GLOVE FOR VIRTUAL OR REMOTE HANDLING AND ASSOCIATED VIRTUAL OR REMOTE HANDLING SYSTEM

专利摘要:
The invention relates to a glove for virtual or remote manipulation which comprises a base, at least one robotic finger having a plurality of elements articulated to each other, the robotic finger comprising actuating means that can generate a return force on the phalangette of the user in at least one direction, and at least one device for generating a local haptic feedback arranged to generate a local haptic feedback at the level of the phalangette of the user in at least one direction that is different from the direction in which a force feedback is generated by the actuating means. The invention also relates to a system for virtual or remote manipulation comprising such a glove.
公开号:FR3040803A1
申请号:FR1558301
申请日:2015-09-08
公开日:2017-03-10
发明作者:Florian Gosselin；Dominique Ponsort；Anthony Chabrier
申请人:Commissariat a lEnergie Atomique CEA；Commissariat a lEnergie Atomique et aux Energies Alternatives CEA；
IPC主号:

专利说明:

The invention relates to a glove for virtual or remote manipulation as well as a virtual or remote manipulation system comprising such a glove.
BACKGROUND OF THE INVENTION
Motion capture systems such as the "Kinect" system allow a user to interact naturally with a virtual or remote environment by allowing direct control of virtual object movements, an avatar of the user or a remote robot in the space. Nevertheless, these systems do not offer feedback and therefore do not allow a very realistic interaction with the user.
To overcome this disadvantage, more advanced systems have been developed to not only measure the user's movements but also to offer a return of sensations.
There are thus known gloves for virtual manipulation that are back force such as for example the glove "Cybergrasp" CyberGlove Systems company. Such gloves allow a more intuitive virtual manipulation but are generally heavy and bulky.
To obtain lighter and more compact devices in order to be worn longer by the user, it has been envisaged to replace the force feedback with a local haptic feedback. The so-called "Gravity Grabber" device of the Tachi Lab laboratory of the University of Tokyo is known and includes a tip in which the user has inserted his phalangette, the endpiece comprising means for generating a local haptic feedback by a local displacement of the pulp of the phalangette. Specifically, the local haptic feedback is produced using two motors that cause a strap that can compress the finger pulp if the two motors rotate in an opposite direction (which tends the strap) or can laterally solicit the finger pulp if both engines rotate in the same direction (which moves the strap laterally).
Such a device is therefore more compact and lightweight. However, this type of device does not allow a very realistic interaction with the user because of the simple return by skin stimulation.
OBJECT OF THE INVENTION
An object of the invention is to provide a glove for virtual or remote manipulation that allows a user wearing the glove to interact more realistically with a virtual or remote environment, the glove being of a mass and a smaller footprint compared to the gloves of the prior art. The invention also relates to a virtual or remote manipulation system comprising such a glove.
BRIEF DESCRIPTION OF THE INVENTION
In order to achieve this goal, a glove is proposed for virtual or remote manipulation which comprises: a base, at least one robotic finger intended to be linked to one of the fingers of a user and having a plurality elements articulated to each other including a first end member movably mounted on the base and a second end member, the robotic finger comprising means for actuating at least one of the elements of the robotic finger, these actuating means being able to generate a force return intended to be applied to the phalangette of the user in at least one direction, and - at least one device for generating a local haptic feedback arranged at least in part at the second end element of the robotic finger and intended to be in contact with the phalangette of the user, the device for generating a local haptic feedback being arranged to generate a return h local aptique intended to be applied to the phalangette in at least one direction, at least one of the directions according to which the local haptic feedback is generated being different from at least one of the directions according to which the force feedback is generated.
In this way, the glove according to the invention comprises both actuating means for generating a force feedback and at the same time a device for generating a local haptic feedback, which makes it possible to offer a good feedback to the user and thus a more realistic interaction with the remote environment in which is the robot controlled by the movements of the glove so the user or virtual in which are the virtual objects or the avatar controlled by the movements of the glove so the user.
In addition, for at least some directions, the actuating means and the device for generating a local haptic feedback do not act on the hand of the user by adding their actions on said hand: the actuating means and on the contrary, the device for generating a local haptic feedback shares the directions on which to act on the hand. This makes it possible to have a glove of mass and reduced size while ensuring a good return of sensations to the user.
For the purposes of the present application, the term "phalangette" refers, of course, to the last phalanx of a finger, that is to say the phalanx that carries the nail.
For the purposes of the present application, the term "pulp" refers, of course, to the fleshy end of the inner face of the phalangette (opposite to that facing the nail).
For the present application, the term "local haptic feedback" of course means skin stimulation of the skin by local displacement of the skin. This is different from a "return of effort" that comes to oppose or accompany a global movement of the finger.
According to a particular embodiment, the device for generating a local haptic feedback is shaped so as to be intended to be in contact with the pulp of the phalangette of the user, the device for generating a local haptic feedback being arranged to generate a local haptic feedback to be applied to the pulp of the phalanget.
According to a particular embodiment, the actuating means and the device for generating a local haptic feedback are arranged so that the directions in which the force feedback is generated are all different from the directions according to which the return is generated. local haptics.
This is to be understood for any robotic finger position out of extreme positions of the robotic finger (robotic finger almost or fully stretched or stretched). Indeed, for the extreme positions, the force feedback and the local haptic feedback may possibly be generated according to identical directions in certain directions, at least one of the directions according to which the local haptic feedback is generated, however, remaining different from the at least one of the directions in which the force return is generated, even in the extreme position of the robotic finger.
According to a particular embodiment, the robotic finger is configured to have at least as many degrees of freedom as the finger of the user to whom it is intended to be linked.
Thus, the glove leaves a great freedom of movement to the fingers of the user which makes even more realistic the interaction with the remote or virtual environment.
According to a particular embodiment, the actuating means and the device for generating a local haptic feedback are arranged so that at least one of the directions according to which the local haptic feedback is generated is perpendicular to one of the less directions in which the force feedback is generated.
According to a particular embodiment, the actuating means and the device for generating a local haptic feedback are arranged so that, when the user's finger is secured to the device for generating a local haptic feedback, the Local haptic feedback is generated tangentially to the finger pulp and the force feedback is generated to the normal of the finger pulp.
The glove thus allows a force return in a direction corresponding to an opening or closing movement of the user's finger, ie a movement of grasping an object, and a tangential local haptic feedback to the finger pulp , symbolizing the contact between the user's finger and an object. This makes it possible to improve the realism of the interactions with the remote environment in which the robot is controlled by the movements of the glove, therefore of the user or virtual, in which the virtual objects or the avatar controlled by the movements of the glove are located. therefore the user.
According to a particular embodiment, the actuating means are arranged to generate a force return on a single degree of freedom of the robotic finger.
According to a particular embodiment, the device for generating a local haptic feedback is arranged to generate a local haptic feedback in a single direction relative to the finger pulp intended to be associated with said local haptic feedback generation device.
According to a particular embodiment, the device for generating a local haptic feedback is arranged to generate a local haptic feedback in two directions relative to the pulp of the finger intended to be associated with said local haptic feedback generation device.
According to a particular embodiment, the device for generating a local haptic feedback comprises a shell comprising a reception area of the user's phalangette, the reception area being here shaped into a hollow receptacle having a corresponding shape. to that of the finger pulp of the user intended to be associated with said local haptic feedback generation device.
According to a particular embodiment, the device for generating a local haptic feedback comprises a shell comprising a reception area of the phalangette of the user, the device further comprising a plate mounted to move relative to the shell and arranged at the level of the reception zone, the plate being shaped in a ring and arranged so that an axis of the plate is parallel to the axis of the phalangette of the user's finger intended to be associated with said device for generating local haptic feedback.
According to a particular embodiment, the plate is shaped so as to have a larger diameter than the finger of the user intended to be associated with said local haptic feedback generation device.
According to a particular embodiment, the device for generating a local haptic feedback comprises a shell comprising a reception area of the phalangette of the user, the device further comprising a plate mounted to move relative to the shell and arranged at the reception area, the tray being arranged under the reception area which has a hole to access the tray.
According to a particular embodiment, the plate has a portion protruding from the rest of the plate and which is the part of the plate intended to come into contact with the user's finger.
According to a particular embodiment, the projecting portion extends through the hole of the reception area.
According to a particular embodiment, a portion of the robotic finger is arranged inside the base. The invention also relates to a virtual or remote manipulation system comprising a glove as previously described, means for measuring the position and the orientation of the base of said glove in space, an environment with which the user is intended to interact and means of control of the glove and the environment.
BRIEF DESCRIPTION OF THE DRAWINGS The invention will be better understood in the light of the following description of a non-limiting embodiment of the invention with reference to the attached figures, in which: FIG. 1 is a perspective view a glove for virtual or remote manipulation according to a particular embodiment of the invention; Figures 2 and 3 are enlarged perspective views of a local haptic feedback device shown in Figure 1 respectively the right side and the left side; Figure 4 is a perspective view of a first variant of the local haptic feedback device illustrated in Figures 2 and 3; - Figure 5 is a perspective view identical to that of Figure 4, the shell of the device is not shown; - Figure 6 is a bottom view of the device as shown in Figure 5 without its shell; Figure 7 is a perspective view of a second variant of the local haptic feedback device illustrated in Figures 2 and 3, the shell of the device is not shown; Figure 8 is a perspective view of a third variant of the local haptic feedback device illustrated in Figures 2 and 3; FIG. 9 is a view from below of the device of a local haptic feedback illustrated in FIG. 8; Figure 10 is a perspective view of a fourth variant of the local haptic feedback device illustrated in Figures 2 and 3; FIG. 11 is a view from below of the device of a local haptic feedback illustrated in FIG. 10; FIG. 12 is an enlarged perspective view of a robotic finger of the glove illustrated in FIG. 1 intended to interact with the user's index finger, middle finger or ring finger; FIGS. 13a, 13a, 13c and 13d are views of the robotic finger illustrated in FIG. 12, the user's finger being linked to said robotic finger, for different configurations of the robotic finger and the user's finger respectively corresponding to a metacarpophalangeal flexion angle α of the user's finger of 0 °, 20 °, 40 ° and 60 °; FIGS. 14a and 14b are views of the robotic finger illustrated in FIG. 12, the user's finger being linked to the robotic finger, for different configurations of the robotic finger and the user's finger respectively corresponding to a power take-off and to a precision; FIG. 15 is an enlarged perspective view of a robotic finger of the glove illustrated in FIG. 1 intended to interact with the user's thumb; FIG. 16 is a perspective view of the glove illustrated in FIG. 1, a portion of the base of the robot not being shown; Figure 17 is a perspective view of a variant of the base of the glove shown in Figure 16, the user's hand is also shown arranged in the glove; FIG. 18 is a schematic view of a virtual or remote manipulation system according to the invention comprising the glove illustrated in FIG. 1; Figure 19 is a perspective view of a first variant of the robotic finger illustrated in Figure 12; FIG. 20 is a perspective view of a second variant of the robotic finger illustrated in FIG. 12.
The various figures are simplified here, particularly in terms of the representation of the gearboxes, the various elements forming the robotic fingers, any wires or cables, any packaging and / or processing cards, so as not to excessively burden said figures. DETAILED DESCRIPTION OF THE INVENTION With reference to FIG. 1, the glove 1 according to the particular embodiment of the invention comprises a base 2 intended to be secured to the palm of a user's hand, four robotic fingers 3 which are movably mounted on the base 2 and which are respectively associated with the user's thumb, forefinger, middle finger and ring finger, and four devices for generating a local haptic feedback 4 each mounted movable on a finger robotics 3, these devices for generating a local haptic feedback being secured to the finger phalangettes of the user. The glove 1 is here intended to be secured to the right hand of the user.
The base 2 comprises means for its temporary attachment to the hand of the user (not shown here) which are known per se and are not detailed. These securing means comprise for example Velcro straps linked to the portion of the base 2 which is opposite the hand of the user.
The devices for generating a local haptic feedback 4 will now be detailed. Only one of these devices will be described here, the description also applicable to the other three devices. Preferably, the devices are identical in their operation but may have dimensions that may vary according to the size of the finger associated with the device. For example, the device associated with the thumb may have larger dimensions than the other three devices.
With reference to FIGS. 2 and 3, the device for generating a local haptic feedback 4 comprises a shell 10 comprising a reception zone 11 of the phalanget of the user. The reception zone 11 is here shaped into a hollow receptacle, the proximal zone of the pulp of the phalangette (the area of the pulp of the phalanget closest to the phalangin) of the user's finger being intended to rest. against the bottom of the reception area 11. The reception area 11 has a recessed shape corresponding to that of the pulp of the finger of the user. This allows the device for generating a local haptic feedback 4 to turn slightly around the phalangette.
The device for generating a local haptic feedback 4 further comprises a plate 13 mounted to move relative to the shell 10. The plate 13 is here shaped in a ring whose axis E is arranged so as to extend parallel to the axis of the phalangette. Preferably, the plate 13 is shaped so as to have a diameter greater than that of the reception zone 11 and that of the finger of the user. In addition, the plate 13 is arranged so that its lower part reaches substantially the same level as the reception zone 11, the distal zone of the pulp of the phalanget of the user's finger (which is the zone of the highest pulp). remote from the phalangin) being intended to rest against the lower part of the plate 13. Thus when the user's finger rests in the reception area 11, although the plate 13 surrounds the entire finger of the user, only the pulp of the user's finger is in contact with the plate 13 in its distal portion, its proximal portion being in contact with the reception zone 11.
In this way, when the phalanget rests in the reception area 11, the distal zone of the pulp of the phalangette touches the plate 13 and thus feels the relative movement of the plate 13 relative to the shell 10.
Here the plate 13 has a smooth surface. Alternatively, the surface of the plate 13 is not smooth so that the user feels better the movement of the plate 13. The plate 13 may thus have for example a granular coating and / or ribbed and / or having small protruding structures or hollow.
Preferably, the finger of the user is kept in contact with the reception zone 11 and the plate 13 by a strap 14 of the device for generating a local haptic feedback 4. The strap 14 is secured to the shell 10 by example by using a screw 15. Of course, any other means of maintaining the finger that the strap can be used.
The device for generating a local haptic feedback 4 further comprises means for moving the plate 13 which are arranged inside the shell 10 and which here make it possible to move the plate 13 in a single direction relative to the shell 10 .
The means for moving the plate 13 comprise a motor 16, secured to the shell 10 which serves here as a base for the motor 16, and extending along an axis D which is orthogonal to the axis E. The displacement means comprise here also a first gear 42 rotatably connected to the output shaft of the motor 16, a second gear 43 engaged by the first gear 42 and a wheel and worm assembly. The screw 44 is integral in rotation with the second gear 43 and is arranged close to the motor 16, here parallel to the motor 16 and to the axis D. The wheel 45 is in turn integral with the plate 13 and is arranged coaxially with the 13. The wheel 45 is thus arranged to be rotated along the axis of rotation E by the screw 44. The rotation guide of the second gear 43 and the screw 44 about an axis parallel to the D axis and the wheel 45 and the plate 13 about the axis E is provided by miniature ball bearings not shown in Figures 2 and 3.
In this way, the motor 16 drives in rotation about the axis E the plate 13 via a first reduction stage comprising the first gear 42 connected to the output shaft of the motor 16 and the second gear 43; and via a second reduction stage comprising the screw 4 4 linked to the second gear 43 and the wheel 45 connected to the plate 13.
In this way, the plate 13 can be moved in a circular motion about the axis of rotation E parallel to the axis of the phalangette, the contact between the plate 13 and the phalanx remaining tangential. The device for generating a local haptic feedback 4 is thus arranged to generate a local haptic feedback here in a single direction that is tangential to the finger's pulp and substantially transverse to the finger's pulp.
Advantageously, by the arrangement of the plate moving means 13, the plate 13 can rotate in rotation about the axis E indefinitely as long as the motor 16 is powered: the rotational movements of the motor 16 and the plate 13 are therefore infinite, which allows to constantly stimulate the pulp of the phalangette.
In addition, this device for generating a local haptic feedback 4 is particularly simple since this device does not need means for estimating the position of the plate 13 relative to the shell 10 to control the motor 16. motor 16 is thus here simply controlled in torque or speed. Of course, in a variant, the device may comprise means for estimating the position of the motor 16 or the plate 13 relative to the shell 10 for controlling the motor 16, which comprise sensors making it possible to measure the position and / or the angular velocity. of the motor 16 or the plate 13.
A first variant of the device for generating a local haptic feedback will now be described with reference to FIGS. 4 to 6.
In this variant, the device for generating a local haptic feedback 104 comprises a shell 110 comprising a reception area 111 of the phalangette of the user. The reception zone 111 is here shaped into a hollow receptacle whose bottom comprises a hole 112, the pulp of the phalanget being intended to rest against the bottom of the reception zone 111. The reception zone 111 advantageously has a hollow form corresponding to that of the phalangette. This allows in particular the device for generating a local haptic feedback 104 to turn slightly around the phalangette
The device for generating a local haptic feedback 104 further comprises a plate 113 mounted to move relative to the shell 110 under the receiving zone 111 facing the hole 112. The shell 110 and the plate 113 are shaped so that the plate 113 is tangent to the pulp of the phalangette when the finger is resting on the shell 110. In this way, when the phalangette of the user rests in the reception area 111, the finger pulp of the user touches the plate 113, through the hole 112, and thus feels the relative movements of the plate 113 relative to the shell 110.
The hole 112 advantageously prevents the user from pressing too hard on the plate 113 with his finger and hinders the relative movements of the plate 113 relative to the shell 110.
Here the plate 113 has a contact surface that is smooth. Alternatively, this contact surface is not smooth so that the user feels better his movements. The plate 113 has for example a granular surface and / or ribbed and / or has one or more protrusions or hollow parts.
Preferably, the user's finger is held in contact with the reception zone 111 and the plate 113 by a strap 114 of the device for generating a local haptic feedback 104. The strap is for example attached to the hull 110. with the help of the screws 115. Of course, any other means of maintaining the finger that the strap 114 can be used.
The device for generating a local haptic feedback 104 comprises means for moving the plate 113 which are arranged inside the shell 110 and which here make it possible to move the plate 113 in two directions relative to the shell 110.
The displacement means of the plate 113 here comprise two motors 116, 117 fixed on a common base 130 of the device for generating a local haptic feedback 104 which is integral with the shell 110. The displacement means further comprise a first gear reducer. cable (comprising a first primary pulley 142 secured in rotation to the output shaft of the first motor 116, a first secondary pulley 118 and a cable not referenced but visible in Figure 6 connecting the first primary pulley 142 and the first secondary pulley 118 ) arranged so that the output shaft of the first motor 116 causes the rotation of the first secondary pulley 118 about a substantially vertical axis A. The pulley 118 also has a first pin 119 attached to the pulley 118 and extending vertically. The displacement means also comprise a second cable reducer (comprising a second primary pulley 143 secured in rotation to the output shaft of the second motor 117 and not visible in Figure 5, a second secondary pulley 120 and a non-referenced cable but visible in Figure 6 connecting the second primary pulley 143 and the second secondary pulley 120) arranged so that the output shaft of the second motor 117 causes the rotation of the second secondary pulley 120 about the same axis A. The second pulley secondary 120 further comprises a second pin 121 attached to the second secondary pulley 120 and extending vertically. The second secondary pulley 120 extends here coaxially with the first secondary pulley 118 and at the base of the first secondary pulley 118, the second secondary pulley 120 being provided with a groove 122 in an arc of a circle through which extends the first pin 119 of the first secondary pulley 118, the groove 122 thus allowing the first pin 119 to rotate about the axis A.
The displacement means further comprise a first connecting rod 123 and a second connecting rod 124 which are both arranged between the second secondary pulley 120 and the plate 113, the two connecting rods thus being in line with the two secondary pulleys 118, 120. first rod 123 comprises a first end rotatable about the first pin 119 and a second end rotatable about a rod 129 fixed to the plate 113, and the second rod 124 has a first end rotatable about the second pin 121 and a second end rotatable about said rod 129 fixed to the plate 113. The two connecting rods 123, 124 and the two secondary pulleys 118, 120 thus form a parallelogram structure.
In this way, the first secondary pulley 118 is actuated around the axis A by the first motor 116 and thus in turn drives the plate 113 via the first pin 119 and the first connecting rod 123. The second secondary pulley 120 is actuated around the axis A by the second motor 117 and thus in turn causes the plate 113 via the second pin 121 and the second connecting rod 124. Thus, the plate 113 can be moved according to any which direction (according to the directions and the amplitudes of rotation of the motors 116, 117) in a plane which is tangent to the pulp of the phalangette. Here, the movements of the plate 113 are not generated by the movements of the finger of the user but only by the motors 116, 117.
Alternatively, the axes of the secondary pulleys 118, 120 may be separate and parallel. In this case the base 130, the secondary pulleys 118, 120 and the two connecting rods 123, 124 form a 5-bar mechanism allowing the parallelogram structure to move the plate 113 in any direction in a plane which is tangent. to the pulp of the phalangette.
Advantageously, the device for generating a local haptic feedback 104 comprises means for estimating the position of the plate 113 relative to the shell 110 which consequently make it possible to control the motors 116, 117. For this purpose, the means estimation methods comprise here Hall effect measuring devices comprising magnetic field sensors 125, 126 which are fixed to the shell 110 and to the base 130 and magnets including two magnets 127 mounted on the first secondary pulley 118 facing each other. one of the magnetic field sensors and two magnets 128 mounted on the second secondary pulley 120 facing the other of the magnetic field sensors. The magnets 127 are advantageously arranged here on the first secondary pulley 118 on either side of the sensor 125 and in the opposite direction with respect to the sensor 125, the south pole of one of the magnets 127 being directed towards the sensor 125 and the north pole of the other magnet 127 being directed towards the sensor 125. In the same way, the magnets 128 are disposed here on the pulley 120 on either side of the sensor 12 6 and in the opposite direction with respect to the sensor 126, the south pole of one of the magnets 128 being directed towards the sensor 126 and the north pole of the other magnet 128 being directed towards the sensor 126. Thus, the measuring range of the sensors 125, 126 is increased. Alternatively, it is possible to use a single magnet 127, respectively a single magnet 128, in association with the sensor 125, respectively with the sensor 12 6, or on the contrary more than two magnets 127 and / or more than two magnets 128.
Of course, other means for estimating the position of the plate 113 may be used, for example potentiometers or optical sensors measuring the movements of the secondary pulleys 118, 120, and / or motors 116, 117, or even directly of the tray 113.
The device for generating a local haptic feedback 104 according to this first variant therefore differs from the device for generating a local haptic feedback 4 in that it is configured to move the plate 113 in two dimensions in a plane and no longer according to a single degree of freedom. The device for generating a local haptic feedback 104 is here arranged to generate a local haptic feedback in any direction tangential to the pulp of the finger.
A second variant of the device for generating a local haptic feedback will now be described with reference to FIG.
The shell 210 (not shown) and the plate 213 are here identical to those of the first variant described.
The means for moving the plate 213 different here from the first variant in that they comprise flexible structures 218, 220 in place secondary pulleys 118,120. Each flexible structure 218, 220 comprises segments connected in pairs by thin necks of the flexible structure. Each flexible structure 218, 220 here comprises five segments connected in pairs by thin necks.
This type of flexible structure is well known in the fields including micro-mechanisms and nanomechanisms. Thus, it will be possible to refer to the document "Novel Design and Analysis of a 2-DOF Compiler Parallel Micromanipulator for Nanomanipulation" of Y. Li, Q. Xu, IEEE Trans. on Automation Science and Engineering, Vol. 3, No.3, July 2006, pp. 248-254.
The segments located in the upper part of the flexible structures 218, 220 are fixed to the base 230 of the device for generating a local haptic feedback 204 which is integral with the shell 210. In addition the segment located in the lower part of the first flexible structure 218 is connected to a pulley 242 (respectively 243 for the other flexible structure 220) integral with the output shaft of the first motor 216 (respectively the second motor 217 for the other flexible structure 220) using of cables so that the first motor 216 causes the translation of the segment located in the lower part of the first flexible structure 218 along an axis B relative to the shell 210 and so that the second motor 217 causes the translation of the segment located in the lower part of the second flexible structure 220 along an axis C relative to the shell 210, the axes B and C being parallel. Each flexible structure thus forms with the base 230 on which rests the motor associated with the flexible structure a parallelogram structure whose joints are made using the thin necks of the flexible structure.
Alternatively, the transmission between the motors 216, 217 and the flexible structures 218, 220 can be made differently, for example using cable differential gearboxes, especially those described in the patent application of the present applicant FR 2 961 423 incorporated here by reference.
A first connecting rod 223 of the plate moving means 213 comprises a first end rotatable about a pin 219 rigidly connected to the end of the segment located in the lower part of the first flexible structure 218 and a second end movable in rotation. relative to a rod (not visible here) fixed to the plate 213. A second rod 224 (not visible here) has a first end movable in rotation about a pin (not visible here) rigidly connected to the end of the segment located in the lower part of the second flexible structure 220 and a second end rotatable relative to the rod fixed to the plate 213.
In this way, the segment located in the lower part of the first flexible structure 218 is displaced along the axis B by the first motor 216 and thus in turn drives the plate 213 via the first connecting rod 223. The segment located in the lower part of the flexible structure 220 is moved along the axis C by the second motor 217 and thus in turn causes the plate 213 via the second connecting rod 224. Thus, if the segments located in the part base of the two structures 218, 220 are moved in the same direction, they move the plate 213 parallel to the axes B and C. If the segments located in the lower part of the two structures 218, 220 are moved in opposite directions, they move the plateau 213 perpendicular to these axes B, C.
Advantageously, the device for generating a local haptic feedback 204 comprises means for estimating the position of the plate 213 relative to the base 230 and to the shell 210 which make it possible to control the motors 216, 217. Indeed, the estimation means comprise Hall effect measuring devices comprising magnetic field sensors 225, 226 which are fixed to the shell 210 (not visible here) and magnets including two magnets 227 mounted on the first flexible structure 218. facing one of the magnetic field sensors and two magnets (not visible here) mounted on the second flexible structure 220 facing the other of the magnetic field sensors.
Of course, other means for estimating the position of the plate 213 may be used, for example potentiometers or optical sensors measuring the movements of flexible structures 218, 220 and / or motors 216, 217.
The device for generating a local haptic feedback 204 is here arranged to generate a local haptic feedback in any direction tangential to the finger pulp as in the second variant.
A third variant of the device for generating local haptic feedback will now be described with reference to FIGS. 8 and 9.
In this variant, the device for generating a local haptic feedback 304 comprises a shell 310 comprising a reception area 311 of the phalangette of the user. The reception zone 311 is here shaped into a hollow receptacle whose bottom has a hole 312 which here has the shape of a bean, the fingertip of the user being intended to rest against the bottom of the zone of home 311.
The reception area 311 advantageously has a recessed shape corresponding to that of the phalangette of the user. This allows the device for generating a local haptic feedback 304 to turn slightly around the phalangette.
The device for generating a local haptic feedback 304 further comprises a plate 313 mounted to move relative to the shell 310 beneath the reception zone 311, the plate 313 comprising a portion 350 projecting from the remainder of the plate which is arranged so that to extend into the hole 312. In this way, when the phalangette of the user rests in the reception area 311, the pulp of the phalangette touches the projecting portion 350, through the hole 312, and feels and the relative movements of the plate 313 relative to the shell 310. The shell 310 and the plate 313 are thus shaped so that the upper face of the projecting portion 350 (on which the phalangette rests) is tangent to the pulp of the phalangette .
Here the projecting portion 350 has an upper face which is smooth. Alternatively, this face is not smooth so that the user feels better his movements and has for example a granular coating and / or ribbed and or having protruding portions or recessed.
The hole 312 advantageously avoids the user pressing too strongly on the protruding part 350 with his finger and hinders the relative movements of the projecting part 350.
Preferably, the user's finger is held in contact with the reception area 311 and the plate 313 by a strap 314 of the device for generating a local haptic feedback 304. The strap is attached to the shell 310, for example using screws. Of course, any other means of maintaining the finger that the strap 314 can be used.
In particular, the device for generating a local haptic feedback 304 is movably mounted on the associated robotic finger 3 by a hinge 331 which is here a flexible hinge as described in the application WO 2008 015 178 of the present applicant incorporated herein by reference, that is to say a hinge 331 made of a material different from the rigid material segments that it connects and that it articulates with respect to one another, one of the segments 340 being fixed to the shell 310 and the other of the segments 341 being fixed to the robotic finger 3. The material of the composite joint 331 is thus a fibrous material.
Alternatively, this hinge 331 of the device for generating a local haptic feedback 304 on the robotic finger 3 can be made differently, for example by means of a thin neck or by means of plain bearings or ball bearings. .
The device for generating a local haptic feedback 304 comprises means for moving the plate 313 which make it possible to move the plate 313 relative to the shell 310 in a single direction.
The displacement means of the plate 313 here comprise a motor 316 which is arranged on a base 330 of the device for generating a local haptic feedback 304, base 330 which is rigidly connected to the shell 310. The base 330, the shell 310 and the motor 316 are arranged so that the output shaft of the motor 316 passes through the base 330 and the shell 310 in its height and thus extends substantially vertically.
The displacement means further comprise here a primary pulley 332 rotatably connected to the output shaft of the motor 316, an angular sector 318 serving as a secondary pulley fixed in rotation to the plate 313 and arranged on the base 330 and on the shell 310 so as to be rotatable relative to the base 330 and the shell 310 about an axis A, and a cable (not visible here) connecting the primary pulley 332 and the angular sector 318. The displacement means are arranged so that the output shaft of the motor 316 causes rotation of the secondary pulley 318, and therefore the plate 313, about the axis A through the cable. Alternatively, to maximize the reduction ratio, the output shaft of the motor 316 can be used directly as a primary pulley 332.
In this way, the projecting portion 350 can be moved in a circular motion in a plane that is tangent to the finger pulp. Since the movements of the plate 313 are small amplitudes, the circular movement of the protruding portion 350 is perceived by the user's finger as an almost rectilinear movement.
Advantageously, the device for generating a local haptic feedback 304 includes means for estimating the position of the plate 313 relative to the shell 310 which makes it possible to control the motor 316. For this purpose, the estimation means comprise here an encoder 334 linked to the motor 316.
The device for generating a local haptic feedback 304 is thus arranged to generate a local haptic feedback here in a single direction that is tangential to the pulp of the finger.
A fourth variant of the device for generating a local haptic feedback will now be described with reference to FIGS. 10 and 11.
In this variant, the device for generating a local haptic feedback 404 comprises a shell 410 comprising a reception area 411 of the phalangette of the user. The reception zone 411 is here shaped into a hollow receptacle whose bottom comprises a hole 412, the fingertip of the user being intended to rest against the bottom of the reception area 411. The reception area 411 advantageously has a recessed shape corresponding to that of the phalangette of the user. This allows the device for generating a local haptic feedback 404 to rotate slightly around the phalangette.
The device for generating a local haptic feedback 404 further comprises a plate 413 which is ring-shaped here and which is rotatably mounted around an axis E with respect to the hull 410 under the reception zone 411 (in FIGS. 10 and 11, the lower part of the shell 410 and the pivot guiding the plate 413 in rotation about the axis E are not shown so as not to weigh down the figures). The plate 413 is shaped so that the axis of rotation E is substantially normal to the pulp of the phalanget when the finger of the user rests in the reception area 411.
The plate here has a portion 450 also ring-shaped and accessible through the hole 412. In this way, when the phalangette of the user rests in the reception area 411, the fingertip of the user touches the projecting portion 450 of the plate 413, through the hole 412, and thus feels the relative movements of the plate 413 relative to the shell 410.
Here the projecting portion 450 of the plate 413 is smooth. Alternatively, it is not smooth so that the user feels better its movements and has for example a granular coating and / or ribbed and or having protruding portions or recessed.
The hole 412 advantageously prevents the user from pressing too strongly on the plate 413 with his finger and hinders the relative movements of the plate 413 with respect to the shell 410.
Preferably, the finger of the user is maintained in contact with the reception area 411 and the plate 413 by a strap of the device for generating a local haptic feedback (not visible here). The strap is attached to the hull 410 for example using screws. Of course, any other means of maintaining the finger that the strap can be used.
The device for generating a local haptic feedback 404 comprises plate displacement means 413 which are arranged inside the shell 410 and which here make it possible to move the plate 413 in a single direction relative to the shell 410.
The means for moving the plate 413 comprise a motor 416 extending along an axis D (here orthogonal to the axis E) and secured to the hull 410 which serves here as a base for the motor 416. The displacement means also comprise here a first gear 442 rotatably connected to the output shaft of the motor 416, a second gear 443 engaged by the first gear 442 and a wheel and worm assembly. The screw 444 is rotatably connected to the second gear 443 and is here arranged under the motor 416 parallel to the motor 416 and to the axis D. The wheel 445 is in turn integral with the plate 413 and is arranged coaxially with the plate 413 The wheel 445 is arranged to be rotated by the screw 444.
In this way, the motor 416 drives in rotation about the axis E the plate 413 via a first reduction stage comprising the first gear 442 linked to the output shaft of the motor 416 and the second gear 443; and via a second reduction stage comprising the screw 444 connected to the second gear 443 and the wheel 445 connected to the plate 413.
The device for generating a local haptic feedback 404 is thus arranged to generate a local haptic feedback here in a single direction that is tangential to the finger pulp.
Advantageously, by the arrangement of the plate moving means 413, the plate 413 can rotate in rotation about the axis E indefinitely as long as the motor 416 is powered: the rotational movements of the motor 416 and the plate 413 are therefore infinite which allows to constantly stimulate the pulp of the phalangette.
In addition, this fourth variant of the device for generating a local haptic feedback 404 proves particularly simple since in this variant the device does not need means for estimating the position of the plate 413 relative to the hull 410 for The motor 416 is here simply controlled in torque or speed.
Of course, alternatively, the device may comprise means for estimating the position of the motor 416 or the plate 413 relative to the shell 410 for controlling the motor 416, which comprise sensors making it possible to measure the position and / or the angular velocity motor 416 or plate 413.
The robotic fingers 3 will now be detailed with reference to FIGS. 12 to 15.
With reference to FIGS. 12 to 14, only one of the robotic fingers linked to the indexes, major and annular of the user will be described here, the description also being applicable to the other two of these three robotic fingers 3.
With reference to FIG. 12, the robotic finger 3 linked to the index finger, the middle finger or the ring finger of the user comprises: a first member 51 rotatably mounted on the base 2 of the glove 1 around a first axis Αχ, which is here substantially normal to the palm of the hand of the user intended to be attached to the base 2 and preferably close to or aligned with the axis of abduction-adduction of the finger considered linked to the robotic finger 3, the first element 51 forming the first end element of the robotic finger 3, a second element 52 rotatably mounted on the first element 51 about a second axis A2, non-aligned and preferably perpendicular to the axis Αχ, a third member 53 rotatably mounted on the second member 52 about a third axis A3 and a fourth member 54 rotatably mounted on the second member 52 about a fourth axis A4, the third axis A3 and the fourth axis A4 ed both preferably parallel to the second axis A2, a fifth member 55 rotatably mounted on the third member 53 about a fifth axis A5 and rotatably mounted on the fourth member 54 about a sixth axis A6, the fifth axis; A5 and the sixth axis A6 being parallel to the third axis A3 and the fourth axis A4, and a sixth member 56 rotatably mounted on the fifth member 55 about a seventh axis A7, the seventh axis A7 being preferably perpendicular to the second axis; A2 axis, the sixth element 56 forming the second end member of the robotic finger.
The second element 52, the third element 53, the fourth element 54 and the fifth element 55 are here arranged so as to form a cross-parallelogram structure. This type of structure is well known and will not be further described. For example, reference may be made to the document 'Kinematics of a new 2-DOF wrist with high angulation capability' by M. Fontana, A. Frisoli, F. Salsedo, M. Bergamasco, IEEE Int. Conf. on Robotics and Automation, May 2006, Orlando, Florida, pp. 1524-1529.
Thus, the third element 53 and the fourth element 54 are arranged so that the third element 53 is articulated on the second element 52 above the articulation of the fourth element 54 on the second element 52 and so that the third element 53 is articulated on the fifth element 55 below the articulation of the fourth element 54 on the fifth element 55. Thus, the inclination of the fifth element 55 about the axis A5 is amplified relative to the rotation of the third element 53 around the A3 axis.
The sixth element 56 is moreover shaped to carry the device for generating a local haptic feedback 4 of the robotic finger 3. More precisely here, the device for generating a local haptic feedback 4 is movably mounted on the sixth element 56 around an eighth axis A8, the eighth axis A8 being preferably perpendicular to the seventh axis A7 and concurrent with the seventh axis A7.
Thus, the arrangement of the different elements of the robotic finger 3 allows the rotations of said elements around the second axis A2, the third axis A3, the fourth axis A4, the fifth axis A5 and the sixth axis A6, thereby moving the device generating a local haptic feedback 4 in a plane perpendicular to the second axis A2, the third axis A3, the fourth axis A4, the fifth axis As and the sixth axis Ae. Associated with the possible additional rotation of the robotic finger 3 around the first axis Ai, these rotations about the first axis Αχ, the second axis A2, the third axis A3, the fourth axis A4, the fifth axis As and the sixth axis Ae make it possible to freely move the generating device of a local haptic feedback 4 into the space.
Moreover, the arrangement of the various elements and the device for generating a local haptic feedback 4 of the robotic finger 3 allows the rotations around the seventh axis A7 and the eighth axis A8 and allows a slight rotation of the phalanget of the user around its axis relative to the device for generating a local haptic feedback 4, which allows to freely orient said device for generating a local haptic feedback 4 in space and to follow the movements of said phalangette.
The seventh axis A7 and the eighth axis A8 are preferably concurrent and perpendicular. The eighth axis A8 and the axis of the phalangette are also preferably perpendicular and close to each other.
Thus the robotic finger 3 has five operating degrees of freedom and six degrees of freedom if one takes into account the rotational movement left possible by the phalangette of the user around its axis relative to the device for generating a haptic feedback. 4. The robotic finger 3 is here configured to have more degrees of freedom than the user's finger to which it is secured. The robotic finger 3 thus leaves a total freedom of movement to the user's finger connected to this robotic finger 3, which allows to generate a better interaction with the environment.
Because the axis Al of the robotic finger is aligned with or near the axis of abduction-adduction of the user's finger, the rotation of the sixth element 56 around the seventh axis A7 is zero or weak. It is therefore possible, as an alternative here, to join the fifth and sixth elements 55 and 56 together, by eliminating the mobility around the seventh axis A7, for one, several or all of the robotic fingers 3 connected to the index, middle and to the ring finger of the user.
As illustrated in FIGS. 13a to 13d, which show the configurations of the robotic finger 3 for different angles of closure of the user's finger DO, the crossed parallelogram structure used on the robotic finger 3 makes it possible to follow the flexion-extension movements of the finger DO of the user retaining all the elements of the robotic finger 3 near the user's finger DO. It thus makes it possible to minimize the bulk of the robotic finger 3 with respect to a conventional deformable parallelogram structure. In addition, it is simpler than a structure consisting of three segments following the movements of the proximal phalanx, the phalanx (the phalangin) and the distal phalanx (the phalangette) and in which the segments are articulated to each other. using double deformable parallelograms so that the axes of rotation between these segments can be placed closer to the inter-phalangeal joints.
Moreover, as illustrated in FIGS. 14a and 14b, the crossed parallelogram structure used on the robotic finger 3 makes it possible to follow the flexion-extension movements of the user's finger DO for different configurations of the finger DO. Thus, the angles between the palm and the proximal phalanx, between the proximal phalanx and the middle phalanx (the phalangin) and between the medial phalanx (phalangin) and the distal phalanx (the phalangeal) are of the same sign (which happens commonly when closing the hand in the vacuum where around an object grasped using a power jack also using the palm) or that the angle between the middle phalanx and the distal phalanx is not the same sign as the angles between the palm and the proximal phalanx and between the proximal phalanx and the middle phalanx (which commonly occurs when grasping an object with the fingertips using a precision grip), the robotic finger 3 can follow the movements the user's finger DO.
In addition, with the glove 1, the inside of the palm of the hand of the user remains free (except possibly at the level of the attachment of the palm to the base 2) which allows to generate a better interaction with the environment, especially when the user closes his hand.
The robotic finger 3 comprises means for actuating the robotic finger.
In particular, the actuating means comprise: - a force feedback motor 57 carried by the first element 51, - a first gear 58 secured in rotation to the output shaft of the force return motor 57, a second gear 59 arranged on the first element 51 so as to be rotatable relative to the first element 51 and so as to be rotated by the first gear 58, a first pulley 60 rotatably connected to the second gear 59, a second pulley 61 fixed on the second element 52 and mounted rotatably about the second axis A2 relative to the first element 51, and a cable 62 surrounding the first pulley 60 and the second pulley 61 and making it possible to transmit the forces and the movements from one to the other of these pulleys.
The actuating means may further comprise a cable tensioning device known per se.
Thus, the force return motor 57 participates or opposes the rotation of the second element 52 about the second axis A2 relative to the first element 51 via a first reduction stage constituted by the gears 58 and 59 and a second cable reduction stage constituted by the first pulley 60, the second pulley 61 and the cable 62. This makes it possible to generate a force feedback on the second element 52 felt by the user, particularly at the level of its phalanget housed in the device for generating a local haptic feedback 4.
Of course, alternatively, the actuating means may include any other reducer with one or more stages. Therefore, the force F generated on the user's finger by the actuating means is generated in the plane of the user's finger DO and in a direction substantially normal to the pulp of the phalanget resting on the device. generate a local haptic feedback 4, except for extreme configurations where the finger is almost completely folded. As illustrated in FIG. 13, this force F is indeed perpendicular to the line L joining the center of the articulation along the second axis A2 and the point of concurrence of the seventh axis A7 and the eighth axis A8. A force feedback corresponding to the resistance to a movement of opening and closing of the finger is therefore applied here.
Furthermore, the force F being generated in the plane of the finger, it is substantially normal local haptic feedback that is performed tangentially to the pulp of the finger in a direction perpendicular to the axis of the phalangette. Thus, the local haptic feedback and force feedback are performed in different directions without adding up.
It is noted that the pivots around the other axes (first axis Αχ, third axis A3, fourth axis A4, fifth axis A5, sixth axis Aç and seventh axis A7) are here left passive. Thus the robotic finger 3 here has a single degree of freedom to effort feedback.
Alternatively, one of the other axes of the third axis A3, the fourth axis A4, the fifth axis A5 and the sixth axis A6 can also be motorized. In this case, the force return F can be generated in two dimensions in any direction in the plane of the robotic finger 3 which is substantially coincident with the plane of the finger. The force return F is then always applied in different directions of the local haptic feedback which is generated in a direction perpendicular to the axis of the phalangette and the plane of the finger.
Preferably, the robotic finger 3 comprises means for estimating the position of the device for generating a local haptic feedback 4 relative to the base 2 of the glove 1. The estimation means here comprise angular sensors 64 and 65, for example potentiometers or miniature encoders, arranged at the joints of fourth axis A4 and first axis Ai. The estimation means also comprise an optical encoder 63 arranged here on the output shaft of the force feedback motor 57 and making it possible to know the position of the output shaft of this motor and therefore of the body 52. Said means of estimation make it possible to know at any time the position of the device for generating a local haptic feedback 4 relative to the base 2 of the glove 1. In addition, these estimation means, and in particular the optical encoder 63, make it possible to control the force feedback motor 57 so as to generate the appropriate force feedback.
Of course, the means for estimating the position of the device for generating a local haptic feedback 4 may comprise as variants other angular sensors on the other axes of the robotic finger 3.
The estimation means may also be configured to estimate the orientation of the device for generating a local haptic feedback 4, comprising, for example, angular sensors arranged at the joints of the seventh axis A7 and the eighth axis A8.
We will now return to the robotic finger 3 of the thumb, with reference to FIG. 15. The robotic finger 3 of the thumb has elements 51, 52, 53, 54, 55 and 56 that are similar and advantageously identical to those of the robotic fingers of the others. fingers, their dimensions, in particular those of the element 56, may however be different from the dimensions of the elements of the other robotic fingers, the thumb having dimensions substantially different from the other fingers. These elements are articulated to each other around the axes A2, A3 / A4, As, A6 and A7 in the same way as on the other robotic fingers. In addition, a device for generating a local haptic feedback 4 is articulated in rotation around the axis A8 with respect to the element 56 as on the other robotic fingers, the device for generating a local haptic feedback 4 of the thumb here having dimensions different from those devices for generating a local haptic feedback of other fingers, the thumb phalangette being wider than the phalangette of other fingers. The robotic finger 3 of the thumb also comprises actuating means and means for estimating the position of the device for generating a local haptic feedback 4 relative to the base 2 similar to the other robotic fingers.
The robotic finger 3 of the thumb, however, differs from the other robotic fingers 3 in that it comprises an additional element 1051 disposed between the base 2 and the first element 51. This additional element 1051 is rotatably mounted on the base 2 of the glove 1 around an additional axis A0. This additional element 1051 is in this case the first end element of the robotic finger 3 of the thumb and the first element 51 is rotatably mounted on the additional element 1051 about the first axis Αχ. The axes Ao and Αχ are preferably concurrent and perpendicular, the body 1051 acting as a universal joint. The additional degree of freedom offered by the axis articulation A0 advantageously allows that the device for generating a local haptic feedback 4 of the thumb can follow all the movements of the thumb, including opposition movements.
In addition, the means for estimating the position of the device for generating a local haptic feedback 4 relative to the base 2 comprise an additional angular sensor, for example a potentiometer or a miniature encoder (not visible here), arranged at the level of the axis articulation A0.
Preferably, as shown in Figure 16, the base 2 comprises a box comprising the upper plates 1001 and lower 1002 which are connected by columns 1003 of said box. The first axes Ai of the first mobile elements of the robotic fingers 3 respectively connected to the index, major and annular of the user are here normal to the plates 1001 and 1002 of the base 2.
The first elements 51 of the robotic fingers 3 connected to the user's index finger, middle finger and ring finger are advantageously arranged inside this box which thus protects these first elements and the force feedback motors. that these robotic fingers 3 carry.
Preferably, the robotic fingers 3 linked to the indexes, major and annular are identical in their operation but may have shapes and dimensions that may vary depending on the size of the finger of the user associated with the robotic finger 3 and / or for reasons for integration on the glove 1.
Thus the first elements 51 of the robotic fingers 3 connected to the index finger, middle finger and ring finger have here, as illustrated in FIG. 16, different shapes and dimensions so that the force feedback motors 57 can to integrate better between the plates 1001 and 1002. Here for example, the first element 51 of the robotic finger 3 connected to the middle finger is longer than the first element 51 of the robotic finger connected to the annular, which makes it possible to place the motor force feedback 57 of the robotic finger 3 linked to the major behind the force feedback motor 57 of the robotic finger 3 connected to the annular.
In addition, the first element 51 of the robotic finger 3 connected to the index is shaped so as to be symmetrical to the first element 51 of the robotic finger 3 connected to the annulus, which makes it possible to place the force return motors 57 robotic fingers 3 linked to the index and major on either side of the first element 51 of the robotic finger 3 linked to the middle finger. This solution makes it possible to bring the axes Ai closer to these robotic fingers connected to the index finger, to the ring finger and to the middle finger. Thus, the axes Ai of the robotic fingers 3 linked to the indexes, major and annular are here advantageously placed at a distance close to that separating the axes of abduction-adduction of the index, middle finger and ring finger of the user , so that the axes Ai of these robotic fingers 3 can be close to or aligned with the abduction-adduction axes of the user's fingers when the glove 1 is installed on the user's hand.
In addition here, the base 2 comprises a base 1005 fixed on the lower plate 1002 and intended to come into contact with the hand when the glove is attached thereto, for example by means of straps not shown. Moreover, the upper plate 1001 is here perforated to let the second gears 59 through the plate 1001. This allows to minimize the height of the box of the base 2 and thus the size of the glove 1.
As already indicated, preferably, the elements of the robotic finger 3 linked to the thumb are identical to the equivalent elements of the robotic fingers 3 linked to the other fingers of the user in their operation but may have shapes and dimensions different from those of the other fingers robotic. Likewise, the device for generating a local haptic feedback 4 linked to the thumb is identical, in its operation, to the devices for generating a local haptic feedback 4 linked to the other fingers of the user but may have shapes and shapes. dimensions different from those of other devices for generating local haptic feedback 4.
The robotic finger 3 linked to the thumb further comprises additional mobilities to adapt to the opposing movements of the thumb.
The robotic fingers of a glove intended to be used by an adult may also have larger dimensions than the robotic fingers of a glove intended to be used by a child.
The robotic finger 3 linked to the thumb here is hinged to the base 2 via a pillar 1004 to advantageously position the axes Ao and Αχ of this robotic finger 3 near the carpo-metacarpal joint of the thumb.
Alternatively, as shown in FIG. 17, the motors 57 for force feedback of the robotic fingers 3 are fixed on the base 2 and not on the robotic fingers 3, for example by being rigidly connected to the bottom plate 1002.
In this case, for the robotic fingers connected to the index finger, the middle finger and the ring finger, the second gears 59 and the first pulleys 60 are mounted to rotate directly on the base 2. The actuating means then comprise return idler pulleys 1006 rotatably mounted for example around the columns 1003 connecting the lower plate 1002 to the upper plate 1001 (not shown here) to transmit the movements and the forces between the first pulleys 60 and the second pulleys 61 mounted on the elements 51 which are here of smaller dimensions than the elements 51 illustrated in FIGS. 12 to 16.
For the robotic finger connected to the thumb, the second gear 59 and the first pulley 60 are rotatably mounted directly on the base 2. The actuating means then comprise idler return pulleys rotatably mounted around the column 1004 for transmit the movements and the forces between the first pulley 60 and the second pulley 61 mounted on the element 51 which is here of dimensions smaller than the element 51 illustrated in FIG.
In addition, in FIG. 17, the devices for generating a local haptic feedback 4 are those of the third variant illustrated in FIGS. 8 and 9. These devices for generating a local haptic feedback generate a local haptic feedback tangential to the fingertip and oriented normal to the plane of the finger. The force feedback is generated in the plane of the finger. The local haptic feedback and effort feedback are therefore carried out in different directions without adding up.
With reference to FIG. 18, the virtual or remote manipulation system 500 comprises the glove 1 as previously described, measuring means 501 able here to measure the position and the orientation of the base 2 of said glove at any time in FIG. space, an environment 502 with which the user wishes to interact and control means 503 of the glove 1 and the environment 502.
The measuring means 501 comprise for example here one or more targets 510 arranged on the base 2 and tracking means 511 of these targets 510 comprising for example a camera. The targets 510 are here passive. They are advantageously arranged all around the base 2 of the glove 1 (some are not visible) so that at least a sufficient number of them can be seen by the tracking means 511. The camera can be chosen to operate in a different direction. any band of the light spectrum. Preferably, the camera is selected to operate in the visible light or infrared range. The environment 502 comprises, for example, a slave robot operated remotely or a computer simulation with which the user wants to interact, such as a virtual reality simulation, in which there is, for example, an avatar of the user controlled by the user. help from the glove.
The control means 503 communicate in particular with the measuring means 501, with the glove 1 and with the environment 502. They are in particular configured to measure the configuration of the glove, namely the position and the orientation of the base 2 and the devices for generating a local haptic feedback 4 in space. The position and the orientation of the latter can advantageously be obtained by combining the information provided by the measuring means 501 and the sensors 63, 64, 65 of the glove 1. The control means 503 are also configured to manage the return of the force generated by the actuating means of the four robotic fingers 3 and to manage the local haptic feedback generated by the devices for generating a local haptic feedback 4 of the four robotic fingers as a function of the interactions of the slave robot or the avatar of the user with their environment of their own.
Naturally, the invention is not limited to the embodiment described and variations can be made without departing from the scope of the invention as defined by the claims.
In particular, although here the glove is shaped to be linked to the right hand of the user, the glove can be shaped to be linked to the left hand of the user. In addition, although here the glove has four fingers, the glove may have a greater number or a smaller number of fingers. The same glove may comprise devices for generating an identical local haptic feedback on all the fingers or different according to the robotic and non-identical fingers. Similarly, the same glove may have different robotic fingers.
In addition, although here the glove is directly worn by the user, the glove may include an active carrier structure or a passive carrier structure supporting it. In this case, the user can always freely move his fingers with the glove without the support structure hinders the movements of his fingers and can always feel a return of effort and haptic feedback on the fingers. In addition, if it is active, the carrier structure may also affect the movements of the other joints of the user such as that of his elbow or wrist by blocking or accompanying his movements for example at the palm. Thus, the user can feel a return of effort on the palm of the hand. Of course, in the case where the carrier structure at the end of which the glove is fixed is passive, the carrier structure can not apply a force feedback on the palm of the user whose palm movements can not not be accompanied or blocked. However, the glove will still be able to apply force feedback and local haptic feedback to the user's fingertips.
Moreover, the carrier structure, if it is equipped with position sensors, can be used to measure the position and the orientation of the base of the robot, in addition to or in replacement of the measuring means.
Of course, the devices for generating a local haptic feedback may be different from what has been described above. In particular, at least one of the devices for generating a local haptic feedback may act on the sides of the phalangette in place of the pulp of the phalangette without departing from the scope of the invention. In this case, said device may for example comprise a U-shaped plate which will act on both sides of the finger and the displacement of the plate will then preferably be normal to the skin located on the sides of the phalangette, so normal to the plane of the finger . Thus, the force feedback, which will be generated in the plane of the finger, and the local haptic feedback will always be applied in different directions.
Of course also, whatever devices for generating an associated local haptic feedback, the base of the glove may be different from what has been described. The base can thus have another form than that illustrated. The base of the glove can be more rectangular.
Similarly, whatever the devices for generating an associated local haptic feedback and whatever the associated base, the robotic finger may be different from what has been described. Thus, although here the robotic finger described with reference to FIGS. 12 to 16 is configured to ensure a force return according to a degree of freedom, the robotic finger can be configured to provide force feedback in two degrees of freedom. , the robotic finger being of course then shaped so that the local haptic feedback and force feedback are generated in different directions and advantageously perpendicular to each other. In addition, although here the robotic fingers use smooth bearings for the joints between the various elements, the device for generating a local haptic feedback and the base, other means may be used such as for example ball bearings or flexible links with large deflections of the type of the flexible joint as described in the application WO 2008 015 178 of the present applicant or as described in the application FR 2 984 204 of the present applicant, both requests being here incorporated by reference. Similarly, if the robotic finger has a cross-parallelogram structure, this structure can be configured differently than what has been indicated. FIG. 19 thus illustrates a first variant of the robotic finger in which the crossed parallelogram structure 670 is made using crossed cables, the third axis A3 and the fourth axis A4 being then merged and the fifth axis A5 and the sixth axis Aç being then confused. As illustrated in FIG. 19, and independently of the manner in which the cross-parallelogram structure is produced, the first element may also comprise two bodies 651a, 651b movable together along an axis B so that the structure the robotic finger 3 can be closer to the wrist of the user when the user reaches the finger, some of the elements of the robotic finger 3 can then extend above the palm of the user, and that the structure of the finger robotic 3 can move away from the wrist of the user when the user bends the finger, some of the elements of the robotic finger 3 can then move over the finger. This will allow to have a robotic finger even more compact. Alternatively, the robotic finger may be configured to have a parallelogram structure in place of an inverted parallelogram structure. FIG. 20 thus illustrates a second variant of the robotic finger in which the robotic finger comprises a deformable parallelogram structure provided with two motors ensuring a force return with two degrees of freedom in the plane of the robotic finger, which plane is advantageously close to or coincident with the plane of the user's finger connected to the robotic finger if the robotic finger is correctly positioned relative to the user's finger, and a device for generating a local haptic feedback at a degree of freedom ensuring tangential local haptic feedback at the finger pulp and normal to the plane of the finger, the device for generating a local haptic feedback being articulated on the deformable parallelogram structure by a passive ball joint link leaving all freedom of movement to the finger of the user.
Moreover, as illustrated in FIG. 17, the force return motor (s) may be fixed to the base in place of the associated robotic finger. The force return motor or motors may be coupled to the robotic finger associated for example by cable transmissions.
Of course, all or part of the engines of the devices for generating a local haptic feedback may also be attached to an element of the robotic finger or to the base, their movement being transmitted to the other elements of the devices for generating a local haptic feedback. for example by cable transmissions and flexible ducts.
In the case of the use of a carrier structure, all or part of the force feedback motors and / or all or part of the engines of the devices for generating a local haptic feedback may still be worn by any body of the supporting structure. All or part of the force feedback motors and / or all or part of the engines of the local haptic feedback generation devices may also be arranged in one or more engine blocks carried by the user or be fixed, the efforts being transmitted to the robotic fingers and to the other elements of devices for generating a local haptic feedback associated for example by cable transmissions and flexible ducts.
Of course, any other combination between the different robotic finger structures and the different local haptic feedback devices is possible, provided that at least one of the directions according to which the local haptic feedback is generated is different from the one at least directions according to which the force feedback is generated. Thus, the robotic finger structure of FIG. 20 may, for example, be associated with the device for generating a local haptic feedback of FIGS. 4 to 6 or with the device for generating a local haptic feedback of FIG. 7 without departing from the scope of the invention, the engines then being able to generate a normal haptic feedback to the plane of the robotic finger in which the force feedback is applied.
In addition, whatever the configuration of the glove, the means for measuring the configuration of the glove in space may be different from those described. In particular, the measuring means may be configured to monitor both the movements of the base of the glove and both the movements of the robotic fingers and / or devices for generating a local haptic feedback glove complement or in place own measuring means of the glove. The measuring means may also include one or more cameras. In addition, they can measure the glove configuration without using targets. The glove and in particular the base and / or the robotic fingers and / or the devices for generating a local haptic feedback can in this case be machined so as to comprise sharp edges more easily visible and usable by the processing algorithms. picture as rounded shapes. The means for measuring the configuration of the glove may further comprise one or more illumination means associated with one, several or all the cameras in order to illuminate the targets and / or to enhance the contrast of the acquired image. by the camera (s). This or these means of illumination may be separate from the camera or cameras or be integrated around the lens of the camera or cameras. In addition or in replacement, the virtual or remote manipulation system according to the invention may advantageously comprise a device for illuminating the glove with a structured light to facilitate measurements. When the means for measuring the configuration of the glove comprise targets which are passive, the targets may preferably be retroreflective in the spectrum of the illumination device and / or illumination means. Although the targets used here are passive, targets may still be active to ensure their own light. Such active targets can be controlled to send each a specific signal, for example at a given frequency, so as to facilitate their identification and distinction of other targets. In the case where active targets are used, the glove may include one or more batteries and / or batteries necessary for powering the targets. Although here the means for measuring the configuration of the glove described are external measuring means, said measuring means may be internal: the targets will then be arranged in the environment of the glove and the tracking means of these targets will be worn by the glove. In general, the means for measuring the configuration of the glove may comprise any non-contact measurement system known as for example and non-exhaustively: motion capture systems with or without targets such as the "ART Track" device, electromagnetic or ultrasonic sensors such as "Polhemus" sensors, laser plotters such as "Leica Eye Tracker" plotters, flight time cameras, "Kinect" motion capture systems or "Leap Motion" device ...
For all the application, motors, sensors and reducers mentioned may be of any suitable type.
The motors can thus be advantageously and non-exhaustively electric motors with iron-free rotor DC, brushless motors, conventional DC motors ... In place of the motors, it will be possible to use other actuators such as shape memory alloys, electroactive polymers, piezoelectric actuators, pneumatic or hydraulic actuators. One or more axes of rotation of the robotic finger may also be used braking means instead of motors or actuators. These braking means may comprise disc brakes, powder brakes or magneto-rheological or electrorheological fluid brakes. It will also be possible to use hybrid actuators associating an actuator and braking means of any type presented above. It will also be possible to use on one or more axes of rotation of the robotic finger and / or the device for generating a local haptic feedback of antagonistic actuating devices and / or variable-stiffness devices of the series elastic actuator type (in English). "Serial elastic actuators") or elastic actuators in parallel (in English "parallel elastic actuators").
The gear units may be cable winches or, in a non-exhaustive manner, single or epicyclic single or multi-stage gear units or gearboxes, deformation-type gearboxes ("Harmonie Drive" gearbox type) or ball screw reducers or any combination thereof. In the case of the use of capstans, it will be advantageous to machine a helical profile on the pulleys and to provide guidance systems and tension cables. It will still be possible on certain axes of rotation of the robotic finger and / or the device for generating a local haptic feedback to have non-reversible reducers such as worm gear reducers. In the case of the use of motors and / or gearboxes with low efficiency and / or having significant or little or no reversible friction on the axes of rotation of the robotic finger with force feedback, or may advantageously be used at the level of motors, at the joints of the robotic finger or at its base or end elements of the force sensors whose signals will be used to compensate for these defects and make the reversible robotic finger.
The sensors may be of any type suitable, in particular and in a non-exhaustive manner, optical encoders, Hall effect sensors, potentiometers or magneto-optical encoders. These sensors can be absolute (multi-turns) or relative. They can be integrated on the engines. All or part of them may also be placed on the joints of the robotic finger and / or the device for generating a local haptic feedback. It will be possible to have on one or more axes of rotation of the robotic finger and / or the device for generating a local haptic feedback of the sensors on both the motors and the joints.
In general, the kinematic links of the glove can be made by simple bearings, ball bearings, plain bearings, magnetic bearings, flexible joints such as those described in the application WO 2008 015 178 of the present applicant incorporated herein. by reference, thin collars or any other known solution.
Moreover some links have been illustrated in a simplified way cantilever. It may be advantageous to make clevis connections, that is to say with a recovery efforts on each side of the link. This is particularly true for the rotational guidance of the pulleys whose efforts may advantageously be taken up by bearings or bearings on the side of the pulleys opposite the motors.
Although here the means for moving the plate are controlled in position, the tray moving means can be controlled effort.

权利要求:
Claims (18)
[1" id="c-fr-0001]
1. Glove (1) for virtual or remote manipulation which comprises: - a base (2), - at least one robotic finger (3) intended to be linked to one of the fingers of the user and comprising a plurality members (1051; 51; 52; 53; 54; 55; 56) hinged to each other having a first end member (51; 1051) movably mounted on the base and a second end member (56). , the robotic finger comprising means for actuating at least one of the elements of the robotic finger, these actuating means being capable of generating a force return intended to be applied to the phalangette of the user according to least one direction, and - at least one device for generating a local haptic feedback arranged at least in part at the second end element of the robotic finger and intended to be in contact with the phalangette of the user, the device generating a local haptic feedback being arranged for g to energetate a local haptic feedback intended to be applied to the phalangette in at least one direction, at least one of the directions according to which the local haptic feedback is generated being different from at least one of the directions according to which the force feedback is generated.
[2" id="c-fr-0002]
2. Glove according to claim 1, wherein the device for generating a local haptic feedback is shaped so as to be intended to be in contact with the pulp of the phalangette of the user, the device for generating a return local haptic being arranged to generate a local haptic feedback to be applied to the pulp of the phalangette.
[3" id="c-fr-0003]
3. Glove according to claim 1 or 2, wherein the robotic finger (3) is configured to have at least as many degrees of freedom as the finger of the user to whom it is intended to be bound.
[4" id="c-fr-0004]
Glove according to claim 1 to 3, wherein the actuating means and the device for generating a local haptic feedback (4; 104; 204; 304; 404) are arranged so that at least one directions according to which the local haptic feedback is generated is perpendicular to at least one of the directions in which the force feedback is generated.
[5" id="c-fr-0005]
Glove according to any one of claims 1 to 4, wherein the actuating means and the device for generating a local haptic feedback (4; 104; 204; 304; 404) are arranged so that when the finger of the user is secured to the device for generating a local haptic feedback, the local haptic feedback is generated tangentially to the pulp of the finger and the force feedback is generated following the normal to the pulp of the finger.
[6" id="c-fr-0006]
6. Glove according to one of claims 1 to 5, wherein the actuating means and the device for generating a local haptic feedback (4; 104; 204; 304; 404) are arranged so that the directions according to which are generated the force feedback are all different directions in which is generated the local haptic feedback.
[7" id="c-fr-0007]
7. Glove according to one of the preceding claims, wherein the actuating means are arranged to generate a force return on a single degree of freedom of the robotic finger (3).
[8" id="c-fr-0008]
8. Glove according to one of the preceding claims, wherein the device for generating a local haptic feedback (4; 304; 404) is arranged to generate a local haptic feedback in a single direction relative to the pulp of the finger intended for be associated with said device for generating a local haptic feedback.
[9" id="c-fr-0009]
9. Glove according to one of claims 1 to 7, wherein the device for generating a local haptic feedback (104; 204) is arranged to generate a local haptic feedback in two directions relative to the pulp of the finger intended to be associated with said device for generating a local haptic feedback.
[10" id="c-fr-0010]
Glove according to one of the preceding claims, wherein the device for generating a local haptic feedback (4; 104; 204; 304; 404) comprises a shell (10; 110; 210; 310; reception area (11; 111; 211; 311; 411) for receiving a phalangette of the user, the reception area being shaped into a hollow receptacle having a shape corresponding to that of the finger pulp of 1 '; user.
[11" id="c-fr-0011]
11. Glove according to one of claims 1, 2, 3, 4, 5, 6, 7, 8 or 10, wherein the device for generating a local haptic feedback (4) comprises a shell (10) comprising a reception area (11) for receiving a phalangette of the user, the device further comprising a plate (13) movably mounted relative to the shell and arranged at the reception area, the plate being shaped like a ring and arranged so that an axis of the plate is parallel to the axis of the phalangette of the finger of the user to be associated with said device for generating a local haptic feedback.
[12" id="c-fr-0012]
12. Glove according to claim 11, wherein the plate (13) is shaped so as to have a larger diameter than the finger of the user intended to be associated with said device for generating a local haptic feedback (4).
[13" id="c-fr-0013]
Glove according to one of claims 1 to 10, wherein the device for generating a local haptic feedback (104; 204; 304; 404) comprises a shell (110; 210; 310; host (111; 211; 311; 411) for receiving the phalangette of the user, the device further comprising a plate (113; 213; 313; 413) mounted movable relative to the shell and arranged at the reception area, the tray being arranged under the reception area which has a hole to access the tray.
[14" id="c-fr-0014]
The glove of claim 13, wherein the platen (313; 413) has a protruding portion (350; 450) of the remainder of the platen and which is the portion of the platen intended to come into contact with the user's finger.
[15" id="c-fr-0015]
The glove of claim 14, wherein the protrusion (350) extends through the hole of the reception area.
[16" id="c-fr-0016]
16. Glove according to one of the preceding claims, wherein a portion of the robotic finger (3) is arranged inside the base (2).
[17" id="c-fr-0017]
17. Glove according to one of the preceding claims, wherein the base (2) comprises means for securing the base to the palm of the user.
[18" id="c-fr-0018]
18. virtual or remote manipulation system (500) comprising a glove (1) according to one of the preceding claims, means (501) for measuring the position and the orientation of the base (2) of said glove in space, an environment (502) with which the user is intended to interact, and control means (503) for the glove (1) and the environment (502).

类似技术:

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同族专利:

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公开号 | 公开日

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WO2017042135A1|2017-03-16|

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FR3040803B1|2017-09-01|

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CN110196637B|2019-05-15|2020-12-18|北京航空航天大学|Movable fulcrum lever type rigidity changing mechanism and single-finger force feedback glove|

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CN110174945B|2019-05-15|2020-12-18|北京航空航天大学|Variable-rigidity force feedback glove with adjustable size|

法律状态:
2016-09-29| PLFP| Fee payment|Year of fee payment: 2 |

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2017-03-10| PLSC| Search report ready|Effective date: 20170310 |

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2017-09-28| PLFP| Fee payment|Year of fee payment: 3 |

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2018-09-24| PLFP| Fee payment|Year of fee payment: 4 |

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2019-09-26| PLFP| Fee payment|Year of fee payment: 5 |

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2020-09-14| PLFP| Fee payment|Year of fee payment: 6 |

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2021-09-21| PLFP| Fee payment|Year of fee payment: 7 |

优先权:

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申请号 | 申请日 | 专利标题

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FR1558301A|FR3040803B1|2015-09-08|2015-09-08|GLOVE FOR VIRTUAL OR REMOTE HANDLING AND ASSOCIATED VIRTUAL OR REMOTE HANDLING SYSTEM|FR1558301A| FR3040803B1|2015-09-08|2015-09-08|GLOVE FOR VIRTUAL OR REMOTE HANDLING AND ASSOCIATED VIRTUAL OR REMOTE HANDLING SYSTEM|

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PCT/EP2016/070891| WO2017042135A1|2015-09-08|2016-09-05|Glove for virtual or remote manipulation and associated virtual or remote manipulation system|