CN1325230C - Fingerstall type force feeling feedback generator - Google Patents
Fingerstall type force feeling feedback generator Download PDFInfo
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- CN1325230C CN1325230C CNB2005100942916A CN200510094291A CN1325230C CN 1325230 C CN1325230 C CN 1325230C CN B2005100942916 A CNB2005100942916 A CN B2005100942916A CN 200510094291 A CN200510094291 A CN 200510094291A CN 1325230 C CN1325230 C CN 1325230C
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Abstract
The invention discloses a fingerstall-type force feedback generator for man-machine butting force feedback data pack gloves, which is used for realizing remote operation of robot control and comprises a fixing strap, wherein the fixing strap is connected with an electrically controlled hard element which is composed of a rubber leather sheath and electrodes. The electrodes are respectively arranged on both sides of the rubber leather sheath, and electrorheological liquid is filled in the rubber leather sheath. The present invention has the advantages that the structure is simple, main components are electrode plates braided with soft and thin metal wires, the requirement to the process precision and others is not strict, and the control and the algorithm are simple. The coincidence relation of the force and an electric field is definite, that is to say, the size of the feedback force is in the direct proportion with the square of the electric field stressed on a force feedback device (that is to say, the high-pressure signal value). A new technique which is namely electrorheological technique is adopted. The present invention has the advantages of low cost, very low cost of the electrorheological liquid, a structural device, a control circuit, etc., low cost of the whole device, etc.
Description
Technical field
The present invention relates to a kind of human-computer interface device of realizing teleoperation robot control, relate in particular to a kind of force feedback data gloves fingerstall type force feeling feedback generator.
Background technology
Along with the extensive use of interactive teleoperation robot, the human-computer interface device that needs are a large amount of with power feel feedback effect.The manual device of data glove and robot is the human-computer interface device of two kinds of common teleoperation robots, the manual device of robot is an effectively human-computer interface device of realizing teleoperation robot control, but hand controller comparatively speaking, complicated in mechanical structure, on fixing platform, operate, limited the scope of activities of hand, and after the long-time operation, the operator can feel tired.Traditional data glove generally can both be measured the corner of finger-joint and the corner between finger comparatively exactly, and according to measurement data the actions such as extracting of long-range manipulator is controlled, but does not have power feel feedback function.Force feedback data gloves is as a kind of human-computer interface device, it follows the tracks of the motion of staff on the one hand as the virtual machine hand in control instruction control manipulator or the virtual reality by the positional information of measure operator hand, on the other hand, power feel and tactile data that robot is fed back convert power or the moment that directly acts on staff to, make the operator be created in the power feel/sense of touch telepresenc effect that machine far away is manually done " on the spot in person " of scene or virtual robot working site, thereby realize control to robot band sensation, perhaps in virtual environment, produce the real impression that touches, and it has overcome the hand controller complicated in mechanical structure, the scope of activities of hand is little not to have the shortcoming of force feedback function with the traditional data gloves, has the prospect of using widely.
Force feedback can be divided into active and passive-type, and the device for force feedback of force feedback data gloves can be contained on palm and the arm, generally is fixed on arm with one group of frame for movement, drives with micro machine; Also have by one group of pneumatic or hydraulic means to be fixed on the palm, stop with gas or liquid and drive.Be installed on the arm device for force feedback because of its on arm, so hand is free to open and hold with a firm grip, but because mechanism is comparatively complicated, make this device for force feedback weight bigger, put on this force feedback data gloves long-time operation defensive position capacity and feel tired, and control circuit is also comparatively complicated, and control circuit and drive motors also will be placed on the workbench.The size that is installed in the device for force feedback on the palm can be done a little bit smallerly, so weight is lighter, but owing to device is installed on the palm, the opening and closing of hand are affected, and palm can not be held with a firm grip fully, in addition, no matter be pneumatic or hydraulic pressure, all pressure source to be arranged, control circuit is more complicated also.
Summary of the invention
The invention provides a kind of fingerstall type force feeling feedback generator of lightweight force feedback data gloves simple in structure.
The present invention adopts following technical scheme:
A kind of force feedback data gloves fingerstall type force feeling feedback generator that is used to realize the man-machine butt joint of teleoperation robot control, comprise fixed band, be connected with electric controllable hardness element at fixed band, this electricity controllable hardness element is made up of rubber sleave and electrode, electrode is located at the both sides of rubber sleave respectively, is provided with current liquid in rubber sleave.
Compared with prior art, the present invention has following advantage:
1, simple in structure.Whole apparatus structure of the present invention is simple, and critical piece is the battery lead plate with the braiding of soft fine wire, as long as can guarantee that device is enough soft just passable when making alive not, so machining accuracy is less demanding with other.In existing force feedback data gloves, most representative is CyberGrasp and Ruters Master II, wherein CyberGRasp is by comparatively complicated mechanism is installed on the back of the hand, fix a fine rule at each finger, make the sensation of finger generation power with a micromachine pulls wire, because of its complicated in mechanical structure, weight bigger, produce fatigue after making operator's long-time operation, in addition, interface circuit and drive motors will be installed in the control box of a distant place in addition, thereby the scope of activities of frictional force increase and hand also is restricted.Rutgers MasterII force feedback data gloves is to form by one group of mechanism that is installed on the palm, and weight is lighter, and frictional force is also less, but because it is pneumatic, so must provide extra high-pressure air source, also more complicated of its control device in addition.
2, control is simple, power long-range or that virtual environment sends converts the voltage signal of 0～5V to, high-pressure modular of this voltage signal input, produce a proportional with it high-voltage signal, this high-voltage signal is added between two electrodes of device for force feedback and can controls the feedback force size.
3, algorithm is simple, power and electric field have clear and definite corresponding relation be feedback force size be added in device for force feedback on square being directly proportional of electric field (being the high-voltage signal value).
4, adopting emerging technology is electro-rheological technology, current liquid produces electric rheological effect under electric field action, the apparent viscosity that characterizes the current liquid rheological behavior is changed, when electric field reaches a critical value, current liquid is converted into by liquid state and is similar to solid-state material, thereby stop the bending motion of finger-joint, make doigte arrive the effect of power.
5, cost is low, and the cost of current liquid, constructional device and control circuit etc. is all very low, so the cost of whole device is also lower.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the schematic diagram of the embodiment of the invention.
Fig. 3 is the enlarged diagram of partial structurtes A of the present invention.
The specific embodiment
A kind of force feedback data gloves fingerstall type force feeling feedback generator that is used to realize the man-machine butt joint of teleoperation robot control, comprise fixed band 1, be connected with electric controllable hardness element at fixed band 1, this electricity controllable hardness element is by rubber sleave 5 and electrode 31,32 form, electrode 31,32 are located at the both sides of rubber sleave 5 respectively, in rubber sleave 5, be provided with current liquid, said fixing band 1 can adopt fingerstall form (as shown in Figure 1), also can be by the electric controllable hardness element that is attached thereto looping together, use so that be enclosed within on the data glove, in rubber sleave 5, be provided with the soft block 4 of porous, current liquid is located in the hole of the soft block 4 of porous, the soft block 4 of this porous is the sponge block, the soft block 4 of porous also can adopt other porous flexible material, electrode 31,32 adopt flexible conductive strand band, and this flexible conductive strand band can weave the band that forms by the flexible conductive silk.
Above-mentioned current liquid is a kind of liquid intellectual material, and when electric field existed, violent variation took place for its rheological properties such as viscosity.Current liquid is an aaerosol solution, is evenly dispersed in base soln (continuous phase) lining by solids (decentralized photo), and solids and base soln all are insulating properties dielectrics preferably.The diameter of solids 1/10th to one of percentage micron, electric rheological effect is called the Winslow effect sometimes, be to produce by the polarization of dispersed phase particles and continuous phase particle, when electric field exists, dispersed phase particles is because polarization motion, on direction of an electric field, form chain, when electric-field intensity continues to increase, it is big that this chain will become, this just may cause viscosity, shearing force and other characteristic of current liquid to change, become semifluid (having certain viscoelasticity) as gelinite by original fluid state, when electric field reaches a critical value, become solid.When removing electric field, current liquid reverts to original fluid.Its operation principle is as follows: the device for force feedback structure is shown in Fig. 1,2 and 3.When not having electric field to be added between two electrodes, the device flexibility is good, and articulations digitorum manus can freely be stretched song, when electric field is added between two electrodes, variation has taken place in the rheologic behavio(u)r of current liquid, viscosity improves, and when electric field reached a critical value, current liquid became solid-state, feature with solid, finger is obstructed when crooked, is used on the finger thereby produce a passive masterpiece, makes doigte arrive the power effect.When the operator puts on the manipulator of the long-range or virtual environment of force feedback data gloves operation, data glove measures the various attitude informations of operator's finger, send to long-range manipulator as instruction, operate the motion of long-range or virtual machine hand, when remote dummy machinery hand is caught object, object is sent to the operator to the reaction force of manipulator by power or torque sensor, this power or moment information convert high pressure (little electric current) pro rata to by existing general control circuit (low pressure is to the high pressure modular converter) and are loaded between the two poles of the earth of device for force feedback, promptly be located at the electrode 31 of leather sheath 5 both sides, between 32, the rheologic behavio(u)r of the current liquid between the two poles of the earth is changed, the surface viscosity coefficient increases, thereby it is crooked to stop finger to continue, and produces a passive feedback force effect.
Claims (4)
1, a kind of force feedback data gloves fingerstall type force feeling feedback generator that is used to realize the man-machine butt joint of teleoperation robot control, comprise fixed band (1), it is characterized in that being connected with electric controllable hardness element at fixed band (1), this electricity controllable hardness element is made up of rubber sleave (5) and electrode (31,32), electrode (31,32) is located at the both sides of rubber sleave (5) respectively, is provided with current liquid in rubber sleave (5).
2, fingerstall type force feeling feedback generator according to claim 1 is characterized in that being provided with the soft block (4) of porous in rubber sleave (5), current liquid is located in the hole of the soft block of porous (4).
3, fingerstall type force feeling feedback generator according to claim 1 is characterized in that the soft block of porous (4) is the sponge block.
4,, it is characterized in that electrode (31,32) adopts flexible conductive strand band according to claim 1,2 or 3 described fingerstall type force feeling feedback generators.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100942916A CN1325230C (en) | 2005-09-09 | 2005-09-09 | Fingerstall type force feeling feedback generator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100942916A CN1325230C (en) | 2005-09-09 | 2005-09-09 | Fingerstall type force feeling feedback generator |
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| Publication Number | Publication Date |
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| CN1736670A CN1736670A (en) | 2006-02-22 |
| CN1325230C true CN1325230C (en) | 2007-07-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2005100942916A Expired - Fee Related CN1325230C (en) | 2005-09-09 | 2005-09-09 | Fingerstall type force feeling feedback generator |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890719B (en) * | 2010-07-09 | 2015-06-03 | 中国科学院深圳先进技术研究院 | Robot remote control device and robot system |
| CN107443374A (en) * | 2017-07-20 | 2017-12-08 | 深圳市易成自动驾驶技术有限公司 | Manipulator control system and its control method, actuation means, storage medium |
| CN109582121A (en) * | 2017-09-28 | 2019-04-05 | 西门子公司 | Gloves, feedback device and method, remote control system, method and device, medium |
| CN111571623A (en) * | 2020-05-28 | 2020-08-25 | 重庆大学 | Variable-rigidity pneumatic soft gripper |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5945978A (en) * | 1991-04-20 | 1999-08-31 | Retinal Displays, Inc. | Haptic computer output device |
| WO2001018617A1 (en) * | 1999-09-09 | 2001-03-15 | Rutgers, The State Of University Of New Jersey | Remote mechanical mirroring using controlled stiffness and actuators (memica) |
| CN1608809A (en) * | 2004-11-24 | 2005-04-27 | 东南大学 | Force feedback device for force feedback gloves |
| CN2822902Y (en) * | 2005-09-09 | 2006-10-04 | 东南大学 | Force sensing feedback data gloves |
-
2005
- 2005-09-09 CN CNB2005100942916A patent/CN1325230C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5945978A (en) * | 1991-04-20 | 1999-08-31 | Retinal Displays, Inc. | Haptic computer output device |
| WO2001018617A1 (en) * | 1999-09-09 | 2001-03-15 | Rutgers, The State Of University Of New Jersey | Remote mechanical mirroring using controlled stiffness and actuators (memica) |
| CN1608809A (en) * | 2004-11-24 | 2005-04-27 | 东南大学 | Force feedback device for force feedback gloves |
| CN2822902Y (en) * | 2005-09-09 | 2006-10-04 | 东南大学 | Force sensing feedback data gloves |
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| CN1736670A (en) | 2006-02-22 |
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