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WO2020252857A1 - Exosquelette mécanique et dispositif de rv - Google Patents

Exosquelette mécanique et dispositif de rv Download PDF

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Publication number
WO2020252857A1
WO2020252857A1 PCT/CN2019/098865 CN2019098865W WO2020252857A1 WO 2020252857 A1 WO2020252857 A1 WO 2020252857A1 CN 2019098865 W CN2019098865 W CN 2019098865W WO 2020252857 A1 WO2020252857 A1 WO 2020252857A1
Authority
WO
WIPO (PCT)
Prior art keywords
base
controller
palm
flexible belt
force
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2019/098865
Other languages
English (en)
Chinese (zh)
Inventor
谷逍驰
唐聚学
刘恒清
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Dexta Robotics Co Ltd
Original Assignee
Shenzhen Dexta Robotics Co Ltd
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 Shenzhen Dexta Robotics Co Ltd filed Critical Shenzhen Dexta Robotics Co Ltd
Publication of WO2020252857A1 publication Critical patent/WO2020252857A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
    • A63F13/212—Input arrangements for video game devices characterised by their sensors, purposes or types using sensors worn by the player, e.g. for measuring heart beat or leg activity
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/25—Output arrangements for video game devices
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/25—Output arrangements for video game devices
    • A63F13/28—Output arrangements for video game devices responding to control signals received from the game device for affecting ambient conditions, e.g. for vibrating players' seats, activating scent dispensers or affecting temperature or light
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions

Definitions

  • the present invention relates to the technical field of robots, in particular to a mechanical exoskeleton and VR equipment.
  • VR is the abbreviation of Virtual Reality
  • the Chinese name is virtual reality technology
  • the feedback device is a hand exoskeleton device for hand motion capture.
  • the force feedback device can provide a torque that is opposite to the direction of the action when the human hand moves, so that the person can obtain a tactile experience.
  • a human hand grasps an object
  • the front of the finger and the palm of the hand will contact the object at the same time, and the hand mechanical exoskeleton on the market only performs force feedback adjustment for the fingers when the human hand is grasping.
  • the form of force feedback is too much. Single, there is still a large experience gap with the real feeling when a human hand grasps an object.
  • a mechanical exoskeleton and a VR device are provided.
  • a mechanical exoskeleton includes: a base; a fixing part that can be installed on the base and is used to fix a human body wearing part on the base; a driving part, the driving part is fixed on the base , And electrically connected to the controller to receive the control signal of the controller; a force applying component, the force applying component is connected to the driving component, and the body wear part is bound to the base, The driving component can drive the force applying component to apply force on the front of the palm, so that the front of the body wearing part can obtain a tactile experience.
  • a VR device including the mechanical exoskeleton described in any one of the above.
  • Figure 1 is a schematic diagram of the overall structure of the hand mechanical exoskeleton provided by the first embodiment
  • FIG. 2 is a partial schematic diagram of the hand mechanical exoskeleton provided by the first embodiment
  • FIG. 3 is a partial schematic diagram of a hand mechanical exoskeleton with a palm slider provided by the first implementation
  • Figure 4 is a side view of a hand mechanical exoskeleton with a palm slider provided by the first implementation
  • Figure 5 is a side view of the hand mechanical exoskeleton provided by the second implementation
  • Fig. 6 is a schematic diagram of the overall structure of the hand mechanical exoskeleton provided by the third embodiment.
  • the mechanical exoskeleton is a device for human body wear, where the mechanical exoskeleton may be a hand mechanical exoskeleton used for human hand wear, a head mechanical exoskeleton used for human head wear, or Mechanical exoskeleton for other parts of the human body.
  • a hand mechanical exoskeleton is taken as an example to describe the present utility model.
  • the hand mechanical exoskeleton provided in the first embodiment includes: a base 1, a fixing part 2, a finger mechanism 3, a driving part 4 and a force applying part 5.
  • the fixing component 2 can be installed on the base 1 for fixing a human hand on the base 1.
  • the front of the palm (the front of the palm refers to the side where the palm is located) is in contact with the fixing member 2, and the back of the palm is in contact with the first end surface 11 of the base 1.
  • the fixing member 2 may be a strap structure, a glove structure, or the like.
  • the driving component 4 is also fixed on the base 1 and is electrically connected with a controller (not shown) so as to receive control signals from the controller.
  • the force applying component 5 is connected with the driving component 4, and the driving component 4 can generate corresponding actions after receiving the control signal of the controller, and then drive the force applying component 5 to move toward the first end surface 11 of the base 1.
  • the force applying component 5 can apply force on the front of the palm to realize the palm force feedback adjustment of the human hand, so that the user can obtain a more realistic tactile experience after wearing the mechanical exoskeleton of the hand.
  • the controller can be a single-chip microcomputer, etc.
  • the controller can be a part of the hand mechanical exoskeleton.
  • the controller can be set on the base 1.
  • the controller can also be a hand exoskeleton.
  • the first controller is the main controller of the VR device, where the hand mechanical exoskeleton is a part of the VR device.
  • a soft pad 6 is provided on the first end surface 11 of the base 1.
  • the soft pad 6 may be made of materials such as sponge and silica gel.
  • the finger mechanism 3 is installed on the base 1 for fixing the fingers of a human hand and can move with the fingers.
  • the base 1 and the fixing member 2 are actually part of the palm mechanism and are used to fix the palm of the human hand.
  • the driving member 4 includes a stretching driving device 40, and the stretching driving device 40 is fixed on the base 1.
  • the stretching driving device 40 is electrically connected to the controller for Receive the control signal of the controller.
  • the force application member 5 includes a flexible belt 50, one end of the flexible belt 50 is connected with the stretching drive device 40, and the other end of the flexible belt 50 can be fixed on the base 1 to fix the palm on the flexible belt 50 and the stretching drive device 40 And in the closed-loop space formed by the base 1.
  • the stretching driving device 40 can tighten the flexible belt 50 after receiving the control signal from the controller, and then make the flexible belt 50 face the palm put pressure on.
  • the stretching driving device 40 includes a first driving motor.
  • the first driving motor is fixed on the base 1 and is electrically connected to the controller to receive the control signal sent by the controller; the flexible belt 50 is wound on the main shaft of the first driving motor, when the controller After the driving motor sends a corresponding control signal, the first driving motor can rotate to wind up and tighten the flexible belt 50, so that the flexible belt 50 exerts pressure on the front of the palm, so that the palm has a tactile experience.
  • the stretching driving device 40 may also be other driving devices.
  • the stretching driving device 40 may be a pneumatic device composed of air pumps, air cylinders and other components.
  • Both the air pumps and the air cylinders can be fixed on On the base 1, the piston rod of the cylinder is connected to the flexible belt 50.
  • the controller will send a control signal to the air pump to make the air pump work to inject air into the cylinder.
  • the piston rod of the cylinder will extend outward, which can drive the flexible belt 50 to move And it is tightened.
  • the flexible belt 50 may be any one or any combination of cloth belt, plastic belt or metal belt.
  • the flexible belt 50 and the fixing member 2 are of the same strap structure, that is, the flexible belt 50 and the fixing member 2 are the same at this time. part.
  • one end of the strap structure (that is, the flexible strap 50) is connected to the stretching driving device 40, and the other end can be fixed on the base 1, so as to bind the palm of the person to the base 1.
  • the strap structure can be fixed on the base by means of velcro, snaps, etc.
  • the base 1 is provided with a hole 12 through which the strap structure can pass.
  • Corresponding positions of the belt structure are provided with male buckle and female buckle of snap buckle or rough surface and hook surface of Velcro.
  • the male buckle and the female buckle are located at the two ends of the hole 12 (or both ends of the hole 12 have Velcro and hook surfaces).
  • the buckle and the female buckle or the rough surface and hook surface of the Velcro
  • the strap structure can be fixed on the base 1.
  • the force applying member further includes a palm slider 51.
  • the palm slider 51 has a through hole 511, which is sleeved on the flexible belt 50 (the flexible belt 50 passes through the through hole); the palm slider 51 is used to contact the front of the palm and tighten the flexible belt 50 by the stretching drive device. At this time, the flexible belt and the palm slider 51 slide relatively. Among them, the friction between the palm slider 51 and the front of the palm is greater than the friction between the palm slider 51 and the flexible belt 50, so that when the flexible belt 50 and the palm slider 51 slide relatively, the palm slider 51 and There is no relative sliding between the front of the palm, thereby reducing the lateral force exerted by the force applying component on the palm.
  • the inner wall of the through hole 511 is provided with roller needles 512, so as to make the palm slider 51 and the flexible belt 50 roll and rub and reduce the friction between the two.
  • the surface of the palm slider 51 for contact with the palm of the front surface is a rough surface to increase the friction between the two.
  • the surface of the palm slider 51 for contacting the front of the palm is a glued surface or a frosted surface.
  • the needle roller 512 can also be replaced with rolling elements such as balls.
  • the inner wall of the through hole 511 can also be provided as a smooth surface to reduce the friction between the finger slider and the flexible belt 50.
  • the driving part 4 includes a rotating driving device 400 and a rotating rod 401;
  • the force applying part 5 includes a force applying plate 500.
  • the rotary drive device 400 is fixed on the base 1 and is electrically connected to the controller to receive the control signal sent by the controller;
  • the first end of the rotary rod 401 is connected with the rotary drive device 400, and the second end of the rotary rod 401 The end is connected with the force application plate 500;
  • the force application plate 500 can be in frontal contact with the human hand when the human hand is fixed on the base 1; after receiving the corresponding control signal from the controller, the rotation driving device 400 can control the first end of the rotating rod 401
  • the torsion force is applied so that the second end of the rotating rod 401 drives the force application plate 500 to move toward the first end surface 11 of the base 1, that is, the force application plate 500 can obtain the driving force toward the front movement of the palm, so that when the human hand is fixed on the base 1, The pressure exerted on the front of the palm.
  • the rotation driving device 400 includes a second driving motor, the second driving motor is fixed on the base 1, and the main shaft of the second driving motor is fixedly connected with the first end of the rotating rod 401.
  • the second driving motor receives the corresponding control signal sent by the controller, it can drive the rotating rod 401 to rotate together, so that the force application plate 500 obtains the driving force moving toward the first end surface of the base 1.
  • the stretching driving device 400 may also be other driving devices.
  • the stretching driving device 400 may be a pneumatic device composed of components such as an air pump and an air cylinder.
  • Both the cylinder and the cylinder can be fixed on the base 1, and the piston rod of the cylinder is connected to the first end of the rotating rod 401. At this time, a certain position in the middle of the rotating rod 401 is hinged on the base.
  • the controller will send a control signal to the air pump to make the air pump work and inject air into the cylinder.
  • the piston rod of the cylinder will extend outwards to the first end of the rotating rod 401 The force is applied so that the rotating rod 401 can rotate around its hinge point with the base, so that the second end of the rotating rod 401 drives the force application plate 500 to move toward the first end surface 11 of the base 1.
  • the number of the rotating drive device 400 and the rotating rod 401 is two, which are respectively arranged on both sides of the base 1 so as to apply force evenly to the palm.
  • the rotating rod 401 is an arc-shaped rod, and the concave part of the arc-shaped rod faces the base 1, which can effectively prevent the rotating rod 401 from contacting the palm, thereby preventing the palm side from being forced by the rotating rod 401.
  • the force application plate 500 is arranged on the outer side of the fixing member 2 to avoid interference with the fixed palm of the fixing member 2, wherein the inner side of the fixing member 2 refers to the On the opposite side of the first end surface 11, the outer side of the fixing member 2 is opposite to the inner side of the fixing member 2.
  • the end surface of the force application plate 500 for contacting the front of the palm is curved, which can make the force application plate fit closer to the front of the palm, so that the force application plate 500 can apply force to the palm more uniformly and improve the effect of force feedback.
  • the force application plate 500 is disposed on the fixed component 2 and is in contact with and capable of contacting the second end of the rotating rod 401, so that when the motor drives the rotating rod 401 to rotate, the first end of the rotating rod 401 The two ends can squeeze the force application plate 500 so that the force application plate 500 applies force to the palm of the hand.
  • the driving component 4 includes an air source device 4000
  • the force applying component 5 includes an airbag 5000.
  • the air source device 5000 is installed on the base 1 and is electrically connected to the controller to receive the control signal of the controller; the air bag 5000 is arranged on the inner side of the palm fixing device 2 and opposite to the first end surface 11 of the base 1, The air outlet of the air source device 4000 is connected to the air inlet of the air bag 5000 through the air pipe 4001. After the air source device 4000 receives the corresponding control signal from the controller, an appropriate amount of air is introduced into the airbag 5000 to inflate the airbag. When the human hand is fixed on the base 1, the airbag is opposite to the front of the palm, and exerts pressure on the front of the palm when inflated.
  • the air source device 4000 may be an air pump, a gas storage tank, etc.
  • an on-off valve is also provided between the air outlet of the air source device 4000 and the air inlet of the air bag 5000 to control the air flow between the two On-off, on-off valves can be electromagnetic reversing valves and other components.
  • the airbag 5000 is also provided with an air outlet, and the air outlet of the airbag 5000 is also provided with an on-off valve to discharge the gas in the airbag 5000 at an appropriate time.
  • the driving component further includes a barometer for detecting the pressure in the airbag 5000, wherein the barometer and the controller are electrically connected Connected to transmit the detected air pressure value to the controller.
  • the barometer can be directly installed on the airbag 5000 or on the base 1.
  • the mechanical exoskeleton is an exoskeleton worn by other parts of the human body
  • the same setting can also be used so that the front side of the human body wearing the exoskeleton of the model can be adjusted by corresponding force feedback.
  • the present application also provides a VR device that uses the mechanical exoskeleton described in any of the above embodiments, so that the human body can obtain a better wearing experience.
  • the mechanical exoskeleton is a hand mechanical exoskeleton
  • the VR device can have a palm force feedback function, and people can obtain a better force feedback effect when using the VR device.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Cardiology (AREA)
  • General Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

L'invention concerne un exosquelette mécanique, comprenant : une base (1), un composant de fixation (2), un composant d'entraînement (4) et un composant d'application de force (5). L'invention concerne un dispositif de RV, comprenant l'exosquelette mécanique correspondant. Dans l'exosquelette mécanique, le composant de fixation (2) peut être installé sur la base (1) et utilisé pour fixer une partie de réception de corps humain à la base (1) ; le composant d'entraînement (4) est disposé sur la base (1) et connecté électriquement à un dispositif de commande de façon à recevoir un signal de commande du dispositif de commande ; le composant d'application de force (5) est relié au composant d'entraînement (4) et, lorsque la partie de réception de corps humain est fixée à la base (1), le composant d'entraînement (4) peut entraîner le composant d'application de force (5) à appliquer une pression sur la face avant de la partie de réception de corps humain, de telle sorte que la partie de réception de corps humain puisse réaliser un ajustement de rétroaction de force sur sa face avant.
PCT/CN2019/098865 2019-06-21 2019-08-01 Exosquelette mécanique et dispositif de rv Ceased WO2020252857A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201920941634.5 2019-06-21
CN201920941634.5U CN211189091U (zh) 2019-06-21 2019-06-21 机械外骨骼及vr设备

Publications (1)

Publication Number Publication Date
WO2020252857A1 true WO2020252857A1 (fr) 2020-12-24

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/098865 Ceased WO2020252857A1 (fr) 2019-06-21 2019-08-01 Exosquelette mécanique et dispositif de rv

Country Status (2)

Country Link
CN (1) CN211189091U (fr)
WO (1) WO2020252857A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115273593A (zh) * 2022-08-11 2022-11-01 西南交通大学 一种基于外骨骼重量反馈的vr货物搬运系统

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112621790B (zh) * 2020-12-31 2022-03-25 东南大学 一种二自由度绳索传动式手指力反馈装置

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998035494A2 (fr) * 1997-02-07 1998-08-13 Reality Quest Corporation Controleur ergonomique pouvant etre attache sur la main
US20110067520A1 (en) * 2009-09-22 2011-03-24 Gm Global Technology Operations, Inc. Robotic thumb assembly
KR20130090585A (ko) * 2012-02-06 2013-08-14 삼성전자주식회사 착용형 로봇과 이를 이용한 모션 학습 방법
US20150173993A1 (en) * 2012-09-17 2015-06-25 President And Fellows Of Harvard College Soft exosuit for assistance with human motion
CN106078699A (zh) * 2016-08-15 2016-11-09 黄河科技学院 手部减压机械外骨骼装置
CN108970110A (zh) * 2018-07-25 2018-12-11 骆国庆 一种基于vr的虚拟体验系统及方法
CN109262590A (zh) * 2018-10-16 2019-01-25 广西科技大学 一种盘式电机外骨骼结构设计
CN109363686A (zh) * 2018-11-01 2019-02-22 深圳岱仕科技有限公司 手部机械外骨骼设备

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998035494A2 (fr) * 1997-02-07 1998-08-13 Reality Quest Corporation Controleur ergonomique pouvant etre attache sur la main
US20110067520A1 (en) * 2009-09-22 2011-03-24 Gm Global Technology Operations, Inc. Robotic thumb assembly
KR20130090585A (ko) * 2012-02-06 2013-08-14 삼성전자주식회사 착용형 로봇과 이를 이용한 모션 학습 방법
US20150173993A1 (en) * 2012-09-17 2015-06-25 President And Fellows Of Harvard College Soft exosuit for assistance with human motion
CN106078699A (zh) * 2016-08-15 2016-11-09 黄河科技学院 手部减压机械外骨骼装置
CN108970110A (zh) * 2018-07-25 2018-12-11 骆国庆 一种基于vr的虚拟体验系统及方法
CN109262590A (zh) * 2018-10-16 2019-01-25 广西科技大学 一种盘式电机外骨骼结构设计
CN109363686A (zh) * 2018-11-01 2019-02-22 深圳岱仕科技有限公司 手部机械外骨骼设备

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115273593A (zh) * 2022-08-11 2022-11-01 西南交通大学 一种基于外骨骼重量反馈的vr货物搬运系统
CN115273593B (zh) * 2022-08-11 2023-08-04 西南交通大学 一种基于外骨骼重量反馈的vr货物搬运系统

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