WO2019208857A1

WO2019208857A1 - Hmi hand module

Info

Publication number: WO2019208857A1
Application number: PCT/KR2018/004969
Authority: WO
Inventors: 임현국
Original assignee: 주식회사 이지원인터넷서비스
Priority date: 2018-04-27
Filing date: 2018-04-27
Publication date: 2019-10-31

Abstract

Disclosed is an HMI hand module comprising: a base for supporting the hand of a wearer; a plurality of finger fastening parts mounted on the base, provided to correspond to respective fingers, and coupled to the respective fingers so as to sense motions of the fingers; and a thumb fastening part mounted on the base, provided to correspond to the thumb, and coupled to the thumb so as to sense the motion of the thumb.

Description

HMI hand module

The present invention relates to an HMI hand module mounted on the wearer's hand to recognize the movement of the finger, but to accurately grasp the intention of the finger moving individually without interfering with the natural movement of the finger.

As robot technology is advanced, wearable robots are being developed. In the case of a wearable robot or a large robot, it is very important to know exactly how the operator's movement is intended, but not to restrict the movement of the human body.

In particular, in the case of a large robot, the operator can directly ride or remotely control the robot from outside. For this purpose, the sophistication of the human-machine interface (HMI) is very important.

In the case of HMI, sensing parts need to be detected for each joint because the movement of each joint of the human body must be accurately understood and transmitted to the robot. In addition, the HMI can sense the movement of the wearer unnecessarily because the sensing unit is disposed at each joint so that the robot can move according to the intention even in an emergency situation, and the robot can be naturally controlled to meet the intention of the person.

On the other hand, if too much freedom is given, this is a hindrance to the robot's control.This HMI ensures smooth movement and accurate sensing, while suppressing excessive freedom and making it possible to operate precisely within the proper frame. It is important to implement this.

On the other hand, the most difficult and complex parts of each part of the body can be said to be hands and fingers. Therefore, in the HMI field, there was a need for a technology that accurately grasps hand movements and transfers them to the robots so that humans can control the robots sensitively.

The matters described as the background art are only for the purpose of improving the understanding of the background of the present invention, and should not be taken as acknowledging that they correspond to the related art already known to those skilled in the art.

The related art is KR 10-1628311 B1.

The present invention has been proposed to solve the above problems, the HMI hand module is mounted on the wearer's hand to recognize the movement of the finger, but do not interfere with the natural movement of the finger individually to accurately grasp the intention to move the finger To provide.

HMI hand module according to the present invention for achieving the above object, the base supporting the wearer's hand; A plurality of finger fastening parts mounted on the base and provided to correspond to each of an index finger, a middle finger, a ring finger, and a finger of a wearer, and coupled to each of the wearer's fingers to sense movement of a finger; And a thumb fastening part mounted on the base and corresponding to the thumb, and coupled to the thumb to sense the movement of the thumb. The thumb fastening part includes a thumb fastening part corresponding to the stop of the wearer among the plurality of finger fastening parts. The fastening position projects more outward than the fastening position to the base of the other finger fastening portion.

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

An extension part extending in the palm direction is formed at the upper end and the lower end of the base, and a grip part is vertically connected between the upper and lower extension parts. The grip part is disposed toward the palm side and the grip part may be wrapped with the palm when the wearer's hand is pinched. have.

Four finger fastenings may be provided to correspond to the index finger, middle finger, ring finger, and the holding finger.

The finger fastening part may include a coupling part coupled to a finger at an end, a switching part for converting a yawing motion of a finger into a rolling motion, and a sensing part coupled to the base and sensing a rolling motion of the switching part.

The coupling part may have a ring shape through which a finger passes.

The switching unit may be composed of a yawing link extending from the coupling portion to the yawing motion with the finger, a rolling link coupled to the base for the rolling motion, and a switching link for connecting the yawing link and the rolling link to convert the yawing motion into a rolling motion. have.

The yawing link is composed of a front link and a rear link connected to allow relative rotation, a coupling portion is provided at the front end of the front link, the rear end of the rear link may be coupled to the base by the rotation axis.

The rear end of the yawing link is coupled to the base by a rotation axis, the switching link has a shape in which the center portion is bent and the front end may be coupled to the rear end of the yaw link by the rotation shaft and the rear end may be coupled to the front end of the rolling link by the rotation shaft.

An inclined surface is formed at the rear end of the yawing link and the front end of the rolling link, and the front end and the rear end of the switching link may be coupled to the inclined surface of the rear end of the yawing link and the front end of the rolling link, respectively.

The base supports the back of the hand, and the finger fastening portion and the thumb fastening portion may extend forward from the outside of the finger and thumb to form a exoskeleton.

The thumb fastening part is connected to the rear end of the base by a rotation axis, the thumb switching part for pitching movement, the thumb coupling portion provided at the front end of the thumb switching unit and the thumb coupling coupled to the base and the thumb sensing sensing the pitching movement of the thumb switching unit It can be composed of wealth.

The base is connected to the bracket by the rotation axis to the yaw movement and the bracket may be installed as a rotation axis to the thumb switch portion pitching movement.

The bracket is elastically supported on the base so that the restoring force may be provided to the bracket when the bracket is yawing by the movement of the thumb.

A plurality of finger fastening portions are provided side by side along the arrangement of the fingers on the upper surface of the base, the thumb fastening portion is provided on the side of the base so that the fastening positions of the finger fastening portions and the thumb fastening portion can intersect.

Among the plurality of finger fastening parts, the position of the finger fastening portion corresponding to the stopper of the wearer is positioned to the outermost position, and the position of the finger fastening portion corresponding to the index finger and the ring finger is then positioned. The position that is fastened to the base of the corresponding finger fastening part may be positioned at the lowest.

According to the HMI hand module of the present invention, it is mounted on the wearer's hand to recognize the movement of the finger, but can accurately grasp the intention of moving the finger individually without disturbing the natural movement of the finger.

1 is a perspective view of an HMI hand module according to an embodiment of the present invention.

Figure 2 is a view from above of the HMI hand module according to an embodiment of the present invention.

3 is a view showing a base of the HMI hand module according to an embodiment of the present invention.

Figure 4 is a front view of the base of the HMI hand module according to an embodiment of the present invention.

5 is a view showing a finger fastening portion of the HMI hand module according to an embodiment of the present invention.

Figure 6 is a view showing a thumb fastening portion of the HMI hand module according to an embodiment of the present invention.

7 to 9 are views showing the movement of the finger fastening portion of the HMI hand module according to an embodiment of the present invention.

1 is a perspective view of an HMI hand module according to an embodiment of the present invention, Figure 2 is a view from above of the HMI hand module according to an embodiment of the present invention, Figure 3 according to an embodiment of the present invention Figure 4 is a view showing the base of the HMI hand module, Figure 4 is a front view of the base of the HMI hand module according to an embodiment of the present invention, Figure 5 is a finger fastening of the HMI hand module according to an embodiment of the present invention 6 is a view showing a thumb fastening portion of the HMI hand module according to an embodiment of the present invention.

HMI hand module according to the present invention, the base 100 for supporting the wearer's hand; A plurality of finger fasteners 300 mounted on the base 100 and provided to correspond to each finger and coupled with each finger to sense movement of a finger; And a thumb fastening part 500 mounted to the base 100 and provided to correspond to the thumb and coupled with the thumb to sense the movement of the thumb.

The hand module of the present invention has a form that a person wears like a glove. To this end, various bases are mounted on the base and have a structure that is mounted on a human hand.

The base 100 is provided with a finger fastening part 300 and a thumb fastening part 500. The finger fastening part 300 is provided to correspond to each finger. Here, the finger refers to the index finger, middle finger, ring finger, and possession except the thumb. Finger fastener 300 is coupled to each finger to independently detect the movement of each finger. And the thumb fastener 500 is also mounted on the base and provided to correspond to the thumb, coupled with the thumb to sense the movement of the thumb. In this way, since the user wears a glove and detects movement corresponding to each finger, the robot's finger movement can be controlled according to the wearer's finger movement as much as possible even when the robot is remotely controlled.

In detail, the finger fastening unit 300 is mounted on the base 100 and is provided to correspond to each of the wearer's finger, the middle finger, the ring finger, and the holder, and is coupled to each of the wearer's fingers to sense the movement of the finger. . In particular, the position 112 fastened to the base of the finger fastening part corresponding to the stop of the wearer among the plurality of finger fastening parts 300 protrudes outward from the

positions

111, 113, and 114 fastened to the base of the other finger fastening parts. In this configuration, in the case of the present invention, which is worn on the wearer's hand in the form of an exoskeleton, the position 112 that is fastened to the base of the finger fastening portion corresponding to the stop portion protruding outward when the wearer has a fist is fastened to the remaining fingers. By protruding outward from the position fastened to the base of the negative portion, both the position of the actual wearer's finger and the moving trajectory can be simulated in the same manner, and the heterogeneity can be reduced.

That is, as shown in FIG. 4, the position 112 of the plurality of finger fastening portions, which is fastened to the base of the finger fastening portion corresponding to the stop of the wearer, is positioned to the outermost side, and then to the base of the finger fastening portion corresponding to the index finger and the ring finger. The

fastening positions

111 and 113 are positioned, and the fastening positions 114 to the base of the finger fastening unit corresponding to the base are positioned to be the lowest, so that they are designed to match the hand of the wearer, thereby precisely moving each finger. You can sense it and make sure you don't feel uncomfortable when holding or spreading your hand.

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

In the case of FIG. 1, the wearer inserts a finger between the grip part 130 and the base 100 and engages the finger fastening part 300 at the end of the finger. Accordingly, the finger is positioned between the grip 130 and the base 100 and the base 100 is positioned to face the back of the hand. As the base 100 is disposed so as to face the back of the hand, the base 100 supports the back of the hand as a whole, and the finger fastening part 300 and the thumb fastening part 500 extend forward from the outside of the finger and the thumb so that the Form can be achieved. Accordingly, by placing complex instruments on the outside of the hand, the hand is given to the wearer with maximum freedom to retract without being constrained by the instrument when the hand is held or unfolded. This, in turn, means that the scope of robot control is extended.

In addition, as shown in Figs. 1 and 3, the upper and lower ends of the base are formed with extension portions 120 extending in the palm direction, and grip portions 130 for vertically connecting the upper and lower extension portions 120 are provided. 130 is disposed in the palm side and the grip portion 130 may be wrapped in the palm when the wearer pinch the hand. Accordingly, the hand movement of the wearer is freely ensured, but the grip part 130 is prevented even when the hand is held as much as possible. If so, give a sense of stability. The thickness and the shape of the grip 130 may be determined according to the range in which the robot's hand is movable.

On the other hand, the finger fastening portion 300 may be provided with four to correspond to the index finger, middle finger, ring finger, and the holding finger. Specifically, as shown in FIG. 5, the finger fastening part 300 is coupled to the coupling part 310 coupled to the finger at the end, the switching part 340 for converting the yawing motion of the finger into the rolling motion, and the base 100. The sensing unit 350 may be configured to sense a rolling motion of the unit 340. In addition, the coupling part 310 may have a ring shape through which a finger passes.

By making the coupling portion 310 into a ring shape, even when using a steel material having a relatively high rigidity and no change in shape, there is less foreign object on the finger, and the weight of the hand module itself can be optimally taken.

In addition, the finger is inherently impossible to implement the rolling motion in the joint structure, in the case of the human hand mainly performs the yawing movement, the coupling portion 310 is fitted to the finger to yaw movement. However, in order to measure this, when the sensor is directly connected to detect the yawing on the base 100, the layout is very difficult and the installation distance between adjacent sensors is very difficult. Accordingly, in order to resolve such an irrational contradiction, the switching unit 340 is provided without disturbing the yawing motion of the finger so that the yawing is converted to rolling at the end, and the sensing unit 350 measures the rolling by measuring the rolling. Measured and solved the layout problem at the same time.

The space between the finger joint and the joint is very narrow, but there is a lot of space behind the finger joint, so there is no difficulty in installing the sensor and does not restrain the freedom of the wearer's hand.

In addition, as shown in FIG. 5, the switching unit 340 extends from the coupling unit 310, the yawing

links

341 and 342 for yawing movement with the fingers, and the rolling link 345 coupled to the base 100 to perform the rolling movement. In addition, the yaw link (341,342) and the rolling link 345 may be composed of a switching link 344 for converting the yawing motion to a rolling motion.

Specifically, the yawing

links

341 and 342 are composed of a front link 341 and a rear link 342 connected to allow relative rotation so as to correspond to each node of the finger. In addition, a ring-type coupling portion 310 is provided at the front end of the front link 341 so that a finger may be fitted and the coupling portion 310 may also be rotated based on the yawing link, thereby providing softness even when worn. In addition, the rear end of the rear link 342 may be coupled to the base 100 by a rotation axis. The rear link 342 enables the length adjustment to correspond to the size of a different hand for each wearer.

The rear ends of the yawing links 341 and 342 are coupled to the base 100 by a rotating shaft, and the switching link 344 has a shape in which the central link is bent, and the front end is coupled to the rear ends of the yawing links 341 and 342 by a rotating link and 345 may be coupled to the front end of the rotation axis.

As shown,

inclined surfaces

343 and 346 are formed at the rear ends of the yawing links 341 and 342 and the front ends of the rolling links 345, and the front and rear ends of the switching links 344 are respectively after the yawing links 341 and 342. It may be coupled to the inclined surfaces (343, 346) of the end and the front end of the rolling link (345).

Through this configuration, the yawing motion is converted into a rolling motion and transmitted. That is, when the

yaw links

341 and 342 are yawing, the inclined surface 343 causes the switching link 344 to rotate halfway. In addition, the switching link 344 is installed on the rolling link 345 through the inclined surface 346 so that the rolling link 345 performs a perfect rotation and a rolling motion. In addition, the rolling link 345 may provide a force to restore the rolling motion by embedding the torsion spring. Such a torsion spring is implemented in each of the links, so that the overall angle recovery power is implemented because the links are connected as a whole, but when installed in the rolling link 345, the spring can be easily installed without the need for a large design change. 7 to 9 show the overall conversion process of such a rotational motion.

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

On the other hand, Figure 6 is a view showing a thumb fastening portion of the HMI hand module according to an embodiment of the present invention, the thumb fastening portion 500 is the rear end is connected to the rotational axis to the side end of the base 100 to switch the thumb The thumb sensing part (520), which is provided at the front end of the thumb switch (520) and coupled to the thumb coupling portion 510 and the base 100 coupled to the thumb, senses the pitching motion of the thumb switch (520) ( 550). In the case of the thumb, unlike the other fingers in the structure of the joint implements the pitching movement. Thus, the thumb needs to measure pitching.

To this end, the bracket 530 is connected to the rotation shaft to the base 100 to the yaw movement, and the bracket 530 may be installed to the rotation shaft so that the thumb switch 520 is pitched. That is, the thumb switch 520 moving together with the thumb is installed to the pitching movement on the bracket (530). And the bracket 530 is to be installed so as to make a rolling movement to the base 100 again.

Therefore, while measuring the pitching of the thumb while at the same time the movement of the thumb appears to be mixed with the pitching and rolling to ensure a free movement for the wearer to minimize the sense of heterogeneity. In general, when I put my hands, a lot of pitching appears, but some of the rolling together is because the structure of the thumb joint. Also, if the thumb sensing unit 550 is a sensor capable of sensing two axes, it is also possible to measure the pitching and rolling of such a thumb. That is, the pitching may be measured through the movement of the thumb switch 520 based on the thumb sensing unit 550 of the bracket 530 and the relative rolling with the base 100 may be measured through the movement of the bracket 530. will be.

In addition, the bracket 530 may be supported by the elastic body on the base 100 so that the restoring force may be provided to the bracket 530 when the bracket 530 yaws due to the movement of the thumb. This is to suppress the rolling of the thumb to some extent to induce the thumb to pinch in a stable and consistent posture when pinching. This gives a sense of stability to the control of the robot.

In addition, the plurality of finger fastening parts 300 are provided side by side along the arrangement of the fingers on the upper surface of the base 100, and the thumb fastening part 500 is provided on the side of the base 100 so that the finger fastening parts 300 are provided. And the fastening positions of the thumb fastening part 500 may be crossed. That is, as shown in FIG. 4, the

positions

111, 112, 113, and 114 of the base 100 to which the four finger fastening parts 300 are fastened are arranged side by side, but the position 115 of the thumb fastening part 500 is coupled to the base ( It is formed on the side of 100 to form a substantially orthogonal shape. Accordingly, the glove type is mounted to simulate the movement of the hand as much as possible and to measure the angle of each finger naturally.

While shown and described in connection with specific embodiments of the present invention, it is within the skill of the art that various changes and modifications can be made therein without departing from the spirit of the invention provided by the following claims. It will be self-evident for those of ordinary knowledge.

[Description of the code]

100: base 300: finger fastening portion

500: thumb fastener

Claims

A base supporting the wearer's hand;

A plurality of finger fastening parts mounted on the base and provided to correspond to each of an index finger, a middle finger, a ring finger, and a finger of a wearer, and coupled to each of the wearer's fingers to sense movement of a finger; And

It is mounted to the base and provided to correspond to the thumb, coupled with the thumb to fasten the thumb for sensing the movement of the thumb; includes;

HMI hand module, characterized in that the position of the finger fastening portion corresponding to the stop of the wearer of the plurality of finger fastening portion protrudes more outward than the position fastened to the base of the other finger fastening portion.
The method according to claim 1,

HMI hand module, characterized in that the base is provided to be in close contact with the back of the hand.
The method according to claim 2,

An extension part extending in the palm direction is formed at the upper and lower ends of the base, and a grip part is vertically connected between the upper and lower extension parts. The grip part is disposed toward the palm side, and the grip part is wrapped with the palm when the wearer's hand is caught HMI hand module characterized in.
The method according to claim 1,

HMI finger module, characterized in that four fingers are provided so as to correspond to the index finger, middle finger, ring finger, and the holding finger.
The method according to claim 1,

The finger fastening part is an HMI hand module comprising a coupling part coupled to a finger at an end, a switching part for converting a yawing motion of a finger into a rolling motion, and a sensing part coupled to a base and sensing a rolling motion of the switching part.
The method according to claim 5,

HMI hand module, characterized in that the coupling portion is a ring-shaped penetrating finger.
The method according to claim 5,

The switching unit is composed of a yawing link extending from the coupling portion to the yawing motion with the fingers, a rolling link coupled to the base for the rolling motion, and a switching link for connecting the yawing link and the rolling link to convert the yawing motion into a rolling motion. HMI hand module.
The method according to claim 7,

Yawing link is composed of a front link and a rear link is connected to enable relative rotation, the coupling portion is provided in the front of the front link, the rear end of the rear link HMI hand module characterized in that coupled to the base by the rotation axis.
The method according to claim 7,

HMI is characterized in that the rear end of the yawing link is coupled to the base by a rotating shaft, and the switching link has a shape in which a central portion is bent, and the front end is coupled to the rear end of the yawing link by a rotation shaft, and the rear end is coupled to the front end of the rolling link by a rotation shaft. Hand module.
The method according to claim 9,

An inclined surface is formed at the rear end of the yawing link and the front end of the rolling link, and the front end and the rear end of the switching link are respectively coupled to the rear end of the yawing link and the inclined surface of the front end of the rolling link.
The method according to claim 1,

The base supports the back of the hand and the finger fastening portion and thumb fastening portion extends forward from the outside of the finger and thumb to form an exoskeleton, characterized in that the HMI hand module.
The method according to claim 1,

The thumb fastening part is connected to the rear end of the base by a rotation axis, the thumb switching part for pitching movement, the thumb coupling portion provided at the front end of the thumb switching unit and the thumb coupling coupled to the base and the thumb sensing sensing the pitching movement of the thumb switching unit HMI hand module comprising a part.
The method according to claim 12,

HMI hand module, characterized in that the bracket is connected to the rotating shaft is installed to the yawing movement and the bracket is installed as the rotating shaft for the pitching movement.
The method according to claim 13,

The bracket is supported by an elastic body on the base HMI hand module, characterized in that the restoring force is provided to the bracket when the bracket is yawing by the movement of the thumb.
The method according to claim 1,

A plurality of finger fastening portions are provided side by side along the arrangement of the fingers on the upper surface of the base, the thumb fastening portion is provided on the side of the base by the finger fastening portion and the HMI fastening module characterized in that the fastening position of the thumb fastening portion intersect.
The method according to claim 1,

Among the plurality of finger fastening parts, the position of the finger fastening portion corresponding to the stopper of the wearer is positioned to the outermost position, and the position of the finger fastening portion corresponding to the index finger and the ring finger is then positioned. HMI hand module, characterized in that the position that is fastened to the base fastening the corresponding finger fastening portion.