KR101949311B1 - Hand module for hmi - Google Patents

Abstract

A base for supporting a wearer's hand; A plurality of finger fastening parts mounted on the base and adapted to correspond to the respective fingers and coupled with the respective fingers to sense movement of the fingers; And a thumb fastener mounted on the base and adapted to correspond to the thumb, and a thumb fastening coupled to the thumb to sense movement of the thumb.

Description

[0001] HAND MODULE FOR HMI [0002]

The present invention relates to an HMI hand module that is mounted on a wearer's hand so as to recognize the movement of a finger, but can grasp the intention of moving the finger separately without interfering with the natural movement of the finger.

As robotic technology develops, wearable robots are being developed. In the case of a wearable robot or a large robot, it is very important not to constrain the movement of the human body, but to grasp the movement of the controller with intention.

Especially, in the case of large robots, it is very important that the human-machine interface (HMI) is sophisticated.

In the case of HMI, the movement of each joint of the human body needs to be precisely detected and transmitted to the robot. In addition, since the sensing unit is arranged for each joint, the HMI can move the robot according to the intention even in an emergency situation without unnecessarily restraining the movement of the wearer, and the robot can be naturally controlled in accordance with the intention of the person.

On the other hand, even if it is given freedom, if it is too much, it becomes an obstacle to the control of the robot, and such an HMI assures self-motions and accurate sensing, but also suppresses excessive freedom, It is important to implement the

On the other hand, the difficult and complicated part of the movement of each part of the body is hand and finger. Therefore, in the HMI field, it was necessary to know the movement of the hand accurately and transmit it to the robot so that the robot can be controlled by the human being sensitively.

It should be understood that the foregoing description of the background art is merely for the purpose of promoting an understanding of the background of the present invention and is not to be construed as an admission that the prior art is known to those skilled in the art.

KR 10-1628311 B1

The present invention has been proposed in order to solve such a problem, and it is an object of the present invention to provide an HMI hand module which is mounted on a wearer's hand so as to recognize the movement of the finger and grasp the intention of moving the finger separately without interfering with the natural movement of the finger To provide.

According to an aspect of the present invention, there is provided an HMI hand module including: a base for supporting a hand of a wearer; A sensing unit that is mounted on the base and is provided to correspond to each of the fingers, detects movement of the finger by being engaged with each finger, switches a yawing motion in which the finger is bent and spreads to a rolling motion, A plurality of finger fastening portions; And a thumb fastening portion mounted on the base and adapted to correspond to the thumb, and coupled to the thumb to sense movement of the thumb.

The base may be provided to be in close contact with the back of the hand.

The upper and lower ends of the base are provided with extension portions extending in the direction of the palm, and grip portions for vertically connecting the upper and lower extension portions are provided. The grip portions are disposed on the palm side, and the grip portions can be wrapped with the palm have.

Four finger-fastening portions may be provided so as to correspond to a finger, a finger, a finger, and a finger.

The finger fastening portion may include a coupling portion coupled to the finger at the end portion, a switching portion switching the yaw movement of the finger to the rolling motion, and a sensing portion coupled to the base and sensing the rolling motion of the switching portion.

The coupling portion may be in the form of a ring through which the finger penetrates.

The switching portion may include a yawing link extending from the coupling portion and performing a yawing motion with the finger, a rolling link coupled to the base to perform a rolling motion, and a conversion link connecting the yawing link and the rolling link to convert the yawing motion into a rolling motion have.

The yawing link is composed of a front link and a rear link connected so as to be able to rotate relative to each other, a coupling portion is provided at the front end of the front link, and a rear end of the rear link can be coupled to the base by a rotation shaft.

The rear end portion of the yawing link is coupled to the base by a rotation shaft, and the conversion link is formed by bending the center portion. The front end portion may be coupled to the rear end portion of the yawing link by a rotation axis, and the rear end portion may be coupled to the front end portion of the rolling link by a rotation axis.

A rear end portion of the yawing link and a front end portion of the rolling link are formed with inclined surfaces and the front end portion and the rear end portion of the switching link can be respectively coupled to the rear end portion of the yawing link and the inclined surface of the front end portion of the rolling link.

The base supports the back of the hand and the thumb and thumb fasteners extend forward from the outside of the fingers and the thumb to form the exoskeleton.

The thumb coupling part includes a thumb switching part having a rear end connected to a side end of the base by a rotation shaft to perform a pitching motion, a thumb coupling part provided at the front end of the thumb switching part to be coupled to the thumb, and a thumb sensing part coupled to the base, ≪ / RTI >

The bracket is connected to the base through a rotation shaft to perform yawing motion, and the bracket can be installed with a rotation axis so as to perform a pitching motion.

The bracket is supported by an elastic body on the base, and when the bracket moves by yawing due to the movement of the thumb, the bracket can be provided with restoring force.

The plurality of finger fastening portions are provided along the arrangement of the fingers on the upper surface of the base, and the thumb fastening portions are provided on the side surfaces of the base, so that the fastening positions of the finger fastening portions and the thumb fastening portions can be crossed.

According to the HMI hand module of the present invention, it is possible to grasp the movement of the finger mounted on the wearer's hand and grasp the intention of moving the finger individually without interfering with the natural movement of the finger.

1 is a perspective view of an HMI hand module according to an embodiment of the present invention;
FIG. 2 is a top view of an HMI hand module according to an embodiment of the present invention; FIG.
3 illustrates a base of an HMI hand module according to one embodiment of the present invention.
4 is a front view of the base of the HMI hand module according to one embodiment of the present invention.
5 is a view illustrating a finger fastening portion of an HMI hand module according to an embodiment of the present invention.
6 is a view illustrating a thumb fastening portion of an HMI hand module according to an embodiment of the present invention.
7 to 9 are views illustrating movement of a finger fastening portion of the HMI hand module according to an embodiment of the present invention.

FIG. 1 is a perspective view of an HMI hand module according to an embodiment of the present invention, FIG. 2 is a top view of the HMI hand module according to an embodiment of the present invention, and FIG. FIG. 4 is a front view of the base of the HMI hand module according to an embodiment of the present invention. FIG. 5 is a front view of the base of the HMI hand module according to the embodiment of the present invention, 6 is a view showing a thumb fastening portion of the HMI hand module according to an embodiment of the present invention.

The HMI hand module according to the present invention includes: a base 100 for supporting a wearer's hand; A plurality of finger fastening parts 300 mounted on the base 100 and adapted to correspond to the respective fingers and coupled with the respective fingers to sense movement of the fingers; And a thumb fastening part 500 mounted on the base 100 and adapted to correspond to the thumb and coupled with the thumb to sense movement of the thumb.

The hand module of the present invention has a form in which a human is worn like a glove. To this end, various mechanisms are mounted on the base and the structure is mounted on a human hand.

The base 100 is provided with a finger fastening part 300 and a thumb fastening part 500. The finger fastening part 300 is provided so as to correspond to each finger. Here, the finger means a finger, a finger, a finger, or a finger except the thumb. The finger fastening portion 300 is engaged with each of the fingers so that the movement of each finger can be independently sensed. The thumb fastening part 500 is also mounted on the base and is provided so as to correspond to the thumb, and is engaged with the thumb so as to sense the movement of the thumb. In this way, since the robot is worn in the form of a glove and the movement is detected corresponding to each finger, even when the robot is remotely controlled, the movement of the finger of the robot can be controlled as much as possible according to the movement of the wearer's finger.

On the other hand, the base 100 may be provided to be in close contact with the back of the hand. 1 shows a hand module worn by the left hand of the wearer. The embodiment of the hand worn is not shown, but only the direction is changed, but the technical principle is the same.

1, the wearer inserts a finger between the grip portion 130 and the base 100, and engages the finger fastening portion 300 with the tip of the finger. Whereby the finger is positioned between the grip 130 and the base 100 and the base 100 is positioned to face the back of the hand. The base 100 is disposed so as to face the back of the hand so that the base 100 supports the back of the hand and the thumb fastening part 300 and the thumb fastening part 500 extend forward from the outside of the finger and the thumb, Can be formed. Accordingly, by placing complicated devices on the outside of the hand, it gives the wearer a degree of freedom that can be pulled out without being constrained by the mechanism when the hand is folded or unfolded. This means that the scope of robot control will eventually expand.

1 and 3, an extension part 120 extending in the palm direction is formed at the upper and lower ends of the base, a grip part 130 vertically connecting the upper and lower extension parts 120 is provided, 130 are disposed on the palm side and the grip portion 130 can be wrapped with the palm when the wearer pulls his or her hand. Accordingly, it is possible to freely assure the movement of the wearer's hand, but to be prevented by the grip portion 130 even if the user's hand reaches the maximum, thereby restricting the robot 130 to a mechanical overrun. To give a sense of stability. The thickness and the shape of the grip portion 130 can be determined according to the movable range of the robot's hand.

Meanwhile, the finger-locking unit 300 may be provided with four such that the finger, the stop, the finger, and the hand finger correspond to each other. 5, the finger coupling unit 300 includes a coupling unit 310 coupled to a finger at an end thereof, a switching unit 340 for converting the yaw movement of the finger into a rolling movement, And a sensing unit 350 sensing a rolling motion of the unit 340. The coupling portion 310 may be in the form of a ring through which the finger passes.

By forming the coupling portion 310 into a ring shape, even if a steel material having relatively high rigidity and no change in shape is used, it is possible to reduce the feeling of foreign objects on the finger and optimize the weight of the hand module itself.

In addition, the fingers are not capable of realizing the rolling motion in terms of the joint structure, and in the case of the human hand, the fingers mainly perform the yawing motion, and the joint portion 310 is inserted into the fingers to perform the yawing motion. However, if the sensor is directly connected directly to the base 100 to measure the yawing, it is very difficult to layout and it is very difficult to secure the installation distance between adjacent sensors. Therefore, in order to solve such an unreasonable contradiction, the switching unit 340 is placed without interfering with the yawing motion of the finger so that the yawing is converted into rolling at the end, and the sensing unit 350 measures the rolling, And at the same time to solve the layout problem.

The space between the finger joints and the joints is very narrow, but there is a lot of space behind the finger joints, so there is no problem in installing the sensors and the freedom of the hands of the wearer is not constrained.

5, the switching unit 340 includes yawing links 341 and 342 extending from the coupling unit 310 and performing yawing motion with the fingers, a rolling link 345 coupled to the base 100 and performing rolling motion, And a conversion link 344 that connects the yawing links 341 and 342 and the rolling link 345 to convert the yawing motion into a rolling motion.

Specifically, the yawing links 341 and 342 are constituted by a forward link 341 and a rear link 342 connected so as to be rotatable relative to each other so as to coincide with the respective nodes of the fingers. A ring type coupling portion 310 is provided at the front end of the front link 341 so that the fingers can be inserted and the coupling portion 310 can be pivoted on the basis of the yawing link. The rear end of the rear link 342 may be coupled to the base 100 by a rotation shaft. The rear link 342 is adjustable in length so that it can correspond to the size of a different hand for each wearer.

The rear ends of the yawing links 341 and 342 are coupled to the base 100 by a rotation shaft and the conversion link 344 is formed in a bent shape at the center. The front ends of the yawing links 341 and 342 are coupled to the rear ends of the yawing links 341 and 342, 345 at the front end thereof.

As shown in the figure, the rear ends of the yaw links 341 and 342 and the front ends of the rolling links 345 are formed with inclined surfaces 343 and 346. The front end portion and the rear end portion of the diversion link 344 are connected to the rear ends of the yaw links 341 and 342, 346 of the front end of the rolling link 345, as shown in FIG.

With this configuration, the yawing motion is converted into a rolling motion and transmitted. That is, when the yawing links 341 and 342 perform the yawing motion, the switching link 344 performs the half rotation by the inclined surface 343. And the conversion link 344 is again installed on the rolling link 345 via the inclined surface 346 so that the rolling link 345 performs a complete rotation and a rolling motion. And the rolling link 345 is provided with a torsion spring to provide a force capable of turning on the rolling motion. Even if the torsion springs are installed anywhere in the links, the links are entirely connected, so that the overall angular resilience is realized. However, when the torsion springs are installed on the rolling link 345, the springs can be easily installed without requiring a large design change. 7 to 9 show the overall conversion process of such a rotational motion.

In addition, in the case of the finger fastening part 300, when the fastening part itself is installed through the rotation shaft 347 as shown in FIG. 5, the finger movement of the wearer is further freed when the pitching motion is also possible, It is also possible to detect the movement of the finger.

6 is a view showing a thumb coupling part of the HMI hand module according to an embodiment of the present invention. The thumb coupling part 500 is connected to the side of the base 100 with a rotation axis, A thumb sensing unit 510 provided at a front end of the thumb switching unit 520 and coupled to the thumb and a thumb sensing unit 500 coupled to the base 100 for sensing the pitching motion of the thumb switching unit 520, 550). In the case of the thumb, unlike the other fingers in the structure of the joint, the pitching motion is realized. Therefore, it is necessary to measure the pitch of the thumb.

For this purpose, a bracket 530 is connected to the base 100 by a rotation shaft and is installed to perform yawing motion, and the bracket 530 may be installed with a rotation axis so that the thumb switching unit 520 can perform a pitching motion. That is, the thumb switching unit 520, which moves together with the thumb, is provided so as to perform a pitching motion to the bracket 530. The bracket 530 is installed so as to be able to perform a rolling motion on the base 100 again.

Accordingly, when the pitch of the thumb is measured and the movement of the thumb is mixed with the pitching and rolling, the free movement of the wearer is guaranteed by minimizing the sense of heterogeneity. Generally, when the hand is tilted, the pitching is often seen, but the rolling of the tilting of the thumb is performed by the thumb joint. Also, if the thumb sensing unit 550 is a sensor capable of sensing two axes, it is possible to measure the pitching and rolling of the thumb as well. That is, it is also possible to measure the pitch through the movement of the thumb switching unit 520 with respect to the thumb sensing unit 550 of the bracket 530 and measure the relative rolling with respect to the base 100 through the movement of the bracket 530 will be.

The bracket 530 is elastically supported on the base 100 so that the bracket 530 can be provided with a restoring force when the bracket 530 performs yaw movement due to the movement of the thumb. This allows the thumb to be rolled to a certain extent so that when the thumb is tilted, it can be pulled in a stable posture and in a consistent posture. This gives a sense of stability to the control of the robot.

The thumb fastening part 500 is provided on the side of the base 100 so that the finger fastening parts 300 are provided on the upper surface of the base 100. [ And the fastening position of the thumb fastening part 500 can be crossed. 4, the positions 111, 112, 113 and 114 of the base 100 to which the four finger fastening portions 300 are fastened are arranged side by side, but the position 115 where the thumb fastening portions 500 are fastened is the same as the position 100 to form a substantially orthogonal shape. As a result, it is mounted in a glove type and it is possible to measure the angle of each finger naturally by simulating the movement of the hand as much as possible.

According to the HMI hand module of the present invention, it is possible to grasp the movement of the finger mounted on the wearer's hand and grasp the intention of moving the finger individually without interfering with the natural movement of the finger.

While the invention has been shown and described with respect to the specific embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the following claims It will be apparent to those of ordinary skill in the art.

100: Base 300: Finger fastening part
500: thumb tightening part

Claims (15)

A base for supporting a wearer's hand;
A sensing unit that is mounted on the base and is provided to correspond to each of the fingers, detects movement of the finger by being engaged with each finger, switches a yawing motion in which the finger is bent and spreads to a rolling motion, A plurality of finger fastening portions; And
An HMI hand module mounted on the base and adapted to correspond to the thumb, and a thumb fastening coupled to the thumb to sense movement of the thumb. The method according to claim 1,
And the base is provided so as to be in close contact with the back of the hand. The method of claim 2,
The upper and lower ends of the base are provided with extension portions extending in the direction of the palm and provided with grip portions vertically connecting the upper and lower extension portions. The grip portions are arranged on the palm side and the grip portions are wrapped with the palm when the wearer pulls his or her hands Feature HMI hand module. The method according to claim 1,
And the four finger portions are provided so as to correspond to the index finger, the stop finger, the finger finger, and the hand finger. The method according to claim 1,
And a sensing unit coupled to the base and sensing a rolling motion of the switching unit. The HMI hand module according to claim 1, wherein the sensing unit is a sensing unit. The method of claim 5,
And the engaging portion is a ring shape through which the finger penetrates. The method of claim 5,
The switching unit includes a yawing link extending from the coupling unit and performing yawing motion with the finger, a rolling link coupled to the base for rolling motion, and a conversion link for connecting the yawing link and the rolling link to convert the yawing motion to the rolling motion HMI hand module. The method of claim 7,
Wherein the yawing link is constituted by a front link and a rear link connected so as to be relatively rotatable, a coupling portion is provided at a front end of the front link, and a rear end of the rear link is coupled to the base by a rotation shaft. The method of claim 7,
Wherein the rear end of the yawing link is coupled to the base by a rotation shaft and the conversion link is formed by bending the center portion so that the front end portion is coupled to the rear end portion of the yawing link by a rotation shaft, and the rear end portion is connected to the front end portion of the rolling link by a rotation axis. Hand module. The method of claim 9,
Wherein the rear end of the yawing link and the front end of the rolling link each have an inclined surface and the front end and the rear end of the switching link are respectively coupled to the rear end of the yawing link and the inclined surface of the front end of the rolling link. The method according to claim 1,
Wherein the base supports the back of the hand, and the finger fastening portion and the thumb fastening portion form an exoskeleton by extending forward from the outside of the finger and the thumb. The method according to claim 1,
The thumb coupling part includes a thumb switching part having a rear end connected to a side end of the base by a rotation shaft to perform a pitching motion, a thumb coupling part provided at the front end of the thumb switching part to be coupled to the thumb, and a thumb sensing part coupled to the base, Wherein the HMI hand module comprises: The method of claim 12,
Wherein the bracket is connected to the base by a rotary shaft so as to perform a yawing motion, and the bracket is provided with a rotation axis for performing a pitching motion. 14. The method of claim 13,
Wherein the bracket is supported by an elastic body on the base so that the bracket is provided with restoring force when the bracket moves by yawing due to the movement of the thumb. The method according to claim 1,
Wherein the plurality of finger fastening portions are provided along the arrangement of the fingers on the upper surface of the base and the thumb fastening portions are provided on the side surfaces of the base so that the fastening positions of the thumb fastening portions and the thumb fastening portions are crossed.

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