CN2374876Y - Finger force sense feedback device - Google Patents
Finger force sense feedback device Download PDFInfo
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- CN2374876Y CN2374876Y CN99205010U CN99205010U CN2374876Y CN 2374876 Y CN2374876 Y CN 2374876Y CN 99205010 U CN99205010 U CN 99205010U CN 99205010 U CN99205010 U CN 99205010U CN 2374876 Y CN2374876 Y CN 2374876Y
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Abstract
The utility model relates to a finger force sense feedback device, belonging to a force sense feedback device which can be installed on an operator's fingers, matched with a computer control system, and generate acting force on the surfaces of the operator's fingers according to an external input signal. The direction of the acting force is basically vertical with the surfaces of the fingers. The size of the acting force depends on the size of the external input signal. The utility model is composed of a linear electromagnet, a coil-a steel cable transmission mechanism, an outer skeleton for fingers, a slide bar, a slide groove, a contact head, a force sensor, a fixed support, etc. The finger force sense feedback device can carry out feedback control for the force which is born by the operator's fingers. The utility model can be used for various systems which are wished to obtain force sense feedback from fingers.
Description
The utility model is a kind of can being installed on operator's finger, cooperates with computer control system, produces the device for force feedback of acting force at operator's finger surface according to external input signal.The size of acting force depends on external input signal, and the direction of acting force is substantially perpendicular to finger surface.Utilization is installed in the force transducer on the power feel feedback unit, can be to the stressed FEEDBACK CONTROL of carrying out of operator's finger.
The typical application of the present utility model is that a plurality of power are felt that feedback units are installed on the data glove, cooperates with data glove, constitutes the data glove----" power feel feedback data gloves " of band power feel feedback function.This " power feel feedback data gloves " can be used for the teleoperation robot system of needs " power feel telepresenc ", make the operator when utilizing data glove that robot multi-finger hand is carried out straighforward operation, can directly feel the force-bearing situation of robot multi-finger hand, can access so-called " power feel telepresenc ", thereby reach the purpose of complete operation task better.This " power feel feedback data gloves " also can be used for virtual reality system, make the operator when the virtual world that utilizes data glove touch computing machine to generate, obtain corresponding sense of touch and power feel feedback, produce with virtual world and carry out mutual sensation, promptly obtain so-called " feeling of immersion ".Feel that feedback approach is a lot of though realize tactile feedback and power, how to obtain real power and feel feedback, and the problem that makes realizable force feel that the device of feedback itself does not influence operator's finger motion never is resolved.Known power visual information feedback assembly has following several:
A) vibration-tactile power feels that the basic functional principle of feedback system is that the different coil of quantity is installed in sensor glove, makes the coil starting of oscillation by the high-frequency current that adds a certain frequency to coil, thus generation power feel effect.Adopted the power of this mode to feel that feedback assembly has the product of U.S. Audiological Engineering INC company and EXOS company.Just adopted vibrating voice coil to feel feedback element among the Touch Master of CyberTouch and EXOS company, but the vibrating voice coil size is bigger, is difficult to produce high density arrays as power.The array power of TeleSensory company development feels that feedback device has 100 stimulation points, and its spatial resolution is 1.9-3.8mm, and vibration frequency is 230Hz.Electro photoluminescence power feels that feedback is to adopt the biostimulation method of surface electrode stimulation, neuromuscular stimulation or static stimulation mode generation power feel impression.U.S. Louisiana technology university and Wisconsin university are developing silicon base electrostatic force feel feedback assembly, and it is to make electrod-array on silicon chip, and cover Kapton as electric insulation layer.When applying the voltage of 200-600V on the electrode, the finger epidermis that touches this silicon chip is produced electrostatic attraction, thereby in relevant position sensation contact.More than the shortcoming of these modes be that power feels that feedback information is not real force signal, feel telepresenc so be difficult to produce real power.
B) pneumatic type power feels that the basic functional principle of feedback system is that the air bag that can charge and discharge gas is installed in the desired position in sensor glove, the aerial root that charges and discharge of these air bags carries out according to the signal magnitude of robot multi-finger power sense sensor on hand, operator's generation power is felt experience.The major defect of this mode is because the volume of air bag is bigger, can only produce power feel induction in a big way; This mode yet exists feedback assembly more complicated, the shortcoming that the aerating and exhaust device cost is higher in addition.The AdvancedRobotics Research Ltd. company that the U.S. is arranged and the Airmuscle Ltd. company of this power feel feedback system have been adopted.
C) marmem heating/cooled power feels that the basic functional principle of feedback assembly is to take the switch on mode of heating and outage cooling of shape-memory alloy wire is controlled the length of marmem, and the indirect thus position of controlling and pointing the contact that contacts, thereby reach the purpose that produces different power feel impressions the operator on hand.The major defect of this mode is because memorial alloy need be controlled by heating and cooling, so response speed is slow, is difficult to practicability.That adopts that this power feels feedback system has a Harvard University etc.
D) Britain Hull university utilizes the electro rheological fluids material to understand the characteristic that be transformed into solid by liquid under electric field action, the highdensity passive type power feel feedback assembly of development.It is to apply electric field by the electrode dot matrix to make electro rheological fluids in the position hardening that requires, and can touch out the shape of dummy object like this on the surface, reaches the effect of passive sense of touch.The spatial resolution of its principle model machine reaches 2mm, and change in displacement is 1mm, but this device need apply 2000V or higher operating voltage, has limited its versatility.
Except such scheme, the somebody has proposed to utilize the scheme of the inverse piezoelectric effect of piezoelectric in operator's the feel of generation power on hand induction.But, because the displacement that present piezoelectric is produced when inverse piezoelectric effect can only be at (the m order of magnitude, and in order on staff, to produce the power feel telepresenc effect that the sense of reality is arranged, power feels that the displacement that feedback assembly produced should be more than 2mm, so this method also has big problem aspect practicality.
Also there is a common shortcoming in present power visual information feedback assembly scheme, and that is exactly not carry out closed-loop control to feeding back to operator's feedback force on hand, is difficult to therefore to guarantee that the power that the operator is subjected to is identical with the power that remote control object or virtual object are subjected to.In addition, the drive unit of most power visual information feedback assemblys is difficult to produce enough big pressure on operator's finger, thereby also is difficult to produce real power feel telepresenc.
The purpose of this utility model is to propose a kind of can being used with data glove, according to the external signal input, the operator is pointed direct generation acting force, and can realize the finger strength feedback assembly of FEEDBACK CONTROL to this acting force.This device adopts linear electromagnet as driver part, and system bulk is little, and is simple in structure, and cost is low, can produce required driving force.The coiled pipe of realizable force transmission and wire rope mechanism volume are very little, and have fabulous flexibility, can be with operator's hand free movement.
Technical essential of the present utility model is its basic structure as shown in Figure 1.
The finger strength that the utility model proposes feels that the major advantage of feedback assembly is as follows: owing to adopt linear electromagnet as driver part, system bulk is little, and is simple in structure, and cost is low, can produce required driving force.The coiled pipe of realizable force transmission and wire rope mechanism volume are very little, and have fabulous flexibility, can be with operator's hand free movement.Chute-slide bar-the contact mechanism that produces acting force the operator on hand is simple in structure, compact, can be fixed on operator's finger by outer skeleton, and do not influence the action of finger, be easy to a plurality of force feedbacks unit is installed on the data glove, constitute " power feel feedback data gloves " with force feedback function.The contact of the operator being pointed the application of force partly is equipped with force transducer, can be to the stressed FEEDBACK CONTROL of carrying out of operator's finger, stressed and the outside input that the operator is pointed is identical, thereby guaranteed that the operator can obtain comparison real " power feel telepresenc " or " feeling of immersion ", has increased the practicality of system.
Description of drawings: Fig. 1 is finger strength feel feedback assembly structural drawing: 1-linear electromagnet, 2-armature, 3-set bolt, the 4-back-moving spring, 5-wire rope, 6-bolt, the 7-coiled pipe, 8-chute, 9-slide bar, the 10-back-moving spring, 11-points outer skeleton, 12-set bolt, the 13-contact, 14-operator finger, the 15-force transducer, 16-fixed support Fig. 2 is finger strength feel feedback assembly system diagram:
Embodiment:
This device is used with computer control system.The system works principle as shown in Figure 2.Computer control system is sampled to external input signal by the A/D integrated circuit board, and provides control signal by certain control algolithm.The control signal of computing machine is added on the coil of linear electromagnet 1 by the driving circuit of D/A integrated circuit board and PWM mode, and linear electromagnet is driven.When there not being external signal when input, control signal is zero, and the driving voltage of linear electromagnet is zero, and its armature 2 spring 4 that is reset is pulled out to the right, and slide bar 9 also breaks away from operator's finger under the effect of back-moving spring 10, and the wire rope in the coiled pipe is in tensioned state.When external signal was imported, computer control system provided control signal and to the driving voltage of linear electromagnet.When the driving voltage of linear electromagnet was enough big, the electromagnetic force that magnet coil produces was greater than the pulling force of back-moving spring 4, and armature 2 overcomes spring tension and slides left along its inner chamber, and wire rope 5 is produced pulling force.Because the electromagnetic force that the coil of linear electromagnet produces is directly proportional with input voltage, so the displacement of armature 2 also is directly proportional with the input voltage of linear electromagnet.
Coiled pipe 7 will be subjected to the pressure perpendicular to its cross section when wire rope 5 is subjected to pulling force.Because coiled pipe itself is formed by the tight coiling of finer wire, its length remains unchanged when the pressure that is subjected to perpendicular to its cross section, and the two ends of coiled pipe 7 are separately fixed on support 16 and the chute 8, so the displacement at wire rope two ends is identical with the displacement of armature 2 basically.When armature 2 produces displacement, the slide bar 9 that is fixed together with wire rope one end will produce same displacement in chute 8.On the other hand,, be fixed on operator's finger, so the displacement of slide bar 9 in chute 8 is the displacement of contact 13 with respect to operator's finger and point outer skeleton 11 because chute 8 is fixed on the outer skeleton 11 of finger.When the displacement of slide bar 9 is enough big, contact 13 will be pointed 14 with the operator and come in contact, and make the operator produce sense of touch.And when the displacement of slide bar 9 further increases, the acting force that contact 13 acts on operator's finger surface also will increase thereupon.Therefore, the input voltage of control linear electromagnet 1 promptly can be controlled the displacement of electromagnet armature 2, thereby reaches the purpose that control contact 13 acts on the acting force of operator's finger surface.
Owing on the contact 13 force transducer 15 is housed, can the actual loading of operator's finger be detected.Therefore, when the finger strength feel feedback assembly that use the utility model proposes, can carry out FEEDBACK CONTROL, guarantee that stressed and outside input of operator's finger reaches consistent according to the error between the actual loading of external input signal and operator's finger.
Claims (5)
1. finger strength feel feedback assembly of partly forming by electromagnet, spring, coiled pipe-wire cable transmission mechanism, the outer skeleton of finger, slide bar-chute, contact, force transducer and fixed support etc.; It is characterized in that electromagnet is linear electromagnet and is fixed on the support that spring is a back-moving spring, the armature of one end and linear electromagnet is fixed together, and the other end is fixed on the support; One end of coiled pipe is fixed on the support, and the other end is fixed on the chute; Chute is fixed on the outer skeleton of finger; The steel wire penetrating coiled pipe, one end and electromagnet armature are fixed together, and an end of the other end and slide bar is fixed together; Slide bar is installed in the chute, and one end and wire rope are fixed together, and the other end is equipped with set bolt, and contact is installed on the set bolt, and force transducer is installed on the contact.
2. finger strength feel feedback assembly according to claim 1 is characterized in that used coiled pipe is the gapless bourdon tube that is formed by the tight coiling of finer wire.
3. power finger strength feel feedback assembly according to claim 1 is characterized in that used wire rope is that the coiling of multiply stainless steel wire forms.
4. finger strength according to claim 1 is felt feedback assembly, it is characterized in that being equipped with in the chute resets to use stage clip.
5. finger strength feel feedback assembly according to claim 1 is characterized in that an end of slide bar is equipped with adjustable set bolt, and contact is installed on the set bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN99205010U CN2374876Y (en) | 1999-03-04 | 1999-03-04 | Finger force sense feedback device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN99205010U CN2374876Y (en) | 1999-03-04 | 1999-03-04 | Finger force sense feedback device |
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| Publication Number | Publication Date |
|---|---|
| CN2374876Y true CN2374876Y (en) | 2000-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN99205010U Expired - Lifetime CN2374876Y (en) | 1999-03-04 | 1999-03-04 | Finger force sense feedback device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1323341C (en) * | 2004-06-15 | 2007-06-27 | 中国科学院自动化研究所 | Skeleton style force sensing device |
| CN101441512B (en) * | 2008-12-25 | 2010-06-23 | 哈尔滨工业大学 | Fingertip force feedback apparatus based on piezoresistance sensor |
| CN102436303A (en) * | 2011-10-17 | 2012-05-02 | 南京大学 | Body sensing ring |
| CN108453762A (en) * | 2018-05-03 | 2018-08-28 | 广东省智能制造研究所 | Gloves and its tensile machine are controlled for Virtual Reality Force |
| CN108687743A (en) * | 2017-04-08 | 2018-10-23 | 金子楗 | Based on vibration and the touch feedback exoskeleton device pneumatically combined |
| CN111045513A (en) * | 2019-11-19 | 2020-04-21 | 南京航空航天大学 | Wearable finger tip force feedback device |
-
1999
- 1999-03-04 CN CN99205010U patent/CN2374876Y/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1323341C (en) * | 2004-06-15 | 2007-06-27 | 中国科学院自动化研究所 | Skeleton style force sensing device |
| CN101441512B (en) * | 2008-12-25 | 2010-06-23 | 哈尔滨工业大学 | Fingertip force feedback apparatus based on piezoresistance sensor |
| CN102436303A (en) * | 2011-10-17 | 2012-05-02 | 南京大学 | Body sensing ring |
| CN108687743A (en) * | 2017-04-08 | 2018-10-23 | 金子楗 | Based on vibration and the touch feedback exoskeleton device pneumatically combined |
| CN108453762A (en) * | 2018-05-03 | 2018-08-28 | 广东省智能制造研究所 | Gloves and its tensile machine are controlled for Virtual Reality Force |
| CN108453762B (en) * | 2018-05-03 | 2023-10-31 | 广东省智能制造研究所 | Glove for virtual reality control and tension mechanism thereof |
| CN111045513A (en) * | 2019-11-19 | 2020-04-21 | 南京航空航天大学 | Wearable finger tip force feedback device |
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Legal Events
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CX01 | Expiry of patent term |