glove with high universality - Google Patents
Exoskeleton type data glove with high universality Download PDFInfo
- Publication number
- CN212312029U CN212312029U CN202022026893.0U CN202022026893U CN212312029U CN 212312029 U CN212312029 U CN 212312029U CN 202022026893 U CN202022026893 U CN 202022026893U CN 212312029 U CN212312029 U CN 212312029U
- Authority
- CN
- China
- Prior art keywords
- dactylotheca
- finger
- section
- joint
- connecting rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- User Interface Of Digital Computer (AREA)
Abstract
The utility model discloses an ectoskeleton formula data gloves of high universality, including gloves, bracelet, controller, operation panel, coupling mechanism, pressure sensor, flexible displacement sensor and motor, gloves include palm portion, finger portion and joint portion, finger portion includes two sections dactylotheca and four three section dactylotheca, two sections dactylotheca include dactylotheca one and dactylotheca one, the three section dactylotheca includes dactylotheca two, dactylotheca two and middle section, two adjacent dactylotheca of finger portion all pass through the joint portion rotates the connection. Meanwhile, the utility model discloses can be through the cooperation work of joint portion and motor, apply dynamics reinforcing virtual reality's true degree for user's hand, cooperate finger portion and coupling mechanism's work simultaneously, make user's hand make the action can detect out the motion angle of joint department through the potentiometre, realize exoskeleton formula data glove data transmission on joint motion and apply dynamics simulation reality.
Description
Technical Field
The utility model relates to an ectoskeleton formula data gloves of high universality.
Background
With popularization of VR technology and AR technology, collection and interaction of real data and virtual data are well developed, popularization of the VR technology and the AR technology is a great tendency, existing data gloves are high in cost, only existing data gloves are claw-shaped exoskeleton-type data gloves, data collection can be completed only through sensors of fingertips and palms, movement of knuckle parts cannot be accurately captured, a lot of data are lacked to analyze accurate hand movement when the data gloves are used, and a feedback mechanism cannot make more real feedback movement.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an ectoskeleton formula data gloves of high universality to solve among the prior art exoskeletal formula data gloves and lack the data acquisition device of knuckle part, unable accurate analysis accurate hand action and can't make more real feedback action, and the higher problem that is difficult to popularize of cost.
The exoskeleton type data glove with high universality comprises a glove, a bracelet, a controller, an operation plate, a connecting mechanism, a pressure sensor, a telescopic displacement sensor and a motor, wherein the glove comprises a palm part, a finger part and a joint part, the finger part comprises a double-section finger sleeve and four three-section finger sleeves, the double-section finger sleeves comprise a first finger tip section and a first finger root section, the three-section finger sleeves comprise a second finger tip section, a second finger root section and a middle section, two adjacent finger sections of the finger part are rotatably connected through the joint part, the joint part comprises a first fixed block and a second fixed block, the first fixed block and the second fixed block are respectively fixed on the two adjacent finger joints, the first fixed block and the second fixed block are rotatably connected through the motor, the first finger tip section and the first finger root section are connected through the connecting mechanism, the first and four of the dactylus root festival two all pass through coupling mechanism with the palm portion is connected, dactylus root festival two with pass through between the middle festival coupling mechanism connects, works as the palm portion the finger portion with when producing relative motion between the joint portion, coupling mechanism begins to carry out information acquisition work to the motion of hand, and passes through feedback work is accomplished to the motor.
Preferably, the connecting mechanism comprises a potentiometer base, a potentiometer, a first connecting rod and a second connecting rod, wherein the fixed end of the potentiometer is arranged on the potentiometer base, one end of the second connecting rod is fixedly connected with the movable end of the potentiometer, the other end of the second connecting rod is rotatably connected with one end of the first connecting rod, the other end of the first connecting rod is respectively arranged on the middle joint, the second finger root joint, the first finger root joint and the first finger tip joint, the potentiometer bases and the connecting rods are arranged on the finger root joints II, the palm parts and the finger root joints I in a one-to-one correspondence manner, the pressure sensor is fixed on the first finger tip section and the second finger tip section, the telescopic displacement sensor is arranged on the middle section, the end part of the first connecting rod is connected with the first finger root joint through a universal joint, and the end parts of the other first connecting rods are fixedly connected with the finger part.
Preferably, the controller is installed on the palm portion, the operation panel is installed on the bracelet, motor, operation panel, pressure sensor, flexible displacement sensor and potentiometre all with the controller is connected.
Preferably, the universal joint is a rzeppa universal joint.
Preferably, the motor is a micro servo motor.
Preferably, the bracelet has certain elasticity, can not only laminate user's wrist in certain extent, can also guarantee can not be to user's wrist too big pressure.
The utility model has the advantages that: this data gloves can pass through the cooperation work of joint portion and motor, the degree of reality of dynamics reinforcing virtual reality is applyed for user's hand, the work of cooperation finger portion and coupling mechanism simultaneously, make user's hand make the action can detect out the motion angle of joint department through the potentiometre, realize the data transfer of ectoskeleton formula data gloves on joint motion and exert dynamics simulation reality, it is more comprehensive to make data, increase user experience, and can also satisfy the user that finger length is different through telescopic middle section and flexible displacement sensor and can both experience the mutual experience of the virtual reality that accords with oneself finger length, increase the universality of the device, the device adopts the potentiometre as angle sensor, the cost is lower, can improve the device's popularity to a certain extent.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a front view of the present invention;
fig. 3 is a top view of the present invention.
The labels in the figures are: 1. the device comprises a bracelet 21, a palm part 221, a first fingertip segment 222, a first base segment 223, a second fingertip segment 224, a second base segment 225, a middle segment 23, a joint part 3, a controller 4, an operation board 5, a potentiometer base 6, a potentiometer 7, a first connecting rod 8, a second connecting rod 9, a pressure sensor 10, a telescopic displacement sensor 11 and a motor.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings, so as to help those skilled in the art to more fully, accurately and deeply understand the inventive concept and technical solution of the present invention.
As shown in fig. 1-3, the utility model provides an exoskeleton data glove with high universality, which comprises a glove, a bracelet 1, a controller 3, an operation panel 4, a connecting mechanism, a pressure sensor 9, a telescopic displacement sensor 10 and a motor 11, wherein the glove comprises a palm part 21, a finger part and a joint part 23, the finger part comprises a double-section finger stall and four three-section finger stalls, the double-section finger stall comprises a first fingertip segment 221 and a first fingertip segment 222, the three-section finger stall comprises a second fingertip segment 223, a second fingertip segment 224 and a middle segment 225, two adjacent fingertip segments of the finger part are rotatably connected through the joint part 23, the joint part 23 comprises a first fixed block and a second fixed block, the first fixed block and the second fixed block are respectively fixed on two adjacent fingertip segments, the first fixed block and the second fixed block are rotatably connected through the motor 11, the first fingertip segment 221 and the first fingertip segment 222 are connected through the connecting mechanism, the first finger root joint 222 and the second four finger root joints 224 are connected with the palm portion 21 through the connecting mechanism, the second finger root joint 224 is connected with the middle joint 225 through the connecting mechanism, when relative motion is generated among the palm portion 21, the finger portion and the joint portion 23, the connecting mechanism starts to carry out information acquisition work on the motion of the hand portion, and feedback work is completed through the motor 11.
The connecting mechanism comprises a potentiometer base 5, a potentiometer 6, a first connecting rod 7 and a second connecting rod 8, wherein the fixed end of the potentiometer 6 is installed on the potentiometer base 5, one end of the second connecting rod 8 is fixedly connected with the movable end of the potentiometer 6, the other end of the second connecting rod 8 is rotatably connected with one end of the first connecting rod 7, the other end of the first connecting rod 7 is respectively installed on a middle joint 225, a second knuckle joint 224, a first knuckle joint 222 and a first fingertip joint 221, the potentiometer base 5 and the first connecting rod 7 are installed on the second knuckle joint 224, the palm portion 21 and the first knuckle joint 222 in a one-to-one correspondence mode, a pressure sensor 9 is fixed on the first fingertip joint 221 and the second fingertip joint 223, a telescopic displacement sensor 10 is arranged on the middle joint 225, the end portion of the first connecting rod 7 is connected with the first knuckle joint 222 through a universal joint, and the end portions of the other connecting rods 7.
The universal joint adopts a ball cage type universal joint.
The motor 11 is a micro servo motor.
Bracelet 1 has certain elasticity, can not only laminate user's wrist in certain extent, can also guarantee can not be to user's wrist too big pressure.
When the data glove is used, firstly, the bracelet 1 is worn on the wrist, fingers are inserted into corresponding fingers, the length of the middle section 225 is adjusted according to the length of the fingers, the data glove is electrified through the operation panel 4, all the potentiometers 6 and the telescopic displacement sensors 10 transmit position information to the controller 3, when the data glove is matched with virtual reality equipment to be used, the joint part 23 and the motor 11 can move at proper time according to actual requirements and required rotating speed and steering, and simultaneously, the work of the connecting rod I7, the connecting rod II 8, the potentiometers 6 and the potentiometer base 5 is matched to simulate the stress of the hand of a user at the joint, the finger pressure sensor 9 is controlled to detect the force applied by the user when the user grabs actual articles in the real environment and transmit data to the controller 3, and all the data transmitted to the controller 3, the data glove is processed by the controller 3 and then transmitted to a computer end to form an interaction effect in a virtual and real environment together with other equipment, the data glove can apply force to the hand of a user to enhance the reality degree of virtual reality through the matching work of the joint part 23 and the motor 11, meanwhile, the work of the finger part and the connecting mechanism is matched, so that the hand of the user can act to detect the motion angle of the joint through the potentiometer 6, the data transmission and force applying simulation reality of the exoskeleton type data glove on joint motion are realized, the data are more comprehensive, the user experience is improved, users with different finger lengths can experience the interaction experience of the virtual reality conforming to the finger length of the user through the telescopic middle joint 225 and the telescopic displacement sensor 10, the universality of the device is improved, the potentiometer 6 is adopted as an angle sensor, the cost is lower, and the popularity of the device can be improved to a certain extent.
The above description is made for the exemplary purposes with reference to the accompanying drawings, and it is obvious that the present invention is not limited by the above embodiments, and various insubstantial improvements can be made without modification to the present invention.
Claims (6)
1. A high-universality exoskeleton-type data glove is characterized in that: including gloves, bracelet (1), controller (3), operation panel (4), coupling mechanism, pressure sensor (9), flexible displacement sensor (10) and motor (11), gloves include palm portion (21), finger portion and joint portion (23), finger portion includes two-section dactylotheca and four three-section dactylotheca, two-section dactylotheca includes dactylotheca one (221) and dactylotheca one (222), the three-section dactylotheca includes dactylotheca two (223), dactylotheca two (224) and middle section (225), two adjacent dactylotheca of finger portion all pass through joint portion (23) rotate to be connected, joint portion (23) include first fixed block and second fixed block, first fixed block with the second fixed block is fixed respectively on two adjacent dactylotheca, first fixed block with the second fixed block passes through motor (11) rotates to be connected, finger tip festival (221) with pass through between the finger root festival (222) coupling mechanism connects, finger root festival (222) and four finger root festival two (224) all pass through coupling mechanism with palm portion (21) are connected, finger root festival two (224) with pass through between middle festival (225) coupling mechanism connects, works as palm portion (21) finger portion with when producing relative motion between joint portion (23), coupling mechanism begins to carry out information acquisition work to the motion of hand, and passes through feedback work is accomplished in motor (11).
2. The highly versatile exoskeletal data glove of claim 1, further comprising: the connecting mechanism comprises a potentiometer base (5), a potentiometer (6), a first connecting rod (7) and a second connecting rod (8), wherein the fixed end of the potentiometer (6) is installed on the potentiometer base (5), one end of the second connecting rod (8) is fixedly connected with the movable end of the potentiometer (6), the other end of the second connecting rod (8) is rotatably connected with one end of the first connecting rod (7), the other end of the first connecting rod (7) is respectively installed on the middle section (225), the second finger root section (224), the first finger root section (222) and the first finger tip section (221), the potentiometer base (5) and the first connecting rod (7) are correspondingly installed on the second finger root section (224), the palm part (21) and the first finger root section (222), the pressure sensor (9) is fixed on the first finger tip section (221) and the second finger tip section (223), the telescopic displacement sensor (10) is arranged on the middle joint (225), the end part of the first connecting rod (7) is connected with the first finger root joint (222) through a universal joint, and the end parts of the other first connecting rods (7) are fixedly connected with the finger parts.
3. The highly versatile exoskeletal data glove of claim 1, further comprising: controller (3) are installed on palm portion (21), install operation panel (4) on bracelet (1), motor (11), operation panel (4), pressure sensor (9), flexible displacement sensor (10) and potentiometre (6) all with controller (3) are connected.
4. The highly versatile exoskeletal data glove of claim 2, wherein: the universal joint is a ball cage universal joint.
5. The highly versatile exoskeletal data glove of claim 1, further comprising: the motor (11) is a micro servo motor.
6. The highly versatile exoskeletal data glove of claim 1, further comprising: bracelet (1) has certain elasticity, can not only laminate user's wrist in certain extent, can also guarantee can not be to user's wrist too big pressure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022026893.0U CN212312029U (en) | 2020-09-16 | 2020-09-16 | Exoskeleton type data glove with high universality |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022026893.0U CN212312029U (en) | 2020-09-16 | 2020-09-16 | Exoskeleton type data glove with high universality |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212312029U true CN212312029U (en) | 2021-01-08 |
Family
ID=74016770
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022026893.0U Active CN212312029U (en) | 2020-09-16 | 2020-09-16 | Exoskeleton type data glove with high universality |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212312029U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111941401A (en) * | 2020-09-16 | 2020-11-17 | 南京工业职业技术大学 | Exoskeleton type data glove with high universality |
-
2020
- 2020-09-16 CN CN202022026893.0U patent/CN212312029U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111941401A (en) * | 2020-09-16 | 2020-11-17 | 南京工业职业技术大学 | Exoskeleton type data glove with high universality |
| CN111941401B (en) * | 2020-09-16 | 2024-05-24 | 南京工业职业技术大学 | Highly universal exoskeleton type data glove |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Sarac et al. | Design requirements of generic hand exoskeletons and survey of hand exoskeletons for rehabilitation, assistive, or haptic use | |
| CN103158162B (en) | External-framework type bidirectional force feedback data glove | |
| CN105677036A (en) | Interactive type data glove | |
| CN109521876B (en) | Finger wearable flexible force tactile feedback device | |
| CN111941401A (en) | Exoskeleton type data glove with high universality | |
| CN103692454B (en) | Exoskeleton wearable data glove | |
| CN103192387A (en) | Robot and control method thereof | |
| US20090153365A1 (en) | Portable haptic interface | |
| CN110549355B (en) | Imitative people's hand of sense of touch perception based on nut lead screw and tendon transmission | |
| WO2018219194A1 (en) | Cyber arm-based teleoperation system for space station robot | |
| CN212312029U (en) | Exoskeleton type data glove with high universality | |
| JP2002182817A (en) | Inner force representing device | |
| CN108687744A (en) | A kind of ectoskeleton based on touch feedback | |
| CN203680324U (en) | Outer framework wearing-type data glove | |
| Guo et al. | A LabVIEW-based human-computer interaction system for the exoskeleton hand rehabilitation robot | |
| CN107943288A (en) | Intelligent object wearing device, intelligent wearable device and control method | |
| CN109801709B (en) | Hand posture capturing and health state sensing system for virtual environment | |
| CN204790857U (en) | Gesture controller and virtual reality system | |
| US20230026300A1 (en) | Hand exoskeleton, medical device and simulated grabbing system | |
| CN110103226A (en) | A kind of auxiliary robot control method and system | |
| CN114602138B (en) | Upper limb personalized rehabilitation training method and system based on human body movement model | |
| WO2023236422A1 (en) | Two-finger gripping force and tactile feedback device | |
| CN113618717B (en) | Human upper limb skill action sensing learning device and method | |
| CN108687743A (en) | Based on vibration and the touch feedback exoskeleton device pneumatically combined | |
| CN211044788U (en) | Demonstration system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |