Design of a Lightweight Force-Feedback Glove with a Large Workspace

作     者：Yukai Zheng Dangxiao Wang Ziqi Wang Yu Zhang Yuru Zhang Weiliang Xu 

作者机构：State Key Laboratory of Virtual Reality Technology and SystemsBeihang UniversityBeijing 100083China Beijing Advanced Innovation Center for Biomedical EngineeringBeihang UniversityBeijing 100083China Department of Mechanical EngineeringUniversity of AucklandAuckland 1142New Zealand 

出 版 物：《Engineering》 (工程（英文）)

年 卷 期：2018年第4卷第6期

页      面：869-880页

核心收录：

学科分类：0810[工学-信息与通信工程] 0830[工学-环境科学与工程（可授工学、理学、农学学位）] 0808[工学-电气工程] 07[理学] 0817[工学-化学工程与技术] 0807[工学-动力工程及工程热物理] 0805[工学-材料科学与工程（可授工学、理学学位）] 0703[理学-化学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：the National Key Research and Development Program(2016YFB1001200) the National Natural Science Foundation of China(61572055 and 61633004). 

主　　题：Force-feedback glove Lightweight Large workspace Pneumatic Virtual reality 

摘      要：A wearable force-feedback glove is a promising way to enhance the immersive sensation when a user interacts with virtual objects in virtual reality scenarios.Design challenges for such a glove include allowing a large fingertip workspace,providing a desired force sensation when simulating both free-and constrained-space interactions,and ensuring a lightweight structure.In this paper,we present a forcefeedback glove using a pneumatically actuated mechanism mounted on the dorsal side of the user’s hand.By means of a triple kinematic paired link with a curved sliding slot,a hybrid cam-linkage mechanism is proposed to transmit the resistance from the pneumatic piston rod to the fingertip.In order to obtain a large normal component of the feedback force on the user’s fingertip,the profile of the sliding slot was synthesized through an analysis of the force equilibrium on the triple kinematic paired link.A prototype five-fingered glove with a mass of 245 g was developed,and a wearable force-measurement system was constructed to permit the quantitative evaluation of the interaction performance in both free and constrained space.The experimental results confirm that the glove can achieve an average resistance of less than 0.1 N in free-space simulation and a maximum fingertip force of 4 N in constrained-space simulation.The experiment further confirms that this glove permits the finger to move freely to simulate typical grasping gestures.