WO2020230936A1 - Gant pour transmettre une tactilité de réalité virtuelle - Google Patents

Gant pour transmettre une tactilité de réalité virtuelle 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
English (en)
Korean (ko)
Inventor
이형준
Original Assignee
주식회사 풀다이브테크놀로지
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Publication of WO2020230936A1 publication Critical patent/WO2020230936A1/fr

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

Abstract

Selon un mode de réalisation, la présente invention concerne un gant permettant de transmettre de la tactilité qui comprend une unité tactile de doigt pour fournir une tactilité pneumatique à une partie de doigt, une unité de stimulation de bout de doigt pour fournir un stimulus, et une unité de fourniture de force de réaction pour limiter la flexion d'un doigt au moyen d'un fil, comprend une unité de mesure de position de bout de doigt, un dispositif de suivi intégré disposé à l'arrière d'une main, une pompe disposée sur une partie de poignet, une carte de circuit imprimé et une batterie, et fournit un gant capable de fournir une tactilité, un stimulus, et une force de réaction en fonction du maintien ou du contact d'un objet virtuel dans une image de réalité virtuelle à chaque articulation de doigt au moyen d'une commande individuelle.
PCT/KR2019/006035 2019-05-14 2019-05-21 Gant pour transmettre une tactilité de réalité virtuelle WO2020230936A1 (fr)

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KR10-2019-0056387 2019-05-14
KR1020190056387A KR20200131587A (ko) 2019-05-14 2019-05-14 가상현실 촉감 전달 글러브

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KR101548156B1 (ko) * 2014-02-04 2015-08-31 한국기술교육대학교 산학협력단 촉감과 관절 저항감을 동시에 전달하는 무선 외골격 햅틱 인터페이스 장치 및 그 구성 방법
KR101738870B1 (ko) * 2016-12-12 2017-05-23 주식회사 디플즈 Vr글러브 기반 게임 시스템 및 이를 이용한 게임 진행 방법
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JP2004029999A (ja) * 2002-06-24 2004-01-29 Matsushita Electric Ind Co Ltd 力触覚ディスプレイハンドおよびその製造方法
JP2004213350A (ja) * 2002-12-27 2004-07-29 Seiko Epson Corp 力覚提示装置及び画像補正方法
KR101548156B1 (ko) * 2014-02-04 2015-08-31 한국기술교육대학교 산학협력단 촉감과 관절 저항감을 동시에 전달하는 무선 외골격 햅틱 인터페이스 장치 및 그 구성 방법
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