KR20190043658A - Hand wearable device and control method thereof - Google Patents

Abstract

The present invention discloses a hand wearable device. The hand wearable device comprises: a hand back wearable unit; a proximal link rotatably connected to the hand back wearable unit; a distal link coupled to the proximal link by a first connection member to have at least two degrees of freedom with respect to the proximal link; a finger wearable unit coupled to the distal link by a second connection member to have at least two degrees of freedom with respect to the distal link and worn on the end of a finger; and a control unit estimating a position of a finger distal unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a hand-

The present invention relates to a hand-held device and a control method thereof, and more particularly, to a hand-held device and a control method thereof, To a hand-held device and a control method thereof.

In recent years, there has been a growing interest in a hand-held device for interacting with a virtual object by transmitting the force generated from a virtual object to a finger in a virtual reality by being worn on the hand.

Therefore, the analysis of the movement of the hand should precede the analysis, and the research that can measure the movement of the hand more accurately while being easy to wear should be performed.

On the other hand, the backward transmission system is a system for interacting with a virtual object by transmitting the force generated from a virtual object to a finger in a virtual reality. In the backlash transmission system, it is necessary to be able to accurately convey the force generated by a virtual object to the user's hand while enabling natural movement of the hand.

Korean Patent No. 10-1485414

An object of the present invention is to provide a hand movement measuring system which can measure the movement of a hand more accurately while being worn on the hand and free to move the hand.

It is also an object of the present invention to provide a hand-held device and a control method thereof that are capable of transmitting a more accurate force to a finger while permitting free movement of the hand.

A distal link coupled to the proximal link by a first connecting member to have at least two degrees of freedom with respect to the proximal link, a proximal link coupled to the distal link, And a control unit coupled to the distal link by a second linking member to have at least two degrees of freedom with respect to the distal end of the finger and adapted to estimate a position of the distal portion of the finger and a finger wearer worn at an end of the finger.

The hand-held device and the control method thereof according to the present invention are configured to have 5 to 6 degrees of freedom, so that movement such as hand-stretching, fingering, abduction, abduction, and the like are free, The desired force can be transmitted to the end.

In addition, the hand-held device and the control method thereof according to the present invention can estimate the position of the end of the finger and the joint angle of the finger, measure the movement of the finger, and transmit a more accurate back-feel.

Further, the hand-held device and the control method thereof according to the present invention can measure not only the position of the end portion of the finger but also the three-dimensional position and the three-dimensional rotation angle of the hand itself, .

1 is a perspective view illustrating a hand-held device according to a first embodiment of the present invention.
Figure 2 is a side view of the hand held device of Figure 1;
3 is an enlarged view of a portion A in Fig.
FIG. 4 is an exploded perspective view showing a combined structure of a proximal link and a distal link in FIG. 3; FIG.
5 is an enlarged view of a portion B in Fig.
Fig. 6 is an exploded perspective view showing a coupling structure between the distal link and the finger wearer in Fig. 5;
7 is a view showing an opening and closing member of a finger wearing portion of the hand wearing device of FIG.
Figure 8 is a view of a hand-held device in accordance with one variation of the present invention.
Figure 9 is a view of a hand-held device according to another variant of the present invention.
10 is a block diagram of a hand-held device according to a first embodiment of the present invention.
Figure 11 is a detailed block diagram of the processor of the hand held device of Figure 10;
FIG. 12 is a diagram showing the parameters for obtaining the distal position of the finger in the hand-held device of FIG. 1;
FIG. 13 is a diagram showing a model for obtaining the inner and outer angles of a finger in the hand-held device of FIG. 1;
Fig. 14 is a diagram showing a kinematic model for obtaining the finger joint angle in the hand-held device of Fig. 1;
15 is a flowchart of a method of controlling a hand-held device according to the first embodiment of the present invention.
16 is a conceptual diagram of a control method of the hand-held device of Fig.
17 is a perspective view showing a hand-held device according to a second embodiment of the present invention.
Fig. 18 is a perspective view showing the inside of the hand-held device of Fig. 17; Fig.
Figure 19 is a side view of the hand held device of Figure 17;
20 is an enlarged view of a portion A in Fig.
FIG. 21 is an enlarged view of a portion B in FIG.
22 is an enlarged view of a portion C in Fig.
Fig. 23 is a view showing a finger holder opening / closing member of the hand-held device of Fig. 17;
Fig. 24 is an exploded perspective view of the finger holder opening and closing member of Fig. 17;
Fig. 25 is a view showing the maximum opening state and the maximum closing state of the finger holder opening and closing member of Fig. 17;
Fig. 26 is a view showing a state in which the palm wearing part and the wrist part of the hand-held device shown in Fig. 17 are opened.
FIG. 27 is a view showing a closed state of the palm wearing part and the wrist wearing part of FIG. 26;
Fig. 28 is a view showing a palm wearing part opening and closing member and a wrist part opening and closing member of the hand wearing device of Fig. 17;
Figs. 29 and 30 are diagrams showing variables for obtaining the distal position of the index finger in the hand-held device of Fig. 17; Fig.
Figs. 31 and 32 are diagrams illustrating parameters for determining the distal position of the thumb in the hand-held device of Fig. 17;
33 and 34 are diagrams showing a kinematic model for determining the finger joint angle in the hand-held device of FIG. 17;

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

≪ Embodiment 1 >

<Hand-held device>

1 is a view illustrating a hand-held device according to an embodiment of the present invention. Figure 2 is a side view of the hand held device of Figure 1;

Referring to FIGS. 1 and 2, a hand-held device 100 according to an embodiment of the present invention operates as a kind of hand motion measurement device and counter sense transfer device, which measures the movement of a user's hand, And is a device for transmitting a force generated from a virtual object to a distal portion of a user's finger to interact with a virtual object. The hand-held device 100 may also be used in the rehabilitation medical field. Here, the user can be a robot as well as a person. Hereinafter, in the present embodiment, such a hand-held device 100 is described as being worn in the hands of a person, but it can be worn in the hands of robots as well.

The hand-held device 100 shown in Fig. 1 will be described by way of example for conveying a reversal to three fingers such as a thumb, a index finger, and a stop finger.

The hand-held device 100 according to an embodiment of the present invention includes a hand wearing unit 110, a driving unit 120, a proximal link 130, a distal link 140, a finger wearing unit 150, A connecting member 160, a second connecting member 170, a measuring unit (see 260 in FIG. 10), and a processor (see 220 in FIG. 10). Here, the measurement unit (see 260 in FIG. 10) may include a drive unit sensor (not shown) and first, second, and third Hall sensors (not shown).

The hand wearing portion 110 is formed to be worn on the user's hand. The hand wearing portion 110 is formed so as to surround at least a part of the hand lamp. The hand wearing portion 110 can be worn on the wrist as well as the hand. The hand wearing portion 110 may include a driving portion holder 111. [

The driving unit 120 is installed on the hand wearing unit 110. The driving unit 120 may be detachably coupled to the driving unit holder 111 of the hand wearing unit 110.

Here, the driving unit 120 uses a rotary motor, for example. In addition, various members capable of providing a predetermined driving force to the proximal link 130 may be used as the driving unit 120. In addition, although one drive unit 120 is shown in the drawing, the number of the drive units 120 can be variously changed as needed.

Alternatively, the driving unit 120 may include various members capable of providing a predetermined driving force to the user, such as the finger wearing unit 150, as well as the proximal link 130. For this, the driving unit 120 may use a small vibration motor. The vibration motor may be a motor capable of adjusting the intensity of the vibration in a plurality of steps. The vibration motor is connected to a processor (see 220 in FIG. 10) by an electric wire, and the degree of operation and vibration generation can be controlled by the processor (see 220 in FIG. 10).

Alternatively, apart from the driving unit 120 coupled to the proximal link 130, a driving unit (for example, a vibration motor) for transmitting a predetermined reverse sensation to the distal portion of the finger may be additionally provided. The driving unit 120 may not be formed on the proximal link 130 side and a driving unit (e.g., a vibration motor) may be formed only on the distal portion of the finger.

The driving unit 120 may be formed to extend in a direction inclined at a preset angle from the longitudinal direction x of the finger. Here, the setting angle is about 45 degrees, for example. Since the driving unit 120 is disposed to be inclined at an angle of 45 degrees with respect to the longitudinal direction x of the finger, the area occupied on the hand wearing unit 110 when the plurality of driving units 120 are mounted can be minimized, It is possible to contribute to downsizing of the wearable apparatus 100. However, the forming angle of the driving unit 120 can be variously changed as needed.

A plurality of proximal links 130, a first connecting member 160 connected thereto, a distal link 140 connected thereto, a second connecting member 170 connected to the proximal link 130, and a finger wearing section 150 connected thereto are formed, And may be provided for each finger or at least part of the finger. Hereinafter, each component will be described in more detail.

The proximal link 130 may serve as a driving link, may be rotatably coupled to the driving unit 120, and may be rotated by a rotational force of the driving unit 120. The proximal link 130 and the driving unit 120 may be coupled with an active joint. The rotation axis of the driving unit 120 and the sixth rotation axis 186 of the proximal link 130 are parallel to each other in the longitudinal direction x of the finger, For example, by the bevel gear 122. However, the present invention is not limited thereto, and the proximal link 130 and the driving unit 120 may be coupled with one rotation axis. 2, the proximal link 130 includes a first proximal link portion 131 and a second proximal link portion 132, wherein the first proximal link portion 131 and the second proximal link portion 132, (132) may be integrally formed, or may be formed as separate members and coupled.

One end of the first proximal link portion 131 is coupled to the driving portion 120 and may extend upward from the hand wearing portion 110. One end of the first proximal link 131 may be coupled to the driving unit 120 by the sixth rotary shaft 186. The sixth rotary shaft 186 of the first proximal link portion 131 and the rotary shaft of the driving unit 120 may be coupled by the bevel gear 122. The first proximal link part 131 may be rotated by the rotational force of the driving part 120.

The second proximal link portion 132 extends from the other end of the first proximal link portion 131. The second proximal link portion 132 is inclined upward from the first proximal link portion 131 at a predetermined first setting angle alpha. The end of the second proximal link portion 131 may be coupled to the first linking member 160. The first setting angle may be set differently depending on the lengths of the first proximal link portion 131 and the second proximal link portion 132 or the finger length.

The distal link 140 may serve as a passive link and may be moved by a rotational force transmitted from the proximal link 130 or may move in response to the movement of a finger.

Referring to FIG. 2, the distal link 140 may be integrally formed with the first distal link portion 141 and the second distal link portion 142, or may be formed as a separate member and coupled thereto .

The first distal link portion 141 is coupled to the second linking member 170 and is formed upwardly from the second linking member 170. The first distal link portion 141 and the second link member 170 may be coupled by a passive joint.

The second distal link portion 142 extends from the first distal link portion 141. The second distal link portion 142 may be inclined upward from the first distal link portion 141 at a second predetermined angle? The end of the second distal link portion 142 may be coupled to the first linking member 160. At this time, the second distal link portion 142 and the first linking member 160 may be coupled by a driven joint. The second set angle β may be set differently depending on the lengths of the first distal link portion 141 and the second distal link portion 142 and the finger length.

Referring to FIG. 2B, the first proximal link portion 131 and the second proximal link portion 132 are formed to form the first set angle?, And the first distal link portion 141 and the second proximal link portion 132, The second distal link portion 142 is configured to form the second set angle beta so that the proximal link 130 and the distal link 140 may not touch the fingers during the bending of the fingers . 2B, the MCP represents a metacarpophalangeal joint (MCP), the PIP represents a proximal interphalangeal joint (PIP), and the DIP represents a distal interphalangeal joint (DIP).

Referring to FIG. 2C, when the proximal link 130 and the distal link 140 are formed in a straight line shape, when the finger is bent, Since the proximal link 130 and the distal link 140 contact the fingers, movement of the fingers is limited.

The finger wearing section 150 includes a finger holder 151, an opening and closing member 152, and an elastic member 153.

The finger holder 151 may be formed in a ring shape to be fitted to the end portion of the finger, and an opening 151a having one side opened may be formed. However, the present invention is not limited to this, and the finger holder 151 can be any shape as long as it can fit the end portion of the finger.

7, the opening / closing member 152 may include a protrusion 152a formed at one end of the finger holder 151 and a hook 152b detachably coupled to the protrusion 152a. have.

The elastic member 153 is provided on the inner circumferential surface of the finger holder 151 to improve the feeling of fit. The elastic member 153 is exemplified by using silicon.

3 is an enlarged view of a portion A in Fig. FIG. 4 is an exploded perspective view showing a combined structure of a proximal link and a distal link in FIG. 3; FIG.

3 and 4, the first linking member 160 is coupled to the proximal link 130 at one end and coupled to the distal link 140 at the other end. That is, the first linking member 160 is provided between the proximal link 130 and the distal link 140 so that the distal link 140 is formed to have two degrees of freedom with respect to the proximal link 130 .

One end 161 of the first linking member 160 is coupled to the proximal link 130 and is rotatable about a first rotation axis 181 disposed in the moving direction of the finger by the rotational force of the driving unit 120 And may be rotatably coupled. Here, it is assumed that the movement direction of the fingers is long in the inner and outer direction y of the finger. One end 161 of the first linking member 160 may be formed into a cylindrical bush shape to be coupled with the proximal link 130 by the first rotation axis 181.

The other end 162 of the first linking member 160 may be coupled to the distal link 140 and be rotatable about the second rotation axis 182 by the movement of the finger. The second rotation axis 182 is disposed in a direction inclined by a predetermined angle in a direction (z) perpendicular to the back of the hand, but assuming that the predetermined angle is very small, the second rotation axis 182 is perpendicular to the hand Direction z as shown in Fig.

5 is an enlarged view of a portion B in Fig. Fig. 6 is an exploded perspective view showing a coupling structure between the distal link and the finger wearer in Fig. 5;

5 and 6, the second linking member 170 may include a first rotating portion 171, a second rotating portion 172, and a third rotating portion 173 so as to have three degrees of freedom have. The first rotating part 171, the second rotating part 172, and the third rotating part 173 may be integrally formed, or separately manufactured and then fixedly coupled.

The first rotation part 171 is coupled to the finger wearing part 150. That is, the first rotating part 171 is formed in a cylindrical shape and is coupled by a third rotation shaft 183 between a pair of brackets 154 protruding upward from the finger wearing part 150. The third rotary shaft 183 is arranged long in the inner and outer direction y of the finger. Therefore, the first rotation part 171 can rotate about the third rotation axis 183 by the movement of the finger.

The second rotation part 172 is protruded upward from the first rotation part 171. The second rotary part 172 is coupled to the third rotary part 173 and the fourth rotary shaft 184. The fourth rotary shaft 184 is arranged in a direction inclined by a predetermined angle range from the longitudinal direction x of the finger, but assuming that the predetermined angle is very small, the fourth rotary shaft 184 has a length Direction (x). Accordingly, the second rotation part 172 can rotate about the fourth rotation axis 184 by the movement of the finger.

The third rotating part 173 engages the second rotating part 172 with the distal link 140. One end of the third rotating part 173 is coupled to the second rotating part 172 by the fourth rotating shaft 184 and the other end is coupled to the distal link 140 by a fifth rotating shaft 185. The fifth rotary shaft 185 is disposed in the longitudinal direction of the distal link 140. In this embodiment, since the longitudinal direction of the distal link 140 is a direction (z) perpendicular to the back of the hand, the fifth rotational shaft 185 is described as a direction (z) perpendicular to the back of the hand .

The driving unit sensor (not shown) may be a motor encoder for measuring a rotation angle of the driving unit 120. It can be assumed that the rotation angle of the driving unit 120 is the same as the rotation angle 1 of the first proximal link unit 131 due to the rotational force of the driving unit 120. [ When the difference between the rotation angle of the driving unit 120 and the angle of rotation of the first proximal link unit 131 is larger than the rotation angle of the first proximal link unit 131, It is also possible to obtain the rotation angle [theta] 1.

The first Hall sensor (not shown) may be provided at one end of the first connection member 160 to measure a rotation angle 2 of the second proximal link portion 132.

The second hole sensor (not shown) may be provided at the other end of the first connection member 160 to measure the rotation angle? 3 of the second distal link portion 142.

The third Hall sensor (not shown) is provided at one end of the second connection member 170 to measure the rotation angle 4 of the first rotation part 171 of the second connection member 170 have.

Sensors for measuring the joint angles of the fingers may be provided at one end or the other end of the first connection member 160 or the second connection member 170 for accurate measurement of finger movement. .

The operation of the hand-held device 100 according to one embodiment of the present invention will now be described.

When the rotational force of the driving unit 120 is determined according to the control of the processor 220 (see FIG. 10), the rotational force of the driving unit 120 is transmitted through the proximal link 130 and the distal link 140 .

At this time, the processor (see 220 in FIG. 10) estimates the position of the end of the finger and the joint angle of the finger, and adjusts the rotational force of the driving unit 120 accordingly. The force applied to the end of the finger is adjusted by adjusting the rotational force of the driving unit 120. [

<One Variation of Hand-Worn Device>

Figure 8 is a view of a hand-held device in accordance with one variation of the present invention.

Referring to FIG. 8, a hand-held device 100 'according to an embodiment of the present invention includes a driving unit 120', a proximal link 130, a distal link 140, a finger wear unit 150 ' The configuration including the first connection member 160 and the second connection member 170 is the same as that of the first embodiment except that the driving unit 120 'is disposed in a direction perpendicular to the longitudinal direction of the finger, The shape of the portion 150 'is different from that of the above embodiment, and the remaining structures and operations are similar to each other. FIG. 8 illustrates that the driving unit is mounted only on the index finger, but the present invention is not limited thereto. It is also possible to attach the driving unit to a plurality of other fingers such as thumb, index finger, and stop.

<One Variation of Hand-Worn Device>

Figure 9 is a view of a hand-held device according to another variant of the present invention.

9, a hand-held device 100 &quot; according to another variant of the present invention includes a driver 120 &quot;, a proximal link 130, a distal link 140, a finger wearer 150 The first connecting member 160 and the second connecting member 170 are the same as those in the first embodiment but the driving unit 120 '' is arranged in the longitudinal direction of the finger, And the rest of the configuration and operation are similar to each other, and thus a detailed description thereof will be omitted.

&Lt; Control method of hand-held device >

Hereinafter, a method of controlling such a hand-held device will be described in more detail.

10 is a block diagram of a hand held device in accordance with an embodiment of the present invention.

The handheld device 100 and the server 300 may include memories 210 and 310, processors 220 and 320, communication modules 230 and 330 and input and output interfaces 240 and 340. The hand-held device 100 may further include an input / output device 250, a measurement unit 260, and a driver 270.

The handheld device 100 and the server 300 may communicate with each other over the network 400 using a wireless or wired communication scheme. The communication method is not limited, and may include a communication method using a communication network (e.g., a mobile communication network, a wired Internet, a wireless Internet, a broadcasting network) that the network 400 may include, as well as a short-range wireless communication between the devices. For example, the network 400 may be a personal area network (LAN), a local area network (LAN), a campus area network (CAN), a metropolitan area network (MAN), a wide area network (WAN) , A network such as the Internet, and the like. In addition, the network 400 may include any one or more of a network topology including a bus network, a star network, a ring network, a mesh network, a star bus network, a tree or a hierarchical network, It is not limited.

The memory 210, 310 may be a computer-readable recording medium and may include a permanent mass storage device such as a random access memory (RAM), a read only memory (ROM), and a disk drive. In addition, the memory 210 and 310 may store an operating system and at least one program code (for example, a code for a browser or an application installed and operated in the handheld device 100). These software components may be loaded from a computer readable recording medium separate from the memories 210 and 310 using a drive mechanism. Such a computer-readable recording medium may include a computer-readable recording medium such as a floppy drive, a disk, a tape, a DVD / CD-ROM drive, and a memory card. In other embodiments, the software components may be loaded into memory 210, 310 via communication modules 230, 330 rather than a computer readable recording medium. For example, at least one program is a program (e.g., a program) installed by a file distribution system (for example, the server 300 described above) that distributes installation files of developers or applications, May be loaded into the memory 210, 310 based on the application described above.

Processors 220 and 320 may be configured to process instructions of a computer program by performing basic arithmetic, logic, and I / O operations. An instruction may be provided to the processor 220, 320 by the memory 210, 310 or the communication module 230, 330. For example, the processor 220, 320 may be configured to execute a command received in accordance with a program code stored in a recording device, such as the memory 210, 310.

The communication modules 230 and 330 may provide functions for the handheld device 100 and the server 300 to communicate with one another via the network 400 and may be provided to other handheld devices 100 or other servers For example, the server 300). A request generated by the processor 220 of the handheld device 100 in accordance with the program code stored in the recording device such as the memory 210 is transmitted to the server 400 via the network 400 under the control of the communication module 230. [ (300). Contents or files provided under the control of the processor 320 of the server 300 are transmitted to the communication module 330 of the hand held device 100 via the communication module 330 and the network 400, May be received by the handheld device 100 via the interface 230. For example, the control signals and commands of the server 300 received through the communication module 230 may be transmitted to the processor 220 or the memory 210, and contents, files, and the like may be transmitted to the hand- May be stored as a storage medium.

The input / output interfaces 240 and 340 may be means for interfacing with the input / output device 250. For example, the input device may include a device such as a keyboard or a mouse, and the output device may include a device such as a display for displaying a communication session of the application. As another example, the input / output interface 240 may be a means for interfacing with a device having integrated functions for input and output, such as a touch screen. More specifically, the processor 220 of the handheld device 100 may process a command of a computer program loaded into the memory 210, such as a service screen or content configured using data provided by the server 300 And can be displayed on the display through the input / output interface 240.

The measuring unit 260 may include the above-described driving unit sensor (not shown) and first, second, and third hall sensors (not shown). In addition, sensors for measuring the joint angle of the finger may be provided for accurate measurement of finger movement.

The driving unit 270 may be substantially the same as the driving unit 120 of FIG. The driving unit 270 may include various members capable of providing a predetermined driving force to the user through the proximal link 130 to the finger wearing unit 150 and the like. For example, various members such as a rotary motor or a vibration motor can be used as the driver 270. [

Further, in other embodiments, the hand held device 100 and the server 300 may include more components than the components of FIG. However, there is no need to clearly illustrate most prior art components. For example, the handheld device 100 may be implemented to include at least some of the input / output devices 250 described above, or may be implemented to include other devices such as a transceiver, Global Positioning System (GPS) module, camera, And may further include components.

Figure 11 is a detailed block diagram of the processor of the hand held device of Figure 10;

The configuration for performing the control function of the hand-held device according to an embodiment of the present invention in the processor 220 includes a finger motion estimating unit 221, a virtual force calculating unit 223, (Not shown). The components of processor 220 may optionally be included or excluded from processor 220 in accordance with an embodiment. In addition, in accordance with an embodiment, the components of the processor 220 may be separate or merged for the representation of the functionality of the processor 220.

Herein, the components of the processor 220 may be represented by different functions of the processor 220 performed by the processor 220 in accordance with instructions provided by the program code stored in the handheld device 100, .

The processor 220 and components of the processor 220 may control the hand held device 100 to perform the steps S1 through S8 that are included in the method of controlling the hand held device of FIG. For example, the components of processor 220 and processor 220 may be implemented to execute instructions in accordance with the code of the operating system and the code of at least one program that memory 210 includes.

The finger motion estimating unit 221 estimates the motion of the distal portion of the finger from the data measured by the measuring unit 260. The virtual force calculating unit 223 calculates the virtual force to be output from the driving unit 270 by calculating the interaction between the estimated position of the distal portion of the finger and the virtual object. The driving control unit 225 controls the driving unit 270 based on the calculated virtual force. Hereinafter, the role played by each component will be described in more detail.

The finger motion estimating unit 221 estimates the motion of the distal portion of the finger from the data measured by the measuring unit 260. FIG. 12 is a diagram showing the parameters for obtaining the distal position of the finger in the hand-held device of FIG. 1; FIG. 13 is a diagram showing a model for obtaining the inner and outer angles of a finger in the hand-held device of FIG. 1; Referring to FIG. 12, a method of estimating the position of the distal portion of the finger is as follows.

l1 is the length of the first proximal link portion 131, l2 is the length of the second proximal link portion 132, l3 is the length of the first linking member 160, l4 is the length of the second distal link portion 142, and 15 denotes the length of the first distal link portion 141. l1 to l5 are values that can be obtained in advance from the structure information of the hand-held device (100).

2 is the rotation angle 2 of the second proximal link portion 132 and 3 is the rotation angle 3 of the second distal link portion 142. [ ? 1 to? 3 are values that can be measured from the driving unit sensor and the first and second hall sensors (not shown).

α is an angle between the first proximal link portion 131 and the second proximal link portion 132 and β is an angle between the first distal link portion 141 and the second distal link portion 142 . ? and? are values that can be obtained in advance from the structure information of the hand-held device 100.

(1) to (3) can be obtained using the kinematic model shown in FIG. 12, and the distal position (Px, Py, Pz) of the finger can be obtained through Equations (1) to (3).

Here, it is assumed that the position of the distal portion of the finger and the position of the finger wearer 150 are the same, assuming that the error according to the position of the finger distal portion and the distance between the finger wearer 150 is very small.

Referring to Equations (1) to (3) above, the distal position (Px, Py, Pz) of the finger can be obtained.

On the other hand, if the distal position of the finger is known, the inside and outside angles? A of the finger can be obtained through Equation (2).

13, the inner and outer front angles? A of the fingers are angles in which the fingers are moved in the left and right directions. Fig. 13 shows the position of the distal portion of the finger as a frame rotated in accordance with the inner / outer front angle? A.

The equation for the inner / outer front angle? A is shown in Equation (4).

The distal position of the finger rotating in accordance with the inside / outside angle determined from Equation (4) can be obtained. Hereinafter, the distal position of the finger rotating according to the inner / outer front angle is referred to as the distal rotation position (Px ', Py', Pz ') of the finger.

The distal rotational positions (Px ', Py', Pz ') of the finger may be expressed by Equation (5).

Knowing the distal rotational position (Px ', Py', Pz ') of the finger, the finger joint angle can be obtained through the following equations.

 Fig. 14 is a diagram showing a kinematic model for obtaining the finger joint angle in the hand-held device of Fig. 1;

Fig. 14A shows a state in which the fingers are spread, and Fig. 14B shows a state in which the fingers are spread in a kinematic model.

In Fig. 14B, assuming that the length of the finger is 10f, the length ratio of each node is expressed by 2.5f, 2.5f, and 5f. Also, the distance between the distal portion of the first proximal link portion 131 and the middle finger distal joint (MCP) of the fingers for presentation as a kinematic model is less than the distance between the distal portion of the first distal link portion 141 and the distal portion of the finger And can be ignored.

On the other hand, FIG. 14C shows the angle of the finger joint on the x'-z 'plane when the finger is bent.

In Fig. 14C, θM is the angle of the metacarpophalangeal joint (MCP). θP is the angle of the proximal interphalangeal joint (PIP). θD is the angle of the distal interphalangeal joint (DIP).

Here, it is assumed that? P and? D are equal to each other. That is, it is assumed that? P and? D are equal to each other because the difference between the angle? P of the near-extremity interdental joint and the angle? D of the distal interdigital joint in the finger bending operation is within the error range.

Since the distal rotational positions (Px ', Py', Pz ') of the finger are known, the length of L1 can be expressed by Equation (6) from FIG. 10C.

Further, the θP, θD, and θM, which are the joint angles of the finger, can be obtained using the kinematic models of Equations (6) and (10c).

The equations for? P,? D, and? M are expressed by Equations (7) and (8).

As described above, when the distal rotation position P 'of the finger is known, the joint angles? P,? D,? M of the finger can be calculated.

Therefore, the finger motion estimator 221 can estimate the motion of the finger using the distal rotation position P 'of the finger and the joint angles? P,? D,? M of the finger. The finger motion estimating unit 221 controls the driving unit 120 to transmit a desired force to the distal portion of the finger without disturbing the movement of the finger.

The virtual force calculating unit 223 calculates the virtual force to be output from the driving unit 270 by calculating the interaction between the estimated position of the distal portion of the finger and the virtual object. That is, the virtual force calculating unit 223 calculates a virtual force to be outputted by the driving unit 270 using the distal rotation position P 'of the finger and the joint angles? P,? D,? M of the finger Can play a role. In this way, the virtual force calculating unit 223 can calculate the virtual force to be outputted by the driving unit 270 by reflecting the virtual object, and can thus transmit a variety of inverse sensations generated from various objects such as a hard object, a soft object, and the like.

In detail, the virtual force calculating unit 223 generates a virtual force using the distance between the measured position of the distal portion of the user's finger and the position of the virtual object. In other words, the desired current of the driving unit 270 is determined through the interaction between the finger motion and the virtual object. In other words, it calculates the force to be generated by the driving unit 270 and converts it into a desired current to be controlled by the motor.

At this time, there may exist a virtual object implemented in a virtual reality, which may be a virtual wall, a soft ball, a spring, or the like, or there may be no object. This will be described in more detail as follows.

Assuming that the hand end position is P and the center position of the virtual object is Q, the interaction force generation algorithm is defined by Equation (9) as follows.

Here, m, c, k are determined by the mass of the virtual object, the damping constant, and the spring constant. (This is determined when implementing a virtual object).

When there is a virtual object, the magnitude of the force transmitted to the fingertip is determined by the interaction force between the finger and the virtual object. On the other hand, when there is no virtual object, the hand-held device 100 moves as the user wishes to move without the interaction force.

The desired current of the driver 270 is determined by the following equation (10) using the fingertip position, the interaction force, and the motor constant.

The driving control unit 225 controls the driving unit 270 based on the calculated virtual force. That is, the driving control unit 225 controls the driving unit 270 by applying a robust control algorithm so that the actual driving unit 270 can be well controlled to a desired output value.

In detail, after the desired current of the driving unit 270 is determined in the virtual force calculating unit 223, the control input voltage to be applied to the driving unit 270 is determined through the PI controller. At this time, since the hand-held device 100 according to an embodiment of the present invention physically interacts with people, it is difficult to control the driving unit 270 as desired. Therefore, the disturbance Should be removed. Accordingly, the drive control unit 225 of the hand-held device 100 according to an embodiment of the present invention is characterized by compensating for disturbance by using a disturbance observer (DOB). In such a disturbance observer DOB, the disturbance can be estimated using the current (i) measured by the driving unit 270 and the motor model Gvi, n.

Here, robust control means a control method that allows a given task to be accomplished in spite of an unknown disturbance from the control object, the controller, and the surrounding environment. In a narrow sense, adaptive control and variable structure control (also referred to as variable structure control or sliding mode control) are representative robust control methods, but broadly, existing proportional integral derivative control (PID control) and feedback linearization Control (feedback linearization control or computed torque control) is also called robust control.

Since the hand-held device 100 constructed as described above is mounted on the back of the hand, it is easy to bend the finger. In addition, it is configured to have 5 to 6 degrees of freedom, so that it does not interfere with movements such as gripping and stretching, fingers, abduction, abduction, and the like.

15 is a flowchart of a method of controlling a hand-held device according to an embodiment of the present invention. 16 is a conceptual diagram of a control method of the hand-held device of Fig.

15 and 16, a method of controlling a hand-held device according to an embodiment of the present invention includes a step of estimating a finger motion (step S110), a step of estimating a virtual force to be generated in the driving unit And controlling the driving unit to actually generate the virtual force in the driving unit (step S130). This will be described in more detail as follows.

First, the finger motion estimating unit 221 estimates the motion of the distal portion of the finger from the data measured by the measuring unit 260 (Step S110). The step S110 includes a step of measuring the position of the distal part of the finger (step S111), a step of calculating the rotational position of the distal part of the finger (step S112), and a step of estimating the finger joint angle (step S113).

The finger motion estimating unit 221 measures the finger distal position (step S111). Specifically, the finger motion estimating unit 221 obtains the above Equation 1 to Equation 3 using the kinematic model shown in FIG. 12 and applies the measured data from the measuring unit 260 to Equations 1 to 3 , And the distal position (Px, Py, Pz) of the finger are measured.

Next, the finger motion estimating unit 221 calculates the finger distal rotation position (step S112). Specifically, the finger motion estimating unit 221 estimates the distal position of the finger (i.e., the distal rotational position Px ', Py', Pz ') of the finger rotating in accordance with the inner / ) Can be obtained.

Next, the finger motion estimating unit 221 estimates the finger joint angle (step S113). In detail, the finger motion estimator 221 can obtain the joint angles? P,? D, and? M of the finger using the kinematic models of Equations (6) and (10c).

Next, the virtual force calculating unit 223 estimates a virtual force to be generated by the driving unit (step S120). In detail, the virtual force calculating unit 223 calculates a virtual force to be outputted by the driving unit 270 using the distal rotation position P 'of the finger and the joint angles? P,? D,? M of the finger Can play a role. In detail, the virtual force calculating unit 223 generates a virtual force using the distance between the measured position of the distal portion of the user's finger and the position of the virtual object. In other words, the desired current of the driving unit 270 is determined through the interaction between the finger motion and the virtual object. In this way, the virtual force calculating unit 223 can calculate the virtual force to be outputted by the driving unit 270 by reflecting the virtual object, and can thus transmit a variety of inverse sensations generated from various objects such as a hard object, a soft object, and the like.

Next, the driving control unit 225 controls the driving unit 270 based on the calculated virtual force (step S130). That is, the driving control unit 225 controls the driving unit 270 by applying a robust control algorithm so that the actual driving unit 270 can be well controlled to a desired output value.

Since the hand-held device 100 constructed as described above is mounted on the back of the hand, it is easy to bend the finger. In addition, it is configured to have 5 to 6 degrees of freedom, so that it does not interfere with movements such as gripping and stretching, fingers, abduction, abduction, and the like.

&Lt; Embodiment 2 &gt;

<Hand-held device>

17 is a view showing a hand-held device according to a second embodiment of the present invention.

Referring to FIGS. 17 and 18, the hand motion measuring apparatus 500 according to the second embodiment of the present invention measures movement of the hand by worn in the hand of the user, generates vibration at the end of the finger, Lt; RTI ID = 0.0 &gt; a &lt; / RTI &gt; It can also be used for the rehabilitation of hands and fingers in rehabilitation services. The hand motion measuring apparatus 500 is formed so as to be worn on the hands of a robot as well as a human hand.

The hand motion measuring apparatus 500 may transmit vibration through three fingers such as a thumb, a index finger, and a stop finger by way of example. However, the present invention is not limited to this, and the number and positions of the fingers may be set differently . In the hand movement measuring apparatus 500, the shape of the portion worn on the thumb and the portion worn on the finger other than the thumb may be slightly different depending on the shape of the finger, but the basic structure and principle are similarly applied.

The hand motion measuring apparatus 500 includes a hand wearing unit 510, a palm wearing unit 520, a proximal link 530, a distal link 540, a finger wearing unit 550, a first connecting member 560, A second Hall sensor (not shown), a third hall sensor (not shown), a hand tracker 591, an IMU sensor (not shown), a second connecting member 570, a first hall sensor An inertial measurement unit sensor 593, a vibration generator 597, and a control unit (not shown).

The hand warmer 510 includes a back frame 511 formed to be worn on the user's hand and provided with a control board and the like, and a back light unit 511 formed in a cover shape to cover the upper side of the back light unit 511. [ And a housing portion 512.

The back frame part 511 is formed to cover at least a part of the back of the hand. The back frame part 511 can be worn on the wrist in addition to the back of the hand. The proximal link 530 is coupled to the back frame 511.

The under-arm housing part 512 is formed to cover parts such as the inertial sensor 593 and the like provided on the back frame part 511. A hole is formed in the under-arm housing part 512 so that the proximal link 530 passes through.

The palm wearing portion 520 is formed to be worn on the palm of the user. The palm wearing part 520 is rotatably coupled to the back frame part 511 and can be opened or closed when the palm wearing part 520 is worn on the hand. A predetermined space is formed between the hand wearing portion 510 and the palm wearing portion 520 so that the hand can pass through.

The hand wearing portion 510 and the finger wearing portion 550 are connected to the proximal link 530 and the distal link 540.

The proximal link 530 is rotatably coupled to the back frame 511. 19, one end of the proximal link 530 is coupled to the back frame part 511, and the other end is coupled to the first connection member 560. Referring to FIG. The proximal link 530 may be divided into a first proximal link portion 531 and a second proximal link portion 532.

The first proximal link portion 531 is coupled to the back frame portion 511 and is formed long in the upward direction from the back of the hand wearing portion 510. The first proximal link portion 531 is coupled to the back of the hand wearing portion 510 by an eighth rotary shaft 588.

The second proximal link portion 532 extends from the first proximal link portion 531 and extends from the first proximal link portion 531 in a direction toward the finger at a first predetermined angle? And is inclined upwardly and inclined upward, and is coupled to the first connecting member 560. The first setting angle? Is set differently depending on the length of the first proximal link portion 531 and the length of the second proximal link portion 532 or the length of the finger.

The distal link 540 connects the proximal link 530 and the finger wearer 550.

The distal link 540 can move according to the movement of the proximal link 530 or the movement of a finger. One end of the distal link 540 is coupled to the second linking member 570 and the other end is coupled to the first linking member 560. The distal link 540 can be divided into a first distal link portion 541 and a second distal link portion 542.

The first distal link portion 541 is coupled to the second linking member 570 and is formed upwardly from the second linking member 570. The first distal link portion 541 and the second linking member 570 may be coupled by a passive joint.

The second distal link portion 542 extends from the first distal link portion 541 and extends from the first distal link portion 541 to a second predetermined angle? And may be coupled to the first linking member 560. The first linking member 560 may be formed of a metal plate. The second distal link portion 542 and the first linking member 560 may be coupled by a driven joint. The second setting angle β is set differently depending on the length of the first distal link portion 541 and the length of the finger or the length of the second distal link portion 542.

20 is an enlarged view of a portion A in Fig.

Referring to FIG. 20, the index finger and the link corresponding to the stop finger will be mainly described.

The first linking member 560 is coupled at one end to the proximal link 530 and at the other end to the distal link 540. That is, the first linking member 560 is provided between the proximal link 530 and the distal link 540 such that the distal link 540 is formed to have two degrees of freedom from the proximal link 530 .

One end of the first connection member 560 is coupled to be rotatable about the first rotation shaft 581. The first rotation axis 581 is long in the inner and outer direction y of the finger and the proximal link 530 is rotatable about the first rotation axis 581. One end of the first linking member 560 is formed into a cylindrical bush shape to be coupled with the proximal link 530 by the first rotation shaft 581.

The other end of the first linking member 560 is coupled to the distal link 540 and is rotatable about the second rotation axis 582 by the movement of the finger. The second rotation axis 582 is arranged in a direction tilted by a predetermined angle in a direction (z) perpendicular to the back of the hand, but the second rotation axis 582 is perpendicular to the back of the hand Direction z as shown in Fig.

FIG. 21 is an enlarged view of a portion B in FIG. 17, and FIG. 22 is an enlarged view of a portion C in FIG.

21 and 22 illustrate the second linking member 570 in that the second linking member 570 has two degrees of freedom between the distal link 540 and the finger- And a three-degree-of-freedom connecting member 720 coupled to have three degrees of freedom can be selected and used.

In this embodiment, the two-degree-of-freedom connecting member 710 is provided at a portion coupled to the index finger and the stop finger, and a three-degree-of-freedom connecting member 720 is provided at a portion coupled to the thumb. . However, the present invention is not limited to this, and it is of course possible to provide a three-degree-of-freedom connecting member 720 in other fingers other than the thumb.

Referring to FIG. 21, the two-degree-of-freedom connecting member 710 includes a first rotating portion 711 and a second rotating portion 712, and has two degrees of freedom.

The first rotating portion 711 of the two degree of freedom connecting member 710 includes a supporting base 711a protruding from the finger wearing portion 550 and a pair of brackets 712a engaged with the supporting base 711a, And a third rotation shaft 583 passing through the support 711a and the bracket 712a. The third rotary shaft 583 is disposed long in the inner and outer direction y of the finger. Accordingly, the first rotating portion 711 can rotate around the third rotating shaft 583 by the movement of the finger.

The second rotating portion 712 of the two-degree-of-freedom connecting member 710 couples the bracket 712a and the distal link 540 with the fourth rotary shaft 584. In the present embodiment, it is described that the longitudinal direction of the distal link 540 is the direction (z) perpendicular to the back of the hand, and therefore, the fourth rotation axis 584 is described as a direction (z) perpendicular to the back of the hand .

Referring to FIG. 22, the three-degree-of-freedom connecting member 720 includes a first rotating portion 721, a second rotating portion 722, and a third rotating portion 723, and has three degrees of freedom.

The first rotation part 721 of the three degree of freedom connection member 720 includes a support base 721a protruding from the finger wearing unit 550 and a pair of brackets 721b engaged with the support base 721a, And a fifth rotation shaft 585 passing through the support 721a and the bracket 721b. The fifth rotary shaft 585 is disposed long in a direction (z) perpendicular to the back of the hand. Accordingly, the first rotation part 721 can rotate about the fifth rotation axis 585 by the movement of the finger.

The second rotating portion 722 of the three-degree-of-freedom connecting member 720 is provided so as to rotate around the sixth rotating shaft 586. The sixth rotary shaft 586 is arranged in a direction inclined by a predetermined angle range from the longitudinal direction x of the finger, but assuming that the predetermined angle is very small, the sixth rotary shaft 586 has a length Direction (x). Therefore, the second rotation part 722 can rotate about the sixth rotation axis 586 by the movement of the finger.

The third rotating portion 723 of the three-degree-of-freedom connecting member 720 is provided so as to rotate around the seventh rotating shaft 587. The seventh rotary shaft 587 is long in the inner and outer direction y of the finger. Accordingly, the third rotation part 723 can rotate about the seventh rotation axis 587 by the movement of the finger.

Referring again to FIG. 17, the hand trekker 591 is coupled to the upper part of the hand-held housing part 512.

The hand trekker 591 uses a vive tracker as an example. The hand trekker 591 can measure the three-dimensional motion of the hand. The information on the three-dimensional motion measured by the hand trekker 591 is transmitted to the control unit (not shown).

The hand trekker 591 may be interlocked with a separate camera (not shown). For example, the information about the three-dimensional motion measured by the hand trekker 591 may be transmitted to a computer connected to the camera, and may be applied together with a virtual reality game together with the video shot by the camera.

Referring to FIG. 18, the inertial sensor 593 is provided on the control board mounted on the back frame part 511. However, the present invention is not limited thereto, and the inertial sensor 593 may be provided on the back frame 511 and connected to the control board.

The inertial sensor 593 measures the three-dimensional rotation angle in the hand lamp. The inertial sensor 593 has a rotation angle that rotates about the x axis, a rotation angle that rotates about the y axis, a rotation angle yaw that rotates about the z axis, .

The vibration generator 597 is provided at an inner lower portion of the finger wearing unit 550 to transmit vibration to the end of the finger.

In the present embodiment, the vibration generator 597 is described as being coupled to a groove formed in the elastic member 553, for example. However, the present invention is not limited to this, and the vibration generator 597 can be mounted anywhere on the finger holder 551.

Fig. 23 is a front view showing the finger holder opening and closing member of the hand wearing device of Fig. 17; 24 is an exploded perspective view of the finger holder opening and closing member shown in Fig. Fig. 25 is a diagram showing the maximum opening state and the maximum closing state of the finger holder opening and closing member of Fig. 24;

Referring to Figs. 21 and 23 to 25, the finger wearing section 550 includes a finger holder 551, a finger holder opening and closing member 552, and an elastic member 553.

The finger holder 551 is formed in an annular shape so as to be fitted to the end portion of the finger and has an opening with one side opened. However, the present invention is not limited to this, and the finger holder 551 can be any shape as long as it can fit the end portion of the finger.

The finger holder 551 includes a fixed portion 551a fixedly coupled to the second connection member 570 and a rotation portion 551b rotatably coupled to the fixed portion 551a. The fixing portion 551a and the rotation portion 551b are each formed in a semicircular shape. The fixing portion 551a and the rotation portion 551b are coupled to the first hinge shaft 555.

The finger holder opening and closing member 552 may open and close the finger holder 551 to adjust the size of the finger holder 551 according to the size of the user's finger. The finger holder opening and closing member 552 includes a first fastening protrusion 621, a first latch 622, a first guide slit 622b, a first guide protrusion 623, and a first handle protrusion 625 .

The first fastening protrusion 621 is protruded from the fixing portion 551a. The first fastening protrusion 621 has a triangular cross section and is hooked to the first fastening jaw 622a, which will be described later, in one direction. The first fastening protrusions 621 are formed at the same height on the outer circumferential surface of the fixing portion 551a and two in the axial direction of the fixing portion 551a and spaced apart from each other by a predetermined distance in the longitudinal direction (x) .

The first latch 622 is extended from the rotation part 551b toward the fixing part 551a and hooked to the fixing part 551a. That is, one end of the first latch 622 is fixed to the outer peripheral surface of the rotation part 551b, and the other end is formed to be opposite to the outer peripheral surface of the fixing part 551a. The first latch 622 has a plurality of first latching protrusions 622a for latching the first latching protrusion 621 in one direction.

A plurality of the first locking protrusions 622a are formed so that the first locking protrusions 621 are engaged with any one of the plurality of first locking protrusions 622a so that the size of the finger holder 551 Lt; / RTI &gt; The first latching protrusions 622a are grooves having a right-angled triangle shape in cross section so that the first fastening protrusions 621 can be fitted to the shape of the first fastening protrusions 621. The first latching protrusions 622a are formed in two rows so that the two first latching protrusions 621 are engaged, respectively. However, the present invention is not limited thereto.

The first guide slit 622b is formed in the first latch 622. In the present embodiment, for example, it is formed between the two first latching tabs 622a. The first guide slit 622b is formed to be long along the longitudinal direction of the first latch 622.

The first guide protrusion 623 protrudes from the fixing portion 551a and is fitted to the first guide slit 622b. The first guide projection 623 is fitted in the first guide slit 622b so that when the first latch 622 is attached to or detached from the first fastening protrusion 621, Thereby preventing the separation member 552b from being separated.

Referring to FIG. 24, the first guide protrusion 623 protrudes between the two first fastening protrusions 621. The first guide protrusion 623 protrudes higher than the first engagement protrusion 621 so that the first guide protrusion 623 may protrude even if the first engagement protrusion 621 comes out of the first engagement protrusion 622a Can be held in the first guide slit 622b.

The first handle protrusion 625 is formed to protrude outward from the end of the first latch 622 so that the user can hold the protrusion 625 by pulling it. The first knob protrusion 625 protrudes outwardly so that the user can push and pull the first knob 622 in the direction in which the first knob 622 is opened.

The elastic member 553 is provided on the inner circumferential surface of the finger holder 551 to minimize irritation to the skin and improve the wearing comfort. As the elastic member 553, a foam board, silicon, or the like may be used.

FIG. 26 is a view showing a state in which the palm wearing part and the wrist part of the hand-held type apparatus shown in FIG. 17 are opened. FIG. 27 is a view showing the palm wearing part and the wrist part shown in FIG. 26 in a closed state. Fig. 28 is a view showing a palm wearing part opening and closing member and a wrist part opening and closing member of the hand wearing device of Fig. 17;

26 to 28, a palm wearing part opening / closing member 820 is provided between the hand wearing part 510 and the palm wearing part 520, and the palm wearing part opening / (720).

The palm wearing part opening and closing member 820 may be attached to the back of the hand wearing part 510 so as to adjust the size of the space between the hand wearing part 510 and the palm wearing part 520 according to the size of the user's hand So that the palm-wearing portion 520 can be opened and closed.

The back frame part 511 and the palm wearing part 520 of the hand wearing part 510 are rotatably coupled. The back frame part 511 and the palm wearing part 520 are coupled with the second hinge shaft 525.

The palm wearing portion 520 is formed to cover at least a part of the palm. A part of one side of the palm wearing part 520 is coupled to the back frame part 511 by the second hinge shaft 525 and the remaining part except for the engaging part to which the second hinge shaft 525 is coupled Is configured to be open so that the thumb can be inserted. The other side surface of the palm wearing part 520 is coupled to the back frame part 511 so as to be opened and closed by the palm wearing part opening and closing member 820.

The structure of the palm wearing part opening / closing member 820 is the same as that of the finger holder opening and closing member 520.

The palm fitting opening and closing member 820 includes a second fastening protrusion 821, a second latch 822, a second guide slit 822b, a second guide protrusion 823, and a second grip protrusion 825, .

The second fastening protrusion 821 protrudes from the end of the back frame part 511. The second fastening protrusions 821 are formed in a right triangle shape in cross section, and are hooked to the second fastening protrusions 822a described later in one direction. The second fastening protrusions 821 are formed at two positions spaced apart from each other by a predetermined distance in a direction in which the hand is fitted in the back frame section 511. [

The second latch 822 is extended from the palm rest 520 toward the backrest prime part 511 and is hooked on the backrest frame part 511. That is, one end of the second latch 822 is fixed to the outer circumferential surface of the palm wearing part 520 and the other end is protruded so as to face the outer circumferential surface of the back frame part 511. The second latch 822 has a plurality of second latching protrusions 822a for latching the second latching protrusion 821 in one direction.

A plurality of the second locking jaws 822a may be formed and the size of the second locking protrusions 821 may be adjusted by being hooked on any one of the plurality of second locking jaws 822a. The second locking protrusions 822a are grooves having a right triangle section in cross section so as to correspond to the shape of the second locking protrusions 821 so that the second locking protrusions 821 can be fitted. The second latching jaws 822a are formed in two rows so that the two second latching protrusions 821 are engaged, respectively. However, the present invention is not limited thereto.

The second guide slit 822b is formed on the second latch 822. In the present embodiment, for example, it is formed between the two rows of second latching jaws 822a. The second guide slit 822b is formed to be long along the longitudinal direction of the second latch 822.

The second guide protrusion 823 protrudes from the back frame part 511 and is fitted to the second guide slit 822b. The second guide protrusion 823 is fitted to the second guide slit 822b so that when the second latch 822 is attached to or detached from the second fastening protrusion 821, Thereby preventing the wearer 520 from being separated.

The second guide protrusion 823 is protruded between the two second fastening protrusions 821. The second guide protrusions 823 protrude higher than the second engagement protrusions 821 so that the second guide protrusions 823 can be inserted into the second guide protrusions 822 even if the second engagement protrusions 821 come out of the second engagement protrusions 822a Can be held in the second guide slit 822b.

The second handle protrusion 825 is formed so as to protrude outward from the end of the second latch 822 so that the user can hold the second handle protrusion 825. The second knob protrusion 825 protrudes outwardly so that the user can push and pull the second knife 822 in a direction in which the second knife 822 is opened.

Further, the wrist part 700 is formed in a ring shape so as to be worn on the wrist of the user. However, the present invention is not limited thereto, and any shape can be used as long as it can be worn on the wrist.

The wrist fitting unit 700 includes a wrist fixing unit 701 fixed to the hand wearing unit 510 and a wrist rotation unit 702 rotatably coupled to the wrist fixing unit 701. The wrist fixing portion 701 and the wrist rotation portion 702 are each formed in a semicircular shape. The wrist fixing portion 701 and the wrist rotation portion 702 are coupled to each other by a third hinge shaft 703.

The wrist part opening and closing member 720 may open and close the wrist part 700 so that the size of the wrist part 700 can be adjusted according to the size of the user's wrist.

The wrist fitting opening / closing member 720 includes a third fastening protrusion 721 and a third latch 722.

The third fastening protrusion 721 is protruded from the wrist fixing portion 701. The third fastening protrusions 721 are formed in a triangle-like shape in cross section and hooked to the third fastening tabs 722a described later in one direction.

The third latch 722 extends from the wrist rotation part 702 toward the wrist fixing part 701 and is hooked on the wrist fixing part 701. That is, one end of the third latch 722 is fixed to the outer peripheral surface of the wrist rotation part 701, and the other end is formed to face the outer peripheral surface of the wrist fixing part 701. The third latch 722 includes a plurality of third latching protrusions 722a for latching the third latching protrusion 721 in one direction.

A plurality of the third locking protrusions 722a are formed so that the third locking protrusions 721 are engaged with any one of the plurality of third locking protrusions 722a so that the size of the wrist fitting portion 700 Can be adjusted. The third stopping protrusion 722a is a groove having a right triangle section in cross section so that the third fastening protrusion 721 can be fitted to the shape of the third fastening protrusion 721. [ The third latching jaws 722a may be formed of a plurality of rows.

Although the wrist fitting opening / closing member 720 is simpler in structure than the finger holder opening and closing member 552 in the present embodiment, the wrist fitting opening and closing member 720 is not limited to this, It is also possible that the guide protrusion, the guide slit, and the handle protrusion are included so as to have the same structure as that of the finger holder opening and closing member 552.

A method of using the hand motion measuring apparatus according to an embodiment of the present invention will now be described.

26 and 27, a user's hand is inserted into the hand wearing portion 510 and the palm wearing portion 520 and the wrist rotation portion 702 of the wrist wearing portion 700 are covered.

At this time, the hand wearing portion 510 and the palm wearing portion 520 are fastened by the hand floor wearing portion opening and closing member 820.

The second fastening protrusion 821 is fastened to any one of the plurality of second fastening tabs 822a according to the size of the user's hand. The size of the second fastening protrusion 821 can be adjusted by being hooked on any one of the plurality of second fastening protrusions 822a.

Therefore, since it can be adjusted according to the size of the user's hand or the height of the back of the hand, it is not only easy to wear but also can be firmly fixed to the user's hand.

Further, the wrist rotation unit 702 and the wrist fixing unit 701 are fastened by the wrist fitting opening and closing member 720.

The third fastening protrusions 721 are fastened to any one of the plurality of third fastening tabs 722a according to the thickness of the user's wrist. The third fastening protrusion 721 can be adjusted in size by being hooked on any one of the plurality of third fastening tabs 722a.

Accordingly, since it can be adjusted according to the thickness of the wrist of the user, it is easy to wear, and can be firmly fixed to the user's hand, so that a more accurate sense of backwardness can be transmitted in the case of a backward sensation.

Then, the thumb, the index finger, and the stop finger are inserted into the finger holder 551. Then,

25A shows a state in which the finger holder 551 is fully opened, and Fig. 25B shows a state in which the finger holder 551 is fully closed.

Referring to FIG. 25A, the finger holder 551 can maintain the maximum open state before the finger is inserted into the finger holder 551. FIG.

The first guide protrusion 523 is held in the first guide slit 622b even when the finger holder 551 is fully opened. Therefore, during the adjustment of the size of the finger holder 551, (551b) is not completely opened. Therefore, since the rotation part 551b is not completely separated from the fixing part 551a, the size of the finger holder 581 can be easily adjusted. It is very inconvenient to rotate the rotation part 551b again to catch the rotation part 551b on the fixing part 551a when the rotation part 551b is separated from the fixing part 551a, Can be solved.

Referring to FIG. 25B, after the finger is inserted into the finger holder 551, the first latch 522 is held by the first knob projection 525 to move the first latch 522. While moving the first latch 522, the first fastening protrusion 521 is fastened to one of the plurality of first fastening protrusions 522a according to the size of the finger. The first fastening protrusion 521 may be adjusted in size by being hooked on any one of the plurality of first fastening tabs 522a.

&Lt; Control method of hand-held device >

As compared with the above-described embodiment, the present embodiment is different from the above-described embodiment in that, while the other fingers (indexing, stopping, etc.) have four degrees of freedom, the thumb has five degrees of freedom. Therefore, The addition of the axis of rotation adds a difference to the method of measuring the movement of the thumb and the method of measuring the movement of the remaining fingers.

Also, the accuracy of the measurement is further improved by adding the length 16 of the second linking member 570 as a variable, which is also different from the above-described embodiment.

First, a method of estimating the positions of the detection and stop fingers (i.e., the rest of the fingers except for the thumb) will be described.

Figs. 29 and 30 are diagrams showing variables for obtaining the distal position of the index finger in the hand-held device of Fig. 17; Fig.

29 and 30, a method of estimating the position of the distal portion of the index finger is as follows.

l1 is the length of the first proximal link portion 531, l2 is the length of the second proximal link portion 532, l3 is the length of the first linking member 560, l4 is the length of the second distal link portion 542, l5 denotes the length of the first distal link portion 542, and l6 denotes the length of the two-degree of freedom connecting member 710. [ 11 to 16 are values that can be obtained from the structure information of the hand-held device 500 in advance.

2 is the rotation angle 2 of the second proximal link portion 532 and? 3 is the rotation angle 3 of the second distal link portion 542. In this case,? 1 is the rotation angle of the driving unit 520,? 4 is a rotation angle of the two-degree-of-freedom connecting member 710, more specifically, a rotation angle? 4 of the first rotation portion 711 of the two-degree of freedom connecting member 710. and? 1 to? 4 are values that can be measured from the drive unit sensor, the first, second, and third Hall sensors (not shown).

α is the angle between the first proximal link portion 531 and the second proximal link portion 532 and β is the angle between the first distal link portion 541 and the second distal link portion 542 . ? and? are values that can be obtained in advance from the structure information of the hand-held device 500.

(11) to (13) can be obtained using the kinematic model shown in Figs. 29 and 30, and the distal position (Px, Py, Pz) of the index fingers can be obtained from the equations (11) to (13).

At this time, it is assumed that the position of the distal portion of the index finger and the position of the finger wearer 550 are the same, assuming that the error according to the position of the distal portion of the index finger and the distance between the finger-wearing portion 550 is very small .

(Px, Py, Pz) of the index finger can be obtained with reference to the above-mentioned equations (11) to (13).

Next, a method of estimating the position of the thumb will be described.

Figs. 31 and 32 are diagrams illustrating parameters for determining the distal position of the thumb in the hand-held device of Fig. 17;

31 and 32, a method of estimating the position of the distal portion of the thumb is as follows. The thumb is further provided with a three degree of freedom connecting member 720.

l1 is the length of the first proximal link portion 531, l2 is the length of the second proximal link portion 532, l3 is the length of the first linking member 560, l4 is the length of the second distal link portion 542, l5a is the length of the first distal link portion 541, l5b is the length of the second rotation portion 722 of the three-degree of freedom connecting member 720, l6 is the length of the three degree of freedom connecting member 720 The length of the first rotating portion 721 of the first rotating portion 721 of the first rotating portion 721. 11 to 16 are values that can be obtained from the structure information of the hand-held device 500 in advance.

2 is the rotation angle 2 of the first linking member 560 and? 3 is the rotation angle 3 of the second distal link unit 542. In this case,? 1 is the rotation angle of the driving unit 520,? 4 is the rotation angle of the three-degree-of-freedom connecting member 720, more specifically, the rotation angle? 4 of the first rotation portion 721 of the three-degree- 5 is a rotation angle of the three-degree-of-freedom connecting member 720, more specifically, a rotation angle 5 of the second rotation portion 722 of the three-degree-of-freedom connecting member 720. and? 1 to? 5 are values that can be measured from the driving unit sensor, the first, second, third, and fourth Hall sensors (not shown).

α is the angle between the first proximal link portion 531 and the second proximal link portion 532 and β is the angle between the first distal link portion 541 and the second distal link portion 542 . ? and? are values that can be obtained in advance from the structure information of the hand-held device 500.

(14) to (16) can be obtained using the kinematic model shown in FIG. 31, and the distal position (Px, Py, Pz) of the thumb can be obtained from the equations (14) to (16).

Referring to Equations (14) to (16) above, the distal position (Px, Py, Pz) of the thumb can be obtained.

Hereinafter, a method of obtaining the inner and outer angles? A of the finger using the distal position of the obtained finger will be described. (Px, Py, Pz) are obtained, the following method can be applied to the thumb or index finger in the same way.

Knowing the position of the distal portion of the finger using the above-described method, the inside and outside angles? A of the finger can be obtained through the following expression (17).

13, the inner and outer front angles? A of the fingers are the angles in which the fingers are moved in the lateral direction. Fig. 13 shows the position of the distal portion of the finger as a frame that rotates according to the inside / outside front angle [theta] A.

The equation for the inner / outer front angle? A is shown in Equation (17).

The distal position of the index finger that rotates in accordance with the inside / outside angle determined from the equation (17) can be obtained. Hereinafter, the distal position of the finger rotating according to the inner / outer front angle is referred to as the distal rotation position (Px ', Py', Pz ') of the finger.

The distal rotational positions (Px ', Py', Pz ') of the finger may be expressed by Equation (18).

Knowing the distal rotational position (Px ', Py', Pz ') of the finger, the finger joint angle can be obtained through the following equations.

Hereinafter, a method of obtaining the angle of the finger using the distal rotational positions Px ', Py', and Pz 'of the finger as described above will be described.

33A and 33B are diagrams illustrating a kinematic model for obtaining a finger joint angle in a hand-held device according to an embodiment of the present invention. On the other hand, FIG. 34 shows the angle of the finger joint on the x'-z 'plane when the finger is bent.

In Fig. 33B, assuming that the length of the finger is 10f, the length ratio of each node is expressed by 2f, 3f, and 5f.

In addition, the distance between the distal portion of the first proximal link portion 531 and the MCP of the finger is represented by l, which can be assumed to have a constant value since all users wear it in the same manner.

In Fig. 34, θM is the angle of the metacarpophalangeal joint (MCP). θP is the angle of the proximal interphalangeal joint (PIP). On the other hand, it is assumed that the angle θD of the distal interphalangeal joint (DIP) is 2/3 of the near interdental joint (θP).

On the other hand, since the hand-held device is fastened to the proximal interphalangeal joint (PIP), the angle of the finger joint angle algorithm (MCP, Metacarpophalangeal joint) and the angle of the proximal interphalangeal joint . The angle θD of the distal interphalangeal joint (DIP) is assumed to be 2/3 of the near-extremity joint (θP).

와,

는 이전의 관절 각도를 이용하여 다음의 수학식 19 및 수학식 20으로부터 계산할 수 있다. Currently available joint angles

Wow,

Can be calculated from the following equations (19) and (20) using the previous joint angle.

On the other hand, the fingertip positions P1 to P9 of the possible joint angles, which are calculated from the obtained presently available joint angles, can be calculated from the following equation (21).

Next, the fingertip angle of the wearer is estimated at the joint angle having the closest distance by calculating how close the hand end position of the currently available joint angle is to the actual fingertip position.

Here, L means the distance between the hand end position and the actual hand end position, which are possible joint angles. These distances L1 to L9 can be calculated from the following equation (22).

를 착용자의 손가락 각도로 추정하게 되는 것이다. Finally, the joint angle &lt; RTI ID = 0.0 &gt;

Is estimated by the finger angle of the wearer.

As a result, the joint angles? P,? D,? M of the finger are calculated as follows.

As described above, when the distal rotation position P 'of the finger is known, the joint angles? P,? D,? M of the finger can be calculated.

Accordingly, the controller (not shown) can estimate the movement of the finger using the distal rotation position P 'of the finger and the joint angles? P,? D,? M of the finger.

In addition, the control unit (not shown) controls the driving unit (not shown) to transmit a desired force to the distal portion of the finger without interfering with the movement of the finger. The control unit controls the current of the driving unit 520 by using the distal rotation position P 'of the finger and the joint angles? P,? D and? M of the finger so that a hard object, Objects and the like can be changed and transmitted.

Since the hand-held device constructed as described above is mounted on the back of the hand, it is easy to bend the finger. In addition, it is configured to have 5 to 6 degrees of freedom, so that it does not interfere with movements such as gripping and stretching, fingers, abduction, abduction, and the like.

In the first embodiment shown in Fig. 1 and the like, a driving unit (refer to 120 in Fig. 1) is provided, and the driving force transmitted by the driving unit moves the links to constitute a reversal for the user. In the second embodiment, a vibration generator (see 597 in Fig. 17) is provided at the inner lower portion of the finger wearing portion (see 550 in Fig. 17) to transmit vibration to the end portion of the finger. However, But is not limited thereto.

In other words, the vibration generator (see 597 in Fig. 17) may be provided instead of the drive unit (see 120 in Fig. 1) in the first embodiment shown in Fig. 1 and the like, (See 120 in FIG. 1), or may be provided with a drive (see 120 in FIG. 1) and a vibration generator (see 597 in FIG. 17) There will be.

The specific acts described in the present invention are, by way of example, not intended to limit the scope of the invention in any way. For brevity of description, descriptions of conventional electronic configurations, control systems, software, and other functional aspects of such systems may be omitted. Also, the connections or connecting members of the lines between the components shown in the figures are illustrative of functional connections and / or physical or circuit connections, which may be replaced or additionally provided by a variety of functional connections, physical Connection, or circuit connections. Also, unless explicitly mentioned, such as " essential ", " importantly ", etc., it may not be a necessary component for application of the present invention.

The use of the terms " above " and similar indication words in the specification of the present invention (particularly in the claims) may refer to both singular and plural. In addition, in the present invention, when a range is described, it includes the invention to which the individual values belonging to the above range are applied (unless there is contradiction thereto), and each individual value constituting the above range is described in the detailed description of the invention The same. Finally, the steps may be performed in any suitable order, unless explicitly stated or contrary to the description of the steps constituting the method according to the invention. The present invention is not necessarily limited to the order of description of the above steps. The use of all examples or exemplary language (e.g., etc.) in this invention is for the purpose of describing the present invention only in detail and is not to be limited by the scope of the claims, It is not. It will also be appreciated by those skilled in the art that various modifications, combinations, and alterations may be made depending on design criteria and factors within the scope of the appended claims or equivalents thereof.

The embodiments of the present invention described above can be embodied in the form of a computer program that can be executed on various components on a computer, and the computer program can be recorded on a computer-readable medium. At this time, the medium may be a computer capable of continuously storing a program executable, or storing it for execution or downloading. In addition, the medium may be a variety of recording means or storage means in the form of a combination of a single hardware or a plurality of hardware, but is not limited to a medium directly connected to a computer system, but may be dispersed on a network. Examples of the medium include a magnetic medium such as a hard disk, a floppy disk and a magnetic tape, an optical recording medium such as CD-ROM and DVD, a magneto-optical medium such as a floptical disk, And program instructions including ROM, RAM, flash memory, and the like. As another example of the medium, a recording medium or a storage medium managed by a site or a server that supplies or distributes an application store or various other software to distribute the application may be mentioned.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, Those skilled in the art will appreciate that various modifications and changes may be made thereto without departing from the scope of the present invention.

Accordingly, the spirit of the present invention should not be construed as being limited to the above-described embodiments, and all ranges that are equivalent to or equivalent to the claims of the present invention as well as the claims .

100: Hand-held device
110: a hand wearing part 120: a driving part
130: proximal link 140: distal link
150: finger wearing section 160: first connecting member
170: second connecting member

Claims (1)

A handgrip;
A proximal link rotatably connected to the back of the hand;
A distal link coupled to the proximal link by a first linking member to have at least two degrees of freedom with respect to the proximal link;
A finger-wearing portion coupled to the distal link by a second linking member to have at least two degrees of freedom with respect to the distal link, the finger-wearing portion being worn on an end of the finger; And
And a controller for estimating a position of the distal portion of the finger.

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