CN106774905A - Reaction force simulates gloves - Google Patents
Reaction force simulates gloves Download PDFInfo
- Publication number
- CN106774905A CN106774905A CN201611192692.XA CN201611192692A CN106774905A CN 106774905 A CN106774905 A CN 106774905A CN 201611192692 A CN201611192692 A CN 201611192692A CN 106774905 A CN106774905 A CN 106774905A
- Authority
- CN
- China
- Prior art keywords
- gloves
- connecting shaft
- joint drive
- reaction force
- adjustment part
- 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.)
- Pending
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Classifications
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/013—Force feedback applied to a game
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
A kind of reaction force simulates gloves, including a gloves, multiple actuators, multiple portable plates and multiple joint position limiters.Gloves have a finger section and a palmar hand.Actuator is arranged at finger section and palmar hand, and actuator provides an active force towards gloves inside, to respond a tactile signals.Portable plate is arranged at finger section.Joint position limiter includes a joint drive-connecting shaft, an adjustment part and a driver respectively, joint drive-connecting shaft is connected to two neighboring portable plate, adjustment part is connected to driver and is set on the drive-connecting shaft of joint, elasticity between driver control adjustment part and joint drive-connecting shaft, to limit the anglec of rotation of joint drive-connecting shaft.
Description
Technical field
The invention relates to a kind of gloves, and gloves are simulated in particular to a kind of reaction force.
Background technology
In virtual game, user passes through body-sensing electromagnetic shaker or ultrasonic vibrations mostly to the haptic feedback of dummy object
Device simulates tactile, but the seismic wave that produces of ultrasonic easily injures human body and sense of touch is faint, and body-sensing electromagnetic shaker is only capable of simulation and touches
The vibrations produced when touching, but FORCE FEEDBACK when cannot simulate user with hand gripping dummy object.So that user cannot be complete
It is immersed in the middle of virtual game entirely, obtains more enjoyment.
The content of the invention
The present invention is related to a kind of reaction force simulation gloves, is internally provided with multiple actuators and multiple joints are spacing
The tactile signals of dummy object can will be fed back to user, and can simulate user by the degree of arthrogryposis by device
Grip hand gestures during dummy object.
It is according to an aspect of the invention, it is proposed that a kind of reaction force simulation gloves including a gloves, multiple actuators, many
Individual portable plate and multiple joint position limiters.Gloves have a finger section and a palmar hand.Actuator is arranged at finger section
And palmar hand, actuator provides an active force towards gloves inside, to respond a tactile signals.Portable plate is arranged at finger section.
Joint position limiter includes a joint drive-connecting shaft, an adjustment part and a driver respectively, and joint drive-connecting shaft is connected to adjacent two
Individual portable plate, adjustment part is connected to driver and is set on the drive-connecting shaft of joint, driver control adjustment part and joint drive-connecting shaft
Between elasticity, to limit the anglec of rotation of joint drive-connecting shaft.
More preferably understand to have to above-mentioned and other aspect of the invention, preferred embodiment cited below particularly, and coordinate institute
Accompanying drawings, are described in detail below：
Brief description of the drawings
Fig. 1 illustrates the partial schematic diagram inside the reaction force simulation gloves according to one embodiment of the invention.Fig. 2 illustrate according to
Reaction force according to one embodiment of the invention simulates the schematic appearance of gloves.
Fig. 3 illustrates the schematic diagram of the joint position limiter inside gloves.
Fig. 4 illustrates the illustrative view of finger-joint stopping means.
Fig. 5 illustrates the three-dimensional structure diagram of joint position limiter.
Fig. 6 illustrates block diagram of the reaction force simulation glove applications in virtual reality system.
【Symbol description】
10：Finger
11：Articular portion
100：Reaction force simulates gloves
110：Gloves
111：Finger section
112：Palmar hand
120：Actuator
121：Pressure plate
122：Pressure valve
123：Valve seat
124：Valve rod
142：Virtual image detector
126：Electromagnetic shaker
133：Joint drive-connecting shaft
134：Adjustment part
135：Driver
136：Screw
137：Platen
138：Motor
139：Compression pump
144：Angle detector
150：Virtual reality system
F：Active force
St：Tactile signals
Sa：Reaction signal
S1：FORCE FEEDBACK signal
S2：Power reaction signal
S3：Joint angles signal
Specific embodiment
Embodiment set forth below is described in detail, and embodiment is only illustrated with as example, and is not used to limit this hair
The bright scope to be protected.
Refer to Fig. 1 and Fig. 2, according to one embodiment of the invention reaction force simulation gloves 100 include a gloves 110 with
And multiple actuators 120, actuator 120 is arranged on the finger section 111 and palmar hand 112 of glove bulk.Five hands of user
Finger and palm can be inserted in five finger sections 111 and palmar hand 112 of gloves respectively, and be contacted with actuator 120, such as Fig. 1 institutes
Show.Actuator 120 distribution position can in the three of each finger section 111 finger pulps of trifle and palmar hand 112 the centre of the palm
And/or on palm peripheral region, its quantity is not limited, the quantity of actuator 120 is more, and the scope of distribution is wider, and finger 10 can be felt
The sense of touch being subject to is more obvious, also more accurate.
Fig. 1 and 2 is refer to, actuator 120 includes being distributed in the multiple pressure plates inside finger section 111 and palmar hand 112
121 and multiple pressure valve 122 of this little pressure plate 121 are connected, this little pressure valve 122 is touched according to the finger or palm of user
The tactile signals that correspondence is produced when touching a virtual article a, there is provided directed force F to corresponding pressure plate 121.Pressure plate 121
Such as it is rectangle or circle, its big I changes according to region difference, for example, be arranged on the face of the pressure plate 121 of palmar hand 112
Product can be more than the area of the pressure plate 121 for being arranged on finger section 111.When user's wearing gloves 110, pressure plate 121 is used to
The finger or palm of (directly contact or mediate contact) user are contacted, and can be towards portion's displacement of the finger of user or palm
Finger or palm dynamic and that be inwardly expressed to user, to produce an entity sense of touch.
In one embodiment, pressure plate 121 can be rigid sheet metal or sheet, e.g. iron plate or acryl piece,
Pressure plate 121 can also be soft material, e.g. silica gel piece or air bag.The entity sense of touch that rigid material is produced to hand
It is rigidity that the dummy object that user touches can be simulated, and soft material can be simulated to the entity sense of touch that hand is produced and used
The dummy object that person touches is soft, to experience different touch feelings.
Above-mentioned pressure valve 122 can be the air pressure valve driven with air pump or the magnetic valve driven with magnet coil, this hair
It is bright to be not limited.In one embodiment, pressure valve 122 may include a valve seat 123 and a valve rod 124, and valve rod 124 is arranged on
In valve seat 123, and one end of valve rod 124 connects pressure plate 121.In one embodiment, when the air inlet pipeline of valve seat 123 is opened,
And the discouraged pipeline of valve seat 123 is when closing, valve rod 124 is subject to gas-pressurized to promote and mobile and provide one towards gloves inside and make
Firmly to pressure plate 121, so that the finger or palm of user are under pressure, piece 121 is extruded F.Additionally, when the air inlet of valve seat 123
Pipeline is closed, and during the discouraged pipeline unlatching of valve seat 123, gas-pressurized is released, and valve rod 124 is no longer influenced by gas-pressurized and pushes away
Reason and recoiled to origin.Therefore, the actuator 120 of the present embodiment can be continued by the motion of valve rod 124 or continuous be carried
For the finger or palm of a directed force F to user, to respond a tactile signals.
For example, in the virtual reality system 150 of Fig. 6 or in augmented reality system, reaction force simulation gloves 100 include
One pressure gives device, that is, provides the associated components such as the actuator 120 of pressure.Touched when with the finger of user or palm
Or when promoting a virtual article, virtual image detector 142 produces a tactile signals St according to the hand gestures of user correspondence.
Then, tactile signals are transferred to signal processor 140 by virtual image detector 142, produce a power to return further according to tactile signals
Feedback signal S1 to actuator 120, to provide required directed force F.
Or, when with the finger or palm grip of user or when being connected to a virtual article, signal processor 140 also can root
A FORCE FEEDBACK signal S1 to actuator 120 is produced according to tactile signals St, to provide required directed force F.
Additionally, above-mentioned directed force F is not limited to the pressure of the offer of pressure valve 122, also may include what is provided by electromagnetic shaker
Shaking force.Fig. 6 is refer to, reaction force simulation gloves 100 more may include at least one electromagnetic shaker 126, and it is arranged in gloves
Portion or surface.As a example by hitting game or shooting game, when hand gripping one virtual article (such as baseball or hand with user
Rifle) and swung or during fire, virtual image detector 142 produces a sense of touch according to the hand gestures of user correspondence
A signal St and reaction signal Sa (for example swing reaction or shooting reaction signal).Then, virtual image detector 142 is by sense of touch
Signal St and reaction signal Sa are transferred to signal processor 140, and one is produced respectively further according to tactile signals St and reaction signal Sa
A FORCE FEEDBACK signal S1 and power reaction signal S2 (includes pressure to actuator 120 and electromagnetic shaker 126 with the active force needed for providing
Power and shaking force).
Then, Fig. 3,4 and 5 are refer to, multiple is further included according to the reaction force simulation gloves 100 of one embodiment of the invention
Portable plate 130 and multiple joint position limiters 132, each joint position limiter 132 correspondence are closed positioned at the finger 10 of user
Save the both sides of part 11.For convenience of description, the figure of the 3rd, 4 and 5 only symbolically illustrates the pass being disposed therein in a finger section 111
Section stopping means 132, it includes a joint drive-connecting shaft 133, an adjustment part 134 and a driver 135.Joint drive-connecting shaft 133
It is connected to two neighboring portable plate 130.Driver 135 is, for example, motor 138, and it may be provided in joint drive-connecting shaft 133.Adjustment
Part 134 is, for example, screw 136 or trip, and it is set on joint drive-connecting shaft 133 and is connected with driver 135.Additionally, joint limits
Position device 132 may also include an angle detector 144, for example, be arranged on portable plate 130, be used to detect joint drive-connecting shaft 133
Relative to the anglec of rotation of portable plate 130, and by the signal transmission of the anglec of rotation to driver 135.
Fig. 4 and 5 is refer to, when the anglec of rotation that angle detector 144 detects joint drive-connecting shaft 133 meets a predetermined angle
During degree (such as between two portable plates 130 press from both sides 120 degree or 150 degree), the drive screw 136 of driver 135 rotate and make screw 136 and
Joint drive-connecting shaft 133 is in compaction, so that the stop because frictional force increases between screw 136 and joint drive-connecting shaft 133.
When driver 135 drives adjustment part 134 to reversely rotate and screw 136 is in release conditions with joint drive-connecting shaft 133, screw
It is free to rotate because frictional force is reduced between 136 and joint drive-connecting shaft 133.Therefore, driver 135 can be by controlling screw
Elasticity between 136 and joint drive-connecting shaft 133, to limit the anglec of rotation of joint drive-connecting shaft 133, and then limits user's
The degree of crook or angle of the articular portion 11 of finger 10.
In addition to screwing or loosening using screw 136, adjustment part 134 also can be the platen 137 with friction plate (or very
Hull), and driver 135 is, for example, compression pump 139 or magnet coil, is used to drive platen 137 and makes platen 137 and joint pivot
Spindle 133 is in compaction, so that the stop because frictional force increases between platen 137 and joint drive-connecting shaft 133.Work as driving
When device 135 drives platen 137 to move backward and platen 137 and joint drive-connecting shaft 133 is in release conditions, platen 137 with close
It is free to rotate because frictional force is reduced between section drive-connecting shaft 133.Therefore, driver 135 can be by controlling platen 137 and closing
Elasticity between section drive-connecting shaft 133, is closed with limiting the anglec of rotation of joint drive-connecting shaft 133, and then limiting the finger of user
Save the degree of crook or angle of part.
Fig. 6 is refer to, in virtual reality system 150 or in augmented reality system, reaction force simulation gloves 100 are more wrapped
Include a joint position limiter 132.When with one virtual article of the finger of user or palm grip, virtual image detector 142
The hand motion of user and the shape of virtual article are detected, and image data is transferred to signal processor 140.Then, believe
Number processor 140 produces a joint angles signal S3 to driver 135 according to image data, and controls to adjust with driver 135
Elasticity between part 134 and joint drive-connecting shaft 133, to limit the anglec of rotation of joint drive-connecting shaft 133, and then limits user
The articular portion 11 of finger 10 degree of crook or angle.For example, when user grips a virtual article (such as bat or hand
Rifle) when, the attitude of finger-joint part is fixed on special angle by joint position limiter 132, to simulate the finger gripping of user
Degree of crook or angle when holding virtual article.
Reaction force simulation gloves disclosed by the above embodiment of the present invention, using being arranged at the finger section and the hand
Actuator on metacarpus provides pressure, the sense of touch that correspondence is produced when touching a virtual article with the finger or palm of simulating user
Signal, and using the joint position limiter being arranged in finger section, control between the adjustment part and the joint drive-connecting shaft
Elasticity, the degree of crook or angle of finger-joint part during with one virtual article of finger grip for simulating user.Therefore,
User can feel as touching or to grip legitimate object the same and be immersed in the middle of virtual game, to increase feeling of immersion and true
Sense.
In sum, although the present invention is disclosed above with preferred embodiment, so it is not limited to the present invention.This hair
Bright those skilled in the art, without departing from the spirit and scope of the present invention, when can make it is various change with retouching.Therefore, originally
The protection domain of invention ought be defined depending on the appended claims person of defining.
Claims (10)
1. a kind of reaction force simulates gloves, it is characterised in that including：
One gloves, with a finger section and a palmar hand；
Multiple actuators, are arranged at the finger section and the palmar hand, and the multiple actuator is towards carrying inside the gloves
For an active force, to respond a tactile signals；
Multiple portable plates, are arranged at the finger section；And
Multiple joint position limiters, respectively including a joint drive-connecting shaft, an adjustment part and a driver, the joint drive-connecting shaft
Two neighboring portable plate is connected to, the adjustment part is connected to the driver and is set on the joint drive-connecting shaft, described
Elasticity between adjustment part described in driver control and the joint drive-connecting shaft, to limit the anglec of rotation of the joint drive-connecting shaft
Degree.
2. reaction force as claimed in claim 1 simulates gloves, it is characterised in that the multiple actuator includes being distributed in institute
State the multiple pressure plates inside finger section and the palmar hand and connect multiple pressure valve of the multiple pressure plate, it is described many
The tactile signals that correspondence is produced when individual pressure valve touches a virtual article according to the finger or palm of user, there is provided described
Active force is to the multiple pressure plate.
3. reaction force as claimed in claim 2 simulates gloves, it is characterised in that the multiple pressure plate is used to contact described
The finger or palm of user, and can inwardly be expressed to described making towards the movement of the position of the finger of the user or palm
The finger or palm of user, to produce an entity sense of touch.
4. reaction force as claimed in claim 3 simulates gloves, it is characterised in that the multiple pressure plate is rigid,
It is rigidity that its described entity sense of touch for producing is used to simulate the dummy object that the user touches.
5. reaction force as claimed in claim 4 simulation gloves, it is characterised in that it is described state multiple pressure plates for sheet metal or
Sheet.
6. reaction force as claimed in claim 3 simulates gloves, it is characterised in that the multiple pressure plate is soft materials,
It is soft that its described entity sense of touch for producing is used to simulate the dummy object that the user touches.
7. reaction force as claimed in claim 6 simulates gloves, it is characterised in that the multiple pressure plate is soft silica gel
Piece or air bag.
8. reaction force as claimed in claim 1 simulation gloves, it is characterised in that adjustment part described in the driver control with
When the joint drive-connecting shaft is in compaction, stop because frictional force increases between the adjustment part and the joint drive-connecting shaft
It is dynamic；When the adjustment part is in release conditions with the joint drive-connecting shaft, between the adjustment part and the joint drive-connecting shaft
It is free to rotate because frictional force is reduced.
9. reaction force as claimed in claim 8 simulates gloves, it is characterised in that the adjustment part is screw or platen.
10. reaction force as claimed in claim 8 simulates gloves, it is characterised in that further includes an angle detector, is used to examine
The anglec of rotation of the joint drive-connecting shaft is surveyed, and whether the driver meets a predetermined angle according to the anglec of rotation for detecting
Degree, controls the elasticity between the adjustment part and the joint drive-connecting shaft.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611192692.XA CN106774905A (en) | 2016-12-21 | 2016-12-21 | Reaction force simulates gloves |
| TW106104766A TWI623343B (en) | 2016-12-21 | 2017-02-14 | Force feedback simulation glove |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611192692.XA CN106774905A (en) | 2016-12-21 | 2016-12-21 | Reaction force simulates gloves |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106774905A true CN106774905A (en) | 2017-05-31 |
Family
ID=58893649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611192692.XA Pending CN106774905A (en) | 2016-12-21 | 2016-12-21 | Reaction force simulates gloves |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106774905A (en) |
| TW (1) | TWI623343B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI698781B (en) * | 2018-12-10 | 2020-07-11 | 財團法人工業技術研究院 | Measurement system and measurement method using the same |
| CN114727676A (en) | 2020-04-16 | 2022-07-08 | 鹏鼎控股(深圳)股份有限公司 | Virtual reality glove and manufacturing method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1696872A (en) * | 2004-05-13 | 2005-11-16 | 中国科学院自动化研究所 | Glove capable of feeding back data of touch sensation |
| CN1785608A (en) * | 2005-11-10 | 2006-06-14 | 上海大学 | Control platform of multifinger mechanical skillful closed ring real time action |
| CN1792329A (en) * | 2005-11-02 | 2006-06-28 | 哈尔滨工业大学 | Force feedback data gloves based on pneumatic artificial muscle |
| CN101583992A (en) * | 2006-12-07 | 2009-11-18 | 塞尔-克姆有限责任公司 | Tactile wearable gaming device |
| CN104076929A (en) * | 2014-07-21 | 2014-10-01 | 谷逍驰 | Hand action acquisition device provided with force feedback and realizing by utilizing mechanical structure |
| US9375382B2 (en) * | 2010-03-23 | 2016-06-28 | Idrogenet S.R.L. | Hand rehabilitation device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5583478A (en) * | 1995-03-01 | 1996-12-10 | Renzi; Ronald | Virtual environment tactile system |
| US7138976B1 (en) * | 2000-07-13 | 2006-11-21 | Rutgers, The State University Of New Jersey | Hand force feedback and sensing system |
| CN103207673A (en) * | 2013-03-15 | 2013-07-17 | 江苏省电力公司 | Vibration gloves |
| US9468847B2 (en) * | 2014-04-30 | 2016-10-18 | Umm Al-Qura University | Tactile feedback gloves |
-
2016
- 2016-12-21 CN CN201611192692.XA patent/CN106774905A/en active Pending
-
2017
- 2017-02-14 TW TW106104766A patent/TWI623343B/en active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1696872A (en) * | 2004-05-13 | 2005-11-16 | 中国科学院自动化研究所 | Glove capable of feeding back data of touch sensation |
| CN1792329A (en) * | 2005-11-02 | 2006-06-28 | 哈尔滨工业大学 | Force feedback data gloves based on pneumatic artificial muscle |
| CN1785608A (en) * | 2005-11-10 | 2006-06-14 | 上海大学 | Control platform of multifinger mechanical skillful closed ring real time action |
| CN101583992A (en) * | 2006-12-07 | 2009-11-18 | 塞尔-克姆有限责任公司 | Tactile wearable gaming device |
| US9375382B2 (en) * | 2010-03-23 | 2016-06-28 | Idrogenet S.R.L. | Hand rehabilitation device |
| CN104076929A (en) * | 2014-07-21 | 2014-10-01 | 谷逍驰 | Hand action acquisition device provided with force feedback and realizing by utilizing mechanical structure |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI623343B (en) | 2018-05-11 |
| TW201822856A (en) | 2018-07-01 |
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Application publication date: 20170531 |