CN114779943B

CN114779943B - Force feedback glove and control method

Info

Publication number: CN114779943B
Application number: CN202210559868.XA
Authority: CN
Inventors: 薛源; 郭淳
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-05-20
Filing date: 2022-05-20
Publication date: 2023-05-09
Anticipated expiration: 2042-05-20
Also published as: CN114779943A

Abstract

The application discloses a force feedback glove and a control method, comprising the following steps: the glove comprises a glove body and a power module arranged on the glove body; the power module includes: the force output unit is arranged on the glove body; the first end of the pull rope is connected with the output end of the force output unit, and the second end of the pull rope is provided with a connecting part corresponding to the knuckle; the finger part of the glove body is provided with a fixing part corresponding to the knuckle, and traction force is provided for the pull rope through the force output unit so as to limit the knuckle action; the locking structure is arranged on the glove main body and used for fixing or releasing the pull rope; and the tension measuring structure is arranged on the glove body and used for detecting the traction tension conducted by the pull rope when the knuckle is pulled and controlling the unlocking action of the locking structure based on the traction tension. The method and the device realize the technical effect that the more real force feedback is obtained by applying traction force to the finger while synchronously moving the finger and the virtual space.

Description

Force feedback glove and control method

Technical Field

The application relates to the technical field of digital virtualization, in particular to a force feedback glove and a control method.

Background

With the rapid development of digital virtual technologies such as VR and AR, the human-computer interaction means need to be upgraded. At present, the man-machine interaction mode in the digital virtual scene is mainly a traditional handle, and the intelligent glove in a partially innovative form can project the hand gesture of a user in reality into a virtual space so as to execute some actions, such as holding and the like. However, this type of interactive glove can only project the actual motion of the hand into the virtual space, and can not further react according to the hand gesture in the virtual space, thereby forming constraints and force feedback for the hand gesture in reality. The user experience is poor.

Disclosure of Invention

The present disclosure provides a force feedback glove, which solves the problem that an intelligent glove in the related art can only simply project the motion of a hand into a virtual space, but cannot limit the motion of a real hand according to the motion of the hand in the virtual space, so that the hand of a user cannot obtain feedback matching the motion in the virtual space.

To achieve the above object, the present application provides a force feedback glove comprising: the glove comprises a glove body and a power module arranged on the glove body;

the power module includes:

the force output unit is arranged on the glove main body;

the first end of the pull rope is connected with the output end of the force output unit, and the second end of the pull rope is provided with a connecting part corresponding to the knuckle;

the finger parts of the glove body are provided with fixing parts corresponding to the knuckles, the corresponding connecting parts are fixedly connected with the corresponding fixing parts, and traction force is provided for the pull rope through the force output unit so as to limit the knuckle action;

the locking structure is arranged on the glove main body and used for fixing or releasing the pull rope;

the tension measuring structure is arranged on the glove main body and is used for detecting traction tension conducted by the pull rope when the knuckle is pulled and controlling unlocking action of the locking structure based on the traction tension;

The force output unit may maintain the pulling rope in a straightened state based on the pulling force.

Further, each force output unit corresponds to a group of pull ropes, and the number of each group of pull ropes corresponds to the number of knuckles of the corresponding finger part;

the locking structure comprises a rotating piece and a first locking block;

the rotating piece can be driven to rotate, the number of the first locking blocks corresponds to that of the pull ropes, and first clamping grooves for locking the pull ropes are formed in the first locking blocks;

the first locking blocks are distributed along the circumferential direction of the rotating piece, and the intervals between the first clamping grooves on different first locking blocks and the pull ropes are gradually increased along the first rotating direction of the rotating piece, so that a plurality of pull ropes can be sequentially locked or sequentially released along with the rotation of the rotating piece;

the locking sequence of the pull rope is the same as the outwards distributed sequence of the knuckles connected with the pull rope on the finger part.

Further, the locking structure comprises a push rod and a push plate;

the push plate is arranged at the end part of the push rod, and the push rod can be driven and drives the push plate to move bidirectionally so as to realize the tight or release of the pull rope.

Further, the glove comprises a shell arranged on the glove body, a mounting frame is arranged in the shell, and the force output unit and the locking structure are arranged on the mounting frame;

the locking structure further comprises a fixing piece, the pull rope penetrates through the fixing piece, and the fixing piece is fixedly arranged on the mounting frame.

Further, the force output unit comprises a screw motor arranged in the shell and a first sliding block driven by the screw motor to linearly move;

the first end of the pull rope is fixedly connected with the first sliding block and distributed along the circumferential direction of the first sliding block.

Further, the screw rod motor is fixedly arranged on the mounting frame;

the locking structure further comprises a rotating motor, and the rotating motor is fixedly arranged on the mounting frame and is in transmission connection with the rotating piece;

the screw rod motor is in threaded connection with the first sliding block through a screw rod, and the first sliding block is in sliding connection with the shell and limits the rotational freedom degree of the first sliding block through the shell.

Further, the force output unit comprises a spring and a second sliding block which are arranged in the shell;

the first end of the spring is fixedly connected with the second sliding block, and the second end of the spring is fixedly connected with the mounting frame;

The first end of the pull rope is fixedly connected with the second sliding block and distributed along the circumferential direction of the first sliding block.

Further, the mounting frame is in sliding connection with the shell, and a cover body is fixedly arranged at the end part of the shell;

a pressure measuring elastic piece is arranged between the mounting frame and the cover body, and the mounting frame can move towards the cover body under the traction action of fingers and compress the pressure measuring elastic piece;

the tension measuring structure is a film type pressure sensor fixed at one end of the mounting frame, which faces the cover body; the cover body is provided with towards one side of mounting bracket towards film type pressure sensor convex pressure part.

Further, the force output unit further comprises a guide shaft arranged in the shell, and one end of the guide shaft is fixedly connected with the mounting frame;

the mounting frame is in sliding connection with the shell, and a cover body is fixedly arranged at the end part of the shell;

the tension measuring structure is a film type pressure sensor, and the film type pressure sensor is fixedly arranged at one end of the guide shaft, which is far away from the cover body;

the detection end of the film type pressure sensor is provided with a tension spring which is fixedly connected with the end face of the shell.

Further, the power modules are arranged in at least two groups, one group of the power modules corresponds to the finger parts of the glove main body, and the second ends of the pull ropes of the other group of the power modules are fixedly connected with the wrist parts of the glove main body and are used for restraining and feeding back the movement of the hand parts of the glove main body.

Further, the glove main body is also provided with a control module, a communication module, a positioning sensor, a vibration feedback device and a power module;

the control module is electrically connected with the tension measuring structure and the screw motor and is electrically connected with the driving mechanism of the locking structure;

the control module can receive the tension data detected by the tension measuring structure and control the action of the screw motor so as to enable the pull rope to be always in a stretched state;

the control module can receive a control instruction of the upper computer through the communication module so as to enable the locking structure to execute locking and releasing actions on the pull rope;

the control module can receive the tension data detected by the tension measuring structure and enable the locking structure to execute unlocking action on the pull rope;

the positioning sensor is used for acquiring the space position variation and the rotation angle of the glove main body;

The control module can calculate the hand gesture based on the tension data detected by the tension measuring structure, the motion data of the screw motor, the space position variation and the rotation angle of the glove main body, and synchronize the hand gesture to the upper computer;

the vibration feedback device can drive the glove body to vibrate in a controlled manner.

According to another aspect of the present application, there is provided a control method of a force feedback glove, using the force feedback glove, including the steps of:

projecting the finger gesture into the virtual space to form a virtual finger, wherein the force output unit can apply traction tension to the pull rope in the process of changing the finger gesture so as to keep the pull rope in a straightened state;

acquiring the position relation between a virtual finger and an object to be touched in a virtual space;

when the virtual finger is in contact with an object to be touched, the locking structure is controlled to act so as to lock a pull rope on the finger corresponding to the virtual finger, so that the finger cannot be bent further;

when the pull rope is in a locking state, the traction pulling force of the pull rope is obtained in real time, and when the traction pulling force is reduced to a first release set value or increased to a second release set value, the locking structure is controlled to perform unlocking action on the pull rope.

Further, when the virtual finger contacts with the object to be touched, the pull rope on the finger corresponding to the virtual finger is locked by controlling the locking structure to make the finger unable to be further bent, specifically:

judging whether to make elastic feedback based on physical properties of the object to be touched in the virtual space when the virtual finger is in contact with the object to be touched or when the virtual finger is close to the object to be touched;

the elastic feedback is that after the virtual finger generates pressure to the object to be touched, the object to be touched generates elastic deformation and generates a reaction force to the virtual finger;

when elastic feedback is needed to be made and the virtual finger is in contact with an object to be touched, controlling the force output unit to pull the pull rope, and outputting the traction force conforming to elastic setting;

when elastic feedback is not needed to be made and the virtual finger is in contact with an object to be touched, the pull rope on the finger corresponding to the virtual finger is locked by controlling the locking structure to enable the knuckle to be incapable of being bent further.

Further, when the traction tension is reduced to the first release set value, the locking structure is controlled to perform unlocking action on the pull rope, specifically:

when the traction tension is reduced to a first release set value, judging whether a knuckle corresponding to the traction tension in the virtual space is separated from an object to be touched, and if so, controlling a locking structure to execute unlocking action on the pull rope.

Further, the second release setting value is a pressure value required for breaking through the boundary obstruction of the object to be touched in the virtual space;

and when the traction tension is increased to a second release set value, controlling the locking structure to perform unlocking action on the pull rope so that the corresponding knuckle can be continuously bent, simultaneously sending a control signal breaking through the boundary to the upper computer, and displaying the content breaking through the boundary of the object to be touched in the virtual space by the upper computer based on the control signal.

In the embodiment of the application, a glove main body and a power module arranged on the glove main body are arranged; the power module includes: the force output unit is arranged on the glove body; the first end of the pull rope is connected with the output end of the force output unit, and the second end of the pull rope is provided with a connecting part corresponding to the knuckle; the finger parts of the glove body are provided with fixing parts corresponding to the knuckles, the corresponding connecting parts are fixedly connected with the corresponding fixing parts, and traction force is provided for the pull rope through the force output unit so as to limit the knuckle action; the locking structure is arranged on the glove body and used for fixing or releasing the pull rope; the tension measuring structure is arranged on the glove body and is used for detecting traction tension conducted by the pull rope when the knuckle is pulled and controlling unlocking action of the locking structure based on the traction tension, so that the purpose that the force output unit applies corresponding traction force to the pull rope based on action executed by a finger in a virtual space to limit finger action in reality of a user is achieved.

In the process, the pulling rope is fixed by the locking structure to enable the finger to act currently while being subjected to the pulling force, the pulling force measuring structure detects the pulling force of the pulling rope in real time, the locking structure is controlled to release the pulling rope to enable the finger to act further when the pulling force is larger than a specific set value, and the locking structure is controlled to release the pulling rope and the force output unit pulls the pulling rope to enable the pulling rope to be tensioned when the pulling force is smaller than another specific set value. The technical effect of enabling the finger to synchronously act with the virtual space and simultaneously obtaining more real force feedback by applying traction force opposite to the movement direction to the finger is achieved. The problem that the interactive glove in the related art can only simply project the actual actions of the fingers into the virtual space, but cannot limit the actions of the actual fingers according to the actions of the fingers in the virtual space, so that the fingers of a user cannot obtain feedback matched with the actions in the virtual space is solved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the application and to provide a further understanding of the application with regard to the other features, objects and advantages of the application. The drawings of the illustrative embodiments of the present application and their descriptions are for the purpose of illustrating the present application and are not to be construed as unduly limiting the present application. In the drawings:

FIG. 1 is a schematic diagram of a structure according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a force output unit according to an embodiment of the present application;

FIG. 3 is a partial side view of FIG. 2;

FIG. 4 is a schematic view of another force output unit according to an embodiment of the present application;

FIG. 5 is a partial side view of FIG. 4;

FIG. 6 is a schematic view of a locking structure according to an embodiment of the present application;

FIG. 7 is a side view of the locking structure of FIG. 6;

FIG. 8 is a schematic structural view of a locking structure according to another embodiment of the present application;

FIG. 9 is a schematic view of another locking structure according to an embodiment of the present application;

FIG. 10 is a schematic view of a construction of another force output unit according to an embodiment of the present application;

FIG. 11 is a schematic diagram of another force output unit according to an embodiment of the present application;

the glove comprises a glove body 1, a force output unit 2, a shell 21, a first sliding block 22, a screw rod 23, a screw rod motor 24, a mounting frame 25, a locking structure 26, a fixed part 261, a rotating part 262, a push plate 263, a first locking block 264, a first clamping groove 265, a second locking block 267, a second clamping groove 268, a tension measuring structure 27, a pressure measuring elastic part 271, a tension spring 272, a pressure applying part 273, a film type 274 pressure sensor 201, a spring 28, a guide shaft 29, a second sliding block 3 wrist part 4, a communication module 5, a control module 6, a vibration feedback device 7, a positioning sensor 8, a pull rope 9, a fixed part 10, a connecting part 11 and a cover 12.

Detailed Description

In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein.

In the present application, the terms "upper", "lower", "inner", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings. These terms are used primarily to better describe the present application and its embodiments and are not intended to limit the indicated device, element or component to a particular orientation or to be constructed and operated in a particular orientation.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

In addition, the term "plurality" shall mean two as well as more than two.

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In the field of virtual interaction, the current interaction mode is single, and in some interaction scenes, a user can project a real hand gesture into a virtual space through an interaction glove so as to execute some actions, such as holding. However, this type of interactive glove can only simply project the actual motion of the finger into the virtual space, but cannot limit the motion of the actual finger according to the motion of the finger in the virtual space, so that the user's finger cannot obtain feedback matching the motion in the virtual space, and the user experience is poor.

To solve the above problems, as shown in fig. 1 to 3, the embodiment of the present application provides a force feedback glove, including: the glove comprises a glove body 1 and a power module arranged on the glove body 1;

the power module includes:

a force output unit 2 provided on the glove body 1;

a pull rope 8, wherein a first end of the pull rope 8 is connected with the output end of the force output unit 2, and a second end is provided with a connecting part 11 corresponding to the knuckle;

the finger part 9 of the glove body 1 is provided with a fixing part 10 corresponding to the knuckle, the corresponding connecting part 11 is fixedly connected with the corresponding fixing part 10, and traction force is provided for the pull rope 8 through the force output unit 2 so as to limit the knuckle action;

the locking structure 26 is arranged on the glove body 1 and is used for fixing or releasing the pull rope 8;

the tension measuring structure 27 is arranged on the glove body 1 and is used for detecting the traction tension conducted by the pull rope 8 when the knuckle is pulled and controlling the unlocking action of the locking structure 26 based on the traction tension;

the force output unit 2 can keep the pulling rope 8 in a straightened state based on the pulling force.

In this embodiment, the force feedback glove is mainly composed of a glove body 1 and a power module, the glove body 1 being wearable on a user's hand, having a palm portion and a finger portion 9 matching the hand. The power module is mounted on the back of the glove body 1, and is used for applying external force to the finger part 9 of the glove body 1 and further applying traction force to the finger part 9 after wearing the glove body 1.

Specifically, as shown in fig. 1 and 2, the power module is composed of four parts of a force output unit 2, a pull rope 8, a locking structure 26 and a tension measuring structure 27. The force output unit 2 is connected to the pulling rope 8 for applying a pulling force to the pulling rope 8, and the force output unit 2 can apply a pulling force to the pulling rope 8 by means of a linear motion or a rotational motion, which is not limited in this embodiment. In order to facilitate the connection between the pull rope 8 and the glove body 1, in this embodiment, a connection portion 11 corresponding to a knuckle is provided at the second end of the pull rope 8, and a fixing portion 10 corresponding to a knuckle is provided at the finger portion 9 of the glove body 1, when the connection portion 11 of the pull rope 8 is connected to the fixing portion 10 of the glove body 1, the pull rope 8 can pull the finger, and in this embodiment, one finger can correspond to a plurality of pull ropes 8 or one pull rope 8.

When the user wears the glove body 1 and applies a pulling force to the pulling rope 8 by the force output unit 2, the pulling rope 8 can apply a pulling force to the finger portion 9 of the glove body 1 and further apply a pulling force to the corresponding finger to restrict the knuckle motion. There are two types of restriction actions for the knuckle, one is to completely restrict further bending of the knuckle, which action is achieved by the locking structure 26 locking the pull cord 8 so that the pull cord 8 cannot move further under traction of the force output unit 2 or the finger, and thus the bending action of the finger can be maintained. Alternatively, the knuckle may be opened and bent within a certain range (elasticity simulation, corresponding to holding an object with elasticity in a virtual space), and when performing this action, the command of the host computer needs to be combined, and the force output unit 2 obtains a command that the elasticity is effective and the elasticity coefficient value needs to be simulated. In this operation, the lock structure 26 does not lock the pull cord 8, but applies a pulling force to the pull cord 8 by the force output unit 2, the pulling force being a reaction force acting on the finger when the elastic body is deformed in the virtual space.

The tension measuring structure 27 is used for detecting the traction tension between the pull rope 8 and the knuckle in real time, and when a real finger acts freely, the traction tension is generated to the pull rope 8. Specifically, when the finger has a bending tendency, a pulling force is applied to the pulling rope 8, and at this time, the force output unit 2 controls the pulling rope 8 to further release the pulling rope based on the pulling force, so as to match with the further bending of the finger, so that the pulling rope 8 always maintains a straightened state and always applies a certain pulling force to the finger.

When the fingers are gradually unfolded, the traction pulling force of the pull rope 8 is gradually reduced, and at the moment, the force output unit 2 controls the pull rope 8 to further tighten the pull rope based on the change of the traction pulling force so as to be matched with the fingers to be further unfolded, so that the pull rope 8 always keeps a straightened state and always applies a certain pulling force to the fingers.

When the glove body 1 is applied in a virtual scene, the actual finger movements are synchronized with the finger movements in the virtual space, and when the finger holds a certain object in the virtual space, the finger presents a fixed posture, and at this time, the posture of the finger in reality should also be limited to be the same as the posture of the finger in the virtual space, i.e. the finger cannot be further bent to hold. At this time, the locking structure 26 will act and fix the pull rope 8, and the force output unit 2 will not drive the pull rope 8 to move any further, so that the pull rope 8 cannot move further, i.e. the finger cannot bend further.

In this case, if the finger has a need for further movement, the user can actively control the finger bending and apply a certain pulling force to the pull cord 8, during which the pulling force measuring structure 27 detects the pulling force in real time. When the pulling force is greater than a specific set value, the control locking structure 26 releases the pull rope 8, so that the pull rope 8 can move freely and keep straight under the action of the force output unit 2, i.e. the finger can be further bent. The finger action can be projected into the virtual space, and the method can be specifically represented by crushing a certain object or opening a certain object after applying force. In this embodiment, the mode of projecting the gesture of the real finger into the virtual space may be implemented by using an existing virtual projection device or a related positioning technology and device, or may also be implemented by using the control module in this embodiment to perform motion calculation on the pull rope 8 pulled by the power module, so as to reversely push out the gesture of the finger, and cooperate with the positioning sensor and the communication module to synchronize the gesture of the hand to the upper computer.

The present embodiment achieves the object of applying a corresponding traction force to the pull cord 8 by the force output unit 2 based on the action performed by the finger in the virtual space to limit the finger action in the user's reality.

In the process, the pulling rope 8 is fixed by the locking structure 26 to enable the fingers to be subjected to traction while keeping the current action, the pulling force of the pulling rope 8 is detected in real time by the pulling force measuring structure 27, the locking structure 26 is controlled to release the pulling rope 8 when the pulling force is larger than a specific set value so that the fingers can further act, and the locking structure 26 is controlled to release the pulling rope 8 when the pulling force is smaller than another specific set value so that the force output unit tightens the pulling rope.

The method and the device realize the technical effect that the more real force feedback is obtained by applying the traction force opposite to the movement direction to the finger while synchronously moving the finger and the virtual space. The problem that the interactive glove in the related art can only simply project the actual actions of the fingers into the virtual space, but cannot limit the actions of the actual fingers according to the actions of the fingers in the virtual space, so that the fingers of a user cannot obtain feedback matched with the actions in the virtual space is solved.

Because a finger has a plurality of knuckles, different knuckles can have different bending angles, so in order to make the action of the finger more flexible, a pulling force needs to be applied to each knuckle independently, and for this embodiment, the number of the set pull ropes 8 is the same as the number of the knuckles of the corresponding finger. Specific:

As shown in fig. 2, 6 and 7, each force output unit 2 corresponds to a set of strings 8, and the number of strings 8 in each set corresponds to the number of knuckles of the corresponding finger portion 9;

the locking structure 26 includes a rotating member 262 and a first locking block 264;

the rotating piece 262 can be driven to rotate, the number of the first locking blocks 264 corresponds to that of the pull ropes 8, and the first locking blocks 264 are provided with first clamping grooves 265 for locking the pull ropes 8;

the first locking blocks 264 are distributed along the circumferential direction of the rotating member 262, and the intervals between the first clamping grooves 265 on different first locking blocks 264 and the pull ropes 8 are gradually increased along the first rotating direction of the rotating member 262, so that the pull ropes 8 can be sequentially locked or sequentially released along with the rotation of the rotating member 262;

the locking sequence of the pull rope 8 is the same as the sequence in which the knuckles connected with the pull rope 8 are distributed outwards on the finger part 9.

In this embodiment, the number of the force output units 2 corresponds to the number of fingers, that is, at least five force output units 2 are provided on the glove body 1, each force output unit 2 corresponds to a group of pull ropes 8, and the number of each group of pull ropes 8 corresponds to the number of knuckles of the corresponding fingers, that is, for fingers other than thumbs, three pull ropes 8 are provided, and two thumbs are provided. Three pull cords 8 are taken as an example for explanation here:

The first ends of the three pull ropes 8 are fixed on the output end of the force output unit 2, the second ends of the first pull ropes 8 are connected with the fixing parts 10 corresponding to the first knuckles on the glove main body 1, the second ends of the second pull ropes 8 are connected with the fixing parts 10 corresponding to the second knuckles on the glove main body 1, and the second ends of the third pull ropes 8 are connected with the fixing parts 10 corresponding to the third knuckles on the glove main body 1. The first knuckle, the second knuckle and the third knuckle are knuckles extending outward from the palm in sequence, respectively.

In this embodiment, different knuckle movements will drive different pull ropes 8 to move, so in order to facilitate the pull ropes 8 to move along with the knuckle movements, the fixing portion 10 provided on the glove body 1 in this embodiment is a fixing piece, rope threading channels are provided on the fixing piece, three rope threading channels can be provided, the second end of the first pull rope 8 is fixed in the first rope threading channel on the first fixing portion 10, the second end of the second pull rope 8 passes through the second rope threading channel on the first fixing portion 10 and then is fixed in the second rope threading channel on the second fixing portion 10, and the second end of the third pull rope 8 sequentially passes through the first fixing portion 10 and the third rope threading channel on the second fixing portion 10 and then is fixed in the third rope threading channel on the third fixing portion 10.

For the second pull cord 8, the second cord passage on the first fixing portion 10 only serves as a restraint for the pull cord 8, and the pull cord 8 is freely movable in the cord passage. For the third pull cord 8, the third rope penetrating channels on the first fixing portion 10 and the second fixing portion 10 only play a role in restraining the pull cord 8, and the pull cord 8 can also freely move in the two rope penetrating channels.

Since different knuckles can have different bending angles, and the different knuckles are restrained by different pull ropes 8, and all the pull ropes 8 are intensively fixed on the output end of the same force output unit 2, the single pull rope 8 needs to be restrained to realize the restraint of the single knuckle. For this purpose, the present embodiment provides the locking structure 26 as a multi-stage locking structure 26, enabling sequential locking of the three pull cords 8. Specifically, the locking structure 26 is composed of a rotating member 262 and first locking blocks 264, where the number of the first locking blocks 264 corresponds to that of the pull ropes 8, in this embodiment, three first locking blocks 264 are provided with first clamping grooves 265 capable of locking the pull ropes 8. The first locking piece 264 distributes in one side of stay cord 8, drives first locking piece 264 synchronous revolution through rotating member 262 rotation and makes first locking piece 264 be close to stay cord 8 and makes stay cord 8 card in first draw-in groove 265 to make stay cord 8 unable the continuation remove, realize the constraint to the knuckle.

In some use environments, the time to constrain different knuckles is different, for example, the knuckle near the palm portion (first knuckle) needs to be constrained first, the middle knuckle (second knuckle) is constrained later, and the end knuckle (third knuckle) is constrained later. For this reason, in the present embodiment, the three pull ropes 8 are different from the corresponding first lock block 264 in terms of the distance therebetween, the pull rope 8 (first pull rope 8) corresponding to the first knuckle is smallest in terms of the distance therebetween, the pull rope 8 (second pull rope 8) corresponding to the second knuckle is slightly larger in terms of the distance therebetween, and the pull rope 8 (third pull rope 8) corresponding to the third knuckle is largest in terms of the distance therebetween with respect to the corresponding first lock block 264. When the rotating member 262 drives the three first locking blocks 264 to rotate synchronously, the first pull ropes 8 are locked in the corresponding first clamping grooves 265, and the second pull ropes 8 and the third pull ropes 8 can be locked in the corresponding first clamping grooves 265 sequentially along with the continuous rotation of the rotating member 262.

After the first locking block 264 locks the first pull rope 8, the first knuckle cannot continue to bend, at this time, the second knuckle and the third knuckle can still bend freely, and in the bending process of the second knuckle and the third knuckle, the output end of the force output unit 2 will drive the first ends of the three pull ropes 8 to move continuously. In this process, the second pull rope 8 and the third pull rope 8 are in a straightened state, while the first pull rope 8 is in a bent state due to being locked, and the portion between the first locking block 264 and the force output unit 2 is still in a straightened state due to the bending tension of the finger.

When the locking structure 26 in the above embodiment is used to lock and release the pull rope 8, only the first knuckle, the second knuckle and the third knuckle can be locked in order, and certain limitations still exist in use. This embodiment therefore provides a further improvement to the locking structure 26:

as shown in fig. 8, second locking blocks 267 corresponding to the first locking blocks 264 are provided in the circumferential direction of the rotary member 262, and accordingly, the second locking blocks 267 are also provided in three. Adjacent first locking block 264 and second locking block 267 are respectively located at two sides of pull rope 8, and second locking block 267 is provided with a second clamping groove 268 facing pull rope 8. The spacing between the second locking grooves 268 on the different second locking blocks 267 and the pull ropes 8 gradually increases along the second rotation direction of the rotating member 262, so that the plurality of pull ropes 8 can be sequentially locked or sequentially released along with the rotation of the rotating member 262; the locking sequence of the pull rope 8 is opposite to the outwards distribution sequence of the knuckles connected with the pull rope 8 on the finger part 9, and the second rotation direction is opposite to the first rotation direction.

By the locking structure 26 in this embodiment, the rotatable member 262 is controlled to rotate in the second rotation direction, so that the pull rope 8 corresponding to the third knuckle is locked first, then the pull rope 8 corresponding to the second knuckle is locked, and finally the pull rope 8 corresponding to the first knuckle is locked. The rotatable member 262 is also controllable to rotate in a first rotational direction such that the pull cord 8 corresponding to the first knuckle is locked first, then the pull cord 8 corresponding to the second knuckle is locked, and finally the pull cord 8 corresponding to the third knuckle is locked first. The flexibility of the force feedback glove of the present application in restraining and feedback the knuckle is further enhanced by the locking structure 26. In some use environments, multiple stages of locking of multiple pull ropes 8 are not needed, and synchronous locking of each pull rope 8 is only needed more simply (namely, a single-stage locking structure 26 shown in fig. 9). Thus, in this embodiment, the locking structure 26 includes a push rod and push plate 263; the push plate 263 is disposed at an end of the push rod, and the push rod can be driven to drive the push plate 263 to move bidirectionally, so as to realize the tight or release of the pull rope 8. When the pull rope 8 is abutted by the push plate, the pull rope 8 passes through the baffle or the fixed plate by means of a baffle or the fixed plate, and the push rod moves towards the baffle or the fixed plate to push the pull rope 8 to bend and abut the pull rope 8 on the baffle or the fixed plate.

As shown in fig. 2 and 3, in order to facilitate the integrated installation of the force output unit 2 and the locking structure 26, the force feedback glove in this embodiment further includes a housing 21 provided on the glove body 1, a mounting bracket 25 is provided in the housing 21, and the force output unit 2 and the locking structure 26 are both provided on the mounting bracket 25; the locking structure 26 further comprises a fixing piece 261, the pull rope 8 penetrates through the fixing piece 261, and the fixing piece 261 is fixedly arranged on the mounting frame 25.

As shown in fig. 9, for the single-stage locking structure 26, the pull rope 8 passes through the fixed member 261 in this embodiment, and the push rod moves toward the fixed member 261 to press the pull rope 8 against the fixed member 261 during locking, and the fixed member 261 may be a baffle structure. The mounting frame 25 is a frame structure, which may have various forms, and the present embodiment is not limited thereto.

The force output unit 2 plays a role in the force feedback glove in the present application in that a certain pulling force is applied to the pull rope 8 to make the pull rope 8 in a straightened state when being locked, so that a structure of the force output unit 2 will be specifically described in this embodiment:

as shown in fig. 2 and 3, the force output unit 2 includes a screw motor 24 provided in the housing 21 and a first slider 22 driven by the screw motor 24 to move linearly; the first end of the pull rope 8 is fixedly connected with the first sliding block 22 and distributed along the circumferential direction of the first sliding block 22. The screw motor 24 is fixedly arranged on the mounting frame 25; the locking structure 26 further comprises a rotating motor which is fixedly arranged on the mounting frame 25 and is in transmission connection with the rotating member 262; the screw motor 24 is screwed to the first slider 22 through the screw 23, and the first slider 22 is slidably connected to the housing 21 and the rotational degree of freedom of the first slider 22 is restricted by the housing 21.

In this embodiment, the first slider 22 is driven to linearly move by the rotation of the screw 23 driven by the screw motor 24, when the finger is bent, the pull rope 8 is driven to move outwards, at this time, the screw motor 24 drives the first slider 22 to move outwards, when the first slider 22 is controlled to move outwards, the pull rope 8 can move along with the bending of the finger, and when the screw motor 24 is controlled to stop rotating, the first slider 22 can not move along with the first slider, that is, the pull rope 8 can not move, so that the bending action of the finger is restrained, and further bending cannot be performed.

For the installation of the locking structure 26, as shown in fig. 3, the rotating member 262 in the multi-stage locking structure 26 is driven by a rotating motor mounted on the mounting frame 25, and as shown in fig. 9, the push rod in the single-stage locking structure 26 is driven by a linear motor or an electromagnetic push rod mounted on the mounting frame 25.

Since the lead screw motor 24 in this embodiment can actively drive the first slider 22 to reciprocate linearly, during the movement of the finger, the lead screw motor 24 can drive the first slider 22 to move forward along with the bending of the finger to release the pull rope 8, and can also drive the first slider 22 to move reversely, actively pull the finger through the pull rope 8 to spread a certain angle, so as to simulate the environment that the finger holds an elastic object and is rebounded.

It will be appreciated that in a non-bouncing environment, the greater the extent of bending of the finger, the greater the deformation of the elastic object in contact, with a consequent increase in the reaction force of the elastic object against the finger, and therefore the reaction force generated by the object can be counteracted by increasing the gripping force when contacting this type of elastic object, and therefore in this environment the lead screw motor increases the traction tension on the pull cord 8 by movement.

In another embodiment, as shown in fig. 4, 5, 10 and 11, the force output unit 2 includes a spring 201 and a second slider 29 provided in the housing 21; the first end of the spring 201 is fixedly connected with the second sliding block 29, and the second end is fixedly connected with the mounting frame 25; the first end of the pull rope 8 is fixedly connected with the second slider 29 and distributed along the circumferential direction of the first slider 22.

In the present embodiment, the restraining force of the pull cord 8 is provided by the spring 201, and when the finger bends, the second slider 29 is pulled by the pull cord 8 to slide in the housing 21 and compress the spring 201, and the pull cord 8 is kept in a straightened state by the spring 201, and in the present embodiment, the second slider 29 may be guided by the housing 21 or by separately providing the guide shaft 28, and the present embodiment is not limited.

When the force output unit 2 adopts the lead screw motor 24 to match with the first sliding block 22 to realize constraint on the pull rope 8, a certain traction pulling force is applied to the pull rope 8 when the finger has an active bending trend, and at the moment, the lead screw motor 24 needs to match with the movement trend of the pull rope 8 to drive the first sliding block 22 to move, so that the pull rope 8 can move along with the bending of the finger. However, since the movement of the first slider 22 by the lead screw motor 24 is delayed, a certain time buffer is required for the pull cord 8 to be provided in order to allow the pull cord 8 to move along with the bending of the finger in time.

For this purpose, as shown in fig. 3, the mounting frame 25 in the present embodiment is slidably connected to the housing 21, and the end of the housing 21 is fixedly provided with the cover 12; a pressure measuring elastic piece 271 is arranged between the mounting frame 25 and the cover body 12, and the mounting frame 25 can move towards the cover body 12 under the traction action of fingers and compress the pressure measuring elastic piece 271; the tension measuring structure 27 is provided as a film-type pressure sensor 274 fixed to an end of the mounting bracket 25 facing the cover 12; the side of the cover 12 facing the mount frame 25 is provided with a pressing portion 273 protruding toward the film-type pressure sensor 274.

When the finger is actively bent, a traction force is applied to the pull rope 8, at this time, the screw motor cannot drive the first slider 22 to linearly move to adapt to the movement of the pull rope 8 due to hysteresis, and because the screw motor is integrated on the mounting frame 25, the traction force applied to the pull rope 8 is applied to the mounting frame 25, so that the mounting frame 25 can face the cover body in the housing 21 and compress the pressure measuring elastic piece 271, and the pressure measuring elastic piece 271 provides time buffering, where the pressure measuring elastic piece 271 can be a spring or an elastic piece. The pressing portion 273 on the cover 12 in this process continues to apply pressure to the detection end of the film-type pressure sensor 274 with continued movement of the mount 25. The pressing portion 273 may be provided in a hemispherical structure. It is understood that the positions of the pressing portion 273 and the film-type pressure sensor 274 may be interchanged.

The output of the lead screw motor 24 can be controlled according to the pressure change value detected by the film type pressure sensor 274, so that the pull rope 8 can be always in a stretched state when being unlocked. When the environment that the finger holds the object with elasticity is simulated, the pulling force of the pull rope 8 detected by the film type pressure sensor can also reflect whether the pulling force applied to the current finger meets the requirement of the system.

As shown in fig. 4, 10 and 11, for the structure in which the force output unit 2 is a spring 201, the pressure measuring elastic member 271 and the film-type pressure sensor in the above-described embodiment may still be used to detect the pulling force of the pull cord 8 due to the bending of the finger.

As shown in fig. 11, the force output unit 2 further includes a guide shaft 28 provided in the housing 21, one end of the guide shaft 28 being fixedly connected with the mounting bracket 25;

the mounting bracket 25 is in sliding connection with the shell 21, and the end part of the shell 21 is fixedly provided with the cover body 12;

the tension measuring structure 27 is provided with a film type pressure sensor which is fixedly arranged at one end of the guide shaft 28 far away from the cover body 12;

the detection end of the film-type pressure sensor is provided with a tension spring 272, and the tension spring 272 is fixedly connected with the end face of the shell 21.

The finger motion handles the bending of the knuckle and also includes the motion of the wrist after receiving the gravity, so the glove body 1 in this embodiment includes a portion extending to the wrist portion 3, and the power modules are arranged in at least two groups, wherein one group of the power modules corresponds to the finger portion of the glove body, and the number of the power modules in the portion can be five, and the power modules respectively correspond to the five finger portions 9 of the glove body 1, so that the restriction and feedback of the bending motion of the finger are realized. Another group of power modules can be arranged in three to four and distributed along the circumferential direction of the wrist, and the second ends of the pull ropes of the power modules are fixedly connected with the wrist of the glove body and are used for restraining and feeding back the motion of the hand relative to the wrist.

As shown in fig. 1, the glove body 1 is further provided with a control module 5, a communication module 4, a positioning sensor 7, a vibration feedback device 6, a power module, a charging interface and a debugging interface;

the control module 5 is electrically connected with the tension measuring structure 27 and the screw motor 24 and is electrically connected with a driving mechanism of the locking structure 26;

the control module 5 can receive the tension data detected by the tension measuring structure 27 and control the action of the screw motor so as to keep the pull rope 8 in a straightened state all the time;

the control module 5 can receive a control instruction of the upper computer through the communication module 4 so that the locking structure 26 performs locking and releasing actions on the pull rope 8;

the control module 5 can receive the tension data detected by the tension measuring structure 27 and enable the locking structure 26 to execute unlocking action on the pull rope 8, and meanwhile, a control signal is transmitted to the upper computer through the communication module 4;

when the tension measuring structure 27 detects that the traction force of the pull rope 8 exceeds a set tension value range, the locking structure 26 is controlled to execute unlocking action on the pull rope 8;

the positioning sensor 7 is used for acquiring the space position variation and the rotation angle of the glove body 1;

the control module 5 can calculate the hand gesture based on the tension data detected by the tension measuring structure 27, the motion data of the screw motor 24, the space position variation and the rotation angle of the glove body 1, and synchronize the hand gesture to the upper computer;

The vibration feedback device 6 can drive the glove body 1 to vibrate in a controlled way. In this embodiment, the force feedback glove needs to be used in a linkage manner with other virtual devices, and the space position of the real hand needs to be projected into the virtual space, so that the force feedback glove is provided with the positioning sensor 7, the positioning sensor 7 is used for acquiring the space position variation and the rotation angle of the glove body 1, and the vibration feedback device 6 can be controlled to drive the glove body 1 to vibrate, so that the use experience of the user is improved. During the movement of the finger, the tension measuring structure 27 detects the traction force of the finger on the pull rope 8 in real time, and the control module 5 controls the action of the active force output unit 2 (the screw motor 24) according to the change of the traction force, so that the pull rope 8 can be always in a straightened state. For the passive force output unit 2 (spring 201 structure), the pulling rope 8 can naturally be in a straightened state.

The control module 5 in this embodiment can calculate the displacement of the pull rope 8 according to the motion data of the screw motor 24, obtain the actual hand gesture including the hand space position, the finger bending state, etc. according to the pull force data detected by the pull force measuring structure 27, the space position change and the rotation angle of the glove body 1, and transmit the obtained hand gesture to the upper computer for display in the virtual space by the upper computer. The force feedback glove in this embodiment serves as a hand gesture output device in virtual space through the acquisition of a plurality of data.

projecting the finger gesture into the virtual space and forming a virtual finger, wherein the force output unit 2 can apply traction tension to the pull rope 8 in the process of changing the finger gesture so as to keep the pull rope 8 in a straightened state;

when the virtual finger is in contact with an object to be touched, the locking structure 26 is controlled to act so as to lock the pull rope 8 on the finger corresponding to the virtual finger, so that the finger cannot be further bent;

when the pull rope 8 is in a locking state, the pulling force of the pull rope 8 is obtained in real time, and when the pulling force is reduced to a first release set value or increased to a second release set value, the locking structure 26 is controlled to perform unlocking action on the pull rope 8.

Further, when the traction force is reduced to the first release setting value, the locking structure 26 is controlled to perform an unlocking action on the pull rope 8, specifically:

when the traction tension is reduced to the first release set value, whether the knuckle corresponding to the traction tension in the virtual space is separated from the object to be touched or not is judged, and if so, the locking structure 26 is controlled to perform unlocking action on the pull rope 8.

Further, when the virtual finger contacts with the object to be touched, the locking structure 26 is controlled to lock the pull rope 8 on the finger corresponding to the virtual finger, so that the finger cannot be further bent, specifically:

the elastic feedback is that after the virtual finger generates pressure to the object to be touched, the object to be touched generates elastic deformation and generates reaction force to the virtual finger;

when elastic feedback needs to be made and the virtual finger is in contact with an object to be touched, the control force output unit 2 pulls the pull rope 8 to output a traction force conforming to elastic setting;

when elastic feedback is not needed and the virtual finger is in contact with the object to be touched, the control locking structure 26 acts to lock the pull rope 8 on the finger corresponding to the virtual finger, so that the knuckle cannot be further bent.

when the traction tension is increased to the second release set value, the locking structure 26 is controlled to perform unlocking action on the pull rope 8, so that the corresponding knuckle can be continuously bent, meanwhile, a control signal breaking through the boundary is sent to the upper computer, and the upper computer displays the content breaking through the boundary of the object to be touched in the virtual space based on the control signal.

In this embodiment, the virtual finger and the real finger in the virtual space need to always maintain consistency of positioning and motion. When the pull cord 8 is in the unlocked state, the pull cord 8 is held in a taut state by the force output unit 2. The upper computer needs to provide at least one positioning information of the datum positioning reference point for the force feedback glove. In this case, the force feedback glove is required to work out the posture of the palm by combining the three positioning sensors 7 with the datum positioning reference points, work out the posture of each finger by the traction force of each force output unit 2 to the pull rope 8, and communicate with the upper computer by the communication module 4 so as to ensure the positioning consistency of the virtual and reality. In this process, the force feedback glove acts as an input device for gesture positioning.

When the virtual finger in the virtual space performs the set holding action, the upper computer sends a control instruction to the control module 5, and the pull rope 8 is locked by the locking structure 26, so that the finger in reality is restrained from being bent further. Specifically, the upper computer determines based on the finger position in the virtual space and whether the finger gesture constraint is required to be performed when the finger touches the edge of the object, and when the gesture of the knuckle in the virtual finger appears as the set gesture associated with the object to be touched, sends a related control instruction to the control module 5, and the control module 5 performs locking of the corresponding finger or joint through the locking structure 26 based on the control instruction.

The pulling force measuring structure 27 will detect the pulling force conducted by the pull rope 8 in real time during the whole movement of the finger, and the locking structure 26 in this embodiment will release the pull rope 8 when either of the two conditions is met. One of these conditions is that when the pulling force of the pull cord 8 is reduced to the first release setting, this represents a finger release. Another condition is that when the pulling force of the pull cord 8 increases to the second release setting, this represents a tendency for the finger to bend further.

For the first condition, when the finger is away from the object to be gripped, the reading of the tension measuring structure 27 on the force feedback glove will change rapidly, the pull rope 8 and the force output unit 2 need to release the lock, and the pull rope 8 is tightened rapidly to maintain the straightened state of the pull rope 8. Therefore, the force feedback glove in this embodiment needs to send a release locking signal to the upper computer by the control module 5 while releasing the locking structure 26, so as to notify the upper computer, and the upper computer can judge the object boundary through the finger positioning in the virtual space, and review the release of the locking. After rechecking, if an elastic force simulation is required, the required elastic force needs to be sent to the force feedback glove (the elastic force simulation is realized by the screw motor 24), and if the elastic force simulation is not required, the rotating member 262 or the push rod type locking structure 26 will execute the releasing action on the pull rope 8 based on the reading change of the tension measuring structure 27.

For the second condition, when the finger in the virtual space breaks through the boundary obstruction of the original object (such as pressing a button, pinching the object, etc.), the upper computer should send the traction force value required for breaking the boundary in advance, when the finger continues to exert force, the reading of the tension measuring structure 27 on the force feedback glove reaches or exceeds the corresponding required traction force value, the locking structure 26 executes the release action of the pull rope 8, the finger can continue to move inwards, and meanwhile, the control module 5 sends a break-through release signal to the upper computer, and the upper computer triggers the corresponding content.

For the elastic force simulation, the screw motor 24 is required to be matched for realizing, for different elastic force requirements, the upper computer is required to send relevant elastic force coefficient values to the control module 5, and the control module 5 is matched with the tension measuring structure 27 through the movement of the screw motor 24, so that the simulation of specific elastic force is realized together.

More specifically, the determination of the boundary of the object in the virtual space may be:

an alert range is set for an object in the virtual space, and when the virtual finger enters the alert range, communication work for boundary judgment is started. The communication content comprises: a. and (c) the property of the object, b, whether the object can break through or trigger, and c, the condition of breaking through.

The breachable object needs to determine whether there are any other objects in the object, and if so, enter the alert range of the new object and make a new round of determination.

The properties of the object include: a rigid body (which may contain a mass, a coefficient of friction, etc.), or an elastic body (which may contain a mass, a coefficient of friction, a coefficient of elasticity, etc.);

whether breachable or triggered includes: "non-breachable"/"breachable" and "non-triggerable"/"triggerable";

the breakthrough conditions included: the magnitude or level of pulling force applied to the pull cord 8 by the finger bending.

After the communication is performed, if the object is a rigid body, when the upper computer positions the virtual finger to be coincident with the boundary of the object, the upper computer sends an instruction to the force feedback glove, and the control module controls the locking structure 26 to limit further actions of the hand according to the instruction;

if the object is a rigid body and cannot break through, the motion of the force feedback glove only has two states of holding, continuing locking and releasing hands to release the locking. If the rigid body is triggerable, the system triggers the relevant content (visual or procedural process) when it is needed to coincide. If the rigid body can break, the tension measuring structure 27 of the force feedback glove needs to make feedback based on the pulling force of the pulling rope 8, and when the pulling force meets the requirement, the locking structure 26 releases the pulling rope 8, so that the finger can further act, and a break-through signal is sent to the upper computer. If the hand is free after the breakthrough, the hand is in a free state. If an elastomer is used after the breakthrough, the corresponding traction force is output based on the elastic coefficient and the deformation amplitude (see the elastic simulation).

If the object is an elastomer, when the virtual finger positioned by the upper computer is overlapped with the boundary of the object, the feedback which should be made by the force feedback glove is judged by combining the set factors such as the elasticity coefficient, the object mass, the friction coefficient and the like. Includes determining whether or not an object can be grasped, calculating the magnitude of traction force of the simulated elastic force to be provided according to the elastic coefficient when grasping the object, and applying the traction force to be provided to the finger by an active force feedback unit (screw motor 24).

If the elastic body can trigger, a triggering condition needs to be set, namely whether the elastic body is triggered by contact or is triggered by being gripped to a specific degree (finger deformation degree), and once the related trigger is formed, the upper computer automatically enters the subsequent content under the condition of completely and autonomously positioning gestures of the upper computer, and if the glove needs to be positioned in a matched posture, the glove sends a triggering instruction to the upper computer. If the elastomer breaks through, the logic after breaking through is the same as the logic after breaking through of the rigid body.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of the present application, are intended to be included within the scope of the present application.

Claims

1. A force feedback glove, comprising: the glove comprises a glove body and a power module arranged on the glove body;

the power module includes:

the force output unit is arranged on the glove main body;

the first end of the pull rope is connected with the output end of the force output unit, and the second end of the pull rope is provided with a connecting part corresponding to the knuckle; each force output unit corresponds to a group of pull ropes, and the number of each group of pull ropes corresponds to the number of knuckles of the corresponding finger part;

the locking structure is arranged on the glove main body and used for fixing or releasing the pull rope; the locking structure comprises a rotating piece and a first locking block;

The locking sequence of the pull rope is the same as the outwards distributed sequence of the knuckles connected with the pull rope on the finger part;

2. The force feedback glove of claim 1, wherein the locking structure comprises a push rod and a push plate;

the push plate is arranged at the end part of the push rod, and the push rod can be driven to drive the push plate to move bidirectionally so as to realize the tight or release of the pull rope.

3. The force feedback glove of claim 1, further comprising a housing disposed on the glove body, wherein a mounting bracket is disposed within the housing, wherein the force output unit and the locking structure are both disposed on the mounting bracket;

4. A force feedback glove according to claim 3, wherein the force output unit includes a lead screw motor provided in the housing and a first slider driven to move linearly by the lead screw motor;

5. The force feedback glove of claim 4, wherein the lead screw motor is fixedly disposed on the mounting bracket;

6. The force feedback glove of claim 4, wherein the force output unit comprises a spring and a second slider disposed within the housing;

7. A force feedback glove according to claim 4 or 6, wherein the mounting bracket is slidably connected to the housing, and a cover is secured to an end of the housing;

8. The force feedback glove of claim 1, wherein the power modules are arranged in at least two groups, one group of the power modules corresponds to the finger portion of the glove body, and the second end of the pull rope of the other group of the power modules is fixedly connected with the wrist portion of the glove body for restraining and feeding back the movement of the wrist portion of the glove body.

9. The force feedback glove of claim 4, wherein the glove body is further provided with a control module, a communication module, a positioning sensor, a vibration feedback device, and a power module;

the control module can receive the tension data detected by the tension measuring structure and enable the locking structure to execute unlocking action on the pull rope, and meanwhile, a control signal is transmitted to the upper computer through the communication module;

10. A method of controlling a force feedback glove using a force feedback glove according to any of claims 1 to 9, comprising the steps of:

11. The method for controlling a force feedback glove according to claim 10, wherein when a virtual finger is in contact with an object to be touched, the locking structure is controlled to lock a pull rope on the finger corresponding to the virtual finger, so that the finger cannot be further bent, specifically:

12. The method of claim 10, wherein when the traction tension is reduced to a first release setting, the locking mechanism is controlled to perform an unlocking action on the pull cord, in particular:

13. The method of claim 10, wherein the second release setting is a pressure value required to break through a boundary obstruction of an object to be touched in the virtual space;