CN100372503C - A Force Feedback Data Glove Based on Pneumatic Artificial Muscle - Google Patents
A Force Feedback Data Glove Based on Pneumatic Artificial Muscle Download PDFInfo
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- CN100372503C CN100372503C CNB2005100104942A CN200510010494A CN100372503C CN 100372503 C CN100372503 C CN 100372503C CN B2005100104942 A CNB2005100104942 A CN B2005100104942A CN 200510010494 A CN200510010494 A CN 200510010494A CN 100372503 C CN100372503 C CN 100372503C
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- pneumatic artificial
- force feedback
- feedback data
- artificial muscle
- air bag
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 38
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 238000005259 measurement Methods 0.000 claims abstract description 6
- 210000000245 forearm Anatomy 0.000 claims abstract description 5
- 230000033001 locomotion Effects 0.000 abstract description 18
- 210000001145 finger joint Anatomy 0.000 abstract description 11
- 238000005452 bending Methods 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000003278 mimic effect Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract 1
- 210000003811 finger Anatomy 0.000 description 20
- 210000005224 forefinger Anatomy 0.000 description 5
- 210000004247 hand Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 239000004677 Nylon Substances 0.000 description 3
- 229920001778 nylon Polymers 0.000 description 3
- 238000005273 aeration Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000013022 venting Methods 0.000 description 2
- 208000008037 Arthrogryposis Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 210000004932 little finger Anatomy 0.000 description 1
- 230000001404 mediated effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
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Abstract
本发明提供的是一种基于气动人工肌肉的力反馈数据手套。它包括带在手上的测量机构和戴在小臂上的驱动器机构。测量机构包括角度测量和力测量。驱动机构由气动人工肌肉和制动气囊组成的。本发明采用外骨架结构，在保证手自然运动的情况下，测量手指关节的弯曲角度，手指的运动空间不会受到影响。气动人工肌肉有输出力/自重比高，安装简单，可弯曲，柔性，安全，动作平滑，运动更接近于自然生物运动等优点，因此采用人工肌肉作为力反馈数据手套的执行器是目前比较理想的可以模仿生物肌肉的一种驱动器。力反馈数据手套的质量轻，增加佩戴的舒适性。可以应用于虚拟制造和装配、机器人遥操作等需要对手提供力反馈的虚拟现实应用系统中。
The invention provides a force feedback data glove based on pneumatic artificial muscles. It consists of a measuring mechanism worn on the hand and an actuator mechanism worn on the forearm. Measuring mechanisms include angle measurement and force measurement. The driving mechanism is composed of pneumatic artificial muscles and brake airbags. The invention adopts the exoskeleton structure to measure the bending angle of the finger joints under the condition of ensuring the natural movement of the hand, and the movement space of the fingers will not be affected. Pneumatic artificial muscles have the advantages of high output force/weight ratio, simple installation, bendability, flexibility, safety, smooth movement, and movement closer to natural biological movement, so using artificial muscles as actuators for force feedback data gloves is currently ideal A drive that can mimic biological muscles. The light weight of the force feedback data gloves increases the wearing comfort. It can be applied to virtual reality application systems that require force feedback from opponents, such as virtual manufacturing and assembly, and robot teleoperation.
Description
(1), technical field
What the present invention relates to is test set, specifically a kind of force feedback data gloves based on Pneumatic artificial muscle, with the Pneumatic artificial muscle is the control that driver is carried out power, is crooked and finger is provided the device of force feedback for measuring finger-joint in a kind of virtual reality system.
(2), background technology
Present force feedback data gloves is divided into two kinds: a kind of driver adopts corrugated tube or little cylinder in palm inside, and this force feedback data gloves is because driver in palm inside, has limited the natural motion of staff; Another kind is the external frame type structure, adopt motor as driver mostly, but driver is heavy, is not easy to carry.
(3), summary of the invention
The objective of the invention is to propose a kind of by Pneumatic artificial muscle as driver, can measure the finger-joint angle of bend, and can offer a kind of force feedback data gloves of external frame type of each joint force feedback based on Pneumatic artificial muscle.
Above-mentioned purpose of the present invention is achieved in that it comprises that band is on hand measuring mechanism be worn over actuator mechanism on the forearm; Measuring mechanism comprises angular surveying and power measurement, described measuring mechanism by back base and joint base, be attached between two bases and by the hinged front-rear linkage of turning cylinder, be installed in force transducer on each joint base, the angular transducer that is installed in turning cylinder the place ahead cooperates and forms, front rod is fixedlyed connected with turning cylinder, the permanent magnet that fixed radial magnetizes on turning cylinder, described angular transducer are installed in the Magnet top, are fixed on the back link; Driving mechanism is made up of Pneumatic artificial muscle and braking air bag, the Pneumatic artificial muscle front end is connected with drag-line, drag-line passes flexible axle, joint base, be connected with the pick off on being fixed on the joint base, the braking air bag is installed in the thin walled cylinder body, is connected with the artificial-muscle of front end, braking air bag, the slinky spring that resets, thin walled cylinder body, sleeve end cap are formed brakes; thin walled cylinder body is fixed on the after-poppet, and sleeve end cap and thin walled cylinder body are fixed, and the braking air bag is made up of air bag piston and sebific duct.
The present invention can also comprise some architectural features like this:
1, comprise 3 joint bases in the described measuring mechanism, corresponding Pneumatic artificial muscle, brakes, drag-line and flexible axle respectively have 3 covers.
2, comprise measuring mechanism and the actuator mechanism of simultaneously finger more than 2 and 2 being measured in every sets of data glove.
3, described force transducer is the beam type force transducer.
4, described angular transducer is a non-contact angle sensor.
Force feedback data gloves of the present invention has dual-use function: a kind of function is the measurement finger-joint angle of bend as data glove; Another kind of function is to provide force feedback for pointing each joint.This force feedback data gloves is measured the arthrogryposis angle of thumb, forefinger, middle finger, and provides force feedback to each joint, also can be similar to the structure of forefinger or middle finger to nameless and little finger of toe increase.This force feedback data gloves comprises that band is on hand measuring mechanism be worn over actuator mechanism on the forearm.Measuring mechanism comprises angular surveying and power measurement, is made up of joint base, connecting rod, non-contact angle sensor, beam type force transducer.Front rod is fixedly connected with turning cylinder between the two, and the permanent magnet that fixed radial magnetizes on turning cylinder, angular transducer are installed in the Magnet top, are fixed on the back link, move with back link.Driving mechanism is made up of Pneumatic artificial muscle and braking air bag.The Pneumatic artificial muscle front end is connected with drag-line, and drag-line passes flexible axle, base, is connected with beam type force transducer on being fixed on base, by the power output of force sensor measuring artificial-muscle.The braking air bag is installed in the thin walled cylinder body, is connected with the artificial-muscle of front end.Braking air bag, the slinky spring that resets, thin walled cylinder body, sleeve end cap are formed brakes.Thin walled cylinder body is fixed on the after-poppet, and sleeve end cap and thin walled cylinder body are fixed.The braking air bag is made up of air bag piston and sebific duct, and behind the braking airbag aeration, sebific duct expands and contacts with thin walled cylinder body, produce frictional force and hinder the air bag motion, and then the restriction finger is further crooked.During the hands natural motion, braking air bag and artificial-muscle are not inflated, and sebific duct is in contraction state, does not contact with thin walled cylinder body, and the air bag piston contacts with sleeve, and contact area is little, and it is very little to move the frictional force that produces.During the finger natural torsion, the braking air bag travels forward with artificial-muscle, compresses the slinky spring that resets; When finger was stretched by case of bending, the slinky spring that resets moved braking air bag and artificial-muscle to reset backward.In the finger BENDING PROCESS, contact with dummy object, when needing power output, the braking of braking airbag aeration is inflated in artificial-muscle, makes Pneumatic artificial muscle shrink the perception of generation power.
The present invention can be applied to virtual manufacturing and assembling, teleoperation of robot etc. need the adversary to provide in the virtual reality applications system of force feedback.The force feedback data gloves that the present invention proposes has the dual-use function of data glove and force feedback, so the entire system cost is low, helps being widely used in the virtual reality system.
The advantage that the present invention has is to adopt outer framing structure, under the situation that guarantees the hands natural motion, measures the angle of bend of finger-joint, and the space of finger can not be affected.Pneumatic artificial muscle has power output/from the anharmonic ratio height, install simple, flexible, flexible, safety, action is level and smooth, and motion more approaches advantages such as natural biology motion, and therefore adopting artificial-muscle is at present more satisfactory a kind of driver that can mimic biology muscle as the executor of force feedback data gloves.The light weight of force feedback data gloves increases comfort of wearing.
(4), description of drawings
Fig. 1 is the principle assumption diagram of forefinger part of the present invention;
Fig. 2 is that angular transducer of the present invention is installed principle assumption diagram;
Fig. 3 is control of the present invention, measuring system schematic diagram.
(5), specific embodiments
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1, the force feedback data gloves driver rack that base plate 1, after-poppet 3, fore-stock 11 are formed partly passes through nylon silk ribbon band on forearm; The back of the hand connecting plate 10 is fixed on the back of the hand by the nylon silk ribbon; Joint base 19,20,21 is fixed on forefinger rear end, centre and the terminal joint by the nylon silk ribbon respectively.Because it is identical with the force feedback principle that each finger and finger are gone up the angular surveying in each joint, be that example describes with first joint (MP) of pointing near palm below.The braking air bag of being made up of air bag piston 4 and sebific duct 5 is connected with Pneumatic artificial muscle 9, and the artificial-muscle front end is connected with drag-line 12, and drag-line 12 is by flexible axle 13, and the axle 15 on the back base 14 is connected with the beam type force transducer 22 on the base 19.The slinky spring that resets is installed in the thin wall casing 6, and thin wall casing 6 is fixed together as an overall fixed on after-poppet 3 with sleeve pipe end cap 8. Connecting rod 16,18 is connected with back base 14, base 19.Simultaneously in conjunction with Fig. 2, non-contact angle sensor 17, be installed on the back link 16, front rod 18 is fixedlyed connected with turning cylinder 24, Magnet 23 is installed in turning cylinder 24 ends, the position of angular transducer is directly over turning cylinder, and when front rod 18 rotated with respect to back link 16 with turning cylinder 24 like this, Magnet rotated with respect to angular transducer.
Angular surveying principle of the present invention is: form a lanar four rod mechanism by back link 16, front rod 18, back base 14, base 19, first joint of forefinger.Based on plane four link motions really qualitative principles measure the angle of bend of finger-joint.When finger is crooked, angle between front rod 18 and the back link 16 relative motion that changes, Magnet in the rotating shaft 24 23 can rotate with respect to the angular transducer 17 that is installed on the back link 16 like this, the magnetic line of force direction of Magnet 23 can change with respect to angular transducer 17, angular transducer 17 is according to the angle between the direction change calculations connecting rod 16,18 of the magnetic line of force, according to the angle between the connecting rod 16,18, obtain the angle of bend of finger-joint by the geometric triangulation relation of four connecting rod inside, plane.Angular surveying is separate between each joint, is not subjected to the influence in other joints.
Force feedback principle of the present invention is: shrink the generation contractility by Pneumatic artificial muscle 9 inflations, finger-joint is produced force feedback.When the hands natural motion, the braking air bag is in the state of not inflating, and sebific duct 5 does not contact with thin wall casing 6, has only the bossing at air bag piston two ends to contact with thin wall casing 6, frictional force between the two is very little, and the power of finger impression is that the slinky spring 7 that resets is compressed the power of generation.The rigidity of slinky spring 7 is very little owing to reset, and the stroke that the braking air bag is produced is little, and is so the resistance that is produced by the slinky spring 7 that resets is very little, little for the power perception influence of finger.When the hands natural motion, when getting back to straight configuration by case of bending, the power of compressing slinky spring 7 generations that reset resets artificial-muscle 9 and braking air bag.When the virtual hand in the virtual environment touches dummy object, need produce force feedback to finger-joint, at this moment brake air bag by trachea 2 inflations, sebific duct 5 expands and contacts with thin wall casing 6, produces frictional force between the two and makes the stop motion of braking air bag.After the stop motion of braking air bag, inflation in Pneumatic artificial muscle 9, qigong artificial-muscle 9 produces the trend of shrinking and produces contractility, be delivered on the finger-joint through drag-line 12, in order to offset the contractility that Pneumatic artificial muscle 9 produces, finger-joint also produces the power of corresponding size by the muscle on the finger when grasping actual object, thereby produces force feedback, makes finger perceive the existence of power.Pneumatic artificial muscle 9 internal pressures can be mediated by the power size that is installed in the force sensor measuring on the base 19.When the virtual hand in the virtual environment was separated with dummy object, after Pneumatic artificial muscle 9 venting, the contractility of Pneumatic artificial muscle disappeared, the braking air bag deflation, and hands returns to the state of natural motion.
Fig. 3 has provided control survey systematic schematic diagram of the present invention.The present invention is controlled by industrial computer.Pressure in the Pneumatic artificial muscle 9 is by pressure proportioning valve 31 controls, and pressure proportioning valve provides control signal by the D/A integrated circuit board 33 in the industrial computer 32.The inflation of braking air bag 30 or venting are by electromagnetic switch valve 34 controls, and the DO integrated circuit board 35 control relay plates 36 in the industrial computer are controlled electromagnetic switch valves.The output signal of angular transducer 17 and force transducer 22 is through amplifying circuit 37, and behind the A/D integrated circuit board 38, by the industrial computer collection, the force signal that collects can be used for the feedback control of Pneumatic artificial muscle internal pressure.
Second kind of embodiment of the present invention is on the basis of a last embodiment, comprise 4 joint bases in the measuring mechanism of corresponding each finger, be connected with a pair of front-rear linkage between per two joint bases, corresponding Pneumatic artificial muscle, brakes, drag-line and flexible axle respectively have 3 covers.Can test the different parts of a finger simultaneously.
The third embodiment of the present invention is on the basis of last two embodiments, comprises measuring mechanism and the actuator mechanism simultaneously finger more than 2 and 2 measured in every sets of data glove.Can be simultaneously the different parts of 2 or a plurality of fingers be tested.
Claims (5)
1. force feedback data gloves based on Pneumatic artificial muscle, it comprises that band is on hand measuring mechanism be worn over actuator mechanism on the forearm; It is characterized in that: measuring mechanism comprises angular surveying and power measurement, described measuring mechanism by back base and joint base, be attached between two bases and by the hinged front-rear linkage of turning cylinder, be installed in force transducer on each joint base, the angular transducer that is installed in turning cylinder the place ahead cooperates and forms, front rod is fixedlyed connected with turning cylinder, the permanent magnet that fixed radial magnetizes on turning cylinder, described angular transducer are installed in the Magnet top, are fixed on the back link; Driving mechanism is made up of Pneumatic artificial muscle and braking air bag, the Pneumatic artificial muscle front end is connected with drag-line, drag-line passes flexible axle, joint base, be connected with the pick off on being fixed on the joint base, the braking air bag is installed in the thin walled cylinder body, is connected with the artificial-muscle of front end, braking air bag, the slinky spring that resets, thin walled cylinder body, sleeve end cap are formed brakes; thin walled cylinder body is fixed on the after-poppet, and sleeve end cap and thin walled cylinder body are fixed, and the braking air bag is made up of air bag piston and sebific duct.
2. the force feedback data gloves based on Pneumatic artificial muscle according to claim 1 is characterized in that: comprise 3 joint bases in the described measuring mechanism, corresponding Pneumatic artificial muscle, brakes, drag-line and flexible axle respectively have 3 covers.
3. the force feedback data gloves based on Pneumatic artificial muscle according to claim 2 is characterized in that: comprise measuring mechanism and the actuator mechanism simultaneously finger more than 2 and 2 measured in every sets of data glove.
4. according to claim 1,2 or 3 described force feedback data gloves based on Pneumatic artificial muscle, it is characterized in that: described force transducer is the beam type force transducer.
5. according to claim 1,2 or 3 described force feedback data gloves based on Pneumatic artificial muscle, it is characterized in that: described angular transducer is a non-contact angle sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100104942A CN100372503C (en) | 2005-11-02 | 2005-11-02 | A Force Feedback Data Glove Based on Pneumatic Artificial Muscle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100104942A CN100372503C (en) | 2005-11-02 | 2005-11-02 | A Force Feedback Data Glove Based on Pneumatic Artificial Muscle |
Publications (2)
| Publication Number | Publication Date |
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| CN1792329A CN1792329A (en) | 2006-06-28 |
| CN100372503C true CN100372503C (en) | 2008-03-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2005100104942A Expired - Fee Related CN100372503C (en) | 2005-11-02 | 2005-11-02 | A Force Feedback Data Glove Based on Pneumatic Artificial Muscle |
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Families Citing this family (19)
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| SE530293C2 (en) * | 2006-09-01 | 2008-04-22 | Hans Von Holst | Finger glove for use by e.g. manual worker, has artificial tendons fixed to or connected to yoke, where pulling force exerted on artificial tendons of glove finger bends finger enclosed in glove finger inwards towards palm |
| CN103158162B (en) * | 2011-12-19 | 2015-09-16 | 苏茂 | External-framework type bidirectional force feedback data glove |
| CN103144101B (en) * | 2013-03-26 | 2015-10-07 | 上海大学 | A kind of flexible body of bio-robot |
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| CN103692454B (en) * | 2013-12-12 | 2015-10-28 | 浙江理工大学 | Exoskeleton wearable data glove |
| CN104924308B (en) * | 2014-03-20 | 2016-07-06 | 赵德朝 | A kind of external frame type data glove detecting hand motion |
| CN104190049A (en) * | 2014-09-23 | 2014-12-10 | 常州金智涯医疗科技有限公司 | Finger muscle strength rehabilitation training device |
| CN104287749B (en) * | 2014-10-29 | 2016-08-24 | 东南大学 | A kind of noinvasive human body long bone fracture closed reduction force measuring device |
| CN104523234B (en) * | 2014-12-30 | 2017-08-22 | 深圳先进技术研究院 | The wrist strap and its implementation of joint injury situation can be monitored |
| CN106181991A (en) * | 2016-07-18 | 2016-12-07 | 杨海兵 | A kind of bionic muscle |
| CN106774905A (en) * | 2016-12-21 | 2017-05-31 | 英华达（上海）科技有限公司 | Reaction force simulates gloves |
| CN107479698A (en) * | 2017-07-28 | 2017-12-15 | 北京航空航天大学 | A kind of more fingers collaboration force feedback of air pressure driving and touch feedback gloves apparatus |
| CN107378920B (en) * | 2017-09-07 | 2018-09-07 | 吉林大学 | A kind of outer skeleton precision data gloves |
| CN108121450B (en) * | 2018-01-15 | 2020-08-11 | 合肥工业大学 | A Magneto-Rheological Force Feedback Data Glove Based on Line Tube and Steel Rope Transmission |
| CN108453762B (en) * | 2018-05-03 | 2023-10-31 | 广东省智能制造研究所 | Glove for virtual reality control and tension mechanism thereof |
| CN110162181B (en) * | 2019-05-28 | 2021-11-30 | 欣旺达电子股份有限公司 | Virtual reality gloves |
| CN110302019B (en) * | 2019-06-11 | 2020-11-27 | 上海理工大学 | Vehicle-mounted Flexible Ankle Trainer |
| CN112630043B (en) * | 2020-11-30 | 2022-09-13 | 中国计量大学 | A comprehensive testing system for static characteristics of pneumatic artificial muscles |
| CN116636838A (en) * | 2023-05-25 | 2023-08-25 | 北京大学第三医院（北京大学第三临床医学院） | A test device for skeletal muscle contraction response |
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