Invention Grant
- Patent Title: Two-degree-of-freedom rope-driven finger force feedback device
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Application No.: US17609446Application Date: 2021-01-29
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Publication No.: US11607815B2Publication Date: 2023-03-21
- Inventor: Aiguo Song , Bincheng Shao , Huijun Li , Hong Zeng , Baoguo Xu
- Applicant: SOUTHEAST UNIVERSITY
- Applicant Address: CN Nanjing
- Assignee: SOUTHEAST UNIVERSITY
- Current Assignee: SOUTHEAST UNIVERSITY
- Current Assignee Address: CN Nanjing
- Agency: Muncy, Geissler, Olds & Lowe, P.C.
- Priority: CN202011636620.6 20201231
- International Application: PCT/CN2021/074303 WO 20210129
- International Announcement: WO2022/141726 WO 20220707
- Main IPC: B25J13/08
- IPC: B25J13/08 ; B25J13/02 ; B33Y80/00

Abstract:
The present invention provides a two-degree-of-freedom rope-driven finger force feedback device. The two-degree-of-freedom rope-driven finger force feedback device includes a hand support mechanism, a thumb movement mechanism, an index finger movement mechanism, and a handle mechanism. The hand support mechanism includes a motor, a motor shaft sleeve, a sliding rail, and an inertial measurement unit (IMU) sensor. The thumb movement mechanism includes a long rotary disc, a torque sensor, an angle sensor, a thumb sleeve, a pressure sensor, two links, a thumb brace, and a thumb fixing ring. The handle mechanism includes a cylindrical handle, a pressure sensor, a flexible fixing band, and a slider. Torque is driven between the rotary disc and the motor by using a rope. The handle mechanism is movable forward and backward and is capable of automatic restoration. By means of the present invention, the problems of the high costs of a conventional finger force feedback device and the unadjustable characteristic of the conventional finger force feedback device are overcome. The device can be tightly worn and has a self-adaptive degree of freedom. Rope driving can ensure a gentle, smooth, and real feedback force. By means of the mounted sensors, information such as a hand posture, a rotation angle and a grip force of a thumb and an index finger, and a contact force of a middle finger can be transmitted in real time.
Public/Granted literature
- US20220314458A1 TWO-DEGREE-OF-FREEDOM ROPE-DRIVEN FINGER FORCE FEEDBACK DEVICE Public/Granted day:2022-10-06
Information query
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