Title:
TWO-FINGER GRIPPING FORCE AND TACTILE FEEDBACK DEVICE
Document Type and Number:
WIPO Patent Application WO/2023/236422
Kind Code:
A1
Abstract:
A two-finger gripping force and tactile feedback device, comprising: a bearing seat (10); a driving mechanism, the driving mechanism being provided in the bearing seat (10); and a connecting rod structure which comprises two connecting rod mechanisms (20), wherein each connecting rod mechanism comprises a front-end connecting rod (201) and a rear-end connecting rod (202) which are movably connected, the driving mechanism can adjust the angle between the two front-end connecting rods (201), and the rear-end connecting rods (202) can rotate relative to the front-end connecting rods (201). The present invention has a simple structure, and by providing the connecting rod structure at the index finger and the middle finger, resistance to the fingers gripping an object is provided, so that real kinesthetic feedback of two fingers gripping an object is achieved; an air bag piece (50) is connected to flexible pads (30) and is arranged at the bottom of the gap between the fingers, the gripping action of the index finger and the middle finger is limited by means of pressing between air bags and by means of the connecting rod structure, and force feedback information is transmitted, thereby further improving the accuracy of kinesthetic feedback of finger gripping; piezoelectric ceramic (60) is provided on the flexible pads (30), and the inverse piezoelectric effect of the piezoelectric ceramic (60) can be used for high-frequency contact surface driving so as to transmit tactile information of the inner sides of two fingers of the performer.
Inventors:
CHEN TAO (CN)
DAI ZHIWEI (CN)
ZHU MINGLU (CN)
LI ZIYI (CN)
SUN LINING (CN)
DAI ZHIWEI (CN)
ZHU MINGLU (CN)
LI ZIYI (CN)
SUN LINING (CN)
Application Number:
PCT/CN2022/127631
Publication Date:
December 14, 2023
Filing Date:
October 26, 2022
Export Citation:
Assignee:
UNIV SOOCHOW (CN)
International Classes:
G06F3/01; G01C21/08; G01C21/16
Domestic Patent References:
| WO2017042135A1 | 2017-03-16 |
Foreign References:
| CN115033099A | 2022-09-09 | |||
| CN109407849A | 2019-03-01 | |||
| CN206703005U | 2017-12-05 | |||
| US20180107277A1 | 2018-04-19 |
Attorney, Agent or Firm:
SUZHOU JIANSHAN INTELLECTUAL PROPERTY AGENCY (SPECIAL GENERAL PARTNERSHIP) (CN)
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