CN207096930U - A kind of touch feedback ectoskeleton control system - Google Patents
A kind of touch feedback ectoskeleton control system Download PDFInfo
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- CN207096930U CN207096930U CN201720361814.7U CN201720361814U CN207096930U CN 207096930 U CN207096930 U CN 207096930U CN 201720361814 U CN201720361814 U CN 201720361814U CN 207096930 U CN207096930 U CN 207096930U
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- host computer
- wireless transceiver
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Abstract
A kind of touch feedback ectoskeleton control system is the utility model is related to, including：Bend sensor circuit, host computer is sent to by the wireless module being connected with microcontroller for gathering the real time data of wearer's hand, and by the real time data；Host computer, the real time data component for that will receive draw the anglec of rotation between each bone of finger, the anglec of rotation exports control signal to microcontroller after host computer is handled into threedimensional model according to threedimensional model；Microcontroller, the control signal that the host computer is sent is received, and control multiple steering wheels to move.Control system of the present utility model is to show pressure sensitivity by the motion of ectoskeleton limitation hand, gives wearer more real touch feeling.
Description
Technical field
The utility model belongs to touch feedback ectoskeleton field, and in particular to a kind of touch feedback ectoskeleton control system
System.
Background technology
In the interacting of virtual reality and augmented reality, really object is not grabbed.Dummy contact feeds back and force feedback
Need to replicate the contact force calculated in real time, surface configuration, flatness and slip etc..
The contact interface of touch feedback can be according to being supplied to the information of user to be divided into two classes, i.e. touch feedback and power is anti-
Feedback.Touch feedback is supplied to the information of user to have body surface geometry, surface texture, slip etc.;Force feedback is supplied to
The information of user has submissive, weight of object of total contact force, surface etc..In VR field of play, existing haptic feedback devices body
Long-pending larger, inconvenient motion, fixed position can only be fixed on, it is impossible to feel with real touch feedback to user；In augmented reality
Field, existing haptic feedback devices and imperfection, it is impossible to the specifying information of touch feedback is provided, can only capturing motion, covering
Scope is more narrow.
Utility model content
The utility model overcomes existing augmented reality equipment can only capturing motion, it is impossible to provides the specific of touch feedback
Information.
Therefore, the utility model provides a kind of touch feedback ectoskeleton control system.It is to be solved in the utility model
Technical problem is achieved through the following technical solutions：
A kind of touch feedback ectoskeleton control system, including：
Bend sensor circuit, for gathering the real time data of wearer's hand, and by the real time data by with micro-control
The wireless module of device connection processed is sent to host computer；
Host computer, the real time data component for that will receive draw each bone of finger into threedimensional model according to threedimensional model
The anglec of rotation between bone, the anglec of rotation export control signal to microcontroller after host computer is handled；
Microcontroller, the control signal that the host computer is sent is received, and multiple steering wheels are controlled by servo driving circuit
Motion.
A kind of above-mentioned touch feedback ectoskeleton control system, the microcontroller pass through servo driving circuit control flaps
The rotating of electromechanical machine, the microcontroller are connected with steering wheel potentiometer, and the steering wheel potentiometer is used to control what steering wheel rotated
Angle.
A kind of above-mentioned touch feedback ectoskeleton control system, the servo driving circuit include motor control driving core
Piece, the OA pins and OB pins of the motor control driving chip connect steering gear electric-machine, the motor control driving chip respectively
IA pins, IB pins connect microcontroller respectively, the VCC pin of the motor control driving chip connects power supply, the motor
Control the GND pin ground connection of driving chip.
A kind of above-mentioned touch feedback ectoskeleton control system, the bend sensor circuit include multiple and connect curved
Bent sensor and the multiple build-out resistors concatenated respectively with multiple bend sensors, the bend sensor are arranged on absolutely
On the finger of edge gloves；
One end of the bend sensor is connected with power supply, the other end of the bend sensor and one end of build-out resistor
Connection, the other end ground connection of the build-out resistor；The other end of the bend sensor is also connected with microcontroller, the microcontroller
Device is used to the data of bend sensor collection being transferred to host computer through wireless module.
A kind of above-mentioned touch feedback ectoskeleton control system, the microcontroller are provided with power circuit, the electricity
Source circuit includes：It is connected after power series resistance R4 with the VDD pins of microcontroller, the VSS pins ground connection of microcontroller, resistance
Series resistor R6 between R4 and 21 pins of microcontroller, 20 pin connecting resistance R5, electric capacity C8, the electric capacity C9 of microcontroller are in parallel
It is serially connected in afterwards between the VDD pins of microprocessor and 21 pins of microprocessor.
A kind of above-mentioned touch feedback ectoskeleton control system, the wireless module are to be operated in 2.4GHz~2.5GHz
The monolithic wireless transceiver of frequency range, the model nRF24L01 of the monolithic wireless transceiver；
3 pins of the monolithic wireless transceiver and 12 pins of microcontroller connect, and the 4 of the monolithic wireless transceiver
13 pins of pin and microcontroller connect, and 5 pins of the monolithic wireless transceiver and 15 pins of microcontroller connect, institute
17 pins of 6 pins and microcontroller of stating monolithic wireless transceiver connect, 7 pins and micro-control of the monolithic wireless transceiver
The 16 pins connection of device processed, 8 pins of the monolithic wireless transceiver and 14 pins of microcontroller connect.
The beneficial effects of the utility model：
When wearer's hand is exerted oneself, hand motion is decomposed by ectoskeleton, while is mapped on bend sensor, bending
Data message is sent to host computer by sensor by bend sensor circuit, and host computer is calculated between finger between each bone
Rotation angle information, the rotation angle information pass to steering wheel by microcontroller, and the stepper motor being placed in steering wheel, which drives, to be passed
Moving axis is operated, and active force is fed back in the tendon being connected with finger tip by ectoskeleton.Therefore, control system of the present utility model is
Pressure sensitivity is shown by the motion of ectoskeleton limitation hand, gives wearer more real touch feeling.
The utility model is described in further details below with reference to drawings and Examples.
Brief description of the drawings
Fig. 1 is the circuit diagram that the utility model steering wheel is connected with single-chip microcomputer.
Fig. 2 is the circuit diagram of the utility model wireless module.
Fig. 3 is the schematic diagram of single-chip microcomputer.
Fig. 4 is H bridge servo driving circuits.
Fig. 5 is steering wheel potentiometer interface diagram.
Fig. 6 is wireless module interface diagram.
In figure, 1. single-chip microcomputers STM32F103C8T6；2. .USB interfaces；3. mu balanced circuits, USB interface voltage is made to drop to
5V；4. reset circuits, for restarting wireless module；5. starts selection circuit, for selecting wireless mode；⑥.nRF24L01
Monolithic wireless transceiver chip；7. eight status indicator LED lamps of；8. interface debugging circuits.Upper place is debugging, and lower place realizes string
Mouth output；9. tri- filter capacitors of；10. crystal oscillators.
Embodiment
For the technological means and effect that the utility model is reached predetermined purpose and taken is expanded on further, below in conjunction with accompanying drawing
And embodiment describes in detail as follows to specific embodiment of the present utility model, architectural feature and its effect.
Referring to Figures 1 and 2, present embodiment discloses a kind of touch feedback ectoskeleton control system, including：
Bend sensor circuit, for gathering the real time data of wearer's hand, and by the real time data by with micro-control
The wireless module of device connection processed is sent to host computer；
Host computer, the real time data component for that will receive draw each bone of finger into threedimensional model according to threedimensional model
The anglec of rotation between bone, the anglec of rotation export control signal to microcontroller after host computer is handled；
Microcontroller, the control signal that host computer is sent is received, and control multiple steering wheels to move by servo driving circuit.
Specifically, microcontroller controls the rotating of steering gear electric-machine, microcontroller and steering wheel electricity by servo driving circuit
Position device connection, steering wheel potentiometer are used for the angle for controlling steering wheel to rotate.Servo driving circuit includes motor control driving chip, horse
OA pins and OB pins up to control driving chip connect steering gear electric-machine respectively, and IA pins, the IB of motor control driving chip draw
Pin connects microcontroller respectively, and the VCC pin of motor control driving chip connects power supply, and the GND of motor control driving chip draws
Pin is grounded.
In order to obtain the movement posture of human hand in real time, can truly to reproduce the action of human hand under virtual environment,
Reach preferable man-machine interaction purpose, the bend sensor of the present embodiment is arranged at insulating glove（Data glove）On.Insulate hand
Set is also data glove, and the primary and foremost purpose of the data glove is to pass the movement posture of wearer's hand by substantial amounts of data
It is defeated, the 3D models of wearer's hand are built in host computer, in order to grasp the curved of palm finger and each active component of wrist
The data such as the bent outer latitude of emulsion, and the inverting of the posture in this data basis, it is equal at five fingers of the present embodiment insulating glove
Provided with bend sensor, bend sensor is used for the movement posture for obtaining wearer's hand in real time.
The bend sensor Flex Sensor 4.5 of the preferred Flexpoint companies of bend sensor of the present embodiment, the biography
Change the resistance of resistance in sensor with flexibility containing one.When the metal covering of sensor is bent outwardly, pass through detection resistance
Change, based on obtained function is tested, can obtain corresponding flexibility.Due to bend sensor Flex Sensor 4.5
1. following defect be present：1. obtain the degree of crook sum of whole finger；2. value of feedback is resistance value, and by environment（Temperature,
Humidity）Influence big；3. it is obvious, it is necessary to be filtered processing for data in the later stage change disturbance to be present in resistance；4. crooked sensory
More apparent individual difference be present in device resistance, thus, the present embodiment has also made following change to data glove：1. by testing,
Human finger the first two joint is tested out in the case of normal bending, the proportionate relationship of angle of bend and with total angle of bend
Conversion relation；By test of many times, we obtain each angle that multidigit participates in tester, and experimental data is carried out at data
After reason, basic rule has been summed up, and has realized the total angle obtained according to bend sensor and calculates each joint angles
Algorithm；2. the present embodiment after preliminary data is got, takes 50 data to be averaged, as 0 point data in initialization；3.
Embodiment adds Mean Filtering Algorithm in computer end so that angle of bend reading value curve is relatively smooth, reduces virtual hand
The irregular chatterin at finger end so that picture is more smooth close to truth.
Such as Fig. 1, the bend sensor circuit of the present embodiment include bend sensor that is multiple and connecing and respectively with it is multiple curved
Multiple build-out resistors of bent sensor concatenation, bend sensor are arranged on the finger of insulating glove；One end of bend sensor
It is connected with power supply, the other end of bend sensor and one end of build-out resistor connect, the other end ground connection of build-out resistor；Bending passes
The other end of sensor is also connected with microcontroller, and microcontroller is used to the data of bend sensor collection being transferred to through wireless module
Host computer.32 pins of FLEX1 and microcontroller connect, and 67 pins of FLEX2 and microcontroller connect, FLEX3 and microcontroller
69 pins of the 68 pins connection of device, FLEX4 and microcontroller connect, and 70 pins of FLEX5 and microcontroller connect.
The microcontroller of the present embodiment is provided with power circuit, and power circuit includes：After power series resistance R4 with micro-control
The VDD pins connection of device processed, the VSS pins ground connection of microcontroller, series resistor between resistance R4 and 21 pins of microcontroller
The VDD pins and Wei Chu of microprocessor are serially connected in after R6,20 pin connecting resistance R5, electric capacity C8 of microcontroller, electric capacity C9 parallel connections
Between 21 pins for managing device.
The circuit diagram of radio receiving transmitting module as described in Figure 2, the wireless module of the present embodiment for be operated in 2.4GHz~
The monolithic wireless transceiver of 2.5GHz frequency ranges, the model nRF24L01 of monolithic wireless transceiver；
Brief description nRF24L01 monolithic wireless transceivers：
NRF24L01 is a monolithic wireless transceiver chip for being operated in 2.4~2.5GHz Global Access ISM bands.Nothing
Line transceiver includes:Frequency generator, enhanced SchockBurst mode controllers, power amplifier, crystal oscillator, tune
Device processed, demodulator.Power output, channel selection and the setting of agreement can be configured by SPI interface.
NRF24L01 monolithic wireless transceivers have extremely low current drain：When being operated in transmission power under emission mode
For -6dBm when current drain be 9mA, be 12.3mA during reception pattern.Current drain is lower under power-down mode and standby mode.
The circuit connecting relation of nRF24L01 monolithics wireless transceiver and microcontroller is：
12 pins of 3 pins of monolithic wireless transceiver and microcontroller connect, 4 pins of monolithic wireless transceiver with it is micro-
The 13 pins connection of controller, 5 pins of monolithic wireless transceiver and 15 pins of microcontroller connect, monolithic wireless transceiver
6 pins and 17 pins of microcontroller connect, 16 pins of 7 pins of monolithic wireless transceiver and microcontroller connect, single
8 pins of piece wireless transceiver and 14 pins of microcontroller connect.
Microcontroller is also associated with USB interface, and 1 pin of USB interface connects power supply, and 4,5,6 pins of USB interface are grounded,
Be connected after 2 pin series resistor R1 of USB interface with 32 pins of microcontroller, after 3 pin series resistor R2 of USB interface with
33 pins of microcontroller connect, and are connected after power series resistance R3 with 33 pins of microcontroller.
USB interface voltage is made to drop to 5V mu balanced circuit, specific annexation is：REG1117 1 pin ground connection,
Parallel electrolytic electric capacity C1 and electric capacity C4, REG1117 2 pins meet power supply, REG1117 between REG1117 2 pins and 1 pin
1 pin and 3 pins between parallel electrolytic electric capacity C2 and electric capacity C3, REG1117 3 pins export voltage be 5V.
For restarting wireless module reset circuit, specific annexation is：After power series resistance R4 with microcontroller 7
Pin connects, and is grounded after 7 pin serial capacitance C5 of microcontroller.
For selecting the startup selection circuit of wireless mode, specific annexation is：The 10 pins concatenation electricity of microcontroller
It is grounded after resistance R5, is grounded after 44 pin series resistor R6 of microcontroller.
The specific annexation of crystal oscillator is：5 pins of microcontroller are grounded after meeting electric capacity C12, and 6 pins of microcontroller connect
Be grounded after electric capacity C11, connect resistance R15 between 5 pins and 6 pins of microcontroller, 5 pins and 6 pins of microcontroller it
Between connect crystal oscillator.
It should be noted that：The microcontroller of the present embodiment selects model STM32F103VBT6, the microcontroller can
Meet various application demands in extensive range in industry, medical treatment and consumer market.Model STM32F103VBT6 microcontroller
Device is the production of ST companies, and first-class peripheral hardware and low-power consumption operating on low voltage pattern realize high-performance, has simple framework and easy-to-use
Type instrument, thus integrated level is high, and price material benefit.The microcontroller has up to 72MHz cpu frequency, and 16KB is to 1MB's
Flash memory, 4 to 80KB RAM.
Above content is to combine specific preferred embodiment further detailed description of the utility model, it is impossible to
Assert that specific implementation of the present utility model is confined to these explanations.For the ordinary skill of the utility model art
For personnel, without departing from the concept of the premise utility, some simple deduction or replace can also be made, should all be regarded
To belong to the scope of protection of the utility model.
Claims (6)
- A kind of 1. touch feedback ectoskeleton control system, it is characterised in that including：Bend sensor circuit, for gathering the real time data of wearer's hand, and by the real time data by with microcontroller The wireless module of connection is sent to host computer；Host computer, for the real time data component that will receive into threedimensional model, drawn according to threedimensional model between each bone of finger The anglec of rotation, the anglec of rotation exports control signal to microcontroller after host computer is handled；Microcontroller, the control signal that the host computer is sent is received, and control multiple steering wheels to move by servo driving circuit.
- 2. touch feedback ectoskeleton control system as claimed in claim 1, it is characterised in that the microcontroller passes through rudder Drive circuit controls the rotating of steering gear electric-machine, and the microcontroller is connected with steering wheel potentiometer, and the steering wheel potentiometer is used In the angle that control steering wheel rotates.
- 3. touch feedback ectoskeleton control system as claimed in claim 2, it is characterised in that the servo driving circuit bag Motor control driving chip is included, the OA pins and OB pins of the motor control driving chip connect steering gear electric-machine respectively, described IA pins, the IB pins of motor control driving chip connect microcontroller, the VCC pin of the motor control driving chip respectively Connect power supply, the GND pin ground connection of the motor control driving chip.
- 4. touch feedback ectoskeleton control system as claimed in claim 1, it is characterised in that the bend sensor circuit Including bend sensor that is multiple and connecing and the multiple build-out resistors concatenated respectively with multiple bend sensors, the bending Sensor is arranged on the finger of insulating glove；One end of the bend sensor is connected with power supply, and the other end of the bend sensor and one end of build-out resistor connect Connect, the other end ground connection of the build-out resistor；The other end of the bend sensor is also connected with microcontroller, the microcontroller Data for bend sensor to be gathered are transferred to host computer through wireless module.
- 5. touch feedback ectoskeleton control system as claimed in claim 1, it is characterised in that the microcontroller is provided with Power circuit, the power circuit include：It is connected after power series resistance R4 with the VDD pins of microcontroller, microcontroller VSS pins are grounded, series resistor R6 between resistance R4 and 21 pins of microcontroller, 20 pin connecting resistance R5 of microcontroller, It is serially connected in after electric capacity C8, electric capacity C9 parallel connections between the VDD pins of microprocessor and 21 pins of microprocessor.
- 6. touch feedback ectoskeleton control system as claimed in claim 1, it is characterised in that the wireless module is work In the monolithic wireless transceiver of 2.4GHz~2.5GHz frequency ranges, the model nRF24L01 of the monolithic wireless transceiver；3 pins of the monolithic wireless transceiver and 12 pins of microcontroller connect, 4 pins of the monolithic wireless transceiver It is connected with 13 pins of microcontroller, 5 pins of the monolithic wireless transceiver and 15 pins of microcontroller connect, the list 6 pins of piece wireless transceiver and 17 pins of microcontroller connect, 7 pins and microcontroller of the monolithic wireless transceiver The connection of 16 pins, 14 pins of 8 pins of the monolithic wireless transceiver and microcontroller connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720361814.7U CN207096930U (en) | 2017-04-08 | 2017-04-08 | A kind of touch feedback ectoskeleton control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720361814.7U CN207096930U (en) | 2017-04-08 | 2017-04-08 | A kind of touch feedback ectoskeleton control system |
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| CN207096930U true CN207096930U (en) | 2018-03-13 |
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| CN201720361814.7U Expired - Fee Related CN207096930U (en) | 2017-04-08 | 2017-04-08 | A kind of touch feedback ectoskeleton control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109582132A (en) * | 2018-11-01 | 2019-04-05 | 深圳岱仕科技有限公司 | Hand mechanical exoskeleton and its feedback |
| WO2023226376A1 (en) * | 2022-05-22 | 2023-11-30 | 远也科技（苏州）有限公司 | Powered exoskeleton system with distributed structure, and control method |
-
2017
- 2017-04-08 CN CN201720361814.7U patent/CN207096930U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109582132A (en) * | 2018-11-01 | 2019-04-05 | 深圳岱仕科技有限公司 | Hand mechanical exoskeleton and its feedback |
| CN109582132B (en) * | 2018-11-01 | 2024-03-22 | 深圳岱仕科技有限公司 | Hand machinery exoskeleton and feedback control method thereof |
| WO2023226376A1 (en) * | 2022-05-22 | 2023-11-30 | 远也科技（苏州）有限公司 | Powered exoskeleton system with distributed structure, and control method |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180313 Termination date: 20200408 |
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| CF01 | Termination of patent right due to non-payment of annual fee |