WO2018077255A1 - Gant mécanique d'exosquelette de type à toucher de forme pour suivi de mouvement d'identification à multiples degrés de liberté - Google Patents

Gant mécanique d'exosquelette de type à toucher de forme pour suivi de mouvement d'identification à multiples degrés de liberté Download PDF

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Publication number
WO2018077255A1
WO2018077255A1 PCT/CN2017/108215 CN2017108215W WO2018077255A1 WO 2018077255 A1 WO2018077255 A1 WO 2018077255A1 CN 2017108215 W CN2017108215 W CN 2017108215W WO 2018077255 A1 WO2018077255 A1 WO 2018077255A1
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WIPO (PCT)
Prior art keywords
finger
finger ring
disposed
ring
shape
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PCT/CN2017/108215
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English (en)
Chinese (zh)
Inventor
刘美君
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刘美君
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Application filed by 刘美君 filed Critical 刘美君
Publication of WO2018077255A1 publication Critical patent/WO2018077255A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures

Definitions

  • the present invention relates to the field of exoskeleton mechanical gloves, and more particularly to a shape tactile exoskeleton mechanical glove for multi-degree of freedom recognition motion tracking.
  • Exoskeleton armor also known as "exoskeleton armor” or “exoskeleton armor”
  • exoskeleton armor its structural principle is similar to the exoskeleton of insects, by wearing on the human body, giving people extra power to enhance the body function and provide protection, while at the same time
  • the exoskeleton can be attached with functions that the human body does not have.
  • the ordinary glove has the function of a mouse by transplanting the button of the mouse to the ordinary glove, since the glove is a part or all of the function of the mouse. Direct transfer, so its operation mode still relies on slamming or tapping with external objects.
  • the technical problem to be solved by the present invention is: in order to overcome the above problems, a shape tactile exoskeleton mechanical glove with multi-degree of freedom recognition action tracking is provided, which has a reasonable structure, simple structure, convenient use and intelligence degree.
  • the high advantage can effectively solve the problem that the existing mouse gloves have less functions and are not practical.
  • a shape-sensing exoskeleton mechanical glove with multi-degree of freedom recognition action tracking comprising a first component and a second component, the first component comprising an operation panel and a setting a first strap on the operating panel and two second straps;
  • the operation panel includes a casing, a turntable disposed on the casing, and a fixed arrangement in the casing a rotary encoder of the cavity, a counter, a microcontroller integrated with the wireless connection module, a gyroscope, a lithium battery; the turntable is connected to the rotary encoder through a rotating shaft; the microcontroller is respectively connected with a rotary encoder and a counter
  • the gyroscopes are electrically connected to each other;
  • the first strap is electrically connected to the lithium battery, and the two second straps are respectively electrically connected to the positive and negative poles of the power input end of the microcontroller;
  • the first strap is provided with a first magnetic plate, and a first electrical connection contact connected to the wire is disposed on the first magnetic plate;
  • a second magnetic plate is disposed on the second belt, and a wire is disposed on the second magnetic plate Second electrical connection contact;
  • the second component includes a first finger ring, a second finger ring and a finger sleeve disposed on the index finger, the middle finger, the ring finger and the little finger respectively, wherein the second finger ring and the first finger ring are respectively disposed on the first finger joint of the human body.
  • the front and rear ends, the finger sleeve is sleeved on the front end of the second finger joint of the human body;
  • the first finger ring and the second finger ring are hinged to each other by a hinge shaft, and the first finger ring is provided with a mounting groove, and the mounting groove is provided with a tension sensor and a buffer spring; one end of the tension sensor passes through the cable and the microcontroller Electrically connected to each other, the other end of the tension sensor is connected to the buffer spring, and the buffer spring is connected to the second finger ring via the cable.
  • the finger sleeve and the second finger ring are connected to each other through a chain plate, and the front end of the second finger ring is provided with a pressure sensor connected to the microcontroller and a pressure plate slidingly connected with the sliding groove on the finger sleeve, the chute A V-shaped spring piece is disposed therein, and two ends of the V-shaped spring piece are respectively connected to the pressure plate and the finger sleeve.
  • the housing is provided with a charging port connected to the microcontroller.
  • the upper surface of the turntable is provided with a groove for facilitating rotation.
  • first magnetic plate is circumferentially disposed with a ring magnet of opposite polarity centered on the two first electrical connection contacts, and the two second magnetic plates are respectively centered on the second electrical connection contact A ring magnet of opposite polarity is disposed circumferentially, and the first electrical connection contact is opposite in polarity to the ring magnet disposed on the corresponding second electrical connection contact.
  • first finger ring and the second finger ring are respectively provided with a 45° gap at the mutual connection.
  • the pressure sensor is a sheet type pressure sensor.
  • the second finger ring on the index finger is provided with a touch control device, and the touch control device comprises an arc-shaped shell fixed on the second finger ring and a plurality of distance sensors disposed in the inner cavity of the curved shell, the curved shell A through hole is provided at a position corresponding to the detecting end of the distance sensor.
  • the invention has the beneficial effects of a multi-degree of freedom recognition action tracking shape tactile exoskeleton mechanical glove, comprising a first component and a second component, the first component being fixed on the palm by three straps, and rotating on the disk Turning, tilting or rotating the palm to perform related operations, and controlling the switch of the present invention by connecting or disconnecting between the straps;
  • the second component includes a finger sleeve sleeved on the fingertip and disposed on both sides of the first interphalangeal joint
  • the first finger ring and the second finger ring are provided with a pressure plate and a pressure sensor.
  • the sensor applies a pulling force, and combines with the operation on the first component to generate a certain operation instruction and sends a control instruction to the controlled object by the first component; the structure is reasonable, and has the advantages of simple structure, convenient use, high intelligence, and the like. Effectively solve the problem that the existing mouse gloves have less function and are not practical.
  • FIG. 1 is a schematic view showing the overall structure of a shape-touch exoskeleton mechanical glove tracked by a multi-degree of freedom recognition action according to the present invention
  • FIG. 2 is a schematic structural view of an operation panel of a shape tactile exoskeleton mechanical glove tracked by a multi-degree of freedom recognition action according to the present invention
  • FIG. 3 is a schematic structural view of a second component of a shape tactile exoskeleton mechanical glove tracked by a multi-degree of freedom recognition action according to the present invention
  • FIG. 4 is a schematic view showing the structure of a first finger ring and a second finger ring of a shape tactile exoskeleton mechanical glove tracked by a multi-degree of freedom recognition action according to the present invention
  • FIG. 5 is a schematic structural view of a touch control device of a shape tactile exoskeleton mechanical glove tracked by a multi-degree of freedom recognition action according to the present invention
  • FIG. 6 is a schematic view showing the structure of a finger sleeve of a shape-touch exoskeleton mechanical glove tracked by a multi-degree of freedom recognition action according to the present invention.
  • the operation panel 11 includes a housing 111, a turntable 112 disposed on the housing 111, and a rotary encoder 114 fixedly disposed in the inner cavity of the housing 111, a counter 115, and an integrated wireless connection module.
  • the first strap 12 is electrically connected to the lithium battery 118, and the second strap 13 is electrically connected to the positive and negative terminals of the power input end of the microcontroller 116;
  • the strip 12 is provided with a first magnetic plate 121, and the first magnetic plate 121 is provided with a first electrical connection contact 122 connected to the wire;
  • the second band 13 is provided with a second magnetic plate 131, and
  • the second magnetic plate 131 is provided with a second electrical connection contact 132 connected to the wire;
  • the power supply of the present invention can be controlled by controlling the connection between the three straps, thereby controlling the switch of the present invention.
  • the second component 2 includes a first finger ring 21, a second finger ring 22, and a finger sleeve 23 disposed on the index finger, the middle finger, the ring finger, and the little finger, wherein the second finger ring 22, the first The finger ring 21 is respectively disposed at the front and rear ends of the joint of the first finger joint of the human body, and the finger sleeve 23 is sleeved at the front end of the second finger joint of the human body;
  • the first finger ring 21 and the second finger ring 22 are hinged to each other by a hinge shaft 220.
  • the first finger ring 21 is provided with a mounting groove 215.
  • the mounting groove 215 is provided with a tension sensor 211 and a buffer spring 212.
  • One end of the tension sensor 211 is electrically connected to the microcontroller 116 through the cable 214, the other end of the tension sensor 211 is connected to the buffer spring 212, and the buffer spring 212 is connected to the second finger ring 22 through the cable 213 connection.
  • the cable 213 pulls the buffer spring 212, the buffer spring 212 applies a pulling force to the tension sensor 211, and the tension sensor 211 transmits a signal to the microcontroller 116 for processing.
  • the finger sleeve 23 and the second finger ring 22 are connected to each other through a chain plate 231 , and the front end of the second finger ring 22 is provided with a pressure sensor 241 and a finger sleeve 23 connected to the microcontroller 116 .
  • the upper chute 243 is slidably connected to the pressure plate 24, and the V-shaped spring piece 242 is disposed in the sliding groove 243.
  • the two ends of the V-shaped spring piece 242 are respectively connected to the pressure plate 24 and the finger sleeve 23.
  • the pressure plate 24 can slide on the sliding groove 243 to press the pressure sensor 241 under the action of the V-shaped spring piece 242.
  • the pressure sensor 241 transmits a signal to the microcontroller 116.
  • the microcontroller 116 combines the pressure sensor 241, the tension sensor 211, and the top.
  • the signals of the meter 117 are combined to generate a final control signal and sent to the controlled target, for example, a four-finger varicose and a palm is rotated, and a "rotation target" command is generated, and the four fingers are straight and the palm is swung downward to generate a "pull down” command. .
  • the housing 111 is provided with a charging port 119 connected to the microcontroller 116 for charging the lithium battery 118.
  • the upper surface of the turntable 112 is provided with a groove 110 for easy rotation, and the groove 110 increases the friction of the surface of the turntable 112, making it easier to be rotated.
  • the first magnetic plate 121 is circumferentially disposed with a ring magnet of opposite polarity centered on the two first electrical connection contacts 122, and the two second magnetic plates 131 are respectively second.
  • the electrical connection contacts 132 are circumferentially disposed with opposite polarity annular magnets, and the first electrical connection contacts 122 are opposite in polarity to the ring magnets disposed on the correspondingly connected second electrical connection contacts 132. In this way, the wires can be conveniently connected one by one to avoid the polarity of the wires being connected.
  • the first finger ring 21 and the second finger ring 22 are respectively provided with a 45° gap at the mutual connection, and the notch can ensure that the first interphalangeal joint does not receive a block when it is bent.
  • the pressure sensor 241 is a sheet pressure sensor.
  • the second finger ring 22 on the index finger is provided with a touch control device 221, and the touch control device 221 includes an arc-shaped housing 222 fixed on the second finger ring 22 and disposed at A plurality of distance sensors 224 are formed in the inner cavity of the curved housing 222.
  • the curved housing 222 is provided with a through hole 223 at a position corresponding to the detecting end of the distance sensor 224.
  • the distance sensor 224 forms an array by detecting the through hole
  • the sliding direction signal is generated in the order in which the fingers are stroked on 223 and processed by the microcontroller 116 to be transmitted to the controlled object.
  • a multi-degree-of-freedom recognition motion-tracking shape tactile exoskeleton mechanical glove includes a first component and a second component.
  • the first component is fixed on the palm by three straps, and the turntable is rotated by the operation panel. , tilting or rotating the palm to perform related operations, and controlling the switch of the present invention by connecting or disconnecting between the straps;
  • the second component includes a finger sleeve sleeved on the fingertip and a first side disposed on the first finger joint a finger ring and a second finger ring, the finger sleeve is provided with a pressure plate and a pressure sensor.
  • the cable provided on the second finger ring pulls the buffer spring connection provided on the first finger ring, and the buffer spring applies to the tension sensor.
  • Pulling force by combining with the operation on the first component, generates a certain operation instruction and sends a control instruction from the first component to the controlled object; the structure is reasonable, has the advantages of simple structure, convenient use, high intelligence, and the like, and effectively solves The existing mouse gloves have fewer functions and are less practical.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)
  • Prostheses (AREA)
  • Gloves (AREA)

Abstract

L'invention concerne un gant mécanique d'exosquelette de type à toucher de forme pour un suivi de mouvement d'identification à multiples degrés de liberté, comprenant une première partie (1) et une seconde partie (2). La première partie (1) comprend une carte de commande (11), une première bande (12) et une seconde bande (13); la carte de commande (11) comprend un boîtier (111), un disque rotatif (112), un codeur rotatif (114), un compteur (115), un microcontrôleur (116), un gyroscope (117) et une batterie au lithium (118); la seconde partie (2) comprend des premiers anneaux (21), des seconds anneaux (22) et des gaines de doigt (23) qui sont articulés l'un à l'autre; des capteurs de tension (211) et des ressorts tampons (212) sont agencés sur les premières bagues (21); une extrémité des capteurs de tension (211) est électriquement connectée au microcontrôleur (116), dont l'autre extrémité est reliée aux ressorts tampons (212), et les ressorts tampons (212) sont reliés aux seconds anneaux (22) au moyen de câbles de traction (213). Le gant mécanique d'exosquelette de type à toucher de forme pour un suivi de mouvement d'identification à multiples degrés de liberté a une structure raisonnable, et présente les avantages d'avoir une structure simple, d'être facile à utiliser et d'avoir un degré élevé d'intelligence, et résout efficacement le problème selon lequel un gant de souris existant présente peu de fonctions et n'est pas pratique.
PCT/CN2017/108215 2016-10-28 2017-10-30 Gant mécanique d'exosquelette de type à toucher de forme pour suivi de mouvement d'identification à multiples degrés de liberté WO2018077255A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610967156.6 2016-10-28
CN201610967156.6A CN106502412B (zh) 2016-10-28 2016-10-28 一种多自由度识别动作追踪的形状触感式外骨骼机械手套

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113616210A (zh) * 2021-07-30 2021-11-09 华中科技大学 一种分布式手臂力传感信号采集装置
US11989351B2 (en) 2019-05-07 2024-05-21 Adam Farley Virtual, augmented and mixed reality systems with physical feedback

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106502412B (zh) * 2016-10-28 2017-10-31 广州初曲科技有限公司 一种多自由度识别动作追踪的形状触感式外骨骼机械手套
CN107289887A (zh) * 2017-07-07 2017-10-24 杭州电子科技大学 一种手套式关节臂坐标测量机及其测量方法
CN108319372A (zh) * 2018-03-16 2018-07-24 京东方科技集团股份有限公司 一种虚拟设备及方法
CN110244856B (zh) * 2019-07-26 2024-05-10 防灾科技学院 基于智能手环的操控设备
CN110315887A (zh) * 2019-08-16 2019-10-11 常州机电职业技术学院 一种辅助肌无力患者的握笔装置
CN112197896A (zh) * 2020-10-28 2021-01-08 西北农林科技大学 一种可穿戴式16路压力数据采集手套
CN113050809B (zh) * 2021-03-23 2021-10-22 黑龙江辰帆科技有限公司 一种指关节鼠标

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US20040012564A1 (en) * 2002-07-11 2004-01-22 Frank Zngf Glove mouse with virtual tracking ball
CN103049099A (zh) * 2012-11-22 2013-04-17 天津大学 基于加速度传感器和Labview的蓝牙手套鼠标
CN204496431U (zh) * 2015-01-23 2015-07-22 贾岳杭 上肢穿戴式动作捕捉设备
CN105630178A (zh) * 2016-02-27 2016-06-01 赵宗杰 一种基于拇指霍尔摇杆的蓝牙手套鼠标
CN106041898A (zh) * 2016-08-03 2016-10-26 京东方科技集团股份有限公司 机械外骨骼穿戴设备及其运行控制方法和装置
CN106502412A (zh) * 2016-10-28 2017-03-15 广州初曲科技有限公司 一种多自由度识别动作追踪的形状触感式外骨骼机械手套

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040012564A1 (en) * 2002-07-11 2004-01-22 Frank Zngf Glove mouse with virtual tracking ball
CN103049099A (zh) * 2012-11-22 2013-04-17 天津大学 基于加速度传感器和Labview的蓝牙手套鼠标
CN204496431U (zh) * 2015-01-23 2015-07-22 贾岳杭 上肢穿戴式动作捕捉设备
CN105630178A (zh) * 2016-02-27 2016-06-01 赵宗杰 一种基于拇指霍尔摇杆的蓝牙手套鼠标
CN106041898A (zh) * 2016-08-03 2016-10-26 京东方科技集团股份有限公司 机械外骨骼穿戴设备及其运行控制方法和装置
CN106502412A (zh) * 2016-10-28 2017-03-15 广州初曲科技有限公司 一种多自由度识别动作追踪的形状触感式外骨骼机械手套

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11989351B2 (en) 2019-05-07 2024-05-21 Adam Farley Virtual, augmented and mixed reality systems with physical feedback
CN113616210A (zh) * 2021-07-30 2021-11-09 华中科技大学 一种分布式手臂力传感信号采集装置
CN113616210B (zh) * 2021-07-30 2022-04-08 华中科技大学 一种分布式手臂力传感信号采集装置

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CN106502412B (zh) 2017-10-31

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