WO2020230936A1 - Glove for transmitting virtual reality tactility - Google Patents

Glove for transmitting virtual reality tactility Download PDF

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Publication number
WO2020230936A1
WO2020230936A1 PCT/KR2019/006035 KR2019006035W WO2020230936A1 WO 2020230936 A1 WO2020230936 A1 WO 2020230936A1 KR 2019006035 W KR2019006035 W KR 2019006035W WO 2020230936 A1 WO2020230936 A1 WO 2020230936A1
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WO
WIPO (PCT)
Prior art keywords
finger
glove
virtual reality
tactile
wire
Prior art date
Application number
PCT/KR2019/006035
Other languages
French (fr)
Korean (ko)
Inventor
이형준
Original Assignee
주식회사 풀다이브테크놀로지
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 풀다이브테크놀로지 filed Critical 주식회사 풀다이브테크놀로지
Publication of WO2020230936A1 publication Critical patent/WO2020230936A1/en

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Classifications

    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/05—Means for returning or tending to return controlling members to an inoperative or neutral position, e.g. by providing return springs or resilient end-stops
    • 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
    • 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
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user

Definitions

  • the present invention relates to a virtual reality tactile transmission glove that feeds back a tactile sense of grabbing a virtual object in a virtual reality system.
  • the virtual reality device may be used to provide a high sense of reality in an electronically formed environment such as a virtual reality game or a 3D game. There is a limit in providing a vivid sense of realism and a sense of life only with a virtual reality device that only provides image and sound feedback.
  • a haptic device or a feedback device for interacting by transmitting a sense of grabbing or touching a virtual object in a virtual reality image to a user's finger.
  • Such a haptic device or a feedback device provides a tactile sensation at the fingertip, a joint resistance sensation to the finger, or a hitting sensation or stimulation.
  • Korean Patent Publication No. 10-2015-0092444 (Prior Art 1), a tactile feel is provided at the fingertips and a wire that transmits the finger joint resistance is installed. Since the tactile feel is provided only at the fingertips, the feeling of gripping with the entire finger is provided. It is difficult to transmit, and the wire is installed between the fingertip and the happic control unit of the wrist, and it is wound or released by a servo motor to provide a sense of joint resistance, so it is forcibly pulled by the servo motor, so that the joint resistance feeling of the finger joints is properly improved. It was difficult to convey.
  • An object of the present invention is to provide a virtual reality tactile transmission glove that transmits a tactile sensation to a fingertip and a bottom surface of a finger when a virtual object is touched in a virtual reality system so that a sense of reality can be felt.
  • Another object of the present invention is to provide a finger motion control actuator of a reaction force providing device that provides joint resistance to a finger in a virtual reality tactile transmission glove.
  • another object of the present invention is a virtual reality tactile transmission glove capable of accurately measuring the position coordinates for any movement of the glove by integrally forming a tracker for measuring position coordinates in a virtual reality tactile transmission glove It is to provide an integrated tracker of.
  • another object of the present invention is to control the position where the finger is bent by measuring the position information of the fingertip in the virtual reality tactile transmission glove and to control the sensitivity of the touch.
  • a virtual reality tactile transmission glove for achieving the above object includes a finger tactile part for transmitting a tactile sensation to a user's finger.
  • a finger tactile part for transmitting a tactile sensation to a user's finger.
  • an air tube is installed in the lengthwise direction of the finger part of the glove, and air is injected into the air tube by a pump to transmit the touch.
  • the glove of the present invention includes a fingertip stimulation portion for providing electrical stimulation to the finger portion of the glove.
  • a finger joint portion composed of a plurality of joints is provided on the back of the finger portion, and is configured to be pulled by a wire, and the wire is configured to limit bending by an actuator.
  • a 9-axis sensor is installed at the end of the finger to measure the position of the fingertip.
  • the present invention detects the position of the glove by integrally configuring the tracker on the cover of the back of the hand of the glove.
  • the tracker By configuring the tracker as an integral type, it makes it different from simply attaching and installing a basic tracker.
  • actuators for controlling wires are arranged and installed on the back of the hand of the glove, and the tracker is integrally formed with a cover of the back of the hand.
  • Pumps for injecting air into the air tube of the finger touch part are arranged in the wrist part.
  • the drive PCBs including the PCB of the control device are stacked and installed in a row, the power supply including the battery is installed at the rear end, and an air vent is installed on the wrist cover to radiate heat.
  • the center of gravity of the glove is located on the wrist by the arrangement design of each part, so that the user can reduce the burden of weight when wearing the glove.
  • the tactile transmission glove of the present invention can provide a tactile feel by controlling the air pressure of a silicone tube installed inside the finger portion.
  • electrical stimulation can be provided by the fingertip stimulation unit provided at the fingertip.
  • a finger joint portion is installed on the outer surface of the finger portion to provide a reaction force to the finger at a position where the wire is locked or contacted with the virtual object by the actuator.
  • the present invention improves the precision of position measurement by arranging and installing the tracker sensors in a large area by configuring the tracker integrally with the back cover of the hand, reducing the overall volume of the glove, and implementing a beautiful external design. have.
  • the present invention provides an air vent for heat dissipation by arranging pumps and batteries having a lot of weight on the wrist and arranging PCBs, so that the center of gravity of the glove is on the wrist to reduce the weight burden of the wearer, By providing a structure, it is possible to prevent failure due to heat generation.
  • FIG. 1 is a configuration diagram of a virtual reality system for explaining the present invention.
  • Figure 2 is a functional module configuration diagram of the tactile transmission glove of the virtual reality system according to the present invention.
  • FIG. 3 is an external configuration diagram of a tactile transmission glove of a virtual reality system according to the present invention.
  • Figure 4 is a configuration diagram of a part arrangement of a tactile transmission glove of a virtual reality system according to the present invention.
  • FIG. 5 is a configuration diagram of a tactile transmission of a finger portion of a tactile transmission glove according to the present invention.
  • FIG. 6 is an exploded view of the tactile transmission components of the finger portion of the tactile transmission glove according to the present invention.
  • Figures 7a and 7b is an example of the outer appearance of the finger joint portion of the reaction force providing device according to the present invention.
  • FIG. 8 is a cross-sectional schematic view for explaining the joint configuration of the finger joint according to the present invention.
  • FIG 9 is an external configuration diagram of the actuator of the reaction force providing device according to the present invention.
  • FIG. 10 is an exploded view of the actuator of the reaction force providing device according to the present invention.
  • 11A and 11B are cross-sectional views for explaining the operation of the actuator according to the present invention.
  • FIG. 12 is an exploded view showing the structure of the back of the hand of the tactile transmission glove according to the present invention.
  • FIG. 13 is an exploded view showing the configuration of the wrist part of the tactile transmission glove of the present invention.
  • a glove body composed of a finger portion, a back portion of the hand, and a wrist portion to be worn on the user's hand;
  • a finger tactile unit installed in a longitudinal direction on the end and bottom of each finger portion of the glove body to hold a virtual object or provide a tactile sensation corresponding to the contact;
  • Fingertip stimulation portions installed on both sides of the ends of each finger portion of the glove body to provide electrical stimulation
  • a fingertip position measuring unit installed at an end of each finger portion of the glove body to measure the position of each fingertip
  • a reaction force providing unit installed on an upper surface of each finger portion of the glove body to provide a resistance force in the opposite direction against bending of the finger;
  • Each finger part of the glove main body is provided with a finger tactile part, a fingertip stimulation part, and a fingertip position measuring part, and a reaction force providing part is provided on the upper surface of the finger part,
  • Actuators for controlling the wire of the reaction force providing unit are installed on the back of the hand of the glove body, and a tracker made of a cover type is installed on the top of the actuator,
  • pumps for injecting air into the finger tactile part are arranged and installed, PCBs of the control device are installed at the rear of the pump, a battery of the power supply is installed, and a wrist cover is installed, and a wrist cover
  • the air vent for heat dissipation is formed in the part and configured.
  • a silicone tube formed in the longitudinal direction of the finger on the fingertips and bottom surfaces of the inside of each finger part of the glove body, and providing a tactile feel by air pressure according to air injection;
  • a pump arranged on the wrist of the glove body and pumping air at an air pressure corresponding to the tactile transmission feedback information
  • An air hose connected and installed to inject the air pumped by the pump into the air injection pipe at the fingertip of the silicone tube; It characterized in that it is configured to include.
  • a flexible base is attached to the fingertip portion of the silicone tube in the left and right direction, and fingertip stimulation portions formed on the left and right sides of the flexible base are further included.
  • the upper surface of the fingertip of the fingertip protection bracket is characterized in that the 9-axis sensor for detecting the position information of the fingertip is further installed and configured.
  • a finger joint portion fixedly installed on the upper surface of each finger portion of the glove body, divided into a plurality of joints, and connected to a rotation joint;
  • An actuator installed on the back of the hand to release or wind a wire in response to bending or spreading a finger, and locking or releasing the unlocking of the wire by reaction force control information corresponding to contact with a virtual object; It characterized in that it comprises a.
  • a wire reel having a flange formed at the upper and lower ends of the cylindrical portion, a square gear portion having a continuous groove and a protrusion formed at an outer periphery of the flange, rotatably installed on a fixed shaft, and winding or unwinding a wire in the cylindrical portion;
  • An eddy spring having an inner end fixed to the fixed shaft and an outer end fixed to the wire reel to provide a rotational restoring force in the direction of winding the wire;
  • the wire reel At the upper and lower ends of the wire reel, it is supported by a compression spring on the fixed shaft and is installed to be horizontally movable outside the square gear part, and is inserted into the square gear part by the rotation of the cam to lock or release the rotation of the wire reel.
  • a compression spring on the fixed shaft and is installed to be horizontally movable outside the square gear part, and is inserted into the square gear part by the rotation of the cam to lock or release the rotation of the wire reel.
  • the housing is included, and the housing is characterized in that a plurality of wire lead holes for drawing the wire are formed in front and left and right sides, respectively.
  • a joint rotatably connecting the node and the node
  • a hose and wire support for supporting a wire fixed to the fingertip node and an air hose passing through the lower portion of the fingertip node;
  • a node cover that covers the joint and the support and is separately coupled to each node; Consists of including.
  • the tracker for detecting the position coordinates of the glove
  • a sensor module in which sensors are arranged and installed so as to simultaneously receive beam signals at at least three points or more for each of the vertical and horizontal scanning beam signals provided to detect position coordinates;
  • It includes a cover module in which each of the sensors of the sensor module is exposed and guide holes for injecting a beam signal into the sensor are respectively formed,
  • the sensor module and the cover module are combined to form a back cover of the hand.
  • FIG. 1 is a configuration diagram of a virtual reality system for explaining the present invention.
  • the virtual reality system may include a virtual reality controller 10, a visual device 20, and a tactile transmission glove 100.
  • the virtual reality controller 10 provides a virtual reality image to the visual apparatus (HMD) 20 and provides tactile control information to the tactile transmission glove 100.
  • the virtual reality controller 10 provides a scanning beam to detect the location information of the glove 100.
  • the glove 100 senses the scanning beam through a tracker and provides location information to the virtual reality controller 10.
  • the virtual reality controller 10 reflects the hand motion and the position of the hand in the virtual reality image based on the location information of the glove 100. In this way, a hand image according to the movement of the glove 100 is provided in the virtual reality image viewed through the visual device 20, so that the user wears the glove and touches or grabs the object in the virtual reality image. Can do activities.
  • tactile control information is generated and transmitted to the glove 100 in order to transmit the tactile sensation to the user.
  • the glove 100 may generate a fingertip tactile sensation, stimulation, and a finger reaction force based on tactile control information of the virtual reality controller 10 to provide feedback to the user's hand.
  • the tactile transmission glove 100 of the present invention is provided.
  • FIG. 2 is a functional module configuration diagram of a tactile transmission glove of a virtual reality system according to the present invention.
  • a glove body 101 having a finger portion, a back portion of the hand, and a wrist portion and worn on a user's hand;
  • a tracker 150 integrally formed on the back cover of the hand covering the back of the hand to measure the position coordinates of the glove
  • Finger tactile unit 120 that is installed longitudinally on the end and bottom of each finger portion of the glove body 101 to hold a virtual object or provide a tactile sensation corresponding to the contact based on the air pressure injected by the pump 160 Wow;
  • Fingertip stimulation portions 130 installed on both sides of the ends of each finger portion of the glove body 101 to provide electrical stimulation under the control of the stimulation generating portion 170;
  • a fingertip position measuring unit 110 installed at an end of each finger portion of the glove body 101 to measure the position of each fingertip;
  • a reaction force providing unit consisting of a plurality of nodes in which wires are connected to the outside of the upper surface of each finger portion of the glove body 101, and the loosening of the wire is controlled by the reaction force actuator 180 to provide resistance against bending of the finger. (140);
  • the measurement information of the tracker 150 and the fingertip position measuring unit 110 is transmitted to the virtual reality controller 10, and based on the tactile transmission feedback information of the virtual reality controller 10, the reaction force actuator 180, the It characterized in that it comprises a control device 190 for controlling the virtual reality tactile sensation to a user by controlling the pump 160 and the stimulation generating unit 130.
  • the present invention includes a communication unit 200 for communication between the control device 190 and the virtual reality controller 10 and a battery rechargeable power supply unit 210 for supplying power to each device in the glove 100.
  • FIG. 3 is an external configuration diagram of a tactile transmission glove of a virtual reality system according to the present invention
  • FIG. 4 is a configuration diagram of a component arrangement of a tactile transmission glove of a virtual reality system according to the present invention
  • FIG. 5 is a tactile transmission according to the present invention
  • Fig. 6 is an exploded view of the tactile transmission components of the finger portion of the tactile transmission glove according to the present invention.
  • Each finger portion of the glove body 101 is provided with a finger tactile portion 120, a fingertip stimulation portion 120, and a fingertip position measuring portion 110, as shown in FIGS. 5 and 6, and the finger A reaction force providing unit 140 is installed on the upper surface of the negative.
  • Actuators 180 for controlling the wires 181 of the reaction force providing unit 140 are arranged and installed on the back of the hand of the glove body 101 as shown in FIGS. 3 and 4, and the actuator 180 A tracker 150 made of a cover type is installed on the top of the field.
  • pumps 160 for injecting air into the finger tactile part 120 are arranged and installed, and the rear of the pumps 160
  • the battery 211 of the power supply unit 210 is installed.
  • the pumps 160, the PCBs 191, and the wrist cover portion is installed on the upper surface of the battery 211, the wrist cover portion 224 is configured by forming an air vent 225 for heat dissipation.
  • the tactile transmission glove according to the present invention includes a tactile transmission unit 120, a fingertip stimulation unit 130, and a reaction force providing unit 140 that are largely installed on the finger unit.
  • the configuration for this is shown in FIGS. 5 and 6.
  • the tactile transmission unit 120 transmits air pressure to a finger when holding a virtual object with a hand to make the tactile feel. It includes a pump 160, an air hose 161, and a silicone tube 121 installed on the bottom surface of the finger portion of the glove.
  • the silicone tube 121 has an air injection pipe 122 connected to the fingertip direction so that air can be injected from the fingertip, and an air outlet 123 is formed to discharge air to the outside of the glove in the palm direction.
  • the pump 160 is installed on the wrist, and the air hose 161 passes through the back of the hand, passes through the fingertip, and is connected to the silicone tube 121 on the bottom of the finger.
  • the air injection tube 122 connected to the fingertip of the silicone tube 121 has a shape curved toward the back of the hand past the fingertip.
  • the air outlet 123 has a discharge hole formed in the palm direction of the silicone tube 121 to discharge air to the outside of the glove.
  • An installation bracket 124 supporting the fingertip of the silicone tube 121 and supporting the air injection tube 122 is included.
  • the mounting bracket 124 has a shape that covers the fingertip and supports the end of the silicone tube 121 on the lower surface, and a guide groove 124a in which the air injection pipe 122 is buried is formed at the fingertip.
  • the fingertip position measuring unit 110 is installed on the upper surface.
  • a 9-axis sensor may be installed as the fingertip position measuring unit 110.
  • the virtual reality controller 10 When a virtual object is held or touched by a hand in the virtual reality system, the virtual reality controller 10 generates tactile information corresponding to characteristics such as a material or shape of the virtual object.
  • the control device 190 of the glove 100 operates the pump 160. Air pumped by the pump 160 is injected into the silicone tube 121 through the air injection tube 122. The pump is controlled based on tactile information corresponding to the characteristics of the virtual object. The amount of air per unit time injected into the silicon tube 121 is controlled.
  • the silicone tube 121 discharges air in a form in which the size of the air outlet 122 is fixed. Air may be injected into the silicone tube 121 with air pressure corresponding to the characteristics of the virtual object. The user can feel the touch of holding the virtual object by varying the pressure applied to the bottom of the finger by the air pressure injected into the silicone tube 121.
  • the tactile delivery device using the air-injected silicone tube 121 is provided with a silicone tube 121 extending in the longitudinal direction of the finger. This can convey the touch to the entire bottom of the finger.
  • air is injected by connecting the air injection pipe 124 to the fingertip, and air is automatically discharged in the opposite direction.
  • the mounting bracket 124 is provided to protect the fingertips, and the air injection pipe 122 is embedded to prevent interference or being pressed at the fingertips.
  • the fingertip stimulation unit 130 provides a stimulus corresponding to the virtual hand when a virtual hand is in contact with a sharp or pointed portion of the virtual object.
  • the control device 190 receives stimulation information from the virtual reality controller 10 and generates a stimulation through the stimulation generator 170.
  • the fingertip stimulation unit 130 may generate electrical stimulation and transmit the stimulation to the user's finger. For example, low-frequency electrical stimulation can be generated. It can deliver a tingling or tingling feeling by low-frequency stimulation.
  • the intensity of the stimulus is determined by the virtual reality controller 10 generating and providing stimulus information corresponding to the surface characteristics and contact strength of the virtual object.
  • a hand strap position measuring unit 110 is provided at the end of each finger portion so as to detect position information of the finger tip.
  • a 9-axis sensor may be installed as the fingertip position measuring unit 110.
  • the glove 100 may measure the position coordinates of the glove by the tracker 150. Based on the position coordinates of the glove measured by the tracker 150, position information of each fingertip measured by the 9-axis sensor, that is, fingertip position information may be calculated and provided to the virtual reality controller 10.
  • the virtual reality controller 10 detects the location of the glove 100 by the cracker 150, measures the location information of each finger based on the glove location information, and measures the movement of the virtual hand in the image in the virtual reality.
  • Each finger movement can be implemented. While implementing the finger movement in this way, the contact state of the virtual object and the finger is detected.
  • Each finger extracts contact or touch information with a virtual object, and provides tactile information or stimulus information corresponding thereto.
  • the control device 190 of the glove 100 can control the pump 160 by tactile information provided from the virtual reality controller 10 to deliver a tactile sensation by controlling the air pressure in the silicone tube 121, and stimulation information By controlling the stimulation generating unit 170 to generate electrical stimulation of the fingertip stimulation unit 130 to transmit the stimulation.
  • the tactile transmission glove 100 of the present invention includes a reaction force providing device that provides resistance to a finger.
  • a reaction force providing device that provides resistance to a finger.
  • the apparatus for providing reaction force of the tactile transmission glove of the present invention includes a finger joint 140, a wire 181, and an actuator 180.
  • the finger joint part 140 is attached and installed on the upper surface of the finger part of the glove body 101.
  • the wire 181 connected to the finger joint 140 is connected to the actuator 180 installed on the back of the hand.
  • FIG. 7A and 7B are schematic diagrams illustrating the external appearance of a finger joint portion of a reaction force providing device according to the present invention
  • FIG. 8 is a cross-sectional schematic view for explaining a joint configuration of a finger joint portion according to the present invention.
  • the thumb and little finger may consist of 2 bars, and the other fingers may consist of 3 bars.
  • Figs. 7A and 7B The configuration of three bars will be described with reference to Figs. 7A and 7B. It consists of the 1st-3rd segments (141-143). Each node is connected by a joint of a rotating link structure. A support tool 148 for supporting and passing the air hose and wire is included in the node cover of each node.
  • the joint includes links 145 and 144 formed by protruding adjacent nodes to overlap each other for a predetermined period, a long hole 146 formed in the link 145 of one node, and the one side Including a hinge portion 147 that is fixed to the link 144 of the other node corresponding to the node, and a hinge having one end fixed to the other node link 144 rotatably and slidably coupled to the long hole portion 146 Is composed.
  • the finger joint 140 is bent for each joint. As shown in FIG. 7B, the hinge may be rotated while being moved in the long hole 146 to bend the joint.
  • the wire 181 fixed to the fingertip joint of the finger joint 140 is pulled. That is, the wire 181 is pulled from the actuator 180.
  • the position at which the finger is bent is detected by a 9-axis sensor of the fingertip position measuring unit 110 provided at the fingertip. Based on the location information of the fingertips, the position of the virtual object in contact with or holding is controlled.
  • the wire 181 is no longer pulled out of the actuator 180 at the position where the finger is in contact with the virtual object. Accordingly, even if the user applies force by bending a finger, the wire 181 is fixed and is not pulled any more. That is, it is possible to provide resistance to the finger in the opposite direction to bend.
  • FIG. 9 is an external configuration diagram of the actuator of the reaction force providing apparatus according to the present invention
  • FIG. 10 is an exploded view of the actuator of the reaction force providing apparatus according to the present invention
  • FIGS. 11A and 11B are for explaining the operation of the actuator according to the present invention. It is a cross-sectional view.
  • the actuator 180 winds, releases, or controls the locking of the wire 181 connected to the fingertip joint of the finger joint 140.
  • wire lead-out holes 182a and 182b are formed in the front and both sides of the housing 182 made of the upper and lower cases.
  • a flange is formed at the upper and lower ends of the cylindrical portion, and a square gear portion 185a in which grooves and protrusions are continuous is formed at the outer periphery of the flange, and is rotatably installed on the fixed shaft 186, and the cylinder
  • a wire reel 185 for winding or releasing a wire on the part
  • An eddy spring 187 having an inner end fixed to the fixed shaft 186 and an outer end fixed to the wire reel 185 to provide a rotational restoring force in the winding direction of the wire 181;
  • a motor 183 that rotates and stops the cam 184 by being controlled by the reaction force providing information of the virtual reality system; It is supported by a compression spring 188a on the fixed shaft 186 at the upper and lower ends of the wire reel 185 to be horizontally movable outside the square gear unit 186, and by rotation of the cam 184
  • the lever 188 in an initial state, the lever 188 is located in a state away from the wire reel 185. In the state where the lever 188 does not restrain the wire reel 185, the wire 181 is pulled when the finger is bent. When the wire 181 is pulled, the wire reel 185 is centered on the fixed shaft 186.
  • the eddy spring 187 accumulates a restoring force when the wire reel 185 is rotated. The restoring force of the eddy spring 187 winds the wire 181 when the finger is unfolded.
  • the eddy spring 187 is, finger, finger. It has a small restoring force that is negligible when it is bent.
  • the 9-axis sensor which is the fingertip position measuring unit 110, measures the position information of each fingertip, and the motor at the point when the finger touches the virtual object according to the fingertip position information.
  • the wire reel 185 can be stopped by driving 183.
  • the motor 183 In order to provide a reaction force to the finger, the motor 183 is driven, and the cam 184 is rotated.
  • the lever 188 is inserted into the square gear portion 185a of the wire reel 185 by the cam 184 to lock the wire reel 185 from rotating. Even if the user tries to bend his finger further, the wire reel 185 is locked and the wire 181 is not pulled. Thus, it is possible to restrict the finger from bending any more.
  • Such a locked or unlocked state of the wire reel 185 may be detected through the sensor 189, and driving of the motor 183 may be controlled by a detection signal from the sensor 189.
  • the virtual reality system detects the position coordinates of the glove in real time and reflects it in the virtual reality image.
  • a tracker is installed on the glove to detect positional coordinates.
  • it When using a general-purpose tracker, it must be installed so that the tracker can detect a scanning beam for position measurement. Accordingly, since it must be installed in a protruding form on the back of the hand, the overall size is passed, and the protruding tracker is exposed to the external shape, which is not good in terms of aesthetics.
  • the present invention is not a structure in which the general-purpose tracker as described above is mounted on the glove, but is configured as a tracker integrally with the back of the hand of the glove.
  • FIG. 12 is an exploded view showing the structure of the back of the hand of the tactile transmission glove according to the present invention.
  • the glove 100 of the present invention includes an actuator module 180A in which actuators 180 for reaction force control are arranged on the back of the hand, and an opening 180C through which the air hoses 161 pass through the upper portion of the actuator module 180A. ) Is formed with a first cover (180B) is installed.
  • a sensor module 152 in which light-receiving sensors 151 are arranged so as to detect the same scanning beam at at least three points or more on a bracket in the shape of a back of the hand on the upper part of the first cover 180C;
  • It includes a cover module 154 formed with guide holes 153 for exposing each of the sensors of the sensor module 152 and for injecting a beam signal to the sensor,
  • the sensor module 152 and the cover module 154 are combined to form a back cover of the hand.
  • the tracker 150 is installed as a cover of the back of the hand of the glove body 101.
  • a cover-type sensor module and a cover module were developed and installed integrally on the top of the actuator module.
  • the feature of the integrated tracker 150 of the present invention is that the sensors 151 are distributed over a large area because it is configured as a cover type of the back of the hand.
  • sensors can be arranged in a wide area, and the gap between the sensors is wide, so it is possible to increase the accuracy of position measurement according to the simultaneously detected beam signal.
  • the tracker as a cover for the back of the hand, it is possible to make it look good without a protruding structure in the design, and the height of the entire glove can be reduced.
  • FIG. 13 is an exploded view showing the structure of the wrist part of the tactile transmission glove of the present invention.
  • a component installation module 221 in which a pump, a PCB, and a battery are arranged, an inner cover 222 installed to protect the components of the component installation module 221, and an outer cover Consisting of 224, the inner cover 222 and the outer cover 224 are formed correspondingly with a ventilation hole 223 and an abvent 225 for heat dissipation.
  • pumps 160 for injecting air into the finger tactile part 120 are arranged and installed, and at the rear end thereof, the control device 190 PCB, the PCB of the actuator drive, the pump drive PCB, the power supply part PCBs 191 including PCBs are stacked and installed, and a rechargeable battery 211 of the power supply unit is installed at the rear end thereof.
  • the center of gravity of the entire glove is placed between the wrist and the back of the hand, or the center of gravity on the wrist. Therefore, when the user moves with the glove on his hand, the center of gravity is on the wrist, which reduces the burden on the weight.
  • the tactile transmission glove 100 of the virtual reality system is provided with a glove body 101 worn by the user on the hand.
  • the finger portion of the glove body 101 is formed with a coupling means for detachably coupling the finger joint portion 140 to the upper surface.
  • a coupling means in which the actuator module 180A and the tracker 150 are coupled to the back of the hand of the glove body 101 is detachably installed, and a coupling means in which the wrist modules are detachable is installed on the wrist.
  • the gull part of the present invention is configured to detachably connect the finger joint part, the back part of the hand module, and the wrist part module on the upper part of the finger, so that some parts can be separated and repaired when repairing a failure.
  • the tactile transmission glove 100 of the present invention may provide a tactile sensation by means of a silicone tube 121 installed inside the finger portion.
  • electrical stimulation may be provided by the fingertip stimulation unit 130 installed at the fingertip.
  • a finger joint is installed on the outer surface of the finger to control the wire by the actuator. Therefore, by controlling the bending position of the finger, it is possible to provide reaction force to the finger at the position where the virtual object is locked or touched.
  • the present invention provides an actuator 180 as a means for controlling the wire 141 of the finger joint 140 by developing and providing an independent configuration.
  • the actuator 180 of the present invention is differentiated from a conventional device that winds a wire by a motor.
  • the present invention is configured to control only locking and unlocking of the wire reel by driving a motor to limit the bending position of the finger. Therefore, it can be implemented only with a low-cost motor that uses a small motor and has a low motor output.
  • the parts are arranged so that the entire center of gravity of the glove comes to the wrist.
  • An actuator is placed on the back of the hand, a heavy pump, a PCB and a battery are placed on the wrist. Therefore, by configuring the center of gravity on the wrist to reduce the burden due to the weight.
  • PCBs and batteries requiring heat dissipation are disposed on the wrist, and an air vent is formed on the wrist cover so that heat can be radiated.

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Abstract

A glove for transmitting tactility, according to an embodiment of the present invention, comprises a finger tactile unit for providing pneumatic tactility to a finger part, a fingertip stimulation unit for providing a stimulus, and a reaction force provision unit for limiting the bending of a finger by means of a wire, comprises a fingertip position measurement unit, an integrated tracker provided on the back of a hand, a pump provided to a wrist part, a PCB, and a battery, and provides a glove capable of providing tactility, a stimulus, and a reaction force according to the holding of or contact with a virtual object in a virtual reality image to each finger joint by means of individual control.

Description

가상현실 촉감 전달 글러브Virtual Reality Tactile Transmission Gloves
본 발명은 가상현실(Virture Reality)시스템에서 가상 물체를 잡는 촉감을 사용자에게 피드백시키는 가상현실 촉감 전달 글러브에 관한 것이다.The present invention relates to a virtual reality tactile transmission glove that feeds back a tactile sense of grabbing a virtual object in a virtual reality system.
가상 현실 장치는 가상 현실 게임이나 3D 게임 등과 같이 전자적으로 형성된 환경에서 높은 현실감을 제공하기 위해 사용될 수 있다. 영상 및 사운드 피드백 만을 제공하는 가상 현실 장치 만으로는 생생한 현장감과 생동감을 제공해 주는 데에 한계가 있다.The virtual reality device may be used to provide a high sense of reality in an electronically formed environment such as a virtual reality game or a 3D game. There is a limit in providing a vivid sense of realism and a sense of life only with a virtual reality device that only provides image and sound feedback.
이에 따라 가상 현실 영상에서 가상 물체를 잡거나 터치하는 감각을 사용자의 손가락으로 전달하여 상호작용하기 위한 햅틱 장치나 피드백 장치등이 개발되어 있다. 이러한 햅틱 장치나 피드백 장치는 손가락 끝에 촉감을 제공하거나, 손가락에 관절 저항감을 제공하거나, 타격감이나 자극을 제공하고 있다.Accordingly, a haptic device or a feedback device for interacting by transmitting a sense of grabbing or touching a virtual object in a virtual reality image to a user's finger has been developed. Such a haptic device or a feedback device provides a tactile sensation at the fingertip, a joint resistance sensation to the finger, or a hitting sensation or stimulation.
한국공개특허 10-2015-0092444호(종래기술 1)에는 손가락 끝에 촉감 제공부를 설치하고, 손가락 관절 저항감을 전달하는 와이어를 설치한 구성으로서, 촉감은 손가락 끝에만 제공되므로 손가락 전체로 잡는다는 느낌을 전달하기 어렵고, 와이어는 손가락끝과 팔목의 햅픽 제어부 사이에 설치되고, 서보모터에 의해 감거나 풀어주어 관절 저항감을 제공하는 것이므로, 서보모터에 의해 강제적으로 당겨지기 때문에 손가락 마디의 관절 저항 느낌을 제대로 전달하기 어려웠다.In Korean Patent Publication No. 10-2015-0092444 (Prior Art 1), a tactile feel is provided at the fingertips and a wire that transmits the finger joint resistance is installed. Since the tactile feel is provided only at the fingertips, the feeling of gripping with the entire finger is provided. It is difficult to transmit, and the wire is installed between the fingertip and the happic control unit of the wrist, and it is wound or released by a servo motor to provide a sense of joint resistance, so it is forcibly pulled by the servo motor, so that the joint resistance feeling of the finger joints is properly improved. It was difficult to convey.
본 발명의 일 목적은, 가상현실 시스템에서 가상 물체를 만질때 손끝과 손가락 바닥면에 촉감을 전달하여 실감을 느낄 수 있도록 하는 가상현실 촉감 전달 글러브를 제공하기 위한 것이다.An object of the present invention is to provide a virtual reality tactile transmission glove that transmits a tactile sensation to a fingertip and a bottom surface of a finger when a virtual object is touched in a virtual reality system so that a sense of reality can be felt.
또한 본 발명의 다른 목적은, 가상현실 촉감 전달 글러브에서 손가락에 관절 저항력을 제공하는 반력 제공장치의 손가락 동작 제어 액츄에이터를 제공하기 위한 것이다.Another object of the present invention is to provide a finger motion control actuator of a reaction force providing device that provides joint resistance to a finger in a virtual reality tactile transmission glove.
또한 본 발명의 또 다른 목적은, 가상현실 촉감 전달 글러브에서 위치좌표를 측정하는 트래커를 손등 커버에 일체형으로 형성함으로써, 글러브의 어떠한 움직임에 대해서도 위치좌표를 정확히 측정할 수 있도록 한 가상 현실 촉감 전달 글러브의 일체형 트래커를 제공하기 위한 것이다.In addition, another object of the present invention is a virtual reality tactile transmission glove capable of accurately measuring the position coordinates for any movement of the glove by integrally forming a tracker for measuring position coordinates in a virtual reality tactile transmission glove It is to provide an integrated tracker of.
또한 본 발명의 또 다른 목적은, 가상현실 촉감 전달 글러브에서, 손가락 끝의 위치정보를 측정하여 손가락이 구브러지는 위치를 제어함과 아울러 촉감의 감도를 제어할 수 있도록 하기 위한 것이다.In addition, another object of the present invention is to control the position where the finger is bent by measuring the position information of the fingertip in the virtual reality tactile transmission glove and to control the sensitivity of the touch.
상기한 목적을 달성하기 위한 본 발명의 바람직한 실시예에 의한 가상현실 촉감 전달 글러브는, 사용자의 손가락에 촉감을 전달하기 위한 손가락 촉감부를 포함한다. 손가락 촉감부는, 글러브의 손가락부에 길이방향으로 길게 공기 튜브를 설치하고, 펌프에 의해 공기튜브에 공기를 주입하여 촉감을 전달한다.A virtual reality tactile transmission glove according to a preferred embodiment of the present invention for achieving the above object includes a finger tactile part for transmitting a tactile sensation to a user's finger. In the finger touch part, an air tube is installed in the lengthwise direction of the finger part of the glove, and air is injected into the air tube by a pump to transmit the touch.
또한, 본 발명의 글러브는, 글러브의 손가락부 끝에 전기 자극을 제공하는 손끝 자극부를 포함한다.In addition, the glove of the present invention includes a fingertip stimulation portion for providing electrical stimulation to the finger portion of the glove.
또한, 본 발명의 글러브는, 손가락부의 등쪽에 복수의 마디로 구성되는 손가락 마디부를 설치하고, 와이어에 의해 당겨지게 구성하며, 와이어는 액츄에이터에 의해 구브러짐을 제한 하도록 구성된다. Further, in the glove of the present invention, a finger joint portion composed of a plurality of joints is provided on the back of the finger portion, and is configured to be pulled by a wire, and the wire is configured to limit bending by an actuator.
또한, 본 발명의 글러브는, 손가락부 끝에 9축 센서를 설치하여 손가락끝의 위치를 측정하게 한다.Further, in the glove of the present invention, a 9-axis sensor is installed at the end of the finger to measure the position of the fingertip.
또한 본 발명은 글러브의 손등부의 커버에 트래커를 일체형으로 구성하여 글러브 위치를 검출한다. 트래커를 일체형으로 구성함으로써, 기본 트래커를 단순 부착 설치하는 것과 차별되게 한다.In addition, the present invention detects the position of the glove by integrally configuring the tracker on the cover of the back of the hand of the glove. By configuring the tracker as an integral type, it makes it different from simply attaching and installing a basic tracker.
또한 본 발명은 글러브 손등부에 와이어를 제어하는 액츄에이터들을 배열설치하고, 귀 위에 트래커를 손등부 커버로 일체형으로 구성한다. 손목부에는 손가락 촉감부의 공기튜브에 공기를 주입하는 펌프들을 배열 설치한다. 그리고 콘트롤장치의 PCB를 포함하는 드라이브 PCB들을 적층뱌열하여 설치하고, 그 후단에 배터리를 포함하는 전원부를 설치하며, 손목부 커버에 에어밴트를 설치하여 방열시키도록 구성한다. 이와 같이 각 부품들의 배치 설계에 의해 글러브의 무게중심이 손목부에 있게 함으로써, 사용자가 글러브를 착용하여 사용할때 무게에 따른 부담감을 줄일 수 있게 한다.In addition, in the present invention, actuators for controlling wires are arranged and installed on the back of the hand of the glove, and the tracker is integrally formed with a cover of the back of the hand. Pumps for injecting air into the air tube of the finger touch part are arranged in the wrist part. Then, the drive PCBs including the PCB of the control device are stacked and installed in a row, the power supply including the battery is installed at the rear end, and an air vent is installed on the wrist cover to radiate heat. As described above, the center of gravity of the glove is located on the wrist by the arrangement design of each part, so that the user can reduce the burden of weight when wearing the glove.
본 발명의 촉감 전달 글러브는, 손가락부의 내부에 설치되는 실리콘 튜브의 공기압을 제어하여 접촉 촉감을 제공할 수 있다. 또한, 손가락 끝에 설치된 손끝 자극부에 의해 전기 자극을 제공할 수 있다. 손가락부의 외측면에는 손가락 마디부가 설치되어 와이어를 액츄에이터에 의해 가상 물체를 잠거나 접촉하는 위치에서 손가락에 반력을 제공할 수 있다.The tactile transmission glove of the present invention can provide a tactile feel by controlling the air pressure of a silicone tube installed inside the finger portion. In addition, electrical stimulation can be provided by the fingertip stimulation unit provided at the fingertip. A finger joint portion is installed on the outer surface of the finger portion to provide a reaction force to the finger at a position where the wire is locked or contacted with the virtual object by the actuator.
또한, 본 발명은 트래커를 손등부 커버에 일체형으로 구성함으로써, 트래커 센서들을 넓은 면적에 배열 설치하여 위치 측정의 정밀성을 향상시키고, 글러브 전체의 부피도 줄일 수 있도록하며, 외형 디자인을 미려하게 구현할 수 있다.In addition, the present invention improves the precision of position measurement by arranging and installing the tracker sensors in a large area by configuring the tracker integrally with the back cover of the hand, reducing the overall volume of the glove, and implementing a beautiful external design. have.
또한 본 발명은 손목부에 중량이 많이 나가는 펌프들과 배터리를 배치하고, PCB들을 배치하여 방열을 위한 에어벤트를 제공함으로써, 글러브의 무게 중심이 손목부에 있게하여 착용자의 중량 부담감을 줄이고, 방열구조를 제공하여 발열로 인한 고장을 예방할 수 있다.In addition, the present invention provides an air vent for heat dissipation by arranging pumps and batteries having a lot of weight on the wrist and arranging PCBs, so that the center of gravity of the glove is on the wrist to reduce the weight burden of the wearer, By providing a structure, it is possible to prevent failure due to heat generation.
도 1은 본 발명을 설명하기 위한 가상현실 시스템의 구성도.1 is a configuration diagram of a virtual reality system for explaining the present invention.
도 2는 본 발명에 의한 가상 현실 시스템의 촉감 전달 글러브의 기능 모듈 구성도.Figure 2 is a functional module configuration diagram of the tactile transmission glove of the virtual reality system according to the present invention.
도 3은 본 발명에 의한 가상 현실 시스템의 촉감 전달 글러브의 외형 구성도.3 is an external configuration diagram of a tactile transmission glove of a virtual reality system according to the present invention.
도 4는 본 발명에 의한 가상 현실 시스템의 촉감 전달 글러브의 부품 배치 구성도.Figure 4 is a configuration diagram of a part arrangement of a tactile transmission glove of a virtual reality system according to the present invention.
도 5는 본 발명에 의한 촉감 전달 글러브의 손가락부의 촉감 전달 구성도.5 is a configuration diagram of a tactile transmission of a finger portion of a tactile transmission glove according to the present invention.
도 6은 본 발명에 의한 촉감 전달 글러브의 손가락부의 촉감 전달 구성부품들의 분해도.6 is an exploded view of the tactile transmission components of the finger portion of the tactile transmission glove according to the present invention.
도 7a 및 도 7b은 본 발명에 의한 반력 제공장치의 손가락 마디부 외형 예시도.Figures 7a and 7b is an example of the outer appearance of the finger joint portion of the reaction force providing device according to the present invention.
도 8은 본 발명에 의한 손가락 마디부의 조인트 구성을 설명하기 위한 단면 개요도.8 is a cross-sectional schematic view for explaining the joint configuration of the finger joint according to the present invention.
도 9는 본 발명에 의한 반력 제공장치의 액츄에이터의 외형 구성도.9 is an external configuration diagram of the actuator of the reaction force providing device according to the present invention.
도 10은 본 발명에 의한 반력 제공장치의 액츄에이터의 분해도.10 is an exploded view of the actuator of the reaction force providing device according to the present invention.
도 11a 및 도 11b은 본 발명에 의한 액츄에이터의 동작 설명을 위한 단면예시도.11A and 11B are cross-sectional views for explaining the operation of the actuator according to the present invention.
도 12는 본 발명에 의한 촉감 전달 글러브의 손등부 구조를 보인 분해도.12 is an exploded view showing the structure of the back of the hand of the tactile transmission glove according to the present invention.
도 13은 본 발명의 촉감 전달 글러브의 손목부 구성을 보인 분해도.13 is an exploded view showing the configuration of the wrist part of the tactile transmission glove of the present invention.
상기한 목적을 달성하기 위한 본 발명의 바람직한 실시예에 의한 가상현실 촉감 전달 글러브는,Virtual reality tactile transmission glove according to a preferred embodiment of the present invention for achieving the above object,
손가락부, 손등부 및 손목부로 이루어져 사용자의 손에 착용하는 글러브 본체와;A glove body composed of a finger portion, a back portion of the hand, and a wrist portion to be worn on the user's hand;
상기 손등부를 덮는 손등 커버에 일체형으로 형성되어 글러브의 위치좌표를 측정하는 트래커와;A tracker integrally formed on the back of the hand cover covering the back of the hand to measure the position coordinates of the glove;
상기 글러브 본체의 각 손가락부 끝과 바닥면에 길이방향으로 설치되어 가상물체를 잡거나 접촉에 대응되는 촉감을 제공하는 손가락 촉감부와;A finger tactile unit installed in a longitudinal direction on the end and bottom of each finger portion of the glove body to hold a virtual object or provide a tactile sensation corresponding to the contact;
상기 글러브 본체의 각 손가락부의 끝단 양측면에 설치되어 전기 자극을 제공하는 손끝 자극부;Fingertip stimulation portions installed on both sides of the ends of each finger portion of the glove body to provide electrical stimulation;
상기 글러브 본체의 각 손가락부 끝단에 설치되어 각 손가락 끝의 위치를 측정하는 손끝 위치측정부;A fingertip position measuring unit installed at an end of each finger portion of the glove body to measure the position of each fingertip;
상기 글러브 본체의 각 손가락부 상면에 설치되어 손가락의 구브러짐에 대한 반대 방향 저항력을 제공하는 반력 제공부;A reaction force providing unit installed on an upper surface of each finger portion of the glove body to provide a resistance force in the opposite direction against bending of the finger;
상기 트래커와 상기 손끝 위치측정부의 측정정보를 가상현실 시스템으로 전송하고, 가상 현실 시스템의 촉감 전달 피드백 정보에 의거하여 상기 반력 제공부, 상기 손가락 촉감부 및 상기 손끝 자극부를 제어하여 사용자에게 가상 현실 촉감 전달을 제어하는 콘트롤장치를 포함하는 것을 특징으로 한다.Transmitting the measurement information of the tracker and the fingertip position measuring unit to a virtual reality system, and controlling the reaction force providing unit, the finger tactile unit, and the fingertip stimulation unit based on the tactile transfer feedback information of the virtual reality system to give the user a virtual reality tactile feel. It characterized in that it comprises a control device for controlling the delivery.
본 발명에 의한 가상 현실 촉감 전달 글러브는,Virtual reality tactile transmission glove according to the present invention,
상기 글러브 본체의 각 손가락부에는, 손가락 촉감부, 손끝 자극부, 손끝 위치측정부가 설치되고, 상기 손가락부의 상면에 반력 제공부가 설치되고,Each finger part of the glove main body is provided with a finger tactile part, a fingertip stimulation part, and a fingertip position measuring part, and a reaction force providing part is provided on the upper surface of the finger part,
상기 글러브 본체의 손등부에는, 상기 반력 제공부의 와이어를 제어하는 액츄에이터들이 설치되며, 액츄에이터의 상부에는 커버형으로 이루어진 트래커가 설치되고,Actuators for controlling the wire of the reaction force providing unit are installed on the back of the hand of the glove body, and a tracker made of a cover type is installed on the top of the actuator,
상기 글러브 본체의 손목부에는, 상기 손가락 촉감부에 공기를 주입하기 위한 펌프들이 배열설치되며, 펌프의 후방에 콘트롤장치의 PCB들이 설치되고, 전원부의 밧데리가 설치되어 손목 커버부가 설치되며, 손목 커버부에는 방열을 위한 에어밴트가 형성되어 구성된다.On the wrist of the glove body, pumps for injecting air into the finger tactile part are arranged and installed, PCBs of the control device are installed at the rear of the pump, a battery of the power supply is installed, and a wrist cover is installed, and a wrist cover The air vent for heat dissipation is formed in the part and configured.
가상 현실 영상 속에서 가상물체를 잡거나 접촉하는 촉감을 사용자에게 전달하기 위한 가상현실 촉감 전달 글러브에 있어서,In a virtual reality tactile transmission glove for delivering the tactile feeling of holding or touching a virtual object in a virtual reality image,
글러브 본체의 각 손가락부 내부의 손끝과 바닥면에 손가락 길이방향으로 형성되고, 공기 주입에 따른 공기압에 의해 촉감을 제공하는 실리콘튜브와;A silicone tube formed in the longitudinal direction of the finger on the fingertips and bottom surfaces of the inside of each finger part of the glove body, and providing a tactile feel by air pressure according to air injection;
상기 글러브 본체의 손목부에 배열 설치되고 촉감 전달 피드백 정보에 대응되는 공기압으로 공기를 펌핑하는 펌프와;A pump arranged on the wrist of the glove body and pumping air at an air pressure corresponding to the tactile transmission feedback information;
상기 펌프에서 펌핑되는 공기를 상기 실리콘 튜브의 손끝 부분의 공기주입관로 주입하도록 연결 설치되는 공기호스; 를 포함하여구성됨을 특징으로 한다.An air hose connected and installed to inject the air pumped by the pump into the air injection pipe at the fingertip of the silicone tube; It characterized in that it is configured to include.
상기 글러브 손가락부의 내부에 설치되어 손끝을 보호하고 상기 실리콘튜브의 일단부를 지지하고, 호스 매립홈이 형성되어 공기호스를 손끝을 통과시켜 상기 실리콘 튜브의 공기주입관에 연결시키는 설치 브라켓을 더 포함하는 것을 특징으로 한다.Further comprising an installation bracket installed inside the glove finger portion to protect the fingertip and support one end of the silicone tube, and a hose buried groove is formed to pass the air hose through the fingertip to connect to the air injection pipe of the silicone tube. It features.
또한, 상기 실리콘 튜브의 손끝 부분에 좌우방향으로 플렉시블 베이스가 부착 설치되고, 플렉시블 베이스의 좌우측에 각각 형성되는 손끝 자극부가 더 포함되어 구성된 것을 특징으로 한다.In addition, a flexible base is attached to the fingertip portion of the silicone tube in the left and right direction, and fingertip stimulation portions formed on the left and right sides of the flexible base are further included.
또한, 상기 손끝 보호 브라켓의 손끝 상면부에는, 손끝의 위치정보를 검출하는 9축 센서가 더 설치되어 구성된 것을 특징으로 한다.In addition, the upper surface of the fingertip of the fingertip protection bracket is characterized in that the 9-axis sensor for detecting the position information of the fingertip is further installed and configured.
또한, 가상 현실 영상 속에서 가상물체를 잡거나 접촉하는 반력을 사용자에게 전달하기 위한 가상현실 촉감 전달 글러브에 있어서,In addition, in a virtual reality tactile transmission glove for transmitting a reaction force to a user holding or contacting a virtual object in a virtual reality image,
상기 글러브 본체의 각 손가락부의 상면에 고정 설치되고, 복수의 마디로 분절되어 회전 조인트로 연결되는 손가락 마디부와;A finger joint portion fixedly installed on the upper surface of each finger portion of the glove body, divided into a plurality of joints, and connected to a rotation joint;
상기 손가락 마디부의 손끝 마디부에 일단이 고정되고, 손가락 마디부 내부를 통해서 손등부로 인출되는 와이어와;A wire having one end fixed to the fingertip joint of the finger joint and drawn out to the back of the hand through the inside of the finger joint;
상기 손등부에 설치되어 손가락을 구브리거나 펴는 것에 대응하여 와이어가 풀려지거나 감겨지고, 가상 물체와의 접촉에 대응하는 반력 제어정보에 의해 상기 와이어가 풀려지는 것을 잠그거나 잠김을 해제하는 액츄에이터; 를 포함하는 것을 특징으로 한다.An actuator installed on the back of the hand to release or wind a wire in response to bending or spreading a finger, and locking or releasing the unlocking of the wire by reaction force control information corresponding to contact with a virtual object; It characterized in that it comprises a.
상기 액츄에이터는,The actuator,
원통부의 상하단에 플랜지가 형성되고, 플랜지의 외주연에 홈과 돌출부가 연속되는 사각 기어부가 형성되어, 고정축에 회전가능하게 설치되고, 상기 원통부에 와이어를 감거나 풀어주기 위한 와이어 릴과;A wire reel having a flange formed at the upper and lower ends of the cylindrical portion, a square gear portion having a continuous groove and a protrusion formed at an outer periphery of the flange, rotatably installed on a fixed shaft, and winding or unwinding a wire in the cylindrical portion;
상기 고정축에 내측 단부가 고정되고, 외측 단부가 상기 와이어 릴에 고정되어 상기 와이어를 감는 방향으로 회전 복원력을 제공하는 맴돌이 스프링과;An eddy spring having an inner end fixed to the fixed shaft and an outer end fixed to the wire reel to provide a rotational restoring force in the direction of winding the wire;
가상 현실 시스템의 반력 제공 정보에 의해 제어되어 캠을 회전 및 정지 시키는 모터와;A motor that is controlled by reaction force provision information of the virtual reality system to rotate and stop the cam;
상기 와이어 릴의 상하단에서 상기 고정축에 압축 스프링에 의해 지지되어 사각 기어부의 외측에 수평 이동 가능하게 설치되고, 상기 캠의 회전에 의해 상기 사각 기어부에 끼워져 상기 와이어 릴의 회전을 잠그거나, 풀어주는 레버; 를 포함하여 구성된다.At the upper and lower ends of the wire reel, it is supported by a compression spring on the fixed shaft and is installed to be horizontally movable outside the square gear part, and is inserted into the square gear part by the rotation of the cam to lock or release the rotation of the wire reel. Giving lever; Consists of including.
상기 액츄에이터는,The actuator,
상기 하우징이 포함되고, 하우징에는 상기 와이어를 인출하는 와이어 인출공이 정면과 좌우 측면에 각각 복수로 형성된 것을 특징으로 한다.The housing is included, and the housing is characterized in that a plurality of wire lead holes for drawing the wire are formed in front and left and right sides, respectively.
상기 손가락 마디부는,The finger joint part,
2단 마디와, 3단 마디를 포함하고,Including the second segment and the third segment,
마디와 마디 사이를 회전 가능하게 연결하는 조인트와,A joint rotatably connecting the node and the node,
손끝 마디부에 고정된 와이어와 손끝 마디부의 하부로 통과시키는 공기호스를 지지하는 호스 및 와이어 지지구와;A hose and wire support for supporting a wire fixed to the fingertip node and an air hose passing through the lower portion of the fingertip node;
상기 조인트와 지지구를 덮고 마디별로 각각 분리 결합되는 마디 커버; 를 포함하여 구성된다.A node cover that covers the joint and the support and is separately coupled to each node; Consists of including.
상기 조인트는,The joint,
이웃하는 마디끼리 서로 일정구간 중첩되게 돌출되어 형성되는 링크와,A link formed by protruding adjacent nodes to overlap each other for a certain period,
일측 마디의 링크에 형성되는 장공부와,A long hole formed in the link of one node,
상기 일측 마디에 대응된 타측 마디의 링크에 고정되고, 상기 장공부에 회전 및 슬라이드 가능하게 결합되는 힌지부를 포함하여 구성된다.It is fixed to the link of the other node corresponding to the one node, and comprises a hinge portion rotatably and slidably coupled to the long hole.
또한, 가상 현실 영상 속에서 가상물체를 잡거나 접촉하는 촉감 및 반력을 사용자에게 전달하기 위한 가상현실 촉감 전달 글러브에 있어서,In addition, in the virtual reality tactile transmission glove for transmitting the tactile sensation and reaction force of holding or contacting a virtual object in a virtual reality image,
글러브의 위치 좌표를 검출하기 위한 트래커는,The tracker for detecting the position coordinates of the glove,
위치 좌표를 검출하기 위해 제공되는 수직 및 수평 스캐닝 빔신호에 대해서 각각의 빔 신호마다 적어도 3포인트 이상의 포인트에서 동시에 빔신호를 수신받을 수 있도록 센서들을 배열 설치된 센서모듈과;A sensor module in which sensors are arranged and installed so as to simultaneously receive beam signals at at least three points or more for each of the vertical and horizontal scanning beam signals provided to detect position coordinates;
상기 센서모듈의 각 센서들을 노출시킴과 아울러 빔신호를 센서로 입사시키는 가이드홀들이 각각 형성된 커버모듈을 포함하고,It includes a cover module in which each of the sensors of the sensor module is exposed and guide holes for injecting a beam signal into the sensor are respectively formed,
상기 센서모듈과 커버모듈이 결합되어 손등부 커버를 이루도록 구성된다.The sensor module and the cover module are combined to form a back cover of the hand.
이하에서는 도면을 참조하여 본 발명에 대해 보다 상세히 설명하기로 한다. 이하에 소개되는 실시예들은 본 발명이 속하는 기술분야에서 통상의 지식을 가진자에게 본 발명의 사상이 충분히 전달될 수 있도록 하기 위한 예로서 제공되는 것이다. 본 발명의 이하 설명되는 실시예들에 한정되지 않고 다른 형태로 구체화될 수 도 있다.Hereinafter, the present invention will be described in more detail with reference to the drawings. The embodiments introduced below are provided as examples to allow the spirit of the present invention to be sufficiently transmitted to those of ordinary skill in the art. The present invention is not limited to the embodiments described below and may be embodied in other forms.
도 1은 본 발명을 설명하기 위한 가상현실 시스템의 구성도이다.1 is a configuration diagram of a virtual reality system for explaining the present invention.
가상현실 시스템은, 가상현실 콘트롤러(10)와, 시각장치(20)와, 촉감 전달 글러브(100)를 포함할 수 있다.The virtual reality system may include a virtual reality controller 10, a visual device 20, and a tactile transmission glove 100.
가상현실 콘트롤러(10)는, 시각장치(HMD)(20)로 가상현실 영상을 제공하고, 촉감 전달 글러브(100)로 촉감 제어 정보를 제공한다. 가상현실 콘트롤러(10)는 상기 글러브(100)의 위치정보를 검출하기 위하여 스캐닝빔을 제공한다. 글러브(100)는 스캐닝빔을 트래커를 통해서 센싱하여 위치정보를 가상현실 콘트롤러(10)로 제공한다. 가상현실 콘트롤러(10)가 글러브(100)의 위치정보에 의거하여 가상현실 영상내에서의 손동작 및 손의 위치로서 반영한다. 이와같이 시각장치(20)를 통하여 보게되는 가상 현실 영상 속에서 글러브(100)의 움직임에 따른 손영상이 제공되므로, 사용자는 글러브를 손에 착용하고 가상 현실 영상 속에 있는 물체에 대해 손으로 터치하거나 잡는 활동을 할 수 있다.The virtual reality controller 10 provides a virtual reality image to the visual apparatus (HMD) 20 and provides tactile control information to the tactile transmission glove 100. The virtual reality controller 10 provides a scanning beam to detect the location information of the glove 100. The glove 100 senses the scanning beam through a tracker and provides location information to the virtual reality controller 10. The virtual reality controller 10 reflects the hand motion and the position of the hand in the virtual reality image based on the location information of the glove 100. In this way, a hand image according to the movement of the glove 100 is provided in the virtual reality image viewed through the visual device 20, so that the user wears the glove and touches or grabs the object in the virtual reality image. Can do activities.
가상 현실 영상 속에서 가상의 손이 가상물체를 잡거나 터치할 때, 촉감을 사용자에게 전달 하기 위하여 글러브(100)로 촉감 제어 정보를 생성하여 전달한다. 글러브(100)는 가상현실 콘트롤러(10)의 촉감 제어 정보에 의거하여 손끝 촉감, 자극, 손가락 반력을 발생시켜 사용자의 손으로 피드백 시킬 수 있다.When a virtual hand grips or touches a virtual object in a virtual reality image, tactile control information is generated and transmitted to the glove 100 in order to transmit the tactile sensation to the user. The glove 100 may generate a fingertip tactile sensation, stimulation, and a finger reaction force based on tactile control information of the virtual reality controller 10 to provide feedback to the user's hand.
이와 같이 가상 현실 영상 속에서 손으로 가상 물체를 잡거나 터치하는 촉감을 사용자의 손으로 전달하기 위해서 본 발명의 촉감 전달 글러브(100)를 제공한다.In this way, in order to convey the tactile sense of holding or touching a virtual object with a hand in a virtual reality image, the tactile transmission glove 100 of the present invention is provided.
도 2는 본 발명에 의한 가상 현실 시스템의 촉감 전달 글러브의 기능 모듈 구성도이다.2 is a functional module configuration diagram of a tactile transmission glove of a virtual reality system according to the present invention.
손가락부, 손등부 및 손목부를 구비하고 사용자의 손에 착용하는 글러브 본체(101)와;A glove body 101 having a finger portion, a back portion of the hand, and a wrist portion and worn on a user's hand;
상기 손등부를 덮는 손등 커버에 일체형으로 형성되어 글러브의 위치좌표를 측정하는 트래커(150)와;A tracker 150 integrally formed on the back cover of the hand covering the back of the hand to measure the position coordinates of the glove;
상기 글러브 본체(101)의 각 손가락부 끝과 바닥면에 길이방향으로 설치되어 펌프(160)에 의해 주입되는 공기압에 의거하여 가상물체를 잡거나 접촉에 대응되는 촉감을 제공하는 손가락 촉감부(120)와;Finger tactile unit 120 that is installed longitudinally on the end and bottom of each finger portion of the glove body 101 to hold a virtual object or provide a tactile sensation corresponding to the contact based on the air pressure injected by the pump 160 Wow;
상기 글러브 본체(101)의 각 손가락부의 끝단 양측면에 설치되어 자극발생부(170)의 제어에 의해 전기 자극을 제공하는 손끝 자극부(130); Fingertip stimulation portions 130 installed on both sides of the ends of each finger portion of the glove body 101 to provide electrical stimulation under the control of the stimulation generating portion 170;
상기 글러브 본체(101)의 각 손가락부 끝단에 설치되어 각 손가락 끝의 위치를 측정하는 손끝 위치측정부(110);A fingertip position measuring unit 110 installed at an end of each finger portion of the glove body 101 to measure the position of each fingertip;
상기 글러브 본체(101)의 각 손가락부 상면 외측에 와이어를 연결한 복수 마디로 이루어지고, 반력 액츄에이터(180)에 의해 와이어의 풀림이 제어되어 손가락의 구브러짐에 대한 저항력을 제공하는 반력 제공부(140);A reaction force providing unit consisting of a plurality of nodes in which wires are connected to the outside of the upper surface of each finger portion of the glove body 101, and the loosening of the wire is controlled by the reaction force actuator 180 to provide resistance against bending of the finger. (140);
상기 트래커(150)와 상기 손끝 위치측정부(110)의 측정정보를 가상현실 콘트롤러(10)로 전송하고, 가상 현실 콘트롤러(10)의 촉감 전달 피드백 정보에 의거하여 상기 반력 액츄에이터(180), 상기 펌프(160) 및 상기 자극 발생부(130)를 제어하여 사용자에게 가상 현실 촉감 전달을 제어하는 콘트롤장치(190)를 포함하는 것을 특징으로 한다.The measurement information of the tracker 150 and the fingertip position measuring unit 110 is transmitted to the virtual reality controller 10, and based on the tactile transmission feedback information of the virtual reality controller 10, the reaction force actuator 180, the It characterized in that it comprises a control device 190 for controlling the virtual reality tactile sensation to a user by controlling the pump 160 and the stimulation generating unit 130.
본 발명은, 상기 콘트롤장치(190)와 상기 가상현실 콘트롤러(10) 사이의 통신을 위한 통신부(200) 및 글러브(100) 내의 각 장치들의 전원을 공급하는 배터리 충전식 전원부(210)를 포함한다.The present invention includes a communication unit 200 for communication between the control device 190 and the virtual reality controller 10 and a battery rechargeable power supply unit 210 for supplying power to each device in the glove 100.
도 3은 본 발명에 의한 가상 현실 시스템의 촉감 전달 글러브의 외형 구성도이고, 도 4는 본 발명에 의한 가상 현실 시스템의 촉감 전달 글러브의 부품 배치 구성도이며, 도 5는 본 발명에 의한 촉감 전달 글러브의 손가락부의 촉감 전달 구성도이고, 도 6은 본 발명에 의한 촉감 전달 글러브의 손가락부의 촉감 전달 구성부품들의 분해도이다.3 is an external configuration diagram of a tactile transmission glove of a virtual reality system according to the present invention, FIG. 4 is a configuration diagram of a component arrangement of a tactile transmission glove of a virtual reality system according to the present invention, and FIG. 5 is a tactile transmission according to the present invention Fig. 6 is an exploded view of the tactile transmission components of the finger portion of the tactile transmission glove according to the present invention.
본 발명에 의한 가상 현실 촉감 전달 글러브의 구성을 도 3 내지 도 6을 참조해 설명한다.The configuration of the virtual reality tactile transmission glove according to the present invention will be described with reference to FIGS. 3 to 6.
상기 글러브 본체(101)의 각 손가락부에는, 도 5 및 도 6에 도시된 바와 같이, 손가락 촉감부(120), 손끝 자극부(120), 손끝 위치측정부(110)가 설치되고, 상기 손가락부의 상면에 반력 제공부(140)가 설치된다.Each finger portion of the glove body 101 is provided with a finger tactile portion 120, a fingertip stimulation portion 120, and a fingertip position measuring portion 110, as shown in FIGS. 5 and 6, and the finger A reaction force providing unit 140 is installed on the upper surface of the negative.
상기 글러브 본체(101)의 손등부에는, 도 3 및 도 4에 도시된 바와 같이, 상기 반력 제공부(140)의 와이어(181)를 제어하는 액츄에이터(180)들이 배열 설치되며, 액츄에이터(180)들의 상부에는 커버형으로 이루어진 트래커(150)가 설치된다. Actuators 180 for controlling the wires 181 of the reaction force providing unit 140 are arranged and installed on the back of the hand of the glove body 101 as shown in FIGS. 3 and 4, and the actuator 180 A tracker 150 made of a cover type is installed on the top of the field.
상기 글러브 본체(101)의 손목부에는, 도 3 및 도 4에 도시된 바와 같이, 상기 손가락 촉감부(120)에 공기를 주입하기 위한 펌프(160)들이 배열 설치되며, 펌프(160)들의 후방에 콘트롤장치(190)를 포함하는 PCB(191)들이 설치되고, 전원부(210)의 밧데리(211)가 설치된다. 상기 펌프(160)들과, PCB(191)들 및 상기 밧데리(211)의 상면에 손목 커버부가 설치되며, 손목 커버부(224)에는 방열을 위한 에어밴트(225)가 형성되어 구성된다.On the wrist of the glove body 101, as shown in FIGS. 3 and 4, pumps 160 for injecting air into the finger tactile part 120 are arranged and installed, and the rear of the pumps 160 On the PCB 191 including the control device 190 is installed, the battery 211 of the power supply unit 210 is installed. The pumps 160, the PCBs 191, and the wrist cover portion is installed on the upper surface of the battery 211, the wrist cover portion 224 is configured by forming an air vent 225 for heat dissipation.
본 발명에 의한 촉감 전달 글러브는, 크게 손가락부에 설치되는 촉감 전달부(120), 손끝 자극부(130) 및 반력 제공부(140)를 포함한다. 이를 위한 구성은, 도 5 및 도 6에 도시된다.The tactile transmission glove according to the present invention includes a tactile transmission unit 120, a fingertip stimulation unit 130, and a reaction force providing unit 140 that are largely installed on the finger unit. The configuration for this is shown in FIGS. 5 and 6.
상기 촉감 전달부(120)는, 가상 물체를 손으로 잡을때 손가락에 공기압을 전달하여 촉감을 느끼게 한다. 펌프(160)와, 공기호스(161)와, 글러브의 손가락부 바닥면에 설치되는 실리콘 튜브(121)를 포함한다.The tactile transmission unit 120 transmits air pressure to a finger when holding a virtual object with a hand to make the tactile feel. It includes a pump 160, an air hose 161, and a silicone tube 121 installed on the bottom surface of the finger portion of the glove.
상기 실리콘 튜브(121)는, 공기를 손끝에서 주입할 수 있도록 손끝 방향에 공기주입관(122)이 연결 설치되고, 손바닥 방향의 글러브 외부로 공기를 배출하도록 공기 배출구(123)가 형성된다.The silicone tube 121 has an air injection pipe 122 connected to the fingertip direction so that air can be injected from the fingertip, and an air outlet 123 is formed to discharge air to the outside of the glove in the palm direction.
펌프(160)는 손목부에 설치되고, 공기호스(161)가 손등부를 통과하여 손가락 끝을 지나 손가락 바닥면의 실리콘 튜브(121)에 연결된다. 상기 실리콘 튜브(121)의 손끝 부분에 연결되는 공기 주입관(122)은, 손끝을 지나 손등부 방향으로 구브러진 형상을 가진다. 공기 배출구(123)는, 실리콘 튜브(121)의 손바닥 방향으로 배출 구멍이 형성되어 글러브 외부로 공기를 배출한다.The pump 160 is installed on the wrist, and the air hose 161 passes through the back of the hand, passes through the fingertip, and is connected to the silicone tube 121 on the bottom of the finger. The air injection tube 122 connected to the fingertip of the silicone tube 121 has a shape curved toward the back of the hand past the fingertip. The air outlet 123 has a discharge hole formed in the palm direction of the silicone tube 121 to discharge air to the outside of the glove.
상기 실리콘 튜브(121)의 손가락 끝 부분을 지지하고, 공기 주입관(122)을 지지하는 설치 브라켓(124)이 포함된다. 설치 브라켓(124)은, 손가락 끝부분을 커버하는 형태로서 하면에 실리콘 튜브(121)의 끝단을 지지하고, 손가락 끝부분에는 상기 공기 주입관(122)이 매몰되는 가이드 홈(124a)이 형성된다. 그리고, 상면에는 손끝 위치측정부(110)가 설치된다. 손끝 위치 측정부(110)로는 9축 센서를 설치할 수 있다.An installation bracket 124 supporting the fingertip of the silicone tube 121 and supporting the air injection tube 122 is included. The mounting bracket 124 has a shape that covers the fingertip and supports the end of the silicone tube 121 on the lower surface, and a guide groove 124a in which the air injection pipe 122 is buried is formed at the fingertip. . And, the fingertip position measuring unit 110 is installed on the upper surface. A 9-axis sensor may be installed as the fingertip position measuring unit 110.
가상 현실 시스템에서 가상 물체를 손으로 잡거나 터치될 때, 가상 현실 콘트롤러(10)는, 가상 물체의 재질이나 형상등의 특성에 대응하여 촉감 정보를 생성한다. 촉감 정보를 글러브(100)로 전달하면, 글러브(100)의 콘트롤장치(190)가 펌프(160)를 작동시킨다. 펌프(160)에 의해 펌핑된 공기가 공기 주입관(122)을 통하여 실리콘 튜브(121)에 주입된다. 가상물체의 특성에 대응된 촉감 정보에 의거하여 펌프를 제어한다. 실리콘 튜브(121)에 주입되는 단위 시간당 공기량을 제어한다. 실리콘 튜브(121)는, 공기 배출구(122)의 크기가 고정된 형태로 공기를 배출하게 한다. 가상 물체의 특성에 대응된 공기압으로 실리콘 튜브(121)에 공기를 주입할 수 있다. 사용자는 실리콘 튜브(121)에 주입된 공기압에 의해 손가락 바닥면에 가해지는 압력이 달라짐으로써, 가상 물체를 잡는 촉감을 느낄 수 있게 된다.When a virtual object is held or touched by a hand in the virtual reality system, the virtual reality controller 10 generates tactile information corresponding to characteristics such as a material or shape of the virtual object. When the tactile information is transmitted to the glove 100, the control device 190 of the glove 100 operates the pump 160. Air pumped by the pump 160 is injected into the silicone tube 121 through the air injection tube 122. The pump is controlled based on tactile information corresponding to the characteristics of the virtual object. The amount of air per unit time injected into the silicon tube 121 is controlled. The silicone tube 121 discharges air in a form in which the size of the air outlet 122 is fixed. Air may be injected into the silicone tube 121 with air pressure corresponding to the characteristics of the virtual object. The user can feel the touch of holding the virtual object by varying the pressure applied to the bottom of the finger by the air pressure injected into the silicone tube 121.
본 발명에서 공기주입식 실리콘 튜브(121)를 사용한 촉감 전달 장치는, 손가락 길이방향으로 길게 실리콘 튜브(121) 설치한다. 이는 손가락 바닥면 전체에 촉감을 전달 할 수 있다. 또한, 손끝 부분으로 공기주입관(124)을 연결하여 공기를 주입하고, 반대방향으로 공기를 자동 배출한다. 또한, 설치 브라켓(124)을 구비하여 손가락 끝 부분을 보호하도록 하고, 공기 주입관(122)을 매립시켜 손끝 부분에서 간섭되거나 눌리는 것을 방지한 것이다.In the present invention, the tactile delivery device using the air-injected silicone tube 121 is provided with a silicone tube 121 extending in the longitudinal direction of the finger. This can convey the touch to the entire bottom of the finger. In addition, air is injected by connecting the air injection pipe 124 to the fingertip, and air is automatically discharged in the opposite direction. In addition, the mounting bracket 124 is provided to protect the fingertips, and the air injection pipe 122 is embedded to prevent interference or being pressed at the fingertips.
손끝 부분으로 공기가 주입되면서 가압되고 크기가 고정된 배출구로 공기가 배출되므로, 펌프의 회전 속도를 제어하는 것만으로 실리콘 튜브(121)에 가해지는 공기압을 제어할 수 있고, 손가락이 느끼는 촉감을 제공할 수 있다. 또한 각 손가락마다 촉감 전달부를 각각 구성하고, 펌프들을 각각 배정한 구조이므로, 손가락별로 각각의 압력을 다르게 제어할 수 있다. Since air is injected into the fingertips and pressurized and air is discharged through the outlet with a fixed size, it is possible to control the air pressure applied to the silicone tube 121 by simply controlling the rotational speed of the pump, and provide the touch felt by the fingers. can do. In addition, since the tactile transmission unit is configured for each finger and pumps are assigned to each other, the pressure can be controlled differently for each finger.
한편, 가상 물체를 잡거나 접촉할때, 가상물체의 표면 특성에 따라 손가락에 접촉 촉감 뿐만 아니라 자극을 전달할 필요도 있다. 이에 따라 본 발명에서는 자극에 민감한 손가락 끝 부분에 전기 자극을 제공할 수 있도록 한다. 손끝 자극부(130)는, 가상 물체에 날카로운 부분이나 뽀족한 부분에 가상의 손이 접촉되면, 이에 대응된 자극을 제공한다. 콘트롤장치(190)가 가상 현실 콘트롤러(10)로부터 자극 정보를 수신받아 자극 발생부(170)를 통해 자극을 발생시킨다. 손끝 자극부(130)는, 전기 자극을 발생시켜 사용자의 손가락에 자극을 전달 할 수 있다. 예를 즐어 저주파 전기 자극을 발생시킬 수 있다. 저주파 자극에 의해 따끔하거나 찌릿한 느낌을 전달 할 수 있다. 자극의 세기는 가상 현실 콘트롤러(10)가 가상물체의 표면 특성과 접촉 강도에 대응된 자극 정보를 생성하여 제공함으로써 결정된다.On the other hand, when holding or touching a virtual object, it is necessary to transmit stimulation as well as a touch sensation to the finger according to the surface characteristics of the virtual object. Accordingly, in the present invention, electrical stimulation can be provided to the tip of a finger sensitive to stimulation. The fingertip stimulation unit 130 provides a stimulus corresponding to the virtual hand when a virtual hand is in contact with a sharp or pointed portion of the virtual object. The control device 190 receives stimulation information from the virtual reality controller 10 and generates a stimulation through the stimulation generator 170. The fingertip stimulation unit 130 may generate electrical stimulation and transmit the stimulation to the user's finger. For example, low-frequency electrical stimulation can be generated. It can deliver a tingling or tingling feeling by low-frequency stimulation. The intensity of the stimulus is determined by the virtual reality controller 10 generating and providing stimulus information corresponding to the surface characteristics and contact strength of the virtual object.
또한, 본 발명에서는 손가락 끝의 위치 정보를 검출할 수 있도록 각 손가락부의 끝에 손끈 위치 측정부(110)를 구비한다. 손끝 위치측정부(110)로는 9축 센서를 설치할 수 있다. 글러브(100)는 트래커(150)에 의해 글러브의 위치 좌표를 측정할 수 있다. 트래커(150)에 의해 측정된 글러브의 위치 좌표를 기준으로, 9축 센서에서 측정된 각 손가락 끝의 위치정보 즉, 손끝 위치정보를 산출하여 가상 현실 콘트롤러(10)로 제공할 수 있다.In addition, in the present invention, a hand strap position measuring unit 110 is provided at the end of each finger portion so as to detect position information of the finger tip. A 9-axis sensor may be installed as the fingertip position measuring unit 110. The glove 100 may measure the position coordinates of the glove by the tracker 150. Based on the position coordinates of the glove measured by the tracker 150, position information of each fingertip measured by the 9-axis sensor, that is, fingertip position information may be calculated and provided to the virtual reality controller 10.
이에 따라 가상 현실 콘트롤러(10)는, 글러브(100)의 위치를 크래커(150)에 의해 검출하고, 글러브 위치정보를 기준으로 각 손가락 위치정보를 측정하여 가상 현실 속의 영상에서 가상의 손의 움직임 및 각 손가락의 움직임을 구현할 수 있다. 이렇게 손가락 움직임을 구현하면서 가상 물체와 손가락의 접촉상태를 검출한다. Accordingly, the virtual reality controller 10 detects the location of the glove 100 by the cracker 150, measures the location information of each finger based on the glove location information, and measures the movement of the virtual hand in the image in the virtual reality. Each finger movement can be implemented. While implementing the finger movement in this way, the contact state of the virtual object and the finger is detected.
손가락별로 가상 물체와의 접촉이나 터치 정보를 추출하고, 이에 대응된 촉감 정보 또는 자극 정보를 제공한다. 글러브(100)의 콘트롤장치(190)는, 가상 현실 콘트롤러(10)로부터 제공되는 촉감 정보에 의해서는 펌프(160)를 제어하여 실리콘 튜브(121) 속의 공기압 조절로 촉감을 전달할 수 있고, 자극 정보에 의해서는 자극 발생부(170)를 제어하여 손끝 자극부(130)의 전기 자극을 발생시켜 자극을 전달 할 수 있다.Each finger extracts contact or touch information with a virtual object, and provides tactile information or stimulus information corresponding thereto. The control device 190 of the glove 100 can control the pump 160 by tactile information provided from the virtual reality controller 10 to deliver a tactile sensation by controlling the air pressure in the silicone tube 121, and stimulation information By controlling the stimulation generating unit 170 to generate electrical stimulation of the fingertip stimulation unit 130 to transmit the stimulation.
또한, 본 발명의 촉감 전달 글러브(100)는 손가락에 저항력을 제공하는 반력 제공 장치를 포함한다. 가상 현실 영상 속에서 가상 물체를 손으로 잡알때,가상 영상의 손가락이 가상물체 속으로 들어가거나 통과되지 않도록 제어할 필요가 있다. 또한 잡았다는 느낌을 사용자 손가락에 피드백 시킬 필요가 있다. 이를 위해서 본 발명에서는 글러브에 반력 제공 장치를 포함한다.In addition, the tactile transmission glove 100 of the present invention includes a reaction force providing device that provides resistance to a finger. When holding a virtual object in a virtual reality image, it is necessary to control the finger of the virtual image so that it does not enter or pass through the virtual object. In addition, it is necessary to give feedback on the user's finger the feeling of being caught. To this end, the present invention includes a reaction force providing device to the glove.
본 발명의 촉감 전달 글러브의 반력 제공장치, 도 3에 도시된 바와 같이, 손가락 마디부(140)와, 와이어(181) 및 액츄에이터(180)를 포함한다. 손가락 마디부(140)는 글러브 본체(101) 손가락부의 상면에 부착 설치된다. 손가락 마디부(140)에 연결된 와이어(181)는, 손등부에 설치된 액츄에이터(180)에 연결된다.The apparatus for providing reaction force of the tactile transmission glove of the present invention, as shown in FIG. 3, includes a finger joint 140, a wire 181, and an actuator 180. The finger joint part 140 is attached and installed on the upper surface of the finger part of the glove body 101. The wire 181 connected to the finger joint 140 is connected to the actuator 180 installed on the back of the hand.
도 7a 및 도 7b은 본 발명에 의한 반력 제공장치의 손가락 마디부 외형 예시도이고, 도 8은 본 발명에 의한 손가락 마디부의 조인트 구성을 설명하기 위한 단면 개요도이다.7A and 7B are schematic diagrams illustrating the external appearance of a finger joint portion of a reaction force providing device according to the present invention, and FIG. 8 is a cross-sectional schematic view for explaining a joint configuration of a finger joint portion according to the present invention.
손가락에 따라 엄지와 새끼손가락은 2마디를, 나머지 손가락은 3마디로 구성될 수 있다.Depending on the finger, the thumb and little finger may consist of 2 bars, and the other fingers may consist of 3 bars.
도 7a 및 도 7b을 참조해서 3마디 구성을 설명한다. 제1-제3마디(141 - 143)로 이루어진다. 각 마디 사이에는 회전 링크 구조의 조인트로 연결된다. 각 마디의 마디 커버 내부에는 공기호스 및 와이어를 지지하여 통과시키는 지지구(148)가 포함된다.The configuration of three bars will be described with reference to Figs. 7A and 7B. It consists of the 1st-3rd segments (141-143). Each node is connected by a joint of a rotating link structure. A support tool 148 for supporting and passing the air hose and wire is included in the node cover of each node.
도 8을 참조하면, 상기 조인트는, 이웃하는 마디끼리 서로 일정구간 중첩되게 돌출되어 형성되는 링크(145, 144)와, 일측 마디의 링크(145)에 형성되는 장공부(146)와, 상기 일측 마디에 대응된 타측 마디의 링크(144)에 고정되고, 상기 타측 마디 링크(144)에 일단이 고정된 힌지가 장공부(146)에 회전 및 슬라이드 가능하게 결합되는 힌지부(147)를 포함하여 구성된다.Referring to FIG. 8, the joint includes links 145 and 144 formed by protruding adjacent nodes to overlap each other for a predetermined period, a long hole 146 formed in the link 145 of one node, and the one side Including a hinge portion 147 that is fixed to the link 144 of the other node corresponding to the node, and a hinge having one end fixed to the other node link 144 rotatably and slidably coupled to the long hole portion 146 Is composed.
글러브를 착용하고 손가락을 구브리면, 상기 손가락 마디부(140)가 마디별로 구브러진다. 도 7b와 같이 힌지가 장공부(146) 속에서 이동되면서 회전되어 마디를 구브러지게 할 수 있다.When the glove is worn and the finger is bent, the finger joint 140 is bent for each joint. As shown in FIG. 7B, the hinge may be rotated while being moved in the long hole 146 to bend the joint.
손가락을 구브리면, 손가락 마디부(140)의 손끝 마디에 고정된 와이어(181)가 당겨진다. 즉, 액츄에이터(180)로부터 와이어(181)를 잡아당기게 된다. 손가락을 구브리는 위치는, 손끝 부에 설치된 손끝 위치측정부(110)의 9축 센서에 의해 검출된다. 손끝 위치정보에 의거하여 가상물체와 접촉되거나 잡는 위치를 제어한다. 가상물체에 손가락이 접촉되는 위치에서 상기 와이어(181)가 더 이상 액츄에이터(180)에서 인출되지 않게 한다. 이에 따라 사용자가 손가락을 구브리려 힘을 가해도 와이어(181)가 고정되어 더 이상 당겨지지 않는다. 즉, 손가락에 구브리려는 반대방향으로 저항력을 제공할 수 있다. When the finger is bent, the wire 181 fixed to the fingertip joint of the finger joint 140 is pulled. That is, the wire 181 is pulled from the actuator 180. The position at which the finger is bent is detected by a 9-axis sensor of the fingertip position measuring unit 110 provided at the fingertip. Based on the location information of the fingertips, the position of the virtual object in contact with or holding is controlled. The wire 181 is no longer pulled out of the actuator 180 at the position where the finger is in contact with the virtual object. Accordingly, even if the user applies force by bending a finger, the wire 181 is fixed and is not pulled any more. That is, it is possible to provide resistance to the finger in the opposite direction to bend.
도 9는 본 발명에 의한 반력 제공장치의 액츄에이터의 외형 구성도이고, 도 10은 본 발명에 의한 반력 제공장치의 액츄에이터의 분해도이며, 도 11a 및 도 11b은 본 발명에 의한 액츄에이터의 동작 설명을 위한 단면예시도이다.9 is an external configuration diagram of the actuator of the reaction force providing apparatus according to the present invention, FIG. 10 is an exploded view of the actuator of the reaction force providing apparatus according to the present invention, and FIGS. 11A and 11B are for explaining the operation of the actuator according to the present invention. It is a cross-sectional view.
액츄에이터(180)는, 상기 손가락 마디부(140)의 손끝 마디에 연결된 와이어(181)를 감거나 풀어주거나 잠김을 제어한다. 도 9를 참조하면, 상하부 케이스로 이루어진 하우징(182)에 정면과 양측면으로 각각 와이어 인출공(182a,182b)이 형성된다. The actuator 180 winds, releases, or controls the locking of the wire 181 connected to the fingertip joint of the finger joint 140. Referring to FIG. 9, wire lead- out holes 182a and 182b are formed in the front and both sides of the housing 182 made of the upper and lower cases.
도 10을 참조하면, 원통부의 상하단에 플랜지가 형성되고, 플랜지의 외주연에 홈과 돌출부가 연속되는 사각 기어부(185a)가 형성되어, 고정축(186)에 회전가능하게 설치되고, 상기 원통부에 와이어를 감거나 풀어주기 위한 와이어 릴(185)과; 상기 고정축(186)에 내측 단부가 고정되고, 외측 단부가 상기 와이어 릴(185)에 고정되어 상기 와이어(181)를 감는 방향으로 회전 복원력을 제공하는 맴돌이 스프링(187)과; 가상 현실 시스템의 반력 제공 정보에 의해 제어되어 캠(184)을 회전 및 정지 시키는 모터(183)와; 상기 와이어 릴(185)의 상하단에서 상기 고정축(186)에 압축 스프링(188a)에 의해 지지되어 사각 기어부(186)의 외측에 수평 이동 가능하게 설치되고, 상기 캠(184)의 회전에 의해 상기 사각 기어부(185a)에 끼워져 상기 와이어 릴(185)의 회전을 잠그거나, 잠금을 해제하는 레버(188)와; 상기 모터의 구동을 제어하기 위하여, 상기 레버 또는 캠의 위치를 검출하여 와이어릴의 잠김 또는 해제 상태를 검출하는 센서(189); 를 포함하여 구성된다.Referring to FIG. 10, a flange is formed at the upper and lower ends of the cylindrical portion, and a square gear portion 185a in which grooves and protrusions are continuous is formed at the outer periphery of the flange, and is rotatably installed on the fixed shaft 186, and the cylinder A wire reel 185 for winding or releasing a wire on the part; An eddy spring 187 having an inner end fixed to the fixed shaft 186 and an outer end fixed to the wire reel 185 to provide a rotational restoring force in the winding direction of the wire 181; A motor 183 that rotates and stops the cam 184 by being controlled by the reaction force providing information of the virtual reality system; It is supported by a compression spring 188a on the fixed shaft 186 at the upper and lower ends of the wire reel 185 to be horizontally movable outside the square gear unit 186, and by rotation of the cam 184 A lever 188 inserted into the square gear part 185a to lock or release the rotation of the wire reel 185; A sensor 189 for detecting a locked or unlocked state of the wire reel by detecting the position of the lever or the cam in order to control the driving of the motor; Consists of including.
도 11a 및 도 11b을 참조하면, 초기 상태에서 레버(188)는 와이어릴(185)와 떨어진 상태에 위치된다. 레버(188)가 와이어릴(185를 구속하지 않은 상태에서는, 손가락을 구브리면 와이어(181)가 당겨진다. 와이어(181)가 당겨지면 와이어 릴(185)이 고정축(186)을 중심으로 회전된다. 맴돌이 스프링(187)은, 와이어 릴(185)이 회전되면 복원력이 축적된다. 맴돌이 스프링(187)의 복원력은 손가락을 펼때 와이어(181)를 감아준다. 맴돌이 스프링(187)은, 손가락을 구브릴때 당겨지는 힘을 무시할 정도의 작은 복원력을 가진다.11A and 11B, in an initial state, the lever 188 is located in a state away from the wire reel 185. In the state where the lever 188 does not restrain the wire reel 185, the wire 181 is pulled when the finger is bent. When the wire 181 is pulled, the wire reel 185 is centered on the fixed shaft 186. The eddy spring 187 accumulates a restoring force when the wire reel 185 is rotated. The restoring force of the eddy spring 187 winds the wire 181 when the finger is unfolded. The eddy spring 187 is, finger, finger. It has a small restoring force that is negligible when it is bent.
가상 현실 영상 속에서 가상 물체를 손으로 잡는 경우, 손끝 위치측정부(110)인 9축센서가 각 손가락 끝의 위치정보를 측정하고, 손끝 위치 정보에 따라 손가락이 가상물체에 접촉되는 시점에 모터(183)를 구동시켜 와이어릴(185)을 정지 시킬 수 있다.When holding a virtual object in a virtual reality image, the 9-axis sensor, which is the fingertip position measuring unit 110, measures the position information of each fingertip, and the motor at the point when the finger touches the virtual object according to the fingertip position information. The wire reel 185 can be stopped by driving 183.
손가락에 반력을 제공하기 위해서 모터(183)가 구동되고, 캠(184)이 회전된다. 캠(184)에 의해 레버(188)가 와이어 릴(185)의 사각 기어부(185a)에 끼워져 와이어릴(185)이 회전되지 않도록 잠근다. 사용자가 손가락을 더 구브리려해도, 와이어 릴(185)이 잠긴 상태여서 와이어(181)가 당겨지지 않는다. 따라서, 손가락을 더이상 구브리지 못하도록 제한할 수 있다. 이와 같은 와이어 릴(185)의 잠금 또는 해제 상태는 센서(189)를 통해 검출하고, 센서(189)의 검출신호에 의해 모터(183)의 구동을 제어할 수 있다.In order to provide a reaction force to the finger, the motor 183 is driven, and the cam 184 is rotated. The lever 188 is inserted into the square gear portion 185a of the wire reel 185 by the cam 184 to lock the wire reel 185 from rotating. Even if the user tries to bend his finger further, the wire reel 185 is locked and the wire 181 is not pulled. Thus, it is possible to restrict the finger from bending any more. Such a locked or unlocked state of the wire reel 185 may be detected through the sensor 189, and driving of the motor 183 may be controlled by a detection signal from the sensor 189.
가상 현실 시스템은, 글러브의 위치 좌표를 실시간으로 검출하여 가상현실 영상에 반영한다. 이를 위해서는 글러브에 트래커를 설치하여 위치좌표를 검출한다. 범용 트래커를 사용하는 경우, 트래커가 위치 측정을 위한 스캐닝 빔을 검출할 수 있도록 노출되게 설치되어야 한다. 이에 따라 손등부에 돌출된 형태로 설치되어야 하므로 전체적 사이즈가 거치고, 외형 형상에도 돌출된 트래커가 노출되어 미관상 좋지 않다.The virtual reality system detects the position coordinates of the glove in real time and reflects it in the virtual reality image. To do this, a tracker is installed on the glove to detect positional coordinates. When using a general-purpose tracker, it must be installed so that the tracker can detect a scanning beam for position measurement. Accordingly, since it must be installed in a protruding form on the back of the hand, the overall size is passed, and the protruding tracker is exposed to the external shape, which is not good in terms of aesthetics.
본 발명은 상기와 같인 범용 트래커를 글러브에 장착하는 구조가 아니라 글러브의 손등부에 일체형으로 트래커를 구성한 것이다.The present invention is not a structure in which the general-purpose tracker as described above is mounted on the glove, but is configured as a tracker integrally with the back of the hand of the glove.
도 12는 본 발명에 의한 촉감 전달 글러브의 손등부 구조를 보인 분해도이다.12 is an exploded view showing the structure of the back of the hand of the tactile transmission glove according to the present invention.
본 발명의 글러브(100)는, 손등부에 반력 제어를 위한 액츄에이터(180)들이 배열 설치된 액츄에이터 모듈(180A)과, 상기 액츄에이터 모듈(180A)의 상부에는 공기호스(161)들이 통과하는 개구부(180C)가 형성된 제1커버(180B)가 설치된다.The glove 100 of the present invention includes an actuator module 180A in which actuators 180 for reaction force control are arranged on the back of the hand, and an opening 180C through which the air hoses 161 pass through the upper portion of the actuator module 180A. ) Is formed with a first cover (180B) is installed.
상기 제1커버(180C)의 상부에는 손등부 커버 형상의 브라켓에 동일한 스캐닝 빔을 적어도 3포인트 이상의 포인트에서 검출할 수 있도록 수광 센서(151)들을 배열 설치한 센서모듈(152)과;A sensor module 152 in which light-receiving sensors 151 are arranged so as to detect the same scanning beam at at least three points or more on a bracket in the shape of a back of the hand on the upper part of the first cover 180C;
상기 센서모듈(152)의 각 센서들을 노출시킴과 아울러 빔신호를 센서로 입사시키는 가이드홀(153)들이 형성된 커버모듈(154)을 포함하고,It includes a cover module 154 formed with guide holes 153 for exposing each of the sensors of the sensor module 152 and for injecting a beam signal to the sensor,
상기 센서모듈(152)과 커버모듈(154)이 결합되어 손등부 커버를 이루도록 구성된다.The sensor module 152 and the cover module 154 are combined to form a back cover of the hand.
이와 같이 본 발명에서는 트래커(150)가 글러브 본체(101)의 손등부 커버로 설치된다. 범용 트래커를 사용하지 않고, 커버 타입의 센서 모듈 및 커버 모듈을 개발하여 액츄에이터 모듈의 상부에 일체형으로 설치한 것이다. 본 발명의 일체형 트래커(150)의 특징은 손등부 커버형으로 구성하기 때문에 센서(151)들이 넓은 면적에 분포되어 배치된 것이다.As described above, in the present invention, the tracker 150 is installed as a cover of the back of the hand of the glove body 101. Instead of using a general-purpose tracker, a cover-type sensor module and a cover module were developed and installed integrally on the top of the actuator module. The feature of the integrated tracker 150 of the present invention is that the sensors 151 are distributed over a large area because it is configured as a cover type of the back of the hand.
따라서 동일한 스캐닝 빔에 대해서 적어도 3포인트 이상의 포인트에서 동시에 빔을 검출할 수 있도록 구현할 수 있다. 법용 트래커에 비해 넓은 면적에 센서들을 배열 설치할 수 있고, 센서간의 간격이 넓어서 동시에 검출되는 빔 신호에 따른 위치 측정의 정확성을 높일 수 있다. 또한 손등 커버로서 트래커를 일체형으로 구현함으로써, 디자인상 돌출 구조없이 보기좋게 할수 있고, 글러브 전체의 높이도 줄일 수 있다.Therefore, it can be implemented to simultaneously detect the beam at at least 3 points or more for the same scanning beam. Compared to the legal tracker, sensors can be arranged in a wide area, and the gap between the sensors is wide, so it is possible to increase the accuracy of position measurement according to the simultaneously detected beam signal. In addition, by implementing the tracker as a cover for the back of the hand, it is possible to make it look good without a protruding structure in the design, and the height of the entire glove can be reduced.
도 13은 본 발명의 촉감 전달 글러브의 손목부 구성을 보인 분해도이다.13 is an exploded view showing the structure of the wrist part of the tactile transmission glove of the present invention.
본 발명의 글러브(100)의 손목부에는, 펌프와 PCB와 배터리를 배열 설치한 부품 설치모듈(221), 부품 설치모듈(221)의 부품을 보호하도록 설치되는 내부커버(222), 및 외부 커버(224)로 구성되고, 상기 내부커버(222) 및 외부 커버(224)에는 방열을 위한 통기공(223) 및 애어벤트(225)가 대응하여 형성된다.On the wrist of the glove 100 of the present invention, a component installation module 221 in which a pump, a PCB, and a battery are arranged, an inner cover 222 installed to protect the components of the component installation module 221, and an outer cover Consisting of 224, the inner cover 222 and the outer cover 224 are formed correspondingly with a ventilation hole 223 and an abvent 225 for heat dissipation.
상기 부품 설치모듈(221)은, 손가락 촉감부(120)에 공기를 주입하기 위한 펌프(160)들이 배열 설치되고, 그 후단에 콘트롤장치(190) PCB, 액츄에이터 드라이브의 PCB, 펌프 드라이브 PCB, 전원부 PCB를 포함하는 PCB(191)들을 적층하여 설치하며, 그 후단에는 전원부의 충전 배터리(211)를 설치한다.In the component installation module 221, pumps 160 for injecting air into the finger tactile part 120 are arranged and installed, and at the rear end thereof, the control device 190 PCB, the PCB of the actuator drive, the pump drive PCB, the power supply part PCBs 191 including PCBs are stacked and installed, and a rechargeable battery 211 of the power supply unit is installed at the rear end thereof.
상기와 같이 손목부에 펌프와, PCB 및 배터리를 설치함으로써, 글러브 전체의 무게중심이 손목부와 손등부 사이에 오거나 손목부에 무게중심이 올수 있도록 배치한 것이다. 따라서 사용자가 글러브를 손에 착용하여 움직일때 무게 중심이 손목부에 있어서 중량에 대한 부담감을 줄일 수 있는 것이다.By installing the pump, PCB, and battery on the wrist as described above, the center of gravity of the entire glove is placed between the wrist and the back of the hand, or the center of gravity on the wrist. Therefore, when the user moves with the glove on his hand, the center of gravity is on the wrist, which reduces the burden on the weight.
본 발명에 의한 가상현실 시스템의 촉감 전달 글러브(100)는, 사용자가 손에 착용하는 글러브 본체(101)가 구비된다. 글러브 본체(101)의 손가락부에는 상면에 손가락 마디부(140)를 탈착 가능하게 결합하는 결합수단이 형성된다. 또한, 글러브 본체(101)의 손등부에도 액츄에이터 모듈(180A)과 트래커(150)가 결합된 손등부 모듈들이 탈착 가능한 결합수단이 설치되며, 손목부에도 손목부 모듈들이 탈착 가능한 결합 수단이 설치된다. 따라서 본 발명의 글러부는, 손가락 상부의 손가락 마디부와 손등부 모듈 및 손목부 모듈을 탈착 가능하게 구성함으로써, 일부 부품의 고장 수리시 분리하여 수리할 수 있도록 한다.The tactile transmission glove 100 of the virtual reality system according to the present invention is provided with a glove body 101 worn by the user on the hand. The finger portion of the glove body 101 is formed with a coupling means for detachably coupling the finger joint portion 140 to the upper surface. In addition, a coupling means in which the actuator module 180A and the tracker 150 are coupled to the back of the hand of the glove body 101 is detachably installed, and a coupling means in which the wrist modules are detachable is installed on the wrist. . Therefore, the gull part of the present invention is configured to detachably connect the finger joint part, the back part of the hand module, and the wrist part module on the upper part of the finger, so that some parts can be separated and repaired when repairing a failure.
본 발명의 촉감 전달 글러브(100)는, 손가락부의 내부에 설치되는 실리콘 튜브(121)에 의해 접촉 촉감을 제공할 수 있다. 또한, 손가락 끝에 설치된 손끝 자극부(130)에 의해 전기 자극을 제공할 수 있다. 손가락부의 외측면에는 손가락 마디부가 설치되어 와이어를 액츄에이터에 의해 제어한다. 따라서 손가락 구브림 위치를 제어하여 가상 물체를 잠거나 접촉하는 위치에서 손가락에 반력을 제공할 수 있다.The tactile transmission glove 100 of the present invention may provide a tactile sensation by means of a silicone tube 121 installed inside the finger portion. In addition, electrical stimulation may be provided by the fingertip stimulation unit 130 installed at the fingertip. A finger joint is installed on the outer surface of the finger to control the wire by the actuator. Therefore, by controlling the bending position of the finger, it is possible to provide reaction force to the finger at the position where the virtual object is locked or touched.
또한, 손가락부 끝에 9축 센서를 손끝 위치 측정부(110)로 설치함으로써, 손가락 마다의 손끝의 위치를 측정하여 손가락 각각의 촉감 압력이나 자극 및 반력을 각각 다르게 또는 같게도 제어할 수 있다.In addition, by installing a 9-axis sensor at the fingertip end as the fingertip position measuring unit 110, it is possible to control the tactile pressure, stimulation, and reaction force of each finger differently or equally by measuring the position of the fingertip for each finger.
또한 본 발명은, 손가락 마디부(140)의 와이어(141)를 제어하는 수단으로 액츄에이터(180)를 독립적 구성으로 개발하여 제공한다. 본 발명의 액츄에이터(180)는 모터에 의해 와이어를 감아주는 기존의 장치와는 차별화된다. 본 발명은 손가락의 구브림 위치를 제한하도록 모터를 구동시켜 와이어릴의 잠김 제어와 해제 제어만 하도록 구성된 것이다. 따라서 소형모터를 사용하고 모터의 출력이 낮은 저가형 모터만으로 구현될 수 있다.In addition, the present invention provides an actuator 180 as a means for controlling the wire 141 of the finger joint 140 by developing and providing an independent configuration. The actuator 180 of the present invention is differentiated from a conventional device that winds a wire by a motor. The present invention is configured to control only locking and unlocking of the wire reel by driving a motor to limit the bending position of the finger. Therefore, it can be implemented only with a low-cost motor that uses a small motor and has a low motor output.
또한 본 발명은, 글러브의 전체 무게 중심이 손목부에 오도록 부품들의 배치한 것이다. 손등부에는 액츄에이터를 손목부에는 중량이 나가는 펌프와, PCB 및 배터리를 배치한다. 따라서 손목부에 무게 중심이 오도록 구성하여 중량에 의한 부담감을 줄일 수 있도록 한 것이다.In addition, in the present invention, the parts are arranged so that the entire center of gravity of the glove comes to the wrist. An actuator is placed on the back of the hand, a heavy pump, a PCB and a battery are placed on the wrist. Therefore, by configuring the center of gravity on the wrist to reduce the burden due to the weight.
또한, 방열이 필요한 PCB와 배터리를 손목부에 배치하고, 손목부 커버에 에어벤트를 형성하여 방열될 수 있게 한다.In addition, PCBs and batteries requiring heat dissipation are disposed on the wrist, and an air vent is formed on the wrist cover so that heat can be radiated.
이상에서는 본 발명의 바람직한 실시예에 대하여 도시하고 설명하였지만, 본 발명은 상술한 특정의 실시예에 한정되지 아니하며, 청구범위에서 청구하는 본 발명의 요지를 벗어남이 없이 당해 발명이 속하는 기술분야에서 통상의 지식을 가진자에 의해 다양한 변형실시가 가능한 것은 물론이고, 이러한 변형실시들은 본 발명의 기술적사상이나 전망으로부터 개별적으로 이해되어져서는 안될 것이다In the above, preferred embodiments of the present invention have been illustrated and described, but the present invention is not limited to the specific embodiments described above, and is generally used in the technical field to which the present invention belongs without departing from the gist of the present invention claimed in the claims. Of course, various modifications can be implemented by those skilled in the art, and these modifications should not be understood individually from the technical idea or prospect of the present invention.

Claims (12)

  1. 가상 현실 촉감 전달 글러브에 있어서,In the virtual reality tactile transmission glove,
    손가락부, 손등부 및 손목부를 구비하고 사용자의 손에 착용하는 글러브 본체와;A glove body having a finger portion, a back portion of the hand, and a wrist portion and worn on a user's hand;
    상기 손등부를 덮는 손등 커버에 일체형으로 형성되어 글러브의 위치좌표를 측정하는 트래커와;A tracker integrally formed on the back of the hand cover covering the back of the hand to measure the position coordinates of the glove;
    상기 글러브 본체의 각 손가락부 끝과 바닥면에 길이방향으로 설치되어 펌프에 의해 주입되는 공기압에 의거하여 가상물체를 잡거나 접촉에 대응되는 촉감을 제공하는 손가락 촉감부와;A finger tactile part installed on the end and bottom of each finger part of the glove body in a longitudinal direction to hold a virtual object or provide a tactile sensation corresponding to the contact based on the air pressure injected by the pump;
    상기 글러브 본체의 각 손가락부 상면 외측에 와이어를 연결한 복수 마디로 이루어지고, 반력 액츄에이터에 의해 와이어의 풀림이 제어되어 손가락의 구브러짐에 대한 저항력을 제공하는 반력 제공부와;A reaction force providing unit consisting of a plurality of nodes connecting wires to the outside of the upper surface of each finger unit of the glove body, and providing resistance against bending of the finger by controlling the loosening of the wire by a reaction force actuator;
    상기 트래커의 측정정보를 가상현실 콘트롤러로 전송하고, 가상 현실 콘트롤러의 촉감 전달 피드백 정보에 의거하여 상기 반력 액츄에이터, 상기 펌프를 제어하여 사용자에게 가상 현실 촉감 전달을 제어하는 콘트롤장치;를 포함하는A control device that transmits the measurement information of the tracker to a virtual reality controller and controls the reaction force actuator and the pump based on the tactile transmission feedback information of the virtual reality controller to control the transmission of the virtual reality tactile sensation to the user;
    가상현실 촉감 전달 글러브.Virtual reality tactile delivery glove.
  2. 제 1 항에 있어서,The method of claim 1,
    상기 가상 현실 촉감 전달 글러브는,The virtual reality tactile transmission glove,
    상기 글러브 본체의 각 손가락부의 끝단 양측면에 설치되어 상기 콘트롤장치의 제어를 받는 자극발생부의 제어에 의해 전기 자극을 제공하는 손끝 자극부;를 더 포함하는Fingertip stimulation units installed on both sides of the ends of each finger unit of the glove body to provide electrical stimulation by controlling the stimulation generating units controlled by the control device;
    가상현실 촉감 전달 글러브.Virtual reality tactile delivery glove.
  3. 제 1 항에 있어서,The method of claim 1,
    상기 글러브 본체의 각 손가락부 끝단에 설치되어 각 손가락 끝의 위치를 측정하는 손끝 위치측정부;를 더 포함하는A fingertip position measuring unit installed at the ends of each finger portion of the glove body to measure the position of each finger tip; further comprising
    가상현실 촉감 전달 글러브.Virtual reality tactile delivery glove.
  4. 제 3 항에 있어서,The method of claim 3,
    상기 손끝 위치 측정부는, 각 손가락부마다 손가락끝 부분에 설치되는 9축센서인The fingertip position measurement unit is a 9-axis sensor installed at the fingertip for each finger
    가상현실 촉감 전달 글러브.Virtual reality tactile delivery glove.
  5. 제 1 항에 있어서,The method of claim 1,
    사용자의 손에 착용하는 글러브의 손가락부에는,On the finger part of the glove worn on the user's hand,
    사용자의 손가락에 가변되는 압력을 제공하여 촉감을 전달하는 손가락 촉감부, 손가락부의 외측 상면에 손가락 마디부가 부착설치되고 와이어로 손가락 마디부의 구브러짐을 제한하는 반력제공부가 설치되고,A finger touch part that provides a variable pressure to the user's finger to transmit the touch, a finger joint part is attached to the outer upper surface of the finger part, and a reaction force providing part that restricts bending of the finger joint part with a wire is installed,
    상기 글러브의 손등부에는, 상기 반력 제공부의 와이어를 제어하는 액츄에이터들이 설치되며, 액츄에이터의 상부에는 커버에 일체형으로 형성되는 트래커가 설치되고,Actuators for controlling the wire of the reaction force providing unit are installed on the back of the hand of the glove, and a tracker integrally formed with the cover is installed on the top of the actuator,
    상기 글러브의 손목부에는, 상기 손가락 촉감부에 공기를 주입하기 위한 펌프들이 배열설치되며, 펌프의 후방에 콘트롤장치의 PCB들이 설치되고, 전원부의 밧데리가 설치되어 손목 커버부가 설치되어 글러브의 무게 중심이 손목부에 존재하도록 구성된 것을 특징으로 하는On the wrist of the glove, pumps for injecting air into the finger tactile part are arranged and installed, PCBs of the control device are installed at the rear of the pump, the battery of the power supply is installed, and the wrist cover is installed to the center of gravity of the glove. Characterized in that it is configured to be present in the wrist
    가상현실 촉감 전달 글러브.Virtual reality tactile delivery gloves
  6. 제1항에 있어서,The method of claim 1,
    상기 손가락 촉감부는,The finger tactile part,
    글러브 본체의 각 손가락부 내부의 손끝과 바닥면에 손가락 길이방향으로 형성되고, 공기 주입에 따른 공기압에 의해 촉감을 제공하는 실리콘튜브와;A silicone tube formed in the longitudinal direction of the finger on the fingertips and bottom surfaces of the inside of each finger part of the glove body, and providing a tactile feel by air pressure according to air injection;
    상기 글러브 본체의 손목부에 배열 설치되고 촉감 전달 피드백 정보에 대응되는 공기압으로 공기를 펌핑하는 펌프와;A pump arranged on the wrist of the glove body and pumping air at an air pressure corresponding to the tactile transmission feedback information;
    상기 펌프에서 펌핑되는 공기를 상기 실리콘 튜브의 손끝 부분의 공기주입관로 주입하도록 연결 설치되는 공기호스; 를 포함하는An air hose connected and installed to inject the air pumped by the pump into the air injection pipe at the fingertip of the silicone tube; Including
    가상현실 촉감 전달 글러브.Virtual reality tactile delivery glove.
  7. 제6항에 있어서,The method of claim 6,
    상기 손가락 촉감부는,The finger tactile part,
    상기 글러브 손가락부의 내부에 설치되어 손끝을 보호하고 상기 실리콘튜브의 일단부를 지지하고, 호스 매립홈이 형성되어 공기호스를 손끝을 통과시켜 상기 실리콘 튜브의 공기주입관에 연결시키는 설치 브라켓;을 더 포함하는 An installation bracket that is installed inside the glove finger portion to protect the fingertips, supports one end of the silicone tube, and has a hose buried groove to pass the air hose through the fingertips to connect to the air injection pipe of the silicone tube; doing
    가상현실 촉감 전달 글러브.Virtual reality tactile delivery glove.
  8. 제1항에 있어서,The method of claim 1,
    상기 반력제공부는,The reaction force providing unit,
    상기 글러브 본체의 각 손가락부의 상면에 고정 설치되고, 복수의 마디로 분절되어 회전 조인트로 연결되는 손가락 마디부와;A finger joint portion fixedly installed on the upper surface of each finger portion of the glove body, divided into a plurality of joints, and connected to a rotation joint;
    상기 손가락 마디부의 손끝 마디부에 일단이 고정되고, 손가락 마디부 내부를 통해서 손등부로 인출되는 와이어와;A wire having one end fixed to the fingertip joint of the finger joint and drawn out to the back of the hand through the inside of the finger joint;
    상기 손등부에 설치되어 손가락을 구브리거나 펴는 것에 대응하여 와이어가 풀려지거나 감겨지고, 가상 물체와의 접촉에 대응하는 반력 제어정보에 의해 상기 와이어가 풀려지는 것을 잠그거나 잠김을 해제하는 액츄에이터; 를 포함하는An actuator installed on the back of the hand to release or wind a wire in response to bending or spreading a finger, and locking or releasing the unlocking of the wire by reaction force control information corresponding to contact with a virtual object; Including
    가상현실 촉감 전달 글러브.Virtual reality tactile delivery glove.
  9. 제8항에 있어서,The method of claim 8,
    상기 액츄에이터는,The actuator,
    원통부의 상하단에 플랜지가 형성되고, 플랜지의 외주연에 홈과 돌출부가 연속되는 사각 기어부가 형성되어, 고정축에 회전가능하게 설치되고, 상기 원통부에 와이어를 감거나 풀어주기 위한 와이어 릴과;A wire reel having a flange formed at the upper and lower ends of the cylindrical portion, a square gear portion having a continuous groove and a protrusion formed at an outer periphery of the flange, rotatably installed on a fixed shaft, and winding or unwinding a wire in the cylindrical portion;
    상기 고정축에 내측 단부가 고정되고, 외측 단부가 상기 와이어 릴에 고정되어 상기 와이어를 감는 방향으로 회전 복원력을 제공하는 맴돌이 스프링과;An eddy spring having an inner end fixed to the fixed shaft and an outer end fixed to the wire reel to provide a rotational restoring force in the direction of winding the wire;
    가상 현실 시스템의 반력 제공 정보에 의해 제어되어 캠을 회전 및 정지 시키는 모터와;A motor that is controlled by reaction force provision information of the virtual reality system to rotate and stop the cam;
    상기 와이어 릴의 상하단에서 상기 고정축에 압축 스프링에 의해 지지되어 사각 기어부의 외측에 수평 이동 가능하게 설치되고, 상기 캠의 회전에 의해 상기 사각 기어부에 끼워져 상기 와이어 릴의 회전을 잠그거나, 해제하는 레버; 를 포함하는At the upper and lower ends of the wire reel, it is supported by a compression spring on the fixed shaft and is installed to be horizontally movable outside the square gear part, and is inserted into the square gear part by the rotation of the cam to lock or release the rotation of the wire reel. Lever to do; Including
    가상현실 촉감 전달 글러브.Virtual reality tactile delivery glove.
  10. 제9항에 있어서,The method of claim 9,
    상기 레버 또는 캠의 위치를 검출하여 와이어릴의 잠김 또는 해제 상태를 검출하는 센서; 를 더 포함하는A sensor detecting a locked or unlocked state of the wire reel by detecting the position of the lever or cam; Further comprising
    가상현실 촉감 전달 글러브.Virtual reality tactile delivery glove.
  11. 제9항에 있어서,The method of claim 9,
    상기 액츄에이터는,The actuator,
    상기 엑츄에이터의 하우징에 상기 와이어를 인출하는 와이어 인출공이 정면과 좌우 측면에 각각 복수로 형성된 A plurality of wire lead holes for drawing the wire into the housing of the actuator are formed on the front and left and right sides, respectively.
    가상현실 촉감 전달 글러브.Virtual reality tactile delivery glove.
  12. 제1항에 있어서,The method of claim 1,
    상기 트래커는,The tracker,
    위치 좌표를 검출하기 위해 제공되는 수직 및 수평 스캐닝 빔신호에 대해서 각각의 빔 신호마다 적어도 3포인트 이상의 포인트에서 동시에 빔신호를 수신받을 수 있도록 센서들을 배열 설치된 센서모듈과;A sensor module in which sensors are arranged and installed so as to simultaneously receive beam signals at at least three points or more for each of the vertical and horizontal scanning beam signals provided to detect position coordinates;
    상기 센서모듈의 각 센서들을 노출시킴과 아울러 빔신호를 센서로 입사시키는 가이드홀들이 각각 형성된 커버모듈;을 포함하고,Including; a cover module each formed with guide holes for exposing each of the sensors of the sensor module and allowing the beam signal to enter the sensor,
    상기 센서모듈과 커버모듈이 결합되어 손등부 커버를 구성되는The sensor module and the cover module are combined to form a back cover of the hand.
    가상현실 촉감 전달 글러브.Virtual reality tactile delivery glove.
PCT/KR2019/006035 2019-05-14 2019-05-21 Glove for transmitting virtual reality tactility WO2020230936A1 (en)

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