Force reflecting system
First Claim
Patent Images
1. A force conveyance system comprising:
- a hand-back-wearable unit worn on a back of a hand;
an active unit provided in the hand-back-wearable unit to generate a rotational force;
an active link rotatably coupled to the active unit and rotatable by the rotational force;
a passive link coupled to the active link by a first coupler to have 2 degrees of freedom;
a finger-wearable unit coupled to the passive link by a second coupler to have 3 degrees of freedom and worn on a tip of a finger; and
a controller which estimates a position of the fingertip and an angle of a finger joint and controls the rotational force of the active unit according to the estimation,wherein the second coupler includes a first rotation unit coupled to the finger-wearable unit and coupled to be rotatable by a movement of the finger around a third rotational axis arranged in an adduction/abduction direction of the finger;
a second rotation unit provided to protrude upward from the first rotation unit and coupled to be rotatable by the movement of the finger around a fourth rotational axis arranged in a lengthwise direction of the finger; and
a third rotation unit configured to couple the second rotation unit and the passive link and coupled to be rotatable by the movement of the finger around a fifth rotational axis arranged in a lengthwise direction of the passive link.
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Abstract
Provided is a force conveyance system that is configured to have 6 degrees of freedom, thereby allowing freedom of movement such as opening/closing of a hand and adduction/abduction of a finger and reflecting a desired force to a fingertip without obstructing the movement of a finger. Also, the force conveyance system may estimate a fingertip position and a finger joint angle, measure a finger movement, and convey a more accurate force accordingly.
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Citations
14 Claims
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1. A force conveyance system comprising:
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a hand-back-wearable unit worn on a back of a hand; an active unit provided in the hand-back-wearable unit to generate a rotational force; an active link rotatably coupled to the active unit and rotatable by the rotational force; a passive link coupled to the active link by a first coupler to have 2 degrees of freedom; a finger-wearable unit coupled to the passive link by a second coupler to have 3 degrees of freedom and worn on a tip of a finger; and a controller which estimates a position of the fingertip and an angle of a finger joint and controls the rotational force of the active unit according to the estimation, wherein the second coupler includes a first rotation unit coupled to the finger-wearable unit and coupled to be rotatable by a movement of the finger around a third rotational axis arranged in an adduction/abduction direction of the finger; a second rotation unit provided to protrude upward from the first rotation unit and coupled to be rotatable by the movement of the finger around a fourth rotational axis arranged in a lengthwise direction of the finger; and a third rotation unit configured to couple the second rotation unit and the passive link and coupled to be rotatable by the movement of the finger around a fifth rotational axis arranged in a lengthwise direction of the passive link. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A force conveyance system comprising:
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a hand-back-wearable unit worn on a back of a hand; an active unit provided in the hand-back-wearable unit to generate a rotational force; an active link rotatably coupled to the active unit and rotatable by the rotational force; a passive link coupled to the active link by a first coupler to have 2 degrees of freedom; a finger-wearable unit coupled to the passive link by a second coupler to have 3 degrees of freedom and worn on a tip of a finger; an active unit sensor which measures a rotation angle of the active unit; a first hole sensor provided at one end of the first coupler, wherein the first hole sensor measures a rotation angle of the active link; a second hole sensor provided at another end of the first coupler, wherein the second hole sensor measures a rotation angle of the passive link; and a controller which calculates a tip position of the finger according to the rotation angle of the active unit measured by the active unit sensor, the rotation angle of the active link measured by the first hole sensor, and the rotation angle of the passive link measured by the second hole sensor;
calculates an angle of the finger joint by using the tip position of the finger; and
controls the rotational force of the active unit according to the angle of the finger joint,wherein the first coupler includes one end coupled to the active link and coupled to be rotatable by the rotational force of the active unit around a first rotational axis arranged in an adduction/abduction direction of the finger and another end coupled to the passive link and coupled to be rotatable by a movement of the finger around a second rotational axis arranged in a direction perpendicular to the back of the hand, and the second coupler includes a first rotation unit coupled to the finger-wearable unit and coupled to be rotatable by the movement of the finger around a third rotational axis arranged in an adduction/abduction direction of the finger, a second rotation unit protruding upward from the first rotation unit and coupled to be rotated by the movement of the finger around a fourth rotational axis arranged in a lengthwise direction of the finger, and a third rotation unit configured to couple the second rotation unit and the passive link and coupled to be rotatable by the movement of the finger around a fifth rotational axis arranged in a lengthwise direction of the passive link.
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Specification