公开(公告)号：US5143505A

公开(公告)日：1992-09-01

申请号：US661515

申请日：1991-02-26

申请人： Grigore C. Burdea ,  Jiachen Zhuang

发明人： Grigore C. Burdea ,  Jiachen Zhuang

IPC分类号： A61F5/01 ,  B25J13/02 ,  G06F3/00 ,  G06F3/01

CPC分类号： G06F3/016 ,  A61F5/0118 ,  B25J13/02 ,  G06F3/014

摘要： An actuator system provides force feedback to a dextrous master glove. A first, second and third digit support are connectable by hook and loop fasteners to the thumb, index and middle digits of the glove, respectively. First, second and third actuators comprising pneumatic cylinders extend between the first, second and third digit supports and an "L" shaped palm support mountable on the palm of the glove. Sensors mounted on the back of the glove provide electrical signals that are interpreted by a glove interface and forwarded to a host computer. The host computer computes the movement of the glove and provides feedback through a digital-to-analog circuit, and an actuator interface to the first, second and third actuators. Sphere joints connect the first, second and third actuators to the palm support. Each sphere joint includes an air passageway that communicates with the pneumatic force feedback cylinders in the actuators. Cylindrical joints connect the first, second and third digit supports to the first, second and third actuators. The spherical joints permit rotation in a cone of about 60.degree. and provide for realistic three-dimensional manipulation in a compact environment.

摘要翻译： 执行机构系统向一个柔软的主手套提供力反馈。 第一，第二和第三位数字支撑可以通过钩和环紧固件分别连接到手套的拇指，索引和中间数字。 首先，包括气缸的第二和第三致动器在第一，第二和第三数字支架之间延伸，以及可安装在手套的手掌上的“L”形手掌支架。 安装在手套背面的传感器提供由手套接口解释并转发到主计算机的电信号。 主计算机计算手套的运动，并通过数模转换电路提供反馈，并向第一，第二和第三执行器提供致动器接口。 球体接头将第一，第二和第三致动器连接到手掌支撑。 每个球形接头包括与致动器中的气动力反馈缸连通的空气通道。 圆柱形接头将第一，第二和第三数位支撑连接到第一，第二和第三致动器。 球形接头允许旋转在大约60°的锥度，并在紧凑的环境中提供真实的三维操纵。