CN114770571A - Pneumatic feedback manipulator - Google Patents
Pneumatic feedback manipulator Download PDFInfo
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- CN114770571A CN114770571A CN202210338133.4A CN202210338133A CN114770571A CN 114770571 A CN114770571 A CN 114770571A CN 202210338133 A CN202210338133 A CN 202210338133A CN 114770571 A CN114770571 A CN 114770571A
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- 210000001145 finger joint Anatomy 0.000 claims description 5
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- 238000000034 method Methods 0.000 abstract description 13
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- 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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- 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
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- 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
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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Abstract
A pneumatic feedback robot, comprising: a glove body; a finger card sleeve; an inertial sensor assembly for detecting hand gesture data of a user; a flexible sensor assembly for detecting finger bending gesture data of a user; a heating plate; a vibration motor; a force feedback bladder assembly; and the microcontroller is used for controlling the heating sheet, the vibration motor or the force feedback air bag component to respectively generate feedback working states according to at least one of the hand gesture data, the finger bending gesture data and the virtual scene data. The application provides a pneumatic feedback manipulator can carry out the interactive in-process of virtual environment with the user and provide omnidirectional temperature and mechanical feedback, improves the authenticity and the comprehensiveness that gloves carried out the feedback.
Description
Technical Field
The invention relates to the field of virtual reality equipment, in particular to a pneumatic feedback manipulator.
Background
Wearable devices such as interactive feedback gloves are indispensable tool devices in the construction of immersive virtual environments. The interactive feedback glove mainly comprises a plurality of tactile feedback units arranged at finger tips, palms and other positions. In the process of human-computer interaction, when a user touches an object in a virtual environment in a virtual hand of the virtual environment, the interactive feedback glove can simulatively generate tactile feedback in a vibration mode at a corresponding position of the hand of the user, so that the user can feel interactive with the virtual environment.
The virtual hand of the user touches different objects in the virtual environment, the generated physical touch effect is different, and the feedback action strength of the interactive feedback glove applied to the hand of the user in reality is different. However, the existing interactive feedback gloves cannot adjust the vibration intensity of the tactile feedback. The existing interactive feedback gloves do not completely cover the hands of the user, and feedback cannot be applied to the hands of the user in all directions. In addition, the existing interactive feedback gloves can only provide force feedback for human hands, but cannot provide feedback of other related aspects such as temperature for the human hands, and the like, so that the feedback authenticity of the interactive feedback gloves is reduced.
Disclosure of Invention
The invention aims to provide a pneumatic feedback manipulator, which utilizes an inertia sensor assembly and a flexible sensor assembly to respectively detect hand posture data and finger bending posture data of a user, thereby further combining virtual scene data to respectively control a heating plate, a vibration motor and a force feedback air bag assembly to provide thermal feedback, vibration feedback and pneumatic pressure feedback for parts such as fingers or hand backs and the like, and can provide all-around temperature and mechanical feedback in the process of interacting with a virtual environment of the user, so that the reality and the comprehensiveness of glove feedback are improved.
The purpose of the invention is realized by the following technical scheme:
a pneumatic feedback robot, comprising:
a glove body including a plurality of finger muff sections;
the finger sleeve is sleeved in the fingertip area of the finger sleeve part;
an inertial sensor assembly disposed within the finger cuff for detecting hand gesture data of a user;
the flexible sensor assembly extends along the length direction of the finger sleeve joint part, is arranged in the finger sleeve joint part and is used for detecting the finger bending gesture data of a user;
the heating sheet is arranged in the finger sleeve and used for providing thermal feedback for the finger;
the vibration motor is arranged on the outer side of the finger sleeve and used for providing vibration feedback for the finger;
the force feedback air bag component extends along the length direction of the finger sleeve joint part, is arranged in the finger sleeve joint part and is used for providing pneumatic pressure feedback for the fingers;
a microcontroller, the microcontroller with the inertial sensor subassembly the flexible sensor subassembly the heating plate the vibrating motor with the force feedback gasbag subassembly is connected, is used for the basis according to at least one of hand gesture data, finger bending gesture data and virtual scene data, control the heating plate the vibrating motor or the force feedback gasbag subassembly respectively produces the operating condition of feedback.
In one embodiment, the finger ferrule comprises a first ferrule body and a second ferrule body; the first ferrule body is in contact with a fingertip area of the finger ferrule part; the second clamping sleeve main body is provided with a through hole, and the force feedback air bag assembly is fixed in the through hole.
In one embodiment, the inertial sensor assembly is disposed within the first ferrule body; the inertial sensor assembly includes an accelerometer, a gyroscope, and a magnetometer; and the inertial sensor component imports the hand gesture data of the user obtained by detection into the microcontroller so as to obtain a hand gesture model of the user.
In one embodiment, the system further comprises a tracker; the tracker is arranged on the wrist covering part of the glove main body and used for determining the position of the real hand of the user in a range limited by a locator installed in a real environment and matching the determined position with the position of the virtual hand of the user determined in a virtual scene, so that the real hand and the virtual hand are consistent in moving position and posture in real time.
In one embodiment, the heater chip is disposed within the first ferrule body; when the finger card sleeve where the heating sheet is located is determined to touch an object, electrifying the heating sheet, so that the temperature of the heating sheet is increased and heat feedback is generated on the finger; and when the finger sleeve where the heating plate is located is determined to be away from the object, the heating plate is powered off.
In one embodiment, the vibration motor is disposed on a side of the first ferrule body; when the fact that the finger sleeve where the vibration motor is located touches an object is determined, a starting signal is applied to the vibration motor, so that the vibration motor vibrates and generates vibration feedback to a finger tip; and when the finger sleeve where the vibration motor is located is determined to be away from the object, applying a braking signal to the vibration motor to stop the vibration motor from vibrating.
In one embodiment, the flexible sensor assembly comprises a fiber grating sensor, the fiber grating sensor extends along the length direction of the finger sleeve joint part and is arranged inside the finger sleeve joint part, and the fiber grating sensor is used for detecting finger bending posture data corresponding to bending actions of fingers; the pressure sensors are symmetrically arranged on two sides of the fiber grating sensor and used for detecting stretching and shrinking stress data of the fiber grating sensor when a finger bends; the piezoelectric nano generators are symmetrically arranged on two sides of the fiber bragg grating sensor and used for converting kinetic energy of bending motion of a finger into electric energy to supply power to the inertial sensor assembly and the flexible sensor assembly; and the pressure sensor and the piezoelectric nano generator are arranged at intervals on the same side of the fiber bragg grating sensor.
In one embodiment, the glove further comprises a friction nanometer generator arranged in the back area of the hand inside the glove main body and used for collecting friction static electricity of the skin of the back area of the hand in the bending action process of fingers and converting the friction static electricity into electric energy to supply power to the inertial sensor component and the flexible sensor component.
In one embodiment, the force feedback air bag assembly comprises an air pump, an air pipe and a plurality of air bags which are sleeved on the outer peripheral surface of the air pipe and are arranged at intervals; the air pump inflates or evacuates the air bag through the air pipe, so that pneumatic pressure feedback is provided for fingers of a user when the user performs grabbing actions through the glove main body.
In one embodiment, the air pump further comprises an air flow valve arranged between the air pump and the air pipe; the air flow valve is used for adjusting the flow rate of the air pump for inflating or exhausting the air pipe according to the action amplitude of the user for grabbing actions through the glove main body or the weight of a grabbed object.
Compared with the prior art, the invention has the following beneficial effects:
the application provides a pneumatic feedback manipulator, utilize inertial sensor subassembly and flexible sensor subassembly to detect user's hand gesture data and the crooked gesture data of finger respectively, thereby still combine virtual scene data, control heating plate, vibration motor and force feedback gasbag subassembly respectively provide heat feedback, vibration feedback and pneumatic pressure feedback to parts such as finger or back of the hand, can carry out the interactive in-process of virtual environment with the user and provide omnidirectional temperature and mechanical feedback, improve the authenticity and the comprehensiveness that gloves carried out the feedback.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:
fig. 1 is a schematic diagram of the overall structure of the pneumatic feedback manipulator provided in the present application.
Fig. 2 is a schematic structural view of a glove body of the pneumatic feedback robot shown in fig. 1.
Fig. 3 is a schematic view of the finger sleeve of the pneumatic feedback robot of fig. 1.
Fig. 4 is a schematic structural view of a heater chip of the pneumatic feedback robot shown in fig. 1.
Fig. 5 is a schematic view of the structure of a vibration motor of the pneumatic feedback robot shown in fig. 1.
Fig. 6 is a schematic structural view of a flexible sensor assembly of the pneumatic feedback robot shown in fig. 1.
Fig. 7 is a schematic structural diagram of a friction nanogenerator of the pneumatic feedback manipulator shown in fig. 1.
Fig. 8 is a schematic structural view of a force feedback bladder assembly of the pneumatic feedback robot shown in fig. 1.
Reference numerals are as follows: 10. a glove body; 11. a finger joint part; 12. a back of hand covering section; 13. a palm covering portion; 14. a wrist covering section; 20. a finger card sleeve; 21. a first ferrule body; 22. a second ferrule body; 23. a through hole; 24. a fingertip-receiving hole; 30. a flexible sensor assembly; 31. a fiber grating sensor; 32. a pressure sensor; 33. a piezoelectric nano-generator; 34. rubbing the nano generator; 40. a heating plate; 41. a heat generating member; 42. a signal line; 50. a vibration motor; 60. a force feedback bladder assembly; 61. an air pipe; 62. an air bag.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "comprising" and "having," as well as any variations thereof, in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but may alternatively include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1 to 4, a pneumatic feedback robot according to an embodiment of the present application is provided. The pneumatic feedback robot comprises a glove body 10, a finger cuff 20, an inertial sensor assembly (not shown), a flexible sensor assembly 30, a heater plate 40, a vibration motor 50, a force feedback bladder assembly 60, and a microcontroller (not shown). The microcontroller is connected with the inertial sensor assembly, the flexible sensor assembly 30, the heating plate 40, the vibration motor 50 and the force feedback air bag assembly 60, and is used for controlling the heating plate 40, the vibration motor 50 or the force feedback air bag assembly 60 to respectively generate feedback working states according to at least one of hand posture data detected by the inertial sensor assembly, finger bending posture data detected by the flexible sensor assembly 30 and virtual scene data. The virtual scene data may include, but is not limited to, a state in which the user touches or grasps an object in the virtual environment.
The glove body 10 serves as the main body portion of the pneumatic feedback robot for providing the infrastructure for mounting the other components of the pneumatic feedback robot. The glove body 10 includes five finger-receiving portions 11, a back covering portion 12, a palm covering portion 13, and a wrist covering portion 14 which are integrally connected. After the pneumatic feedback manipulator is worn on the hand of the user, the glove body 10 can completely and comprehensively cover five fingers, a hand back area, a palm area and a wrist area of the hand of the user, provide feedback for different areas of the hand of the user, and improve the comprehensiveness of the feedback of the pneumatic feedback manipulator on the hand of the user.
The finger sleeve 20 is sleeved on the fingertip area of the finger sleeve part 11 for fixedly mounting the inertial sensor assembly, the heating sheet 40 and the vibration motor 50. The finger sleeve 20 may be made of, but not limited to, a rubber material such that the finger sleeve 20 can be removably fitted over the area between the finger-engaging portions 11 to allow the thermal and vibration feedback provided by the heater chip 40 and vibration motor 50, respectively, to be transmitted to the fingertip area of the user's hand in a timely and accurate manner. Finger ferrule 20 comprises first and second ferrule bodies 21, 22 that are integrally formed. The first ferrule body 21 is provided with a fingertip accommodating hole 24, when the finger ferrule 20 is sleeved on the finger sleeve part 11, the fingertip area of the finger sleeve part 11 can be sleeved in the fingertip accommodating hole 24, so that the contact between the fingertip area and the first ferrule body 21 and the mutual fixation between the finger sleeve part 11 and the finger ferrule 20 are realized. The second ferrule body 22 is provided with a through hole 23. One end of the force feedback air bag component 60 is fixedly arranged in the through hole 23 in a penetrating way and is contacted with the finger of the user, so that real-time pneumatic pressure feedback is provided for the back of the hand of the user.
The inertial sensor assembly is disposed within the first ferrule body 21 for detecting hand gesture data of a user. When the hand of the user wears the pneumatic feedback manipulator, the motion of the hand of the user in the real environment and the motion of the virtual hand of the user in the virtual environment form a mapping relation. The hand posture data of the user in the real environment is detected by the inertial sensor assembly, and the hand posture data is led into the virtual environment through a hand data plug-in of the microcontroller, so that a hand posture model of the user is obtained. The hand gesture model can reflect the gesture condition of the virtual hand of the user in the virtual environment.
Inertial sensor assemblies may include, but are not limited to, accelerometers, gyroscopes, and magnetometers. The inertial sensor component can detect the motion acceleration, the motion angular velocity and the geomagnetic induction intensity of the hand of a user in the three-axis direction in real time in the motion process of wearing the pneumatic feedback manipulator on the hand of the user, so that the accuracy of detecting hand posture data is improved.
In addition, a tracker is installed on the wrist covering portion 14 of the glove body 10, and a locator is provided around the real working environment of the pneumatic feedback robot. The tracker is positioned by the positioner, so that the position of the tracker in the range limited by the positioner is matched with the position of a virtual hand in a camera monitoring visual field range of the virtual display equipment in the virtual environment, and the movement and the pose of the hand of the user in the real environment are consistent with the movement and the pose of the virtual hand in the virtual environment in real time. Through the matching, when the real hand of the user acts in the environment, the virtual hand can synchronously and accurately touch or grab the object in the virtual environment.
Referring to fig. 4, a schematic structural diagram of a heater chip of a pneumatic feedback robot according to an embodiment of the present application is shown. The heater chip 40 is arranged in the first ferrule body 21. The heater chip 40 includes a heat generating member 41 and a signal line 42. The signal line 42 is used for connecting the microcontroller and the heating element 41, and transmitting a corresponding control signal to the heating element 41 to control the operating state of the heating element 41. The heat generating member 41 may be, but is not limited to, a semiconductor heat generating member. Alternatively, the heat generating member 41 may have a flat sheet structure, which may also have an area size of 15mm × 10 mm. The area size is matched with the area of the finger pulp of the finger tip of a person, and the heating sheet 40 is guaranteed to perform thermal feedback of full-range coverage on the finger pulp area of the finger tip of the user. The microcontroller controls the operation of the heating patch 40 according to a preset collision function model, which is used to determine whether a virtual hand of a user in the virtual environment touches or leaves an object in the virtual environment.
Specifically, the method comprises the following steps: when it is determined that the virtual hand of the user in the virtual environment touches an object in the virtual environment, the microcontroller determines the finger in the virtual hand, which specifically touches the object, and then sends a start control signal to the heating element 41 of the corresponding finger sleeve 20, so that the heating element 41 is powered on to operate, and at this time, the temperature of the heating element 41 rises, thereby generating corresponding thermal feedback to the finger. When it is determined that the virtual hand of the user in the virtual environment leaves the object in the virtual environment, the microcontroller determines the finger of the virtual hand that specifically leaves the object, and then sends a stop control signal to the heating element 41 of the corresponding finger card sleeve 20, so that the heating element 41 is powered off, and at this time, the temperature of the heating element 41 is reduced, thereby generating corresponding thermal feedback to the finger. In addition, different temperatures can be preset for different objects in the virtual environment, when a virtual hand of a user touches different objects in the virtual environment, the starting control signals sent by the microcontroller to the heating element 41 are different, so that the driving currents applied to the heating element 41 by the signal wire 42 are correspondingly different, the finally raised temperatures of the heating element 41 are different, and the user can obtain thermal feedback of different temperatures when touching different objects in the virtual environment.
Referring to fig. 5, a schematic structural diagram of a vibration motor of a pneumatic feedback robot according to an embodiment of the present application is shown. The vibration motor 50 is snugly arranged on one of the sides of the first ferrule body 21, in particular the side opposite to the finger pulp of the user's finger tip. The vibration motor 50 may have a flat circular structure. Alternatively, the vibration motor 50 has a diameter of 8mm and a thickness of 2 mm. The above-mentioned shape and size ensure that the vibration motor 50 can perform vibration feedback over the full range of the finger pad area of the user's finger tip. The microcontroller controls the operation of the vibration motor 50 according to a preset collision function model for determining whether a virtual hand of a user in the virtual environment touches or leaves an object in the virtual environment.
Specifically, the method comprises the following steps: when it is determined that the virtual hand of the user in the virtual environment touches an object in the virtual environment, the microcontroller determines the finger in the virtual hand that specifically touches the object, and then sends a start control signal to the vibration motor 50 of the corresponding finger card sleeve 20, so that the vibration motor 50 is powered on to work, and at this time, the vibration motor 50 vibrates, thereby generating corresponding vibration feedback to the finger. When it is determined that the virtual hand of the user in the virtual environment leaves the object in the virtual environment, the microcontroller determines the finger of the virtual hand that specifically leaves the object, and then sends a stop control signal to the vibration motor 50 of the corresponding finger card sleeve 20, so that the vibration motor 50 is powered off, and at this time, the vibration motor 50 stops vibrating. In addition, different vibration amplitudes or vibration frequencies can be preset for different objects in the virtual environment, when the virtual hand of the user touches different objects in the virtual environment, the starting control signals sent by the microcontroller to the vibration motor 50 are also different, so that the vibration motor 50 vibrates in different vibration amplitudes or vibration frequencies, and thus, when the user touches different objects in the virtual environment, vibration feedback with different touch senses can be obtained.
Referring to fig. 6, a schematic structural diagram of a flexible sensor assembly of a pneumatic feedback robot according to an embodiment of the present disclosure is shown. The flexible sensor assembly 30 extends along the length of the finger-stall 11 and is disposed inside the finger-stall 11, in contact with a finger, for detecting finger bending gesture data of a user. Optionally, the flexible sensor assembly 30 is extended along the length direction of the finger-stall portion 11 and disposed on the back side of the finger, when the finger of the user performs a bending action, the flexible sensor assembly 30 is synchronously driven to perform the bending action, and the flexible sensor assembly 30 is subjected to bending deformation under the action of the bending action to detect the bending gesture data of the finger.
The flexible sensor assembly 30 may include, but is not limited to, a fiber grating sensor 31, a number of pressure sensors 32, and a number of piezoelectric nanogenerators 33.
The fiber grating sensor 31, which is a main body component of the flexible sensor assembly 30, extends along the length direction of the finger stall 11, is disposed inside the finger stall 11, and is used for detecting finger bending posture data corresponding to the finger bending motion. When a user finger performs a bending action, the fiber grating sensor 31 synchronously generates bending deformation, at the moment, light transmitted inside the fiber grating sensor 31 can be deflected and refracted, and finger bending posture data can be detected by analyzing the deflection and refraction conditions of the light.
The pressure sensors 32 are symmetrically arranged on two sides of the fiber grating sensor 31 and used for detecting stretching and contracting stress data of the fiber grating sensor 31 when a finger bends. When a user finger performs a bending action, the fiber grating sensor 31 is subjected to bending deformation synchronously, and at this time, corresponding internal tensile stress or shrinkage stress exists along the length direction of the fiber grating sensor. Through symmetrically arranging the pressure sensors 32 on the two sides of the fiber grating sensor 31, the stretching and shrinking conditions of the fiber grating sensor 31 can be detected in real time so as to match the detection of the fiber grating sensor 31, and more accurate finger bending posture data can be obtained.
The piezoelectric nano generators 33 are symmetrically arranged on two sides of the fiber bragg grating sensor 31 and are in power supply connection with the inertial sensor assembly and the flexible sensor assembly 30. When the finger of the user bends, the piezoelectric material in the piezoelectric nano-generator 33 is driven to deform and extrude, so that the ions in the piezoelectric material are separated and changed, and thus, charge accumulation is formed on the piezoelectric nano-generator 33. The piezoelectric nanogenerator 33 collects and stores the accumulated charges to form a corresponding power supply source to power the inertial sensor assembly and the flexible sensor assembly 30. The size of the power supply voltage of the power supply is related to the bending amplitude and the bending angle of the finger bending action, when the bending amplitude or the bending angle of the finger bending action is larger, the power supply voltage is also larger, and conversely, the power supply voltage is smaller.
In addition, the pressure sensor 32 and the piezoelectric nanogenerators 33 are arranged at an interval on the same side of the fiber grating sensor 31, so that the pressure sensor 32 can be ensured to accurately detect the tensile stress or the shrinkage stress inside the fiber grating sensor 31, and each piezoelectric nanogenerator 33 can continuously and stably generate power.
Referring to fig. 7, a schematic structural diagram of a friction nanogenerator of a pneumatic feedback manipulator according to an embodiment of the present application is shown. For stable and continuous power supply of the inertial sensor assembly and the flexible sensor assembly 30, a friction nanogenerator 34 may be further provided inside the back-hand covering section 12 of the glove body 10. The friction nano-generator 34 is used for collecting friction static electricity of the skin of the back area of the hand in the process of bending action of the finger, converting the friction static electricity into electric energy and supplying power to the inertial sensor assembly and the flexible sensor assembly 30. Specifically, the skin of the back area of the user's hand has elasticity, and during the bending action of the user's finger, the skin of the back area of the hand stretches and contracts, so that the skin mechanically rubs against the surface of the friction nanogenerator 34. The mechanical friction can enable the nanometer materials on the surface of the nanometer generator 34 to form electrostatic aggregation, and stable power supply electric energy can be obtained after the aggregated static is collected. The magnitude of the power supply voltage of the friction nanogenerator 34 is related to the friction action amplitude and the friction action frequency of the mechanical friction, and when the friction action amplitude or the friction action frequency of the mechanical friction is larger, the power supply voltage is also larger, and conversely, the power supply voltage is smaller.
The piezoelectric nano-generator 33 and the friction nano-generator 34 are arranged to convert mechanical energy of hand motion of a user into electric energy and supply power to the inertial sensor assembly and the flexible sensor assembly 30, thereby forming a self-powered sensor system.
Referring to fig. 8, a schematic structural diagram of a force feedback airbag module of a pneumatic feedback robot according to an embodiment of the present application is shown. The force feedback air bag module 60 extends in the length direction of the finger-stall 11 and is disposed inside the finger-stall 11 for providing pneumatic pressure feedback to the back of the hand. The force feedback air bag assembly 60 includes an air pump (not shown), an air tube 61, and a plurality of air bags 62 disposed at intervals around the outer circumference of the air tube 61. The air pump is used to inflate or deflate the air tube 61, thereby providing pneumatic pressure feedback to the back of the user's fingers when the user performs a gripping action through the glove body 10.
Specifically, when confirming that the virtual hand of the user in the virtual environment grabs the object in the virtual environment, the microcontroller can determine the finger which specifically grabs the object event in the virtual hand first, and then sends an inflation control signal to the air pump of the corresponding finger sleeving part 11, so that the air pump performs inflation work, the air pipe 61 can transfer the air filled by the air pump to the air bag 62, and at the moment, the air bag 62 can expand and become large, and the back of the finger of the user is squeezed, so that corresponding pneumatic pressure feedback is generated. When confirming the virtual hand of user in virtual environment and putting down the object in the virtual environment, microcontroller can confirm at first that the concrete finger that takes place to put down the object incident in the virtual hand sends the control signal that bleeds to the air pump of finger muff coupling portion 11 that corresponds again for the air pump work of bleeding, trachea 61 can extract away the inside air of gasbag 62, and gasbag 62 can dwindle this moment, and corresponding squeezing action to the finger back of the user can diminish, thereby produces corresponding pneumatic pressure feedback.
In addition, an air flow valve (not shown) may be disposed between the air pump and the air tube 61 for adjusting the flow rate of air pumped or inflated by the air pump to the air tube 61 according to the motion range of the user performing the grabbing motion through the glove body 10 or the weight of the object to be grabbed. Specifically, when the virtual hand of the user grabs or puts down objects with different weights in the virtual environment, the microcontroller controls the valve opening of the airflow valve correspondingly. For example, when a virtual hand of a user grabs or puts down an object with a large weight in a virtual environment, the microcontroller instructs the airflow valve to increase the valve opening, so that when the air pump performs an inflation operation or an air suction operation, the corresponding inflation flow rate or air suction flow rate is correspondingly increased, and at the moment, the pneumatic pressure feedback applied to the back of the finger of the user is correspondingly increased. When the virtual hand of the user grabs or puts down an object with smaller weight in the virtual environment, the microcontroller can instruct the airflow valve to reduce the opening degree of the valve, so that the corresponding inflation flow rate or air exhaust flow rate is correspondingly reduced when the air pump performs inflation operation or air exhaust operation, and the feedback of the pneumatic pressure applied to the back of the finger of the user is correspondingly reduced at the moment.
The above is only one embodiment of the present invention, and any other modifications based on the concept of the present invention are considered to be within the scope of the present invention.
Claims (10)
1. A pneumatic feedback robot, comprising:
a glove body (10), the glove body (10) comprising a plurality of finger engaging sections (11);
the finger sleeve clamp (20), the finger sleeve clamp (20) is sleeved on the fingertip area of the finger sleeve joint part (11);
an inertial sensor assembly disposed within the finger sleeve (20) for detecting hand gesture data of a user;
the flexible sensor assembly (30) extends along the length direction of the finger-joint part (11), is arranged inside the finger-joint part (11), and is used for detecting the finger bending gesture data of a user;
a heat patch (40), said heat patch (40) disposed within said finger cuff (20) for providing thermal feedback to a finger;
a vibration motor (50), wherein the vibration motor (50) is arranged at the outer side of the finger sleeve (20) and is used for providing vibration feedback for fingers;
the force feedback air bag assembly (60) extends along the length direction of the finger-stall joint (11), is arranged inside the finger-stall joint (11), and is used for providing pneumatic pressure feedback for fingers;
a microcontroller connected to the inertial sensor assembly, the flexible sensor assembly (30), the heating plate (40), the vibration motor (50), and the force feedback balloon assembly (60) for controlling the respective feedback-producing operating states of the heating plate (40), the vibration motor (50), or the force feedback balloon assembly (60) according to at least one of the hand pose data, the finger bending pose data, and the virtual scene data.
2. Pneumatic feedback manipulator according to claim 1, wherein the finger ferrule (20) comprises a first ferrule body (21) and a second ferrule body (22); the first ferrule body (21) is in contact with a fingertip area of the finger sleeve part (11); the second clamping sleeve main body (22) is provided with a through hole (23), and the force feedback air bag assembly (60) is fixed in the through hole (23).
3. The pneumatic feedback robot of claim 2, wherein the inertial sensor assembly is disposed within the first ferrule body (21); the inertial sensor assembly includes an accelerometer, a gyroscope, and a magnetometer; and the inertial sensor component imports the detected hand gesture data of the user into the microcontroller so as to obtain a hand gesture model of the user.
4. The pneumatic feedback robot of claim 3, further comprising a tracker; the tracker is arranged on a wrist covering part (14) of the glove body (10) and is used for determining the position of a real hand of a user in a range limited by a locator installed in a real environment and matching the determined position with the position of a virtual hand of the user determined in a virtual scene, so that the real hand and the virtual hand are consistent in moving position and posture in real time.
5. Pneumatic feedback manipulator according to claim 2, wherein the heater plate (40) is arranged within the first ferrule body (21); when the finger sleeve (20) where the heating sheet (40) is located is determined to touch an object, electrifying the heating sheet (40) so as to increase the temperature of the heating sheet (40) and generate heat feedback for the finger; when the finger sleeve (20) where the heating plate (40) is located is determined to be away from the object, the heating plate (40) is powered off.
6. Pneumatic feedback manipulator according to claim 2, wherein the vibration motor (50) is arranged on a side of the first ferrule body (21); when the finger sleeve (20) where the vibration motor (50) is located is determined to touch an object, applying a starting signal to the vibration motor (50) to enable the vibration motor (50) to vibrate and generate vibration feedback to a finger tip; when the finger sleeve (20) where the vibration motor (50) is located is determined to be away from the object, a braking signal is applied to the vibration motor (50) to stop the vibration motor (50) from vibrating.
7. The pneumatic feedback manipulator according to claim 2, wherein the flexible sensor assembly (30) comprises a fiber grating sensor (31), the fiber grating sensor (31) extends along the length direction of the finger-joint part (11) and is arranged inside the finger-joint part (11) for detecting finger bending posture data corresponding to the finger bending motion; the pressure sensors (32) are symmetrically arranged on two sides of the fiber grating sensor (31) and are used for detecting stretching and contracting stress data of the fiber grating sensor (31) when fingers bend; the piezoelectric nano generators (33) are symmetrically arranged on two sides of the fiber bragg grating sensor (31) and are used for converting kinetic energy of bending motion of fingers into electric energy and supplying power to the inertial sensor assembly and the flexible sensor assembly (30); the pressure sensor (32) and the piezoelectric nano generator (33) are arranged at intervals on the same side of the fiber bragg grating sensor (31).
8. The pneumatic feedback manipulator as claimed in claim 1, further comprising a friction nanogenerator (34) arranged in the back region of the hand inside the glove body (10) and used for collecting friction static electricity of the skin in the back region of the hand during the bending action of the finger, converting the friction static electricity into electric energy and supplying power to the inertial sensor component and the flexible sensor component (30).
9. The pneumatic feedback manipulator as claimed in claim 2, wherein the force feedback air bag assembly (60) comprises an air pump, an air pipe (61), and a plurality of air bags (62) which are sleeved on the outer circumferential surface of the air pipe (61) and are arranged at intervals; the air pump inflates or deflates the air bag (62) through the air pipe (61), so that pneumatic pressure feedback is provided for the fingers of the user when the user performs grabbing actions through the glove main body (10).
10. The pneumatic feedback robot of claim 9, further comprising an air flow valve disposed between the air pump and the air tube (61); the air flow valve is used for adjusting the flow rate of air inflation or air suction of the air pump to the air pipe (61) according to the action amplitude of grabbing actions performed by a user through the glove main body (10) or the weight of a grabbed object.
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