CN113625875A

CN113625875A - Comprehensive system glove capable of feeding back simultaneously

Info

Publication number: CN113625875A
Application number: CN202110908658.2A
Authority: CN
Inventors: 吴锟伦; 桑海峰; 邢燕好
Original assignee: Shenyang University of Technology
Current assignee: Shenyang University of Technology
Priority date: 2021-08-09
Filing date: 2021-08-09
Publication date: 2021-11-09

Abstract

A comprehensive VR system glove capable of feeding back simultaneously comprises a half-finger glove main body worn on a hand, a hand gesture collecting system arranged on the surface of the back of the hand of the half-finger glove main body, an exoskeleton resistance system sleeved on each finger tip, and a temperature/touch feedback system arranged on the half-finger glove main body and the exoskeleton resistance system. Each finger sleeve of the half-finger gloves does not cover the finger tip, and each finger is exposed to the first joint from the finger tip.

Description

Comprehensive system glove capable of feeding back simultaneously

Technical Field

The invention belongs to the technical field of human-computer interaction, and relates to a comprehensive VR system glove capable of realizing temperature, touch and resistance feedback at the same time.

Background

Virtual reality gloves, also known as "data gloves," are the most common interactive tools in virtual simulation.

The virtual reality gloves are generally provided with various motion sensors, the motion sensors comprise elements such as a flexible circuit board, a motion amount sensing element, an elastic packaging material and the like, and the motion sensors are connected to a signal processing circuit through leads; the flexible circuit board is provided with at least two leads, the sensitive material is coated on the large part of the flexible circuit board, the sensitive material is coated with a layer of elastic packaging material, and one end of the flexible circuit board is left outside and is connected with an external circuit through the leads. The virtual reality glove can accurately transmit the hand posture to a virtual environment, and meanwhile, contact information of the virtual reality glove and a virtual object can be fed back to an operator. The operator can interact with the virtual world in a more direct, more natural and more effective mode, and interactivity and immersion are greatly enhanced. And provides a universal and direct man-machine interaction mode for an operator, and is particularly suitable for a virtual reality system which needs a multi-degree-of-freedom hand model to perform complex operation on a virtual object.

The existing virtual reality gloves are in many brands, such as Haptx, Glovenone, 5DT Data Glove Ultra Series, Power _ Claw and the like, but except for a part of extracted novel products, the tactile feedback of most virtual reality gloves is realized based on a vibration motor, and although the tactile generation mode is simplest and most economical, the problems of vibration interference, poor feedback precision and the like also exist. However, the virtual reality gloves on the market are not developed as expected, and most of the virtual reality gloves can only sense the hand movements of people and cannot completely feed back the touch feeling, the temperature, the resistance and the like of objects in the virtual world.

Disclosure of Invention

Object of the Invention

The invention aims at the problems that the existing virtual reality gloves on the market are not developed as expected, most of the virtual reality gloves can only sense the hand movement of a person, and cannot completely feed back the touch feeling, the temperature, the resistance and the like of objects in a virtual world.

Technical scheme

A comprehensive VR system glove capable of feeding back simultaneously comprises a half-finger glove main body worn on a hand, a hand gesture collecting system arranged on the surface of the back of the hand of the half-finger glove main body, an exoskeleton resistance system sleeved on each finger tip, and a temperature/touch feedback system arranged on the half-finger glove main body and the exoskeleton resistance system.

Each finger sleeve in the half-finger gloves does not cover the finger tip, and each finger is exposed to the first joint from the finger tip.

The hand gesture acquisition system comprises a bending sensor, a stretching sensor and a six-axis sensor, wherein the bending sensor is covered on a bending joint of each finger and is connected with the six-axis sensor, and the bending sensors are arranged on the surface of the half-finger glove main body in a manner of being parallel to the back of the hand; stretching sensors are arranged at the finger seams of the roots of two adjacent fingers, each stretching sensor is connected with a six-axis sensor, and the stretching sensors are arranged on the surface of the semi-finger glove main body in a mode of being parallel to the back of the hand; a nylon sensor storage box is arranged in the middle of the back of the half-finger glove main body and can store six sensors; the wrist of the half-finger glove main body is also provided with a glove elastic magic tape.

The curvature sensor is sequentially fixed at the position, corresponding to the finger joint, of the semi-finger glove main body through a certain weaving process, one part of the curvature sensor arranged at the tail end of the finger sleeve of the semi-finger glove main body is attached to the tail end of the finger sleeve, and the other part of the curvature sensor is exposed out of the tail end of the finger sleeve.

An exoskeleton top end limiter is arranged at the position, close to a nail, of the upper surface of the exoskeleton resistance system, an elastic cotton sleeve is arranged at the top end of the lower surface of the exoskeleton resistance system, and a plurality of temperature/touch feedback systems are arranged on two sides, located on fingers, of the elastic cotton sleeve.

The exoskeleton top end limiter is connected with the exoskeleton tail end main body through a toothed belt, the belt limiter is arranged on the side face of the exoskeleton tail end main body, one end of the exoskeleton tail end main body is connected with the exoskeleton top end limiter through a first steel cable, the other end of the exoskeleton tail end main body is connected with a first steel cable winding and unwinding motor through a first steel cable, and the exoskeleton tail end main body is connected with a second steel cable winding and unwinding motor through a second steel cable on the connecting end face of the first steel cable winding and unwinding motor.

A spring mechanism is added in the wire guide groove of the exoskeleton tail body.

One end of the temperature/touch feedback system is an intermediate liquid bag, the intermediate liquid bag is provided with two branches which are respectively a liquid inlet pipeline and a liquid outlet pipeline, a liquid inlet check valve is arranged in the liquid inlet pipeline, a liquid outlet check valve is arranged in the liquid outlet pipeline, the liquid inlet pipeline and the liquid outlet pipeline are connected with a double-channel controllable electromagnetic valve, one side of the double-channel controllable electromagnetic valve along the liquid inlet pipeline is connected with one end of an intermediate liquid containing bag, the outer wall of the intermediate liquid containing bag is provided with a surface-mounted temperature measuring resistor, an electric heating wire is arranged in the intermediate liquid containing bag, a semiconductor refrigerating sheet is arranged on the periphery of the intermediate liquid containing bag, the other end of the intermediate liquid containing bag is connected with one end of a small pump, the other end of the small pump is connected with one end of the intermediate liquid pretreatment containing bag, radiators are arranged on two sides of the intermediate liquid pretreatment containing bag, and the other end of the intermediate liquid pretreatment containing bag is connected with one side of the double-channel controllable electromagnetic valve along the liquid outlet pipeline.

The medium liquid bag is made of novel flexible materials, and the inner walls of the liquid inlet pipeline and the liquid outlet pipeline are made of hydrophobic materials.

Advantages and effects

After detailed research, the invention provides a set of comprehensive VR system gloves with high feasibility, low cost and easy control, and the existing hardware conditions are expected to be utilized to realize real-time processing of collected hand posture data of a user by means of high-speed computing power of a high-performance computing unit (a single chip microcomputer and a desktop computer) while collecting the hand posture data of the user, and the VR system gloves are used for controlling a corresponding feedback system based on the information so as to realize feedback of three main physical quantities, namely temperature, touch and resistance. The comprehensive VR system glove is characterized in that the temperature/touch feedback unit is added on the premise that all parts are organically combined through reasonable design, so that the device can sense the hand movement of a user and simultaneously can comprehensively reflect the physical quantity in the virtual reality environment, and the purposes of giving real-time immersive virtual reality experience to the user and enabling the user to feel objects in the virtual world everywhere are achieved.

The comprehensive VR system glove is in a modular design, can be realized by using the prior art, and has high feasibility and practicability. The main control chip of the glove recommends the use of a domestic GD32F450 single chip microcomputer, the chip is extremely large in shipment volume and easy to purchase, and due to the excellent design of the chip, the cost can be effectively reduced while the calculation performance and the data acquisition precision are guaranteed. A large number of standardized sensors are mounted in the gloves, so that high-precision hand posture data acquisition can be realized, and large-capacity data transmission can be performed by means of a general bus (such as RS 485). In addition, the glove is also provided with the temperature/touch feedback unit, and a single glove is provided with 48 temperature/touch feedback units, so that the feedback of physical quantities in virtual reality software can be realized in an all-round manner. The glove can realize temperature, touch and resistance feedback at the same time, and real immersive virtual reality experience is provided for a user. Because the adopted standard components are adopted, the system has excellent compatibility with an upper computer and has less compatibility problem. In addition, the glove adopts an ergonomic design, and firstly, the length of the glove device can be adjusted to achieve the purpose of adapting to different users and different hand lengths; secondly, through mechanical optimization design, the fatigue degree of a user in use is reduced, and the efficiency is greatly improved. The general purpose of the comprehensive VR system glove is that the comprehensive VR system glove can be applied to the field of games, and can be directly used for safety training and rehabilitation training after being additionally provided with a small part of expansion modules, so that the requirements of users of different groups are met. Therefore, the glove has wide application.

Drawings

FIG. 1 is a schematic structural view of a mitt body in accordance with the present invention;

FIG. 2 is a schematic view of a semi-glove body of the present invention with the nylon sensor receiver open;

FIG. 3 is a schematic diagram showing the location distribution of the bending sensor, the stretching sensor and the six-axis sensor on the mitt body according to the present invention;

FIG. 4 is an exploded schematic view of the components of the exoskeleton resistance system of the present invention;

FIG. 5 is a schematic view of the position of the exoskeleton top stop hole of the present invention;

FIG. 6 is a schematic view of the positions of the main cable mounting holes in the exoskeleton tail end;

FIG. 7 is a schematic structural view of the rodent belt of the present invention;

FIG. 8 is a schematic illustration of the exoskeleton resistance system of the present invention in a normal state;

FIG. 9 is a schematic representation of the exoskeleton resistance system of the present invention in a shortened state;

FIG. 10 is a schematic illustration of the exoskeleton resistance system of the present invention in a normal state of flexion;

FIG. 11 is a schematic representation of the exoskeleton resistance system of the present invention in an operational state;

FIG. 12 is a schematic illustration of the exoskeleton resistance system of the present invention assembled on a mitt;

FIG. 13 is a schematic view of a temperature/tactile feedback unit of the present invention;

FIG. 14 is a schematic diagram of the temperature/tactile feedback unit on the elastic padded sleeve of the exoskeleton resistance system of the present invention;

FIG. 15 is a schematic view of the temperature/tactile feedback unit distribution on the mitt body and exoskeleton top stop of the present invention;

FIG. 16 is an overall system flow diagram of the present invention.

Reference numerals: 1. a half-fingered glove body, 2, a temperature/tactile feedback system, 3, an exoskeleton resistance system, 101, a first curvature sensor, 102, a second curvature sensor, 103, a third curvature sensor, 104, a fourth curvature sensor, 105, a fifth curvature sensor, 106, a sixth curvature sensor, 107, a seventh curvature sensor, 108, an eighth curvature sensor, 109, a ninth curvature sensor, 110, a first stretch sensor, 111, a second stretch sensor, 112, a third stretch sensor, 113, a fourth stretch sensor, 114, a six-axis sensor, 120, a nylon sensor housing, 121, a nylon sensor housing cover, 201, a first thumb cover temperature/tactile feedback unit, 202, a second thumb cover temperature/tactile feedback unit, 203, a first thumb cover temperature/tactile feedback unit, 204. a second thumb top cotton sleeve temperature/tactile feedback unit 205, a third thumb top cotton sleeve temperature/tactile feedback unit 206, a fourth thumb top cotton sleeve temperature/tactile feedback unit 207, a fifth thumb top cotton sleeve temperature/tactile feedback unit 208, a sixth thumb top cotton sleeve temperature/tactile feedback unit 209, a first index finger sleeve temperature/tactile feedback unit 210, a second index finger sleeve temperature/tactile feedback unit 211, a third index finger sleeve temperature/tactile feedback unit 212, a fourth index finger sleeve temperature/tactile feedback unit 213, a first index finger top cotton sleeve temperature/tactile feedback unit 214, a second index finger top cotton sleeve temperature/tactile feedback unit 215, a third index finger top cotton sleeve temperature/tactile feedback unit 216, a fourth index finger top cotton sleeve temperature/tactile feedback unit 217, a fifth index finger top cotton sleeve temperature/

tactile feedback unit

217, 218. a sixth index finger tip glove temperature/tactile feedback unit 219, a first middle finger tip glove temperature/tactile feedback unit 220, a second middle finger tip glove temperature/tactile feedback unit 221, a third middle finger tip glove temperature/tactile feedback unit 222, a fourth middle finger tip glove temperature/tactile feedback unit 223, a first middle finger tip glove temperature/tactile feedback unit 224, a second middle finger tip glove temperature/tactile feedback unit 225, a third middle finger tip glove temperature/tactile feedback unit 226, a fourth middle finger tip glove temperature/tactile feedback unit 227, a fifth middle finger tip glove temperature/tactile feedback unit 228, a sixth middle finger tip glove temperature/tactile feedback unit 229, a first ring finger tip temperature/tactile feedback unit 230, a second ring finger tip temperature/tactile feedback unit 231, a third ring finger tip temperature/

tactile feedback unit

231, 232. a fourth unknown finger cot temperature/tactile feedback unit 233, a first unknown finger cot temperature/tactile feedback unit 234, a second unknown finger cot temperature/tactile feedback unit 235, a third unknown finger cot temperature/tactile feedback unit 236, a fourth unknown finger cot temperature/tactile feedback unit 237, a fifth unknown finger cot temperature/tactile feedback unit 238, a sixth unknown finger cot temperature/tactile feedback unit 239, a first little finger cot temperature/tactile feedback unit 240, a second little finger cot temperature/tactile feedback unit 241, a third little finger cot temperature/tactile feedback unit 242, a fourth little finger cot temperature/tactile feedback unit 243, a first little finger cot temperature/tactile feedback unit 244, a second little finger cot temperature/

tactile feedback unit

244, 245. a third little finger top cotton sleeve temperature/touch feedback unit 246, a fourth little finger top cotton sleeve temperature/touch feedback unit 247, a fifth little finger top cotton sleeve temperature/touch feedback unit 248, a sixth little finger top cotton sleeve temperature/touch feedback unit 249, a liquid inlet one-way valve 250, a liquid outlet one-way valve 251, a two-way controllable electromagnetic valve 252, a medium liquid pretreatment storage bag 253, a radiator 254, a miniature pump 255, a medium liquid storage bag 256, a patch type temperature measuring resistor 257, a semiconductor refrigerating sheet, a 258, an electric heating wire 259, a medium liquid pretreatment storage bag drain valve 260, a medium liquid bag 261, a liquid inlet pipeline 262, a liquid outlet pipeline 301, an exoskeleton top end limiter 302, an exoskeleton tail end main body 303, an elastic cotton sleeve 304, a rodent belt 305, a belt limiter 306, a first steel cable 307, a second steel cable 308, a first steel

cable retracting motor

308, 309. a second steel cable take-up and pay-off motor 310, an exoskeleton top end stopper hole 311, an exoskeleton tail end main body steel cable mounting hole 313 and an exoskeleton tail end main body cotton sleeve.

Detailed Description

The invention is further described below with reference to the accompanying drawings:

examples

Referring to fig. 1-15, a comprehensive VR system glove capable of simultaneous feedback includes a mitt body 1 worn on a hand, a hand posture collecting system disposed on a back surface of the hand of the mitt body 1, an exoskeleton resistance system 3 fitted around each fingertip, and a temperature/touch feedback system 2 disposed on the mitt body 1 and the exoskeleton resistance system 3;

each finger sleeve in the half-finger glove 1 does not cover the finger tip, and each finger is exposed to the first joint from the finger tip.

The distribution of the hand gesture collection system on the half-finger glove main body 1 is shown in fig. 3, the hand gesture collection system comprises a bending sensor 101-109, a stretching sensor 110-113 and a six-axis sensor 114, the bending joint of each finger is covered with the bending sensor which is connected with the six-axis sensor 114 and is arranged on the surface of the half-finger glove main body 1 in a manner of being parallel to the back of the hand; stretching sensors are arranged at the finger gaps adjacent to the roots of the two fingers, each stretching sensor is connected with the six-axis sensor 114, and the stretching sensors are arranged on the surface of the half-finger glove main body 1 in a mode of being parallel to the back of the hand; a nylon sensor housing case 120 is provided in the middle of the back of the mitt body 1, and the six-axis sensor 114 can be housed in the nylon sensor housing case 120; the wrist of the half-finger glove main body 1 is also provided with a glove elastic magic tape 10, so that a user can conveniently adjust the elasticity of the glove, and the glove can be put on and taken off quickly;

the six-axis sensor 114 is a six-axis gyroscope sensor and is arranged in a nylon sensor storage box 120 of the mitt body 1, and specifically, after the six-axis sensor 114 is connected, the six-axis sensor is fixed on a bottom plate of the nylon sensor storage box 120 through a stud, and a box cover 121 of the nylon sensor storage box is closed;

the

flexibility sensors

101 and 109 can be fixed on the positions, corresponding to the finger joints, of the half-finger glove body 1 through a certain weaving process in sequence, as shown in fig. 3, the

flexibility sensors

102, 104, 106 and 108 on the top of the half-finger glove body 1 are not completely hidden in the half-finger glove body 1, and the sensitive elements of the four

flexibility sensors

102, 104, 106 and 108 are exposed out of the half-finger glove body 1, so that the design is designed to be matched with the exoskeleton resistance system 3 for use, and therefore the length of the glove can be conveniently adjusted, but the design cannot directly play a role in adjusting the length of the glove, because the adjustment of the length of the glove mainly depends on the exoskeleton resistance system 3.

An exoskeleton top end limiter 301 is arranged at the position, close to a nail, of the upper surface of the exoskeleton resistance system 3, an elastic cotton sleeve 303 is arranged at the top end of the lower surface of the exoskeleton resistance system 3, and a plurality of temperature/touch feedback systems 2 are arranged on two side surfaces of a finger, of the elastic cotton sleeve 303; as shown in fig. 4-5.

The exoskeleton resistance system 3 is shown in detail in fig. 4 and fig. 8-11, one end of the exoskeleton resistance system 3 is provided with an exoskeleton top end stopper 301 and a top end elastic cotton sleeve 303 connected below the exoskeleton top end stopper 301, the exoskeleton top end stopper 301 is connected with an exoskeleton tail end main body 302 through a rodent belt 304, a belt stopper 305 is arranged on the side surface of the exoskeleton tail end main body 302, an exoskeleton tail end main body cotton sleeve 313 is connected below the exoskeleton tail end main body 302, one end of the exoskeleton tail end main body 302 is connected with the exoskeleton top end stopper 301 through a first steel cable 306, the other end of the exoskeleton tail end main body 302 is connected with a first steel cable retracting motor 308 through a first steel cable 306, and the exoskeleton tail end main body 302 is connected with a second steel cable retracting motor 309 through a second steel cable 307 on the connecting end surface of the first steel cable retracting motor 308;

after the exoskeleton resistance system 3 is assembled, its configuration in a flat state is shown in fig. 8, with a linear profile. If the user needs to adjust the glove length, the user can simply press the belt stopper 305, then move the position of the rodent belt 304 back and forth to a position where the user feels comfortable, and finally release the belt stopper 305. The principle is as follows: when the belt stopper 305 is pressed, the rodent belt 304 loses the restraint of the belt stopper 305 and can move axially in the limiting hole in a direction parallel to the central axis of the limiting hole in the exoskeleton tail body 302, and after the rodent belt 304 is adjusted to a length suitable for a user, the belt stopper 305 is only loosened, because the belt stopper 305 automatically resets and re-engages with the triangular groove (the shape of the belt groove is shown in fig. 7) on the rodent belt 304.

When the system gives no resistance feedback, the first cable releasing motor 308 and the second cable releasing motor 309 are both in an off-line state, in which the first cable 306 and the second cable 307 can move freely, whether extending or shortening, as shown in fig. 8, the finger bends downwards, and the length of the cable is not limited and can be pulled out because the motor does not restrain the cable. However, if the system receives a resistance feedback request, the first cable winding and unwinding motor 308 and the second cable winding and unwinding motor 309 enter a working state in a short time, and at this time, the motors contract the cables with a certain length according to the control of the computer, so that the exoskeleton top end limiter 301 and the exoskeleton tail body 302 are restrained, and further, certain resistance feeling is generated by fingers, and at this time, the form of the exoskeleton resistance system is as shown in fig. 9.

The first cable take-up and pay-off motor 308 and the second cable take-up and pay-off motor 309 respectively generate a restraining action: the second steel cable retracting motor 309 mainly restrains the second exoskeleton tail end main body 302, and the second exoskeleton tail end main body 302 can directly limit the motion of the second joint of each finger, if the second exoskeleton tail end main body 302 is restrained by the second steel cable 307 controlled by the second steel cable retracting motor 309, the second exoskeleton tail end main body will be difficult to bend downwards, see fig. 11, a user pushes a table top with a hand, the hand will generate a certain resistance feeling, and the function of the table top at this time is equivalent to that of the second steel cable retracting motor 309, and the difference is that: the second cable winding and unwinding motor 309 actively applies resistance, and the resistance generated by the table top is the reaction force of the thrust generated by the hand (according to Newton's third law), at this time, the movement of the hand is limited, the hand cannot move, and only the tip of the finger can bend.

The first steel cable take-up and pay-off motor 308 mainly restrains the exoskeleton top end limiter 301, if the skeleton top end limiter 301 is restrained, fingers are difficult to bend downwards to generate resistance, the scene schematic diagram shown in the attached drawing 10 is shown, a user presses a desktop with a hand, the hand can generate certain resistance, and the effect of the desktop is equivalent to the first steel cable take-up and pay-off motor 308 at the moment, and the difference is that: the first cable take-up and pay-off motor 308 actively applies resistance, and the resistance generated by the table top is the counterforce of the pressure generated by the hand (according to Newton's third law), but the effect is consistent with that of the first cable take-up and pay-off motor 308; at the moment, the movement of the hand is limited, and the hand cannot move and only can generate limited movement.

In practice, it is rare to invoke either the first cable take-up and pay-off motor 308 or the second cable take-up and pay-off motor 309 alone, and only by combining them together will the best resistance experience be produced.

As shown in fig. 4-11, the exoskeleton resistance systems are installed in the following sequence: since the exoskeleton top end stopper 301 is already connected with the rodent belt 304 into a whole through the installation process, the rodent belt 304 is only required to be installed into the exoskeleton tail end main body 302 in a posture parallel to the limit groove of the exoskeleton tail end main body 302, then one end of the first steel cable 306 is installed on the first steel cable retracting motor 308 in a stranded wire fixing mode, and then the other end of the first steel cable 306 is locked in the exoskeleton top end stopper hole 310 of the exoskeleton top end stopper 301 in a threaded fixing mode (the hole position is shown in fig. 5); one end of the second steel cable 307 is fixedly installed on the second steel cable winding and unwinding motor 309 in a stranded wire mode, and then the other end of the second steel cable 307 is locked in a steel cable installation hole 311 (the hole position is shown in fig. 6) of the exoskeleton tail end main body 302 in a threaded fixing mode, so that the exoskeleton resistance system is installed;

preferably, a spring mechanism is added in the wire guide groove of the exoskeleton tail body 302, and the mechanism can keep the exoskeleton system in a horizontal state under the condition of no external force through linkage with the steel cable, and provides a certain elastic force feedback during the use process, so that the fatigue degree of a user is reduced;

preferably, the steel cable is replaced by a wire with certain elasticity and toughness, so that the elasticity feedback is realized, and the fatigue degree of a user is reduced;

then the exoskeleton resistance system 3 is arranged on the half-finger glove body, other fastening means are not needed in the process, only the curvature sensor exposed at the top end of the half-finger glove body 1 needs to be inserted into the top end elastic cotton sleeve 303 close to the exoskeleton top end limiter 301 part, the curvature sensor can be completely pressed to the finger joint by the pressure exerted by the elastic cotton in the top end elastic cotton sleeve 303, and the rodent belt 304 on the exoskeleton top end limiter 301 is arranged in the exoskeleton tail end body 302;

one end of the temperature/touch feedback system 2 is an intermediary liquid bag 260, the intermediary liquid bag 260 has two branches, namely a liquid inlet pipeline 261 and a liquid outlet pipeline 262, a liquid inlet check valve 249 is arranged in the liquid inlet pipeline 261, a liquid outlet check valve 250 is arranged in the liquid outlet pipeline 262, the liquid inlet pipeline 261 and the liquid outlet pipeline 262 are both connected with a two-way controllable electromagnetic valve 251, one end of an intermediary liquid containing bag 255 is connected to the two-way controllable electromagnetic valve 251 along one side of the liquid inlet pipeline 261, a patch type temperature measuring resistor 256 is arranged on the outer wall of the intermediary liquid containing bag 255, an electric heating wire 258 is arranged in the intermediary liquid containing bag 255, a refrigerating semiconductor chip 257 is arranged on the periphery of the intermediary liquid containing bag 255, one end of a small pump 254 is connected to the other end of the intermediary liquid containing bag 255, one end of the intermediary liquid pretreatment containing bag 252 is connected to the other end of the small pump 254, radiators 253 are arranged on two sides of the intermediary liquid pretreatment containing bag 252, and the other end of the intermediary liquid pretreatment containing bag 252 is connected to one side of the two-way controllable electromagnetic valve 251 along the liquid outlet pipeline 262.

The operation principle of the temperature/touch feedback unit: as shown in fig. 13, the intermediate liquid is preferably selected from: the two characteristics of high fluidity and high specific heat capacity can be met; the functions of each part in the system are respectively as follows: the medium liquid containing bag 255 is a main container for medium liquid, medium liquid which is not called is temporarily stored in the medium liquid containing bag 255, the patch type temperature measuring resistor 256, the semiconductor refrigeration sheet 257 and the heating wire 258 are used together with the medium liquid containing bag 255, and the three components play a role of controlling the temperature of medium liquid contained in the medium liquid containing bag 255, as shown in fig. 13, the semiconductor refrigeration sheet 257 annularly surrounds the side surface of the medium liquid containing bag 255, and the heating wire 258 is inserted into the medium liquid containing bag 255 through a waterproof insulating material, so as to facilitate rapid temperature rise/fall; the patch type temperature measuring resistor 256 is used for monitoring the temperature of the medium liquid in the medium liquid containing bag 255; the two-way controllable electromagnetic valve 251 can simultaneously control the opening and closing of the liquid inlet pipeline 261 and the liquid outlet pipeline 262, not only can realize the basic opening and closing functions, but also can realize further flow control by modulating PWM control signals through pulse width, and can control the generation of different degrees of touch feeling by controlling the amount of the intermediate liquid flowing into the intermediate liquid bag 260; the liquid inlet check valve 249 is installed on the liquid inlet pipe 261, and allows only the medium liquid to flow into the medium liquid bag 260 from the medium liquid receiving bag 255 without backflow; the liquid outlet one-way valve 250 is arranged on the liquid outlet pipeline 262, and only allows the medium liquid to flow into the medium liquid pretreatment containing bag 252 from the medium liquid bag 260, thereby preventing the occurrence of backflow; the intermediary sac 260 is a directly implemented part of the temperature/tactile feedback system 2. A medium liquid pretreatment storage bag 252 for collecting the medium liquid flowing out from the medium liquid sac;

preferably, the intermediate fluid bladder 260 is made of a new flexible material to improve its durability and provide better feedback;

preferably, the inner walls of the liquid inlet pipe 261 and the liquid outlet pipe 262 are made of hydrophobic materials, so that the medium liquid can flow rapidly, and more accurate temperature/touch feedback is realized;

the following describes the whole flow of the whole system for implementing the temperature, touch and resistance feedback system 2 with reference to fig. 15: after a user correctly wears the glove and supplies power to the glove, an attitude sensing system (composed of a plurality of motion sensors) on the glove starts to collect the motion information of the hand of the user, for example, collecting the motion information of the index finger of the user, if the index finger generates bending motion towards the palm, the seventh bending sensor 107 and the eighth bending sensor 108 also generate bending motion synchronously with the index finger, and the resistance values of the sensitive elements on the two bending sensors also change accordingly (the resistance value change quantity is in direct proportion to the bending motion quantity, the higher the bending degree is, the higher the resistance value is), and the resistance value change signals can be collected by a single chip computer and are converged into a signal processing system to wait for further processing; similarly, if other fingers of the user move similarly, the resistance values of the sensitive elements on the bending sensors (the domestic model of the bending sensor: RFP W02) corresponding to the fingers also change; and if the fingers of the palm of the user's hand stretch, take the index finger and middle finger of the user as an example: assuming that the index finger and the middle finger of the user are in a close state at the beginning, when the index finger and the middle finger of the user perform outward diverging motion, the shape of the stretching sensor 112 changes, the resistance value of a sensitive element on the sensor changes, and the change of the resistance value is collected by a single chip machine to wait for further processing; similarly, if other fingers of the user perform similar bifurcating motions, the resistance output value of the stretching sensor between corresponding finger slits can be correspondingly changed. Data generated by the bending sensor and the stretching sensor passes through a temperature compensation circuit, a signal filtering circuit and an amplifying circuit and is transmitted to an AD conversion module carried by a GD32F450 singlechip in a signal preprocessing system through an RS232 bus. The GD32F450 is integrated with 3 independent AD conversion modules in total, 24 paths of AD data transmission are supported, if higher AD conversion rate and higher AD conversion precision are needed, higher AD conversion requirements can be realized by adding the independent AD conversion modules and the like; in order to solve the problem that the hand inclination data of the user cannot be acquired, a six-axis sensor 114 (the domestic model of the six-axis sensor is IMU QMI8610) is added in the gesture sensing system, and if the wrist of the user rotates, the sensor changes the value, so that the rotation angle change of the wrist of the user is sensed. Then, by integrating the data of the bending sensor 101-, the virtual hand interacts directly with the virtual reality software, and when the virtual hand touches some object in the software, the preset physical information of the objects in the software, such as temperature, surface roughness and other parameters, is read by a central processing unit of the interactive system, and the physical information parameters of the virtual objects are processed by the central processing unit in the form of electric signals, transmitted to a GD32F450 single chip microcomputer matrix in a feedback system through an RS485 bus, a single chip microcomputer matrix generates a control signal so as to control a refrigerating sheet/resistance wire and further control the overall temperature of the intermediate liquid; the singlechip matrix generates control signals to control the opening and closing degrees of the 48 two-way electromagnetic valves and further control the speed of the medium liquid flowing into the medium liquid bag, so that the volume of the medium liquid contained in the medium liquid bag 260 changes at every moment, and the change can cause the medium liquid bag 260 to contract/expand, thereby causing the corresponding part of the finger of the user to generate pressure, namely touch; simultaneously, the single chip microcomputer matrix controls the medium liquid to be contained in the bag 255: the actions of the semiconductor refrigerating chip 257 and the electric heating wire 258 are used for controlling the temperature of the medium liquid; the temperature and the touch feeling sensed by a user can be controlled by integrating the opening and closing of the electromagnetic valve and the action of the temperature control element; the single chip microcomputer matrix generates a control signal, so that the movement of the steel cable winding and unwinding motor is controlled, the steel cable is used for limiting the exoskeleton top end limiter 301 and the exoskeleton tail end main body 302, and the resistance feeling is generated on the hand of a user. As shown in fig. 16, the system forms a closed loop with high stability.

Claims

1. The utility model provides a comprehensive VR system gloves that can feed back simultaneously which characterized in that: the glove comprises a half-finger glove main body (1) worn on a hand, a hand gesture collecting system arranged on the surface of the back of the hand of the half-finger glove main body (1), an exoskeleton resistance system (3) sleeved on each finger tip, and a temperature/touch feedback system (2) arranged on the half-finger glove main body (1) and the exoskeleton resistance system (3).

2. The simultaneous feedback integrated VR system glove of claim 1, wherein:

each finger sleeve in the half-finger glove (1) does not cover the finger tip, and each finger is exposed to the first joint from the finger tip.

3. The simultaneous feedback integrated VR system glove of claim 1, wherein:

the hand gesture acquisition system comprises a bending sensor, a stretching sensor and a six-axis sensor (114), wherein the bending sensor is covered on the bending joint of each finger, is connected with the six-axis sensor (114), and is arranged on the surface of the semi-finger glove main body (1) in a manner of being parallel to the back of the hand; stretching sensors are arranged at the finger seams of the roots of two adjacent fingers, each stretching sensor is connected with a six-axis sensor (114) respectively and arranged on the surface of the half-finger glove main body (1) in a mode of being parallel to the back of the hand; a nylon sensor storage box (120) is arranged in the middle of the back of the half-finger glove main body (1), and the six-axis sensor (114) can be stored in the nylon sensor storage box (120); the wrist of the half-finger glove main body (1) is also provided with a glove elastic magic tape (10).

4. The simultaneous feedback integrated VR system glove of claim 3, wherein:

the curvature sensor is sequentially fixed at the position, corresponding to a finger joint, of the semi-finger glove main body (1) through a certain weaving process, one part of the curvature sensor arranged at the tail end of a finger sleeve of the semi-finger glove main body (1) is attached to the tail end of the finger sleeve, and the other part of the curvature sensor is exposed out of the tail end of the finger sleeve.

5. The simultaneous feedback integrated VR system glove of claim 1, wherein:

an exoskeleton top end limiter (301) is arranged at the position, close to a nail, of the upper surface of the exoskeleton resistance system (3), an elastic cotton sleeve (303) is arranged at the top end of the lower surface of the exoskeleton resistance system (3), and a plurality of temperature/touch feedback systems (2) are arranged on two sides, located on the finger, of the elastic cotton sleeve (303).

6. The simultaneous feedback integrated VR system glove of claim 5, wherein:

the exoskeleton top end limiter (301) is connected with an exoskeleton tail end main body (302) through a rodent-shaped belt (304), a belt limiter (305) is arranged on the side face of the exoskeleton tail end main body (302), one end of the exoskeleton tail end main body (302) is connected with the exoskeleton top end limiter (301) through a first steel cable (306), the other end of the exoskeleton tail end main body (302) is connected with a first steel cable retracting motor (308) through the first steel cable (306), and the exoskeleton tail end main body (302) is connected with a second steel cable retracting motor (309) through a second steel cable (307) on the connecting end face of the first steel cable retracting motor (308).

7. The simultaneous feedback integrated VR system glove of claim 6, wherein:

a spring mechanism is added to the wire guide channel of the exoskeleton tail body (302).

8. The simultaneous feedback integrated VR system glove of claim 5, wherein:

one end of the temperature/touch feedback system (2) is provided with an intermediary liquid bag (260), the intermediary liquid bag (260) is provided with two branches which are respectively a liquid inlet pipeline (261) and a liquid outlet pipeline (262), a liquid inlet one-way valve (249) is arranged in the liquid inlet pipeline (261), a liquid outlet one-way valve (250) is arranged in the liquid outlet pipeline (262), the liquid inlet pipeline (261) and the liquid outlet pipeline (262) are both connected with a two-way controllable electromagnetic valve (251), the two-way controllable electromagnetic valve (251) is connected with one end of an intermediary liquid containing bag (255) along one side of the liquid inlet pipeline (261), the outer wall of the intermediary liquid containing bag (255) is provided with a patch type temperature measuring resistor (256), an electric heating wire (258) is arranged in the intermediary liquid containing bag (255), a semiconductor refrigerating sheet (257) is arranged on the periphery of the intermediary liquid containing bag (255), the other end of the intermediary liquid containing bag (255) is connected with one end of a small pump (254), and the other end of the intermediary liquid pre-treating containing bag (252) is connected with the other end of the small pump (254), radiators (253) are arranged on two sides of the medium liquid pretreatment containing bag (252), and the other end of the medium liquid pretreatment containing bag (252) is connected with one side of the two-way controllable electromagnetic valve (251) along the liquid outlet pipeline (262).

9. The simultaneous feedback integrated VR system glove of claim 8, wherein:

the medium liquid bag (260) is made of novel flexible materials, and the inner walls of the liquid inlet pipeline (261) and the liquid outlet pipeline (262) are made of hydrophobic materials.