Design And Research Of A New Type Of Pneumatic Force Feedback Data Glove

Virtual Reality is giving simulation of the operator's vision, hearing and feeling by making use of the three-dimension virtual scene in the computer and with the help of human-interaction equipment, so that the operator seems have self participation to perception the three-dimension's things and their features as reality. Virtual Reality has three characteristics:Immersion, Interaction and Imagination. Actually, people acknowledge things by hands at most time, so it is very important to research interaction between the hand and virtual scene. Therefore, the human-interaction equipment plays a key role in the interaction, so as to enhance the immersion and interaction.The main point of this paper is design a new type of force feedback data glove, which using low-friction cylinders as its actuator, on the base of research on existing data gloves at home and abroad. The glove has three characteristics with big output force, low-friction and light weight. What's more, the glove realized common glove's two functions very well, which is joint measurement and feedback force output.First, the hand's kinematics characteristics are analyzed on the base of the hand skeleton model, so that it gains kinematics diagram. Then, it investigates establishing method, collision detection algorithm, grasp technology and virtual force calculation of the virtual hand model, which is controlled by the force feedback data glove.Secondly, a new type of force feedback data glove has been designed via choosing low-friction cylinder and designing mechanical structure. And, a joint measurement method has been designed via investigation on the principle of the angle sensor and the translation sensor.Then, quantitative analysis has been made on the designed glove. Kinematics model has been established on hand-glove to gain the kinematics equations and its solution, so as to realize the hand position feedback. The force feedback control model has been established via design proper pneumatic circuit. Meanwhile, estimation and calculation have been made on the glove property parameters, which are weight, friction and range of motion. Finally, experimental system has been designed on the glove to do three experiments, which are low-friction cylinder static characteristic, hand joint measurement and force feedback control, and it gains calculation formula of the glove actuator, hand joint change curve with hand bending and simulating force haptic with virtual operation.