Title:
ROPE TRANSMISSION FINGER FORCE FEEDBACK DEVICE HAVING TWO DEGREES OF FREEDOM
Document Type and Number:
WIPO Patent Application WO/2022/141726
Kind Code:
A1
Abstract:
A rope transmission finger force feedback device having two degrees of freedom, comprising a hand support mechanism (1), a thumb movement mechanism, an index finger movement mechanism and a handle mechanism. The hand support mechanism (1) comprises a motor (10), a motor shaft sleeve (11), a slide rail (7), and an IMU sensor (29). The thumb movement mechanism and the index finger mechanism respectively comprise rotating discs (12, 20), torque sensors (30, 31), angle sensors (21, 22), finger sleeves (2, 3), pressure sensors (19, 23), two-linkage rods (14, 16, 24, 26), brackets (17, 27) and fixing rings (18, 28). The handle mechanism comprises a cylindrical grip (4), a pressure sensor (9), a flexible fixing belt (5) and a sliding block (6). Torque is transmitted between the rotating discs (12, 20) and the motor (10) by means of a rope. The handle mechanism can move back and forth and self-reset. The problems that traditional finger force feedback is costly and unadjustable are solved. The device can be compactly worn and has adaptive degrees of freedom.
Inventors:
SONG AIGUO (CN)
SHAO BINCHENG (CN)
LI HUIJUN (CN)
ZENG HONG (CN)
XU BAOGUO (CN)
SHAO BINCHENG (CN)
LI HUIJUN (CN)
ZENG HONG (CN)
XU BAOGUO (CN)
Application Number:
PCT/CN2021/074303
Publication Date:
July 07, 2022
Filing Date:
January 29, 2021
Export Citation:
Assignee:
UNIV SOUTHEAST (CN)
International Classes:
B25J13/00; B25J13/08; B25J15/00
Domestic Patent References:
| WO2020076495A1 | 2020-04-16 |
Foreign References:
| EP1629949A2 | 2006-03-01 | |||
| CN102773861A | 2012-11-14 | |||
| CN103687701A | 2014-03-26 | |||
| CN211189091U | 2020-08-07 | |||
| CN110462259A | 2019-11-15 | |||
| CN108381573A | 2018-08-10 | |||
| US20190201784A1 | 2019-07-04 |
Attorney, Agent or Firm:
NANJING ZHONGLIAN PATENT AGENCY CO., LTD. (CN)
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