CN104552316A - Human hand front arm radio-ulnar joint movement detection device - Google Patents
Human hand front arm radio-ulnar joint movement detection device Download PDFInfo
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- CN104552316A CN104552316A CN201310491857.3A CN201310491857A CN104552316A CN 104552316 A CN104552316 A CN 104552316A CN 201310491857 A CN201310491857 A CN 201310491857A CN 104552316 A CN104552316 A CN 104552316A
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- arm
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- retainer ring
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- 230000033001 locomotion Effects 0.000 title claims abstract description 51
- 238000001514 detection method Methods 0.000 title claims abstract description 31
- 210000000245 forearm Anatomy 0.000 claims description 18
- 230000007246 mechanism Effects 0.000 claims description 13
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 13
- 210000000707 wrist Anatomy 0.000 claims description 5
- 230000002452 interceptive effect Effects 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 230000009916 joint effect Effects 0.000 claims 1
- 230000009471 action Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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Abstract
The invention relates to a detection device for detecting human hand front arm rotating movement, in particular to a human hand front arm radio-ulnar joint movement detection device, and aims to solve the problem that an existing detection device is complex in system, complicated in structure, large in detection error and difficult to maintain. A link for detecting rotation is designed in a brand-new manner, and a unique connecting mode and ingenious joint measuring layout are adopted, so that when an operator uses the device, flexibility of the arm of the operator can be maintained to greatest extent, rotating movement state of the front arm can be detected accurately, and joints of a controlled slave hand and corresponding arm joints of the operator can act coordinately to enhance sense of immediacy of virtual reality or remote operation.
Description
Technical field
The present invention relates to a kind of staff arm joint motion detection apparatus detecting the motion of staff forearm articulatio radioulnaris.
Background technology
Due to the development of science and technology, robot is used gradually in increasing scope, teleoperation robot as the robot of a kind of dependable performance, technology maturation be widely used in various danger, situation complexity, work in environment that the mankind cannot arrive, what it adopted is very reliable control mode, is directly sent instruction to control by operator.Performing along with teleoperation robot of task becomes increasingly complex, make people while pursuit reliability, also its flexibility is had higher requirement, and remote operating to be implemented to the manipulator of complexity, control the coordinated movement of various economic factors together of the multiple joint of manipulator, to realize specific function, this just needs to use staff arm joint motion detection apparatus, staff arm joint motion detection apparatus controls manipulator by the positional information in each joint on measure operator arm as control instruction and follows the tracks of human hand movement, makes operator produce very strong telepresenc.In addition, virtual reality interaction technique development in recent years, staff arm joint motion detection apparatus can be used as a kind of main interactive device, participate in the structure of virtual reality interactive system, such as at one by the scene of computer virtual, operator controls the virtual staff dismounting of a pair of by staff arm joint motion detection apparatus or puts together machines, and also has remote operation, game, 3D cartoon making etc. all to need to use such device.Staff arm joint motion detection apparatus system complex in the market, difficult in maintenance, price is very expensive, makes it cannot popularize in a large number, promote and use.
Summary of the invention
The object of the invention is for the staff forearm articulatio radioulnaris checkout gear system complex in existing staff arm joint motion detection apparatus, structure is too fat to move, metrical error is larger, the shortcoming such as difficult in maintenance, propose a kind of external framework type structure, brand-new design has been done to forearm articulatio radioulnaris motion detection, the connected mode that employing is unique and cleverly joint measurment point layout, greatly simplify complicated staff arm joint motion detection apparatus, operator's arm when using this device can be kept farthest flexibly, the motion state of forearm articulatio radioulnaris can be accurately detected, make the controlled harmonious action of arm joint that can be corresponding with operator from swivel of hand, strengthen the telepresenc of virtual reality or remote operating.The present invention is for equipment interactive with computer, manipulator etc., by fixed pedestal, connecting rod, movement detecting mechanism forms, fixed pedestal is fixed on operator's upper arm near ancon one end, movement detecting mechanism is fixed on close wrist one end on forearm, passes through rod hinge connection between two parts.The movement angle that the present invention detects joint is measured by corresponding mathematical algorithm by being arranged on corresponding angular transducer on movement detecting mechanism, the angle that the forearm of operator in three dimensions rotates around its axis can be detected accurately, delicately, this installation cost is low, use simple, it is convenient to dress, and safeguards easily.
Accompanying drawing explanation
Fig. 1 is overall shaft side figure of the present invention.
Fig. 2 is structural representation of the present invention.
Detailed description of the invention
Main parts size of the present invention:
101. movement detecting mechanism 102. fixed pedestal 2. connecting rods
3. joint motions detection part 4. fixed ring gear 5. arm slip ring top
6. arm slip ring bottom 7. arm retainer ring 8. gear
Detailed description of the invention one: as shown in Figure 1, described staff forearm articulatio radioulnaris motion detection apparatus, comprise fixed pedestal 102, connecting rod 2, joint motions detection part 3, movement detecting mechanism 101 forms.Fixed pedestal 102 is fixed near ancon one end on operator's upper arm, and movement detecting mechanism 101 is fixed near wrist one end on forearm, hinged by two-stage connecting rod 2 between two parts.The detection of staff forearm articulatio radioulnaris motion detection apparatus to the rotary motion of operator's forearm articulatio radioulnaris is implemented by joint motions detection part 3.
Detailed description of the invention two: as depicted in figs. 1 and 2, described movement detecting mechanism 101 comprises arm retainer ring 7, fixed ring gear 4, arm slip ring top 5 and arm slip ring bottom 6.The shell of described arm retainer ring 7 is hard material, described fixed ring gear 4 is fixed on the outer surface of arm retainer ring 7, the axis of described fixed ring gear 4 and the dead in line of arm retainer ring 7, described arm slip ring top 5 is arranged on the outer surface of arm retainer ring 7, the described annulus axis on arm slip ring top 5 and the dead in line of arm retainer ring 7, described fixed ring gear 4 is placed in the annulus groove on arm slip ring top 5, described arm slip ring bottom 6 is arranged on the outer surface of arm retainer ring 7, the described annulus axis of arm slip ring bottom 6 and the dead in line of arm retainer ring 7, described fixed ring gear 4 is placed in the annulus groove of arm slip ring bottom 6, the complete annulus of the affixed formation of screw one is passed through with the two ends of arm slip ring bottom 6 in described arm slip ring top 5, described arm slip ring top 5 and between arm slip ring bottom 6 and arm retainer ring 7 for slidingly contacting, can the axis of thorny arm retainer ring 7, at the surface pivots of arm retainer ring 7.The base B of described joint motions detection part 3 is fixed on the platform A side on arm slip ring top 5 by screw, the sensor of described joint motions detection part 3 inside passes through the rotating drive of gear 8, and described gear 8 engages with fixed ring gear 4.The platform A both sides on described arm slip ring top 5 are hinged by two-stage connecting rod 2 and fixed pedestal 102, and the axes normal of hinged place is in the axis of arm retainer ring 7.Described fixed pedestal 102 comprises arm retainer ring 7, arm slip ring top 5 and arm slip ring bottom 6.Described arm slip ring top 5 is fixed on the outer surface of arm retainer ring 7, and described arm slip ring bottom 6 is arranged on the outer surface of arm retainer ring 7.Action implementation process: near wrist one end on the forearm that the arm retainer ring 7 of movement detecting mechanism 101 is fixed on operator, fixed pedestal 102 is fixed on operator's upper arm near ancon one end, when operator forearm around ancon to wrist axis rotate time, the arm retainer ring 7 of movement detecting mechanism 101 and fixed ring gear 4 are followed and are rotated together, in this direction of motion the arm slip ring top 5 of movement detecting mechanism 101 and arm slip ring bottom 6 static relative to arm retainer ring 7, then fixed ring gear 4 is by the sensor of meshed gears 8 driving joint motion detecting component 3 inside, and angle and the state of the motion of operator's forearm articulatio radioulnaris is measured by corresponding mathematical algorithm.
As another example of the present invention, also can replace angular transducer with other sensors, the object detecting position that staff arm rotates in three dimensions and motion state can be played equally, realize object of the present invention.
When not making principle of the present invention suffer damage, the details of above-mentioned formation and detailed description of the invention are only that it can not depart from the scope of the present invention and extensively change, and these all belong within protection of the present invention as example and illustrated thing.
Claims (2)
1. a staff forearm articulatio radioulnaris motion detection apparatus, for with computer, the interactive device of manipulator, be made up of fixed pedestal (102), connecting rod (2), joint motions detection part (3), movement detecting mechanism (101);
It is characterized in that:
This device is fixed on operator's arm;
Arm retainer ring (7) on movement detecting mechanism (101) is fixed near wrist one end on forearm, and fixed pedestal (102) is fixed on operator's upper arm near ancon one end;
This device is implemented by joint motions detection part (3) the detection that operator's forearm articulatio radioulnaris moves, and joint motions detection part (3) inside is provided with the angular transducer detecting joint action.
2. staff forearm articulatio radioulnaris motion detection apparatus according to claim 1, it is characterized in that: described movement detecting mechanism (101) comprises arm retainer ring (7), fixed ring gear (4), arm slip ring top (5), arm slip ring bottom (6); the shell of described arm retainer ring (7) is hard material, described fixed ring gear (4) is fixed on the outer surface of arm retainer ring (7), the axis of described fixed ring gear (4) and the dead in line of arm retainer ring (7), described arm slip ring top (5) is arranged on the outer surface of arm retainer ring (7), the annulus axis of described arm slip ring top (5) and the dead in line of arm retainer ring (7), described fixed ring gear (4) is placed in the annulus groove on arm slip ring top (5), described arm slip ring bottom (6) is arranged on the outer surface of arm retainer ring (7), the annulus axis of described arm slip ring bottom (6) and the dead in line of arm retainer ring (7), described fixed ring gear (4) is placed in the annulus groove of arm slip ring bottom (6), described arm slip ring top (5) passes through the complete annulus of the affixed formation of screw one with the two ends of arm slip ring bottom (6), described arm slip ring top (5) and between arm slip ring bottom (6) and arm retainer ring (7) for slidingly contacting, can the axis of thorny arm retainer ring (7), at the surface pivots of arm retainer ring (7), the base (B) of described joint motions detection part (3) is fixed on platform (A) side on arm slip ring top (5) by screw, the travelling gear (8) of described joint motions detection part (3) engages with fixed ring gear (4), platform (A) both sides of described arm slip ring top (5) are hinged by two-stage connecting rod (2) and fixed pedestal (102), the axes normal of hinged place is in the axis of the arm retainer ring (7) of fixed pedestal (102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310491857.3A CN104552316A (en) | 2013-10-21 | 2013-10-21 | Human hand front arm radio-ulnar joint movement detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310491857.3A CN104552316A (en) | 2013-10-21 | 2013-10-21 | Human hand front arm radio-ulnar joint movement detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104552316A true CN104552316A (en) | 2015-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310491857.3A Pending CN104552316A (en) | 2013-10-21 | 2013-10-21 | Human hand front arm radio-ulnar joint movement detection device |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1995032842A2 (en) * | 1994-05-19 | 1995-12-07 | Exos, Inc. | Sensory feedback exoskeleton armmaster |
| EP1364755A1 (en) * | 2002-05-22 | 2003-11-26 | Organisation Intergouvernementale Dite Agence Spatiale Europeenne | Exoskeleton for a human arm, especially for spatial applications |
| CN101612043A (en) * | 2009-08-04 | 2009-12-30 | 中国科学院合肥物质科学研究院 | Wearable human arm tremor detection and suppression robot and its tremor suppression method |
| US20120025945A1 (en) * | 2010-07-27 | 2012-02-02 | Cyberglove Systems, Llc | Motion capture data glove |
| CN202895235U (en) * | 2012-11-26 | 2013-04-24 | 苏茂 | Subordinate hand arm control device with bi-directional force feedback |
| US8491447B1 (en) * | 2011-03-28 | 2013-07-23 | Andrew T. Koranic | Hand exercising glove device |
-
2013
- 2013-10-21 CN CN201310491857.3A patent/CN104552316A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1995032842A2 (en) * | 1994-05-19 | 1995-12-07 | Exos, Inc. | Sensory feedback exoskeleton armmaster |
| WO1995032842A3 (en) * | 1994-05-19 | 1996-01-11 | Exos Inc | Sensory feedback exoskeleton armmaster |
| EP1364755A1 (en) * | 2002-05-22 | 2003-11-26 | Organisation Intergouvernementale Dite Agence Spatiale Europeenne | Exoskeleton for a human arm, especially for spatial applications |
| CN101612043A (en) * | 2009-08-04 | 2009-12-30 | 中国科学院合肥物质科学研究院 | Wearable human arm tremor detection and suppression robot and its tremor suppression method |
| US20120025945A1 (en) * | 2010-07-27 | 2012-02-02 | Cyberglove Systems, Llc | Motion capture data glove |
| US8491447B1 (en) * | 2011-03-28 | 2013-07-23 | Andrew T. Koranic | Hand exercising glove device |
| CN202895235U (en) * | 2012-11-26 | 2013-04-24 | 苏茂 | Subordinate hand arm control device with bi-directional force feedback |
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Application publication date: 20150429 |