WO2020087844A1 - 一种手指可穿戴式柔性力触觉反馈装置 - Google Patents

一种手指可穿戴式柔性力触觉反馈装置 Download PDF

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Publication number
WO2020087844A1
WO2020087844A1 PCT/CN2019/079094 CN2019079094W WO2020087844A1 WO 2020087844 A1 WO2020087844 A1 WO 2020087844A1 CN 2019079094 W CN2019079094 W CN 2019079094W WO 2020087844 A1 WO2020087844 A1 WO 2020087844A1
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Prior art keywords
finger
transmission rod
fingertip
finger sleeve
proximal
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PCT/CN2019/079094
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English (en)
French (fr)
Inventor
宋爱国
莫依婷
秦欢欢
李会军
曾洪
徐宝国
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Southeast University
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Southeast University
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Priority to US17/271,207 priority Critical patent/US11287887B2/en
Publication of WO2020087844A1 publication Critical patent/WO2020087844A1/zh
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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 OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/01—Indexing scheme relating to G06F3/01
    • G06F2203/013—Force feedback applied to a game

Definitions

  • the invention belongs to the field of wearable finger force tactile feedback design, and particularly relates to a finger wearable flexible force tactile feedback device.
  • the force tactile feedback device is a device for providing two-way interaction capabilities in human-computer interaction, which can provide tactile and force sense information in the interaction process for the experiencer, greatly improving the immersion and realism of the experiencer in the virtual environment.
  • Force tactile feedback technology has application value in many fields. For example, in the field of medical rehabilitation, force tactile feedback devices can be applied to the research of cancer tumor simulators to improve doctors' diagnosis and surgical capabilities. In the aerospace field, they can practice Design the necessary feedback mechanism in order to improve the authenticity of simulation training.
  • the traditional force-tactile feedback devices are mostly desktop-mounted.
  • Experiencers grasp the end effector of the device with their hands and make single-point contact with objects in the virtual environment to obtain force feedback, which is a kind of restraining hand movements.
  • Interactive form In order to pursue a natural and comfortable human-computer interaction experience, relevant research on wearable force haptic feedback technology came into being.
  • Wearable force tactile feedback devices are often worn on the operator's limbs (such as fingers, arms, etc.), have little effect on limb movements, and are small, lightweight, and naturally interactive.
  • the present invention provides a finger-wearable flexible force tactile feedback device, which has a lightweight structure, is easy to wear, has flexible movement of fingers, and has natural interaction, and provides force tactile feedback information for fingers.
  • the present invention provides a wearable flexible force tactile feedback device for fingers, including a fingertip cuff worn on the distal phalanx of the finger, a middle finger cuff worn on the middle phalanx of the finger, and a finger rotator worn near the phalanx of the finger Proximal finger sleeve, an outer transmission rod with bending elasticity provided on the back of the finger, and an inner transmission rod with bending elasticity provided on the belly of the finger; one end of the outer transmission rod is fixed on the fingertip finger sleeve, And in turn through the back of the middle finger sleeve and the proximal finger sleeve, the other end of the outer transmission rod is located on the back of the hand, and is connected to an external drive that applies a push-pull force to the outer transmission rod; One end is fixed on the fingertip finger sleeve and passes through the ventral side of the middle finger sleeve and the proximal finger sleeve in sequence.
  • the other end of the inner transmission rod is located in the palm and is connected to an inward transmission rod to apply a push-pull force Inner driver;
  • the fingertip finger sleeve is provided with a first contact pressure sensor connected to the end of the outer transmission rod, the fingertip finger sleeve is provided with a second contact connected to the end of the inner transmission rod Point pressure sensor, said A film pressure sensor is arranged on the inner wall of the contact part between the fingertip and the finger sleeve.
  • the fingertip finger sleeve is provided with a fingertip upper boss on the back side of the fingertip, and the fingertip upper boss is provided with a through hole for the outer transmission rod to penetrate;
  • a fingertip lower boss is provided, and the fingertip lower boss is provided with a through hole for the penetration of the inner transmission rod;
  • the middle section of the middle finger sleeve is provided with a middle section upper boss, and the middle section upper boss is provided with a through hole for the outer transmission rod to pass through; the middle section finger sleeve is provided with a ventral side The middle section lower boss is provided with a through hole for the inner transmission rod to penetrate;
  • the proximal portion of the proximal finger sleeve is provided with a proximal upper boss, and the proximal portion is provided with a through hole for the outer transmission rod to pass through; the proximal finger sleeve is provided with a ventral side A near-portion lower boss, which is provided with a through hole for the inner transmission rod to penetrate;
  • the upper boss of the middle section includes a plurality of boss sections arranged at intervals in the direction of the finger;
  • the lower boss of the middle section includes a plurality of boss sections arranged at intervals in the direction of the finger; and the near section is convex
  • the platform includes a plurality of boss sections arranged at intervals in the direction of the finger;
  • the near-node lower boss includes a plurality of boss sections arranged at intervals in the direction of the finger.
  • a corrugated connecting piece is provided between the back side of the fingertip finger sleeve and the back side of the middle finger sleeve; between the back side of the middle finger sleeve and the back side of the proximal finger sleeve There is a corrugated connecting piece.
  • the fingertip finger sleeve, the middle finger sleeve and the proximal finger sleeve are provided with a connector slot on the back side of the finger; both ends of the corrugated connector are glued in the connector slot.
  • a plurality of round holes are provided on both sides of the fingertip finger sleeve, middle finger sleeve and proximal finger sleeve.
  • a plurality of notches are provided on the ventral side of the middle finger sleeve and the proximal finger sleeve.
  • the corrugated connector is made of soft rubber.
  • a portion of the outer driving rod penetrating the boss on the fingertip is provided with a positioning hole.
  • the boss on the fingertip is provided with a screw hole directly opposite to the positioning hole and a screw screwed in the screw hole.
  • the screw penetrates the positioning hole;
  • a portion of the inner driving rod penetrating the lower boss of the fingertip is provided with a positioning hole, and the upper boss of the fingertip is provided with a threaded hole directly opposite to the positioning hole and screwed on the thread
  • the screw in the hole, the screw penetrates the positioning hole; the diameter of the positioning hole is larger than the outer diameter of the screw thread.
  • the external drive and the internal drive are push rod motors, and the external transmission rod and the internal transmission rod are spring steel sheets.
  • the present invention has little restriction on finger movement, and can transmit the pushing / pulling force of the driving device to the fingertip of the finger through the flexible material and structure, realizing a more natural form of human-computer interaction.
  • the driver does not work, because the spring steel sheet has a large yield strength, it can produce a recoverable bending deformation under a certain bending strength, and the corrugated soft rubber connection between the finger sleeves has a soft, Compressible feature, so fingers can bend freely, and their activities are almost unlimited.
  • the driver when the driver is working, it produces a push / pull force on the spring steel sheet that is connected to it.
  • the spring steel sheet still has rigidity, and one end of the spring steel sheet is fixed to the fingertip and finger sleeve by screws, the spring steel sheet Push / pull the fingertip finger cuffs to make the finger cuffs push and pull on the fingertips.
  • the device has three pressure signal detections, namely the pressure generated by the fingertip finger sleeve on the finger pad, the pressure generated by the outer transmission rod on the fingertip finger sleeve, and the pressure generated by the inner transmission rod on the fingertip finger sleeve.
  • the closed-loop control method is used to adjust the working conditions of the internal and external drivers to accurately control the force of the device on the finger.
  • the corrugated connector between the finger sleeves has compressible characteristics, which is convenient for wearing fingers of different lengths.
  • round holes are provided on both sides of the finger sleeve, and elastic ropes are bound in the round holes to facilitate the wearing of fingers of different thicknesses.
  • the device has a compact structure and provides a natural interaction mode.
  • the device does not hinder the flexible movement of the hand, but can also be used for fingers
  • Providing force tactile feedback information has important research significance and practical value for enhancing the immersion and realism in the human-computer interaction process in the virtual environment.
  • FIG. 1 is a schematic diagram of the overall structure of the present invention.
  • FIG. 2 is a schematic view of the structure of the fingertip and finger sleeve of the present invention
  • FIG. 3 is a schematic structural view of the middle finger sleeve portion of the present invention.
  • Fig. 4 is a diagram of the wearing effect of the present invention.
  • the present invention proposes a finger-wearable flexible force tactile feedback device, including a fingertip cuff 1 worn on the distal phalanx of the finger, a middle finger cuff 2 worn on the middle phalanx of the finger, The proximal phalanx 3 of the proximal phalanx of the finger, the outer transmission rod 4 with bending elasticity provided on the back of the finger, and the inner transmission rod 5 with bending elasticity provided on the finger pad of the finger.
  • the outer transmission rod 4 and the inner transmission rod 5 are spring steel sheets. Because the spring steel sheets have a greater yield strength, the bending of the fingers causes the spring steel sheets to bend, but the bending strength does not reach the yield strength, so the external force is lost After forcing, the spring steel sheet can be restored to its original state.
  • the fingertip finger sleeve 1 is provided with a fingertip upper boss 8 on the back side of the fingertip, and the fingertip upper boss 8 is provided with a through hole 9 for the outer transmission rod 4 to penetrate;
  • the fingertip 1 is provided with a fingertip lower boss 10 on the ventral side of the fingertip 1, and the fingertip lower boss 10 is provided with a through hole 9 for the inner transmission rod 5 to penetrate.
  • a positioning hole is provided on the portion of the outer driving rod 4 that penetrates into the boss 10 on the fingertip, and the boss 10 on the fingertip is provided with a threaded hole 19 directly opposite to the positioning hole and a threaded hole 19 A screw, the screw penetrates the positioning hole; a portion of the inner transmission rod 5 penetrating into the lower boss 10 of the fingertip is provided with a positioning hole, and the upper boss 10 of the fingertip is provided with a position opposite to the positioning hole A screw hole 19 and a screw screwed in the screw hole 19, and the screw passes through the positioning hole.
  • one end of the outer transmission rod 4 is fixed to the upper boss of the fingertip finger sleeve 1; one end of the inner transmission rod 5 is fixed to the lower boss of the fingertip finger sleeve 1. Moreover, since the diameter of the positioning hole is larger than the screw outer diameter of the screw, the outer transmission rod 4 and the inner transmission rod 5 can be displaced relative to the screw under the action of external force.
  • an end of the outer transmission rod 4 located on the back of the hand is connected to an outer driver 6 that applies a push-pull force to the outer transmission rod 4;
  • the outer drive 6 and the inner drive of this embodiment adopt a push rod motor.
  • the external force can be transmitted to the fingertip and finger sleeves, so that the fingertips feel the pressure perpendicular to the surface of the fingertip; otherwise, when the inner driving device pulls the inner driving rod 5, the outer driving device pushes the outer driving rod 4 to transmit the external force to the fingertip and finger sleeve, so that the back of the finger feels the pressure perpendicular to the surface of the back of the finger.
  • a first contact pressure sensor connected to the end of the outer transmission rod 4 is provided on the upper fingertip boss 8 of the fingertip finger sleeve 1, and the first contact pressure sensor is used to measure the outer transmission
  • the pressure of the lever 4 on the fingertip finger sleeve; the fingertip lower boss 10 of the fingertip finger sleeve 1 is provided with a second contact pressure sensor connected to the end of the inner transmission rod 5, the second The contact pressure sensor is used to measure the pressure of the inner transmission rod 5 on the fingertip and finger sleeve.
  • a film pressure sensor 7 is provided on the inner wall of the contact area between the fingertip and finger sleeve 1 and the abdomen, which is used to measure the pressure of the fingertip and finger sleeve 1 on the finger abdomen.
  • the middle finger upper sleeve 2 is provided with a middle upper boss 11 on the back side of the finger, and the middle upper boss 11 is provided with a through hole 9 for the outer transmission rod 4 to pass through;
  • the fingertip side of the knuckle finger sleeve 2 is provided with a mid-segment lower boss 12, which is provided with a through-hole 9 for the inner transmission rod 5 to penetrate;
  • the upper section of the proximal section 13 is provided on the side, and the upper section of the proximal section 13 is provided with a through hole 9 for the outer transmission rod 4 to pass through;
  • the table 14 is provided with a through-hole 9 for the inner transmission rod 5 to penetrate through on the near-portion lower boss 14.
  • the upper section upper boss 11 and the middle section lower boss 12 limit the outer transmission rod 4 so that it is close to the back of the finger and will not be shifted or tilted; the upper section 13 of the near section and the lower section of the near section The boss 14 limits the inner transmission rod 5 so that it closely adheres to the finger pad and does not shift or tilt.
  • the middle section upper boss 11 includes a plurality of boss sections arranged at intervals in the finger direction; the middle section lower boss 12 includes a plurality of boss sections arranged at intervals in the finger direction; the near section is convex
  • the stage 13 includes a plurality of boss sections arranged at intervals in the finger direction; the near-segment lower boss 14 includes a plurality of boss sections arranged at intervals in the finger direction. Since the middle section and the near section of the finger in use will bend, the middle section upper boss 11, the middle section lower boss 12, the near section upper boss 13 and the near section lower boss 14 also need to be able to flexibly deform.
  • the boss sections are designed to be spaced along the direction of the finger, and the gap between each boss section allows the outer end of the boss section to flexibly move, so that the entire boss array can exhibit an arc shape.
  • the movement is more flexible, and at the same time, it is beneficial to the bending deformation and recovery deformation of the spring steel sheet passing therethrough.
  • a corrugated connector 15 made of soft rubber material is provided between the back side of the fingertip finger sleeve 1 and the back side of the middle finger sleeve 2; the back side of the middle finger sleeve 2 and the near side
  • a corrugated connecting member 15 is provided between the back sides of the finger sleeve 3.
  • the fingertip finger sleeve 1, the middle finger sleeve 2 and the proximal finger sleeve 3 are provided with a connector notch 16 on the back side of the fingers; both ends of the corrugated connector 15 are glued in the connector notch 16 .
  • the corrugated connector 15 is used to connect the fingertip finger sleeve 1, the middle finger sleeve 2 and the proximal finger sleeve 3, so that the three will not slide between each other and affect the use.
  • the structure and material of the corrugated connector 15 make it flexible and easy to deform, and can adapt this embodiment to fingers of different lengths; and it will not cause discomfort to the joints of the fingers in the bent state when the fingers are bent Or a sense of obstruction.
  • a plurality of round holes 17 are provided on both sides of the fingertip finger sleeve 1, middle finger sleeve 2 and proximal finger sleeve 3.
  • the plurality of round holes 17 are used for wearing elastic ropes, and the finger sleeves are tightly bound to the fingers to adapt to fingers of different thicknesses, which is convenient for wearing.
  • a plurality of notches 18 are provided on the ventral side of the middle finger sleeve 2 and the proximal finger sleeve 3.
  • the ventral side of the middle finger sleeve 2 and the proximal finger sleeve 3 will also bend, and a number of notches 18 are provided, so that the middle finger sleeve 2 and the proximal finger sleeve 3 will tend to close, reducing Bending resistance, more comfortable to use.

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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)
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Abstract

本发明提出一种手指可穿戴式柔性力触觉反馈装置，包括穿戴在手指远节指骨的指尖指套，穿戴在手指中节指骨的中节指套、穿戴在手指近节指骨的近节指套、具有弯曲弹性的外传动杆和内传动杆；所述外传动杆的一端固定在指尖指套上，另一端位于手背，并连接有一个向外传动杆施加推拉力的外驱动器；所述内传动杆的一端固定在指尖指套上，另一端位于手掌，并连接有一个向内传动杆施加推拉力的内驱动器；所述指尖指套设置有分别与外传动杆和内传动杆的端部相接的第一触点式压力传感器和第二触点式压力传感器，所述指尖指套与指腹接触部位的内壁设置有薄膜式压力传感器。本发明构造轻巧，穿戴方便，手指可灵活活动，交互自然，为手指提供力触觉反馈信息。

Description

一种手指可穿戴式柔性力触觉反馈装置 技术领域
本发明属于可穿戴式手指力触觉反馈设计领域，具体涉及一种手指可穿戴式柔性力触觉反馈装置。
背景技术
力触觉反馈装置是用于在人机交互中提供双向交互能力的装置，可以为体验者提供交互过程中的触觉与力觉信息，大大提高体验者在虚拟环境中的沉浸感和真实感。力触觉反馈技术在众多领域均具有应用价值，比如在医疗康复领域，力触觉反馈装置可应用于癌症肿瘤模拟器的研究，提高医生的确诊能力与手术能力，在航空航天领域，则可以在练习中设计必要的反馈机制，以提高仿真训练的真实性。
传统的力触觉反馈装置多为桌面固定式，体验者用手抓住装置的末端执行器，与虚拟环境中的物体进行单点接触，从而获得力觉反馈，这是一种约束手部动作的交互形式。为了追求自然舒适的人机交互体验，可穿戴式力触觉反馈技术的相关研究便应运而生。可穿戴式力触觉反馈装置常常穿戴于操作者肢体上(如手指、手臂等)，对肢体运动影响较小，具有小型轻便、交互自然的特点。
发明内容
为解决上述问题，本发明提出一种手指可穿戴式柔性力触觉反馈装置，构造轻巧，穿戴方便，手指可灵活活动，交互自然，为手指提供力触觉反馈信息。
技术方案：本发明提出一种手指可穿戴式柔性力触觉反馈装置，包括穿戴在手指远节指骨的指尖指套，穿戴在手指中节指骨的中节指套、穿戴在手指近节指骨的近节指套、设置在手指指背上的具有弯曲弹性的外传动杆和设置在手指指腹上的具有弯曲弹性的内传动杆；所述外传动杆的一端固定在指尖指套上，并依次贯穿通过中节指套和近节指套的指背侧，所述外传动杆的另一端位于手背，并连接有一个向外传动杆施加推拉力的外驱动器；所述内传动杆的一端固定在指尖指套上，并依次贯穿通过中节指套和近节指套的指腹侧，所述内传动杆的另一端位于手掌，并连接有一个向内传动杆施加推拉力的内驱动器；所述指尖指套设置有 与外传动杆的端部相接的第一触点式压力传感器，所述指尖指套设置有与内传动杆的端部相接的第二触点式压力传感器，所述指尖指套与指腹接触部位的内壁上设置有薄膜式压力传感器。
进一步，所述指尖指套的指背侧设置有指尖上凸台，所述指尖上凸台上设置有用于外传动杆穿入的通孔；所述指尖指套的指腹侧设置有指尖下凸台，所述指尖下凸台上设置有用于内传动杆穿入的通孔；
所述中节指套的指背侧设置有中节上凸台，所述中节上凸台上设置有用于外传动杆穿过的通孔；所述中节指套的指腹侧设置有中节下凸台，所述中节下凸台上设置有用于内传动杆穿入的通孔；
所述近节指套的指背侧设置有近节上凸台，所述近节上凸台上设置有用于外传动杆穿过的通孔；所述近节指套的指腹侧设置有近节下凸台，所述近节下凸台上设置有用于内传动杆穿入的通孔；
进一步，所述中节上凸台包括多个沿手指方向间隔排布的凸台节；所述中节下凸台包括多个沿手指方向间隔排布的凸台节；所述近节上凸台包括多个沿手指方向间隔排布的凸台节；所述近节下凸台包括多个沿手指方向间隔排布的凸台节。
进一步，所述指尖指套的指背侧与中节指套的指背侧之间设置有波纹状连接件；所述中节指套的指背侧与近节指套的指背侧之间设置有波纹状连接件。
进一步，所述指尖指套、中节指套和近节指套的指背侧设置有连接件槽口；所述波纹状连接件的两端粘接在连接件槽口内。
进一步，所述指尖指套、中节指套和近节指套的两侧设置有若干圆孔。
进一步，所述中节指套和近节指套的指腹侧设置有若干豁口。
进一步，所述波纹状连接件是软胶材质。
进一步，所述外传动杆上穿入指尖上凸台的部分设置有一定位孔，所述指尖上凸台上设置有与定位孔正对的螺纹孔和旋在螺纹孔内的螺钉，所述螺钉穿在定位孔内；所述内传动杆上穿入指尖下凸台的部分设置有一定位孔，所述指尖上凸台上设置有与定位孔正对的螺纹孔和旋在螺纹孔内的螺钉，所述螺钉穿在定位孔内；所述定位孔直径大于螺钉的螺纹外径。
进一步，所述外驱动器和内驱动器是推杆电机，所述外传动杆和内传动杆是弹簧钢片。
有益效果：第一、本发明对手指运动的约束小，并且可通过柔性材料和结构将驱动器件的推/拉力传递至手指指尖，实现较为自然的人机交互形式。一方面，当驱动器不作用时，由于弹簧钢片具有较大的屈服强度，可以在一定的弯曲强度下产生可恢复的弯曲形变，并且， 指套之间的波纹状软胶连接件具有柔软、可压缩的特点，因此手指可以自由弯曲，其活动几乎不受限制。另一方面，当驱动器工作时，对与其相接的弹簧钢片产生推/拉力，由于弹簧钢片仍然具有刚度，并且弹簧钢片的一端均通过螺钉固定在指尖指套上，弹簧钢片推/拉动指尖指套，使得指套对指尖产生推拉力。
第二、装置具有三处的压力信号检测，分别是指尖指套对手指指腹产生的压力、外传动杆对指尖指套产生的压力、内传动杆对指尖指套产生的压力。通过该三处压力信号作为反馈信号，通过闭环控制方法对内、外驱动器的工作情况进行调节，以精确控制装置作用于手指上的力。
第三、各指套之间的波纹状连接件具有可压缩的特性，方便不同长度的手指穿戴。此外，指套的两侧设置圆孔，在圆孔中绑定弹力绳，方便不同粗细的手指穿戴。
第四、该装置结构紧凑，提供自然的交互模式，当穿戴本装置的体验者在虚拟环境中执行抓取物体等手部操作时，装置既不会对手部灵活运动产生阻碍，又可以为手指提供力触觉反馈信息，对于提升虚拟环境人机交互过程中的沉浸感与真实感具有重要的研究意义与实用价值。
附图说明
图1为本发明的整体结构示意图；
图2为本发明的指尖指套部分的结构示意图；
图3为本发明的中节指套部分的结构示意图；
图4为本发明的穿戴效果图。
具体实施方式
如图1所示，本发明提出一种手指可穿戴式柔性力触觉反馈装置，包括穿戴在手指远节指骨的指尖指套1，穿戴在手指中节指骨的中节指套2、穿戴在手指近节指骨的近节指套3、设置在手指指背上的具有弯曲弹性的外传动杆4和设置在手指指腹上的具有弯曲弹性的内传动杆5。所述的外传动杆4和内传动杆5是弹簧钢片，由于弹簧钢片具有较大的屈服强度，手指弯曲使得弹簧钢片产生弯曲，但是弯曲强度不会达到屈服强度，因此在失去外力强迫之后，弹簧钢片还可以恢复原状。
如图2，所述指尖指套1的指背侧设置有指尖上凸台8，所述指尖上凸台8上设置有用于外传动杆4穿入的通孔9；所述指尖指套1的指腹侧设置有指尖下凸台10，所述指尖下凸台10上设置有用于内传动杆5穿入的通孔9。所述外传动杆4上穿入指尖上凸台10的部分设置有一定位孔，所述指尖上凸台10上设置有与定位孔正对的螺纹孔19和旋在螺纹孔19内的螺 钉，所述螺钉穿在定位孔内；所述内传动杆5上穿入指尖下凸台10的部分设置有一定位孔，所述指尖上凸台10上设置有与定位孔正对的螺纹孔19和旋在螺纹孔19内的螺钉，所述螺钉穿在定位孔内。通过上述结构，外传动杆4的一端固定在指尖指套1的上凸台；内传动杆5的一端固定在指尖指套1的下凸台。并且，由于所述定位孔直径大于螺钉的螺纹外径，外传动杆4和内传动杆5能够在外力作用下相对螺钉产生位移。
如图4，所述外传动杆4位于手背的一端连接有一个向外传动杆4施加推拉力的外驱动器6；所述内传动杆5位于手掌的一端连接有一个向内传动杆5施加推拉力的内驱动器，本实施例的外驱动器6和内驱动器采用的是推杆电机。使用中，当内驱动器推内传动杆5，外驱动器6拉外传动杆4，便可将外力传导至指尖指套上，使手指指腹感受到垂直于指腹表面的压力；反之，当内驱动器件拉内传动杆5时，外驱动器件推外传动杆4，便可将外力传导至指尖指套上，使手指指背感受到垂直于指背表面的压力。
所述指尖指套1的指尖上凸台8上设置有与外传动杆4的端部相接的第一触点式压力传感器，所述第一触点式压力传感器用于测量外传动杆4对指尖指套的压力；所述指尖指套1的指尖下凸台10上设置有与内传动杆5的端部相接的第二触点式压力传感器，所述第二触点式压力传感器用于测量内传动杆5对指尖指套的压力。所述指尖指套1与指腹接触部位的内壁上设置有薄膜式压力传感器7，用于测量指尖指套1对手指指腹的压力。通过三个压力信号的闭环控制算法，能够实现对内驱动器和外驱动器6的工作情况进行闭环控制。
如图3，所述中节指套2的指背侧设置有中节上凸台11，所述中节上凸台11上设置有用于外传动杆4穿过的通孔9；所述中节指套2的指腹侧设置有中节下凸台12，所述中节下凸台12上设置有用于内传动杆5穿入的通孔9；所述近节指套3的指背侧设置有近节上凸台13，所述近节上凸台13上设置有用于外传动杆4穿过的通孔9；所述近节指套3的指腹侧设置有近节下凸台14，所述近节下凸台14上设置有用于内传动杆5穿入的通孔9。所述中节上凸台11和中节下凸台12对外传动杆4进行了限位，使其紧贴手指指背，不会偏移或者翘起；近节上凸台13和近节下凸台14对内传动杆5进行了限位，使其紧贴手指指腹，不会偏移或者翘起。
所述中节上凸台11包括多个沿手指方向间隔排布的凸台节；所述中节下凸台12包括多个沿手指方向间隔排布的凸台节；所述近节上凸台13包括多个沿手指方向间隔排布的凸台节；所述近节下凸台14包括多个沿手指方向间隔排布的凸台节。由于使用中手指的中节和近节会产生弯曲，中节上凸台11、中节下凸台12、近节上凸台13和近节下凸台14也需要能够灵活的弯曲变形，本实施例中，设计为沿手指方向间隔排布的凸台节，每个凸台节之间的间 隙使凸台节的外端可以灵活发生位移，使整个凸台阵列可以呈现出弧形，手指活动更加灵活，同时也有利于从其中穿过的弹簧钢片的弯曲形变与恢复形变。
所述指尖指套1的指背侧与中节指套2的指背侧之间设置有使用软胶材料制成波纹状连接件15；所述中节指套2的指背侧与近节指套3的指背侧之间设置有波纹状连接件15。所述指尖指套1、中节指套2和近节指套3的指背侧设置有连接件槽口16；所述波纹状连接件15的两端粘接在连接件槽口16内。波纹状连接件15用于连接指尖指套1、中节指套2和近节指套3，使三者不会产生相互之间的滑动，影响使用。波纹状连接件15的构造和材质，使其具有一定的伸缩性，易于变形，可以使本实施例适应不同长度的手指；并且，在手指弯曲时不会对弯曲状态下手指的关节造成不适感或者阻碍感。
所述指尖指套1、中节指套2和近节指套3的两侧设置有若干圆孔17。所述若干圆孔17用于穿弹力绳，将指套牢牢绑在手指上，以适应不同粗细手指，方便穿戴。
所述中节指套2和近节指套3的指腹侧设置有若干豁口18。手指弯曲时，中节指套2和近节指套3的指腹侧也会产生弯曲，设置若干豁口18，使中节指套2和近节指套3豁口会趋于闭合，减小了弯曲的阻力，使用更加舒适。

Claims (10)

  1. 一种手指可穿戴式柔性力触觉反馈装置，其特征在于：包括穿戴在手指远节指骨的指尖指套(1)，穿戴在手指中节指骨的中节指套(2)、穿戴在手指近节指骨的近节指套(3)、设置在手指指背上的具有弯曲弹性的外传动杆(4)和设置在手指指腹上的具有弯曲弹性的内传动杆(5)；所述外传动杆(4)的一端固定在指尖指套(1)上，并依次贯穿通过中节指套(2)和近节指套(3)的指背侧，所述外传动杆(4)的另一端位于手背，并连接有一个向外传动杆(4)施加推拉力的外驱动器(6)；所述内传动杆(5)的一端固定在指尖指套(1)上，并依次贯穿通过中节指套(2)和近节指套(3)的指腹侧，所述内传动杆(5)的另一端位于手掌，并连接有一个向内传动杆(5)施加推拉力的内驱动器；所述指尖指套(1)设置有与外传动杆(4)的端部相接的第一触点式压力传感器，所述指尖指套(1)设置有与内传动杆(5)的端部相接的第二触点式压力传感器，所述指尖指套(1)与指腹接触部位的内壁上设置有薄膜式压力传感器(7)。
  2. 根据权利要求1所述的手指可穿戴式柔性力触觉反馈装置，其特征在于：所述指尖指套(1)的指背侧设置有指尖上凸台(8)，所述指尖上凸台(8)上设置有用于外传动杆(4)穿入的通孔(9)；所述指尖指套(1)的指腹侧设置有指尖下凸台(10)，所述指尖下凸台(10)上设置有用于内传动杆(5)穿入的通孔(9)；
    所述中节指套(2)的指背侧设置有中节上凸台(11)，所述中节上凸台(11)上设置有用于外传动杆(4)穿过的通孔(9)；所述中节指套(2)的指腹侧设置有中节下凸台(12)，所述中节下凸台(12)上设置有用于内传动杆(5)穿入的通孔(9)；
    所述近节指套(3)的指背侧设置有近节上凸台(13)，所述近节上凸台(13)上设置有用于外传动杆(4)穿过的通孔(9)；所述近节指套(3)的指腹侧设置有近节下凸台(14)，所述近节下凸台(14)上设置有用于内传动杆(5)穿入的通孔(9)。
  3. 根据权利要求2所述的手指可穿戴式柔性力触觉反馈装置，其特征在于：所述中节上凸台(11)包括多个沿手指方向间隔排布的凸台节；所述中节下凸台(12)包括多个沿手指方向间隔排布的凸台节；所述近节上凸台(13)包括多个沿手指 方向间隔排布的凸台节；所述近节下凸台(14)包括多个沿手指方向间隔排布的凸台节。
  4. 根据权利要求1-3任意一项所述的手指可穿戴式柔性力触觉反馈装置，其特征在于：所述指尖指套(1)的指背侧与中节指套(2)的指背侧之间设置有波纹状连接件(15)；所述中节指套(2)的指背侧与近节指套(3)的指背侧之间设置有波纹状连接件(15)。
  5. 根据权利要求4所述的手指可穿戴式柔性力触觉反馈装置，其特征在于：所述指尖指套(1)、中节指套(2)和近节指套(3)的指背侧设置有连接件槽口(16)；所述波纹状连接件(15)的两端粘接在连接件槽口(16)内。
  6. 根据权利要求4所述的手指可穿戴式柔性力触觉反馈装置，其特征在于：所述指尖指套(1)、中节指套(2)和近节指套(3)的两侧设置有若干圆孔(17)。
  7. 根据权利要求4所述的手指可穿戴式柔性力触觉反馈装置，其特征在于：所述中节指套(2)和近节指套(3)的指腹侧设置有若干豁口(18)。
  8. 根据权利要求4所述的手指可穿戴式柔性力触觉反馈装置，其特征在于：所述波纹状连接件(15)是软胶材质。
  9. 根据权利要求2所述的手指可穿戴式柔性力触觉反馈装置，其特征在于：所述外传动杆(4)上穿入指尖上凸台(8)的部分设置有一定位孔，所述指尖上凸台(8)上设置有与定位孔正对的螺纹孔(19)和旋在螺纹孔(19)内的螺钉，所述螺钉穿在定位孔内；所述内传动杆(5)上穿入指尖下凸台(10)的部分设置有一定位孔，所述指尖上凸台(10)上设置有与定位孔正对的螺纹孔(19)和旋在螺纹孔(19)内的螺钉，所述螺钉穿在定位孔内；所述定位孔直径大于螺钉的螺纹外径。
  10. 根据权利要求1所述的手指可穿戴式柔性力触觉反馈装置，其特征在于：所述外传动杆(4)和内传动杆(5)是弹簧钢片；所述外驱动器(6)和内驱动器是推杆电机。
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