KR20200131601A - Actuator for controlling reaction force in virtual reality glove - Google Patents

Abstract

Provided is a virtual reality tactile sensation transmission device that provides a user with realistic feelings by transmitting tactile sensation to fingertips and fingers when touching a virtual object in a virtual reality system. According to an embodiment of the present invention, a virtual reality reaction force providing device comprises: a finger joint part attached and installed on the outer upper surface of each finger part of a glove worn by a user, and segmented into a plurality of joints to be connected by a rotation joint; a wire having one end fixed to a fingertip joint part of the finger joint part and drawn out to the back part of a hand through the inside of the finger joint part; and an actuator that is installed on the back part of the hand of the glove, releases or winds the wire in response to bending or stretching the fingers, and locks or unlocks the wire not to be or to be released by reaction force control information corresponding to contact with a virtual object.

Description

Actuator for controlling reaction force in virtual reality glove

The present invention relates to a reaction force control actuator of a virtual reality glove that feeds back a reaction force holding a virtual object in a virtual reality system.

The virtual reality device may be used to provide a high sense of reality in an electronically formed environment such as a virtual reality game or a 3D game. There is a limit in providing a vivid sense of realism and a sense of life only with a virtual reality device that only provides image and sound feedback.

Accordingly, a haptic device or a feedback device for interacting by transmitting a sense of grabbing or touching a virtual object in a virtual reality image to a user's finger has been developed. Such a haptic device or a feedback device provides a tactile sensation at the fingertip, a joint resistance sensation to the finger, or a hitting sensation or stimulation.

In Korean Patent Publication No. 10-2015-0092444 (Prior Art 1), a tactile feel is provided at the fingertips and a wire that transmits the finger joint resistance is installed. Since the tactile feel is provided only at the fingertips, the feeling of gripping with the entire finger is provided. It is difficult to transmit, and the wire is installed between the fingertip and the happic control unit of the wrist, and it is wound or released by a servo motor to provide a sense of joint resistance, so it is forcibly pulled by the servo motor, so that the joint resistance feeling of the finger joints is properly improved. It was difficult to convey.

Korean Patent Publication No. 10-2015-0092444 (2015.08.13) Korean Patent Publication No. 10-2011-0114793

An object of the present invention is to provide a virtual reality tactile delivery device that transmits a tactile sensation to a fingertip and a bottom surface of a finger when a virtual object is touched in a virtual reality system so as to feel a sense of reality.

In addition, another object of the present invention is to improve the conventional method of directly winding or releasing the wire by a motor in a virtual reality tactile transmission glove, and controlling the locking and unlocking of the finger bends to control the finger motion using a low-power motor. It is to provide an actuator that can be used.

In addition, another object of the present invention is a virtual reality tactile transmission glove capable of accurately measuring the position coordinates for any movement of the glove by integrally forming a tracker for measuring position coordinates in a virtual reality tactile transmission glove It is to provide an integrated tracker of.

In addition, another object of the present invention is to control the position where the finger is bent by measuring the position information of the fingertip in the virtual reality tactile transmission glove and to control the sensitivity of the touch.

Virtual reality tactile delivery device according to a preferred embodiment of the present invention for achieving the above object,

A glove body composed of a finger portion, a back portion of the hand, and a wrist portion to be worn on the user's hand;

A tracker integrally formed on the back of the hand cover covering the back of the hand to measure the position coordinates of the glove;

A finger tactile unit installed in a longitudinal direction on the end and bottom of each finger portion of the glove body to hold a virtual object or provide a tactile sensation corresponding to the contact;

Fingertip stimulation portions installed on both sides of the ends of each finger portion of the glove body to provide electrical stimulation;

A fingertip position measuring unit installed at an end of each finger portion of the glove body to measure the position of each fingertip;

A reaction force providing unit installed on an upper surface of each finger portion of the glove body to provide a resistance force in the opposite direction against bending of the finger;

Transmitting the measurement information of the tracker and the fingertip position measuring unit to a virtual reality system, and controlling the reaction force providing unit, the finger tactile unit, and the fingertip stimulation unit based on the tactile transfer feedback information of the virtual reality system to give the user a virtual reality tactile feel. It characterized in that it comprises a control device for controlling the delivery.

Virtual reality tactile transmission glove according to the present invention,

Each finger part of the glove main body is provided with a finger tactile part, a fingertip stimulation part, and a fingertip position measuring part, and a reaction force providing part is provided on the upper surface of the finger part,

Actuators for controlling the wire of the reaction force providing unit are installed on the back of the hand of the glove body, and a tracker made of a cover type is installed on the top of the actuator,

On the wrist of the glove body, pumps for injecting air into the finger tactile part are arranged and installed, PCBs of the control device are installed at the rear of the pump, a battery of the power supply is installed, and a wrist cover is installed, and a wrist cover The air vent for heat dissipation is formed in the part and configured.

In a virtual reality tactile transmission glove for delivering the tactile feeling of holding or touching a virtual object in a virtual reality image,

A silicone tube formed in the longitudinal direction of the finger on the fingertips and bottom surfaces of the inside of each finger part of the glove body, and providing a tactile feel by air pressure according to air injection;

A pump arranged on the wrist of the glove body and pumping air at an air pressure corresponding to the tactile transmission feedback information;

An air hose connected and installed to inject the air pumped by the pump into the air injection pipe at the fingertip of the silicone tube; It characterized in that it is configured to include.

Further comprising an installation bracket installed inside the glove finger portion to protect the fingertip and support one end of the silicone tube, and a hose buried groove is formed to pass the air hose through the fingertip to connect to the air injection pipe of the silicone tube. It features.

In addition, a flexible base is attached to the fingertip portion of the silicone tube in the left and right direction, and fingertip stimulation portions formed on the left and right sides of the flexible base are further included.

In addition, the upper surface of the fingertip of the fingertip protection bracket is characterized in that the 9-axis sensor for detecting the position information of the fingertip is further installed and configured.

In addition, in a virtual reality tactile transmission glove for transmitting a reaction force to a user holding or contacting a virtual object in a virtual reality image,

A finger joint portion fixedly installed on the upper surface of each finger portion of the glove body, divided into a plurality of joints, and connected to a rotation joint;

A wire having one end fixed to the fingertip joint of the finger joint and drawn out to the back of the hand through the inside of the finger joint;

An actuator installed on the back of the hand to release or wind a wire in response to bending or spreading a finger, and locking or releasing the unlocking of the wire by reaction force control information corresponding to contact with a virtual object; It characterized in that it comprises a.

The actuator,

A wire reel having a flange formed at the upper and lower ends of the cylindrical portion, a square gear portion having a continuous groove and a protrusion formed at an outer periphery of the flange, rotatably installed on a fixed shaft, and winding or unwinding a wire in the cylindrical portion;

An eddy spring having an inner end fixed to the fixed shaft and an outer end fixed to the wire reel to provide a rotational restoring force in the direction of winding the wire;

A motor that is controlled by reaction force provision information of the virtual reality system to rotate and stop the cam;

At the upper and lower ends of the wire reel, it is supported by a compression spring on the fixed shaft and is installed to be horizontally movable outside the square gear part, and is inserted into the square gear part by the rotation of the cam to lock or release the rotation of the wire reel. Giving lever; It consists of including.

The actuator,

The housing is included, and the housing is characterized in that a plurality of wire lead holes for drawing the wire are formed in front and left and right sides, respectively.

The finger joint part,

Including the second segment and the third segment,

A joint rotatably connecting the node and the node,

A hose and wire support for supporting a wire fixed to the fingertip node and an air hose passing through the lower portion of the fingertip node;

A node cover that covers the joint and the support and is separately coupled to each node; It consists of including.

The joint,

A link formed by protruding adjacent nodes to overlap each other for a certain period,

A long hole formed in the link of one node,

It is fixed to the link of the other node corresponding to the one node, and comprises a hinge portion rotatably and slidably coupled to the long hole.

In addition, in the virtual reality tactile transmission glove for transmitting the tactile sensation and reaction force of holding or contacting a virtual object in a virtual reality image,

The tracker for detecting the position coordinates of the glove,

A sensor module in which sensors are arranged and installed so as to simultaneously receive beam signals at at least three points or more for each of the vertical and horizontal scanning beam signals provided to detect position coordinates;

It includes a cover module in which each of the sensors of the sensor module is exposed and guide holes for injecting a beam signal into the sensor are respectively formed,

The sensor module and the cover module are combined to form a back cover of the hand.

The tactile transmission glove of the present invention can provide a tactile feel by controlling the air pressure of a silicone tube installed inside the finger portion. In addition, electrical stimulation can be provided by the fingertip stimulation unit provided at the fingertip. A finger joint portion is installed on the outer surface of the finger portion to provide a reaction force to the finger at a position where the wire is locked or contacted with the virtual object by the actuator.

In addition, the present invention improves the precision of position measurement by arranging and installing the tracker sensors in a large area by configuring the tracker integrally with the back cover of the hand, reducing the overall volume of the glove, and implementing a beautiful external design. have.

In addition, the present invention provides an air vent for heat dissipation by arranging pumps and batteries having a lot of weight on the wrist and arranging PCBs, so that the center of gravity of the glove is on the wrist to reduce the weight burden of the wearer, By providing a structure, it is possible to prevent failure due to heat generation.

1 is a configuration diagram of a virtual reality system for explaining the present invention.
Figure 2 is a functional module configuration diagram of the tactile transmission glove of the virtual reality system according to the present invention.
3 is an external configuration diagram of a tactile transmission glove of a virtual reality system according to the present invention.
Figure 4 is a configuration diagram of a part arrangement of a tactile transmission glove of a virtual reality system according to the present invention.
5 is a configuration diagram of a tactile transmission of a finger portion of a tactile transmission glove according to the present invention.
6 is an exploded view of the tactile transmission components of the finger portion of the tactile transmission glove according to the present invention.
7 is an exemplary view of the outer shape of the finger joint portion of the reaction force providing device according to the present invention.
8 is a cross-sectional schematic view for explaining the joint configuration of the finger joint according to the present invention.
9 is an external configuration diagram of the actuator of the reaction force providing device according to the present invention.
10 is an exploded view of the actuator of the reaction force providing device according to the present invention.
11 is a cross-sectional view for explaining the operation of the actuator according to the present invention.
12 is an exploded view showing the structure of the back of the hand of the tactile transmission glove according to the present invention.
13 is an exploded view showing the configuration of the wrist part of the tactile transmission glove of the present invention.

Hereinafter, the present invention will be described in more detail with reference to the drawings. The embodiments introduced below are provided as examples to allow the spirit of the present invention to be sufficiently transmitted to those of ordinary skill in the art. The present invention is not limited to the embodiments described below and may be embodied in other forms.

1 is a configuration diagram of a virtual reality system for explaining the present invention.

The virtual reality system may include a virtual reality controller 10, a visual device 20, and a tactile transmission glove 100.

The virtual reality controller 10 provides a virtual reality image to the visual apparatus (HMD) 20 and provides tactile control information to the tactile transmission glove 100. The virtual reality controller 10 provides a scanning beam to detect the location information of the glove 100. The glove 100 senses the scanning beam through a tracker and provides location information to the virtual reality controller 10. The virtual reality controller 10 reflects the hand motion and the position of the hand in the virtual reality image based on the location information of the glove 100. In this way, a hand image according to the movement of the glove 100 is provided in the virtual reality image viewed through the visual device 20, so that the user wears the glove and touches or grabs the object in the virtual reality image. Can do activities.

When a virtual hand grips or touches a virtual object in a virtual reality image, tactile control information is generated and transmitted to the glove 100 in order to transmit the tactile sensation to the user. The glove 100 may generate a fingertip tactile sensation, stimulation, and a finger reaction force based on tactile control information of the virtual reality controller 10 to provide feedback to the user's hand.

In this way, in order to convey the tactile sense of holding or touching a virtual object with a hand in a virtual reality image, the tactile transmission glove 100 of the present invention is provided.

2 is a functional module configuration diagram of a tactile transmission glove of a virtual reality system according to the present invention.

A glove body 101 having a finger portion, a back portion of the hand, and a wrist portion and worn on a user's hand;

A tracker 150 integrally formed on the back cover of the hand covering the back of the hand to measure the position coordinates of the glove;

Finger tactile unit 120 that is installed longitudinally on the end and bottom of each finger portion of the glove body 101 to hold a virtual object or provide a tactile sensation corresponding to the contact based on the air pressure injected by the pump 160 Wow;

Fingertip stimulation portions 130 installed on both sides of the ends of each finger portion of the glove body 101 to provide electrical stimulation under the control of the stimulation generating portion 170;

A fingertip position measuring unit 110 installed at an end of each finger portion of the glove body 101 to measure the position of each fingertip;

A reaction force providing unit consisting of a plurality of nodes in which wires are connected to the outside of the upper surface of each finger portion of the glove body 101, and the loosening of the wire is controlled by the reaction force actuator 180 to provide resistance against bending of the finger. (140);

The measurement information of the tracker 150 and the fingertip position measuring unit 110 is transmitted to the virtual reality controller 10, and based on the tactile transmission feedback information of the virtual reality controller 10, the reaction force actuator 180, the It characterized in that it comprises a control device 190 for controlling the virtual reality tactile sensation to a user by controlling the pump 160 and the stimulation generating unit 130.

The present invention includes a communication unit 200 for communication between the control device 190 and the virtual reality controller 10 and a battery rechargeable power supply unit 210 for supplying power to each device in the glove 100.

3 is an external configuration diagram of a tactile transmission glove of a virtual reality system according to the present invention, FIG. 4 is a configuration diagram of a component arrangement of a tactile transmission glove of a virtual reality system according to the present invention, and FIG. 5 is a tactile transmission according to the present invention Fig. 6 is an exploded view of the tactile transmission components of the finger portion of the tactile transmission glove according to the present invention.

The configuration of the virtual reality tactile transmission glove according to the present invention will be described with reference to FIGS. 3 to 6.

Each finger portion of the glove body 101 is provided with a finger tactile portion 120, a fingertip stimulation portion 120, and a fingertip position measuring portion 110, as shown in FIGS. 5 and 6, and the finger A reaction force providing unit 140 is installed on the upper surface of the negative.

Actuators 180 for controlling the wires 181 of the reaction force providing unit 140 are arranged and installed on the back of the hand of the glove body 101 as shown in FIGS. 3 and 4, and the actuator 180 A tracker 150 made of a cover type is installed on the top of the field.

On the wrist of the glove body 101, as shown in FIGS. 3 and 4, pumps 160 for injecting air into the finger tactile part 120 are arranged and installed, and the rear of the pumps 160 On the PCB 191 including the control device 190 is installed, the battery 211 of the power supply unit 210 is installed. The pumps 160, the PCBs 191, and the wrist cover portion is installed on the upper surface of the battery 211, the wrist cover portion 224 is configured by forming an air vent 225 for heat dissipation.

The tactile transmission glove according to the present invention includes a tactile transmission unit 120, a fingertip stimulation unit 130, and a reaction force providing unit 140 that are largely installed on the finger unit. The configuration for this is shown in FIGS. 5 and 6.

The tactile transmission unit 120 transmits air pressure to a finger when holding a virtual object with a hand to make the tactile feel. It includes a pump 160, an air hose 161, and a silicone tube 121 installed on the bottom surface of the finger portion of the glove.

The silicone tube 121 has an air injection pipe 122 connected to the fingertip direction so that air can be injected from the fingertip, and an air outlet 123 is formed to discharge air to the outside of the glove in the palm direction.

The pump 160 is installed on the wrist, and the air hose 161 passes through the back of the hand, passes through the fingertip, and is connected to the silicone tube 121 on the bottom of the finger. The air injection tube 122 connected to the fingertip of the silicone tube 121 has a shape curved toward the back of the hand past the fingertip. The air outlet 123 has a discharge hole formed in the palm direction of the silicone tube 121 to discharge air to the outside of the glove.

An installation bracket 124 supporting the fingertip of the silicone tube 121 and supporting the air injection tube 122 is included. The mounting bracket 124 has a shape that covers the fingertip and supports the end of the silicone tube 121 on the lower surface, and a guide groove 124a in which the air injection pipe 122 is buried is formed at the fingertip. . And, the fingertip position measuring unit 110 is installed on the upper surface. A 9-axis sensor may be installed as the fingertip position measuring unit 110.

When a virtual object is held or touched by a hand in the virtual reality system, the virtual reality controller 10 generates tactile information corresponding to characteristics such as a material or shape of the virtual object. When the tactile information is transmitted to the glove 100, the control device 190 of the glove 100 operates the pump 160. Air pumped by the pump 160 is injected into the silicone tube 121 through the air injection tube 122. The pump is controlled based on tactile information corresponding to the characteristics of the virtual object. The amount of air per unit time injected into the silicon tube 121 is controlled. The silicone tube 121 discharges air in a form in which the size of the air outlet 122 is fixed. Air may be injected into the silicone tube 121 with air pressure corresponding to the characteristics of the virtual object. The user can feel the touch of holding the virtual object by varying the pressure applied to the bottom of the finger by the air pressure injected into the silicone tube 121.

In the present invention, the tactile delivery device using the air-injected silicone tube 121 is provided with a silicone tube 121 extending in the longitudinal direction of the finger. This can convey the touch to the entire bottom of the finger. In addition, air is injected by connecting the air injection pipe 124 to the fingertip, and air is automatically discharged in the opposite direction. In addition, the mounting bracket 124 is provided to protect the fingertips, and the air injection pipe 122 is embedded to prevent interference or being pressed at the fingertips.

Since air is injected into the fingertips and pressurized and air is discharged through the outlet with a fixed size, it is possible to control the air pressure applied to the silicone tube 121 by simply controlling the rotational speed of the pump, and provide the touch felt by the fingers. can do. In addition, since the tactile transmission unit is configured for each finger and pumps are assigned to each other, the pressure can be controlled differently for each finger.

On the other hand, when holding or touching a virtual object, it is necessary to transmit stimulation as well as a touch sensation to the finger according to the surface characteristics of the virtual object. Accordingly, in the present invention, electrical stimulation can be provided to the tip of a finger sensitive to stimulation. The fingertip stimulation unit 130 provides a stimulus corresponding to the virtual hand when a virtual hand is in contact with a sharp or pointed portion of the virtual object. The control device 190 receives stimulation information from the virtual reality controller 10 and generates a stimulation through the stimulation generator 170. The fingertip stimulation unit 130 may generate electrical stimulation and transmit the stimulation to the user's finger. For example, low-frequency electrical stimulation can be generated. It can deliver a tingling or tingling feeling by low-frequency stimulation. The intensity of the stimulus is determined by the virtual reality controller 10 generating and providing stimulus information corresponding to the surface characteristics and contact strength of the virtual object.

In addition, in the present invention, a hand strap position measuring unit 110 is provided at the end of each finger portion so as to detect position information of the finger tip. A 9-axis sensor may be installed as the fingertip position measuring unit 110. The glove 100 may measure the position coordinates of the glove by the tracker 150. Based on the position coordinates of the glove measured by the tracker 150, position information of each fingertip measured by the 9-axis sensor, that is, fingertip position information may be calculated and provided to the virtual reality controller 10.

Accordingly, the virtual reality controller 10 detects the location of the glove 100 by the cracker 150, measures the location information of each finger based on the glove location information, and measures the movement of the virtual hand in the image in the virtual reality. Each finger movement can be implemented. While implementing the finger movement in this way, the contact state of the virtual object and the finger is detected.

Each finger extracts contact or touch information with a virtual object, and provides tactile information or stimulus information corresponding thereto. The control device 190 of the glove 100 can control the pump 160 by tactile information provided from the virtual reality controller 10 to deliver a tactile sensation by controlling the air pressure in the silicone tube 121, and stimulation information By controlling the stimulation generating unit 170 to generate electrical stimulation of the fingertip stimulation unit 130 to transmit the stimulation.

In addition, the tactile transmission glove 100 of the present invention includes a reaction force providing device that provides resistance to a finger. When holding a virtual object in a virtual reality image, it is necessary to control the finger of the virtual image so that it does not enter or pass through the virtual object. In addition, it is necessary to give feedback on the user's finger the feeling of being caught. To this end, the present invention includes a reaction force providing device to the glove.

The apparatus for providing reaction force of the tactile transmission glove of the present invention, as shown in FIG. 3, includes a finger joint 140, a wire 181, and an actuator 180. The finger joint part 140 is attached and installed on the upper surface of the finger part of the glove body 101. The wire 181 connected to the finger joint 140 is connected to the actuator 180 installed on the back of the hand.

7 is an exemplary diagram illustrating the external appearance of a finger joint of a reaction force providing device according to the present invention, and FIG. 8 is a cross-sectional schematic view for explaining a joint configuration of a finger joint according to the present invention.

Depending on the finger, the thumb and little finger may consist of 2 bars, and the other fingers may consist of 3 bars.

With reference to Fig. 7, the three-bar configuration will be described. It consists of the 1st-3rd segments (141-143). Each node is connected by a joint of a rotating link structure. A support tool 148 for supporting and passing the air hose and wire is included in the node cover of each node.

Referring to FIG. 8, the joint includes links 145 and 144 formed by protruding adjacent nodes to overlap each other for a predetermined period, a long hole 146 formed in the link 145 of one node, and the one side Including a hinge portion 147 that is fixed to the link 144 of the other node corresponding to the node, and a hinge having one end fixed to the other node link 144 rotatably and slidably coupled to the long hole portion 146 Is composed.

When the glove is worn and the finger is bent, the finger joint 140 is bent for each joint. As shown in (b) of FIG. 7, the hinge may be rotated while being moved in the long hole 146 to bend the joint.

When the finger is bent, the wire 181 fixed to the fingertip joint of the finger joint 140 is pulled. That is, the wire 181 is pulled from the actuator 180. The position at which the finger is bent is detected by a 9-axis sensor of the fingertip position measuring unit 110 provided at the fingertip. Based on the location information of the fingertips, the position of the virtual object in contact with or holding is controlled. The wire 181 is no longer pulled out of the actuator 180 at the position where the finger is in contact with the virtual object. Accordingly, even if the user applies force by bending a finger, the wire 181 is fixed and is not pulled any more. That is, it is possible to provide resistance to the finger in the opposite direction to bend.

9 is an external configuration diagram of the actuator of the reaction force providing device according to the present invention, Figure 10 is an exploded view of the actuator of the reaction force providing device according to the present invention, Figure 11 is a cross-sectional view for explaining the operation of the actuator according to the present invention to be.

The actuator 180 winds, releases, or controls the locking of the wire 181 connected to the fingertip joint of the finger joint 140. Referring to FIG. 9, wire lead holes 182a and 182b are formed in the front and both sides of the housing 182 made of the upper and lower cases, respectively.

Referring to FIG. 10, a flange is formed at the upper and lower ends of the cylindrical portion, and a square gear portion 185a in which grooves and protrusions are continuous is formed at the outer periphery of the flange, and is rotatably installed on the fixed shaft 186, and the cylinder A wire reel 185 for winding or releasing a wire on the part; An eddy spring 187 having an inner end fixed to the fixed shaft 186 and an outer end fixed to the wire reel 185 to provide a rotational restoring force in the winding direction of the wire 181; A motor 183 that rotates and stops the cam 184 by being controlled by the reaction force providing information of the virtual reality system; It is supported by a compression spring 188a on the fixed shaft 186 at the upper and lower ends of the wire reel 185 so as to be horizontally movable outside the square gear unit 186, and by the rotation of the cam 184 A lever 188 inserted into the square gear part 185a to lock or release the rotation of the wire reel 185; A sensor 189 for detecting a locked or unlocked state of the wire reel by detecting the position of the lever or the cam in order to control the driving of the motor; It consists of including.

Referring to FIG. 11, in an initial state, the lever 188 is positioned away from the wire reel 185. In the state where the lever 188 does not restrain the wire reel 185, the wire 181 is pulled when the finger is bent. When the wire 181 is pulled, the wire reel 185 is centered on the fixed shaft 186. The eddy spring 187 accumulates a restoring force when the wire reel 185 is rotated. The restoring force of the eddy spring 187 winds the wire 181 when the finger is unfolded. The eddy spring 187 is, finger, finger. It has a small restoring force that is negligible when it is bent.

When holding a virtual object in a virtual reality image, the 9-axis sensor, which is the fingertip position measuring unit 110, measures the position information of each fingertip, and the motor at the point when the finger touches the virtual object according to the fingertip position information. The wire reel 185 can be stopped by driving 183.

In order to provide reaction force to the finger, the motor 183 is driven and the cam 184 is rotated. The lever 188 is inserted into the square gear portion 185a of the wire reel 185 by the cam 184 to lock the wire reel 185 from rotating. Even if the user tries to bend his finger further, the wire reel 185 is locked and the wire 181 is not pulled. Thus, it is possible to restrict the finger from bending any more. Such a locked or unlocked state of the wire reel 185 may be detected through the sensor 189, and driving of the motor 183 may be controlled by a detection signal from the sensor 189.

The virtual reality system detects the position coordinates of the glove in real time and reflects it in the virtual reality image. To do this, a tracker is installed on the glove to detect positional coordinates. When using a general-purpose tracker, it must be installed so that the tracker can detect a scanning beam for position measurement. Accordingly, since it must be installed in a protruding form on the back of the hand, the overall size is passed, and the protruding tracker is exposed to the external shape, which is not good in terms of aesthetics.

The present invention is not a structure in which the general-purpose tracker as described above is mounted on the glove, but is configured as a tracker integrally with the back of the hand of the glove.

12 is an exploded view showing the structure of the back of the hand of the tactile transmission glove according to the present invention.

The glove 100 of the present invention includes an actuator module 180A in which actuators 180 for reaction force control are arranged on the back of the hand, and an opening 180C through which the air hoses 161 pass through the upper portion of the actuator module 180A. ) Is formed with the first cover (180B) is installed.

A sensor module 152 in which light-receiving sensors 151 are arranged so as to detect the same scanning beam at at least three points or more on a bracket in the shape of a back of the hand on the upper part of the first cover 180C;

It includes a cover module 154 formed with guide holes 153 for exposing each of the sensors of the sensor module 152 and for injecting a beam signal to the sensor,

The sensor module 152 and the cover module 154 are combined to form a back cover of the hand.

As described above, in the present invention, the tracker 150 is installed as a cover of the back of the hand of the glove body 101. Instead of using a general-purpose tracker, a cover-type sensor module and a cover module were developed and installed integrally on the top of the actuator module. The feature of the integrated tracker 150 of the present invention is that the sensors 151 are distributed over a large area because it is configured as a cover type of the back of the hand.

Therefore, it can be implemented to simultaneously detect the beam at at least 3 points or more for the same scanning beam. Compared to the legal tracker, sensors can be arranged in a wide area, and the gap between the sensors is wide, so it is possible to increase the accuracy of position measurement according to the simultaneously detected beam signal. In addition, by implementing the tracker as a cover for the back of the hand, it is possible to make it look good without a protruding structure in the design, and the height of the entire glove can be reduced.

13 is an exploded view showing the structure of the wrist part of the tactile transmission glove of the present invention.

On the wrist of the glove 100 of the present invention, a component installation module 221 in which a pump, a PCB, and a battery are arranged, an inner cover 222 installed to protect the components of the component installation module 221, and an outer cover Consisting of 224, the inner cover 222 and the outer cover 224 are formed correspondingly with a ventilation hole 223 and an abvent 225 for heat dissipation.

In the component installation module 221, pumps 160 for injecting air into the finger tactile part 120 are arranged and installed, and at the rear end thereof, the control device 190 PCB, the PCB of the actuator drive, the pump drive PCB, the power supply part PCBs 191 including PCBs are stacked and installed, and a rechargeable battery 211 of the power supply is installed at the rear end thereof.

By installing the pump, PCB, and battery on the wrist as described above, the center of gravity of the entire glove is placed between the wrist and the back of the hand, or the center of gravity on the wrist. Therefore, when the user moves with the glove on his hand, the center of gravity is on the wrist, which reduces the burden on the weight.

The tactile transmission glove 100 of the virtual reality system according to the present invention is provided with a glove body 101 worn by the user on the hand. The finger portion of the glove body 101 is formed with a coupling means for detachably coupling the finger joint portion 140 to the upper surface. In addition, a coupling means in which the actuator module 180A and the tracker 150 are coupled to the back of the hand of the glove body 101 is detachably installed, and a coupling means in which the wrist modules are detachable is installed on the wrist. . Therefore, the glove part of the present invention is configured to detachably connect the finger joint part of the upper finger, the back part of the hand module, and the wrist part module, so that some parts can be separated and repaired when repairing a failure.

The tactile transmission glove 100 of the present invention may provide a tactile sensation by means of a silicone tube 121 installed inside the finger portion. In addition, electrical stimulation may be provided by the fingertip stimulation unit 130 installed at the fingertip. A finger joint is installed on the outer surface of the finger to control the wire by the actuator. Therefore, by controlling the bending position of the finger, it is possible to provide reaction force to the finger at the position where the virtual object is locked or touched.

In addition, by installing a 9-axis sensor at the fingertip end as the fingertip position measuring unit 110, it is possible to control the tactile pressure, stimulation, and reaction force of each finger differently or equally by measuring the position of the fingertip for each finger.

In addition, the present invention provides an actuator 180 as a means for controlling the wire 141 of the finger joint 140 by developing and providing an independent configuration. The actuator 180 of the present invention is differentiated from a conventional device that winds a wire by a motor. The present invention is configured to control only locking and unlocking of the wire reel by driving a motor to limit the bending position of the finger. Therefore, it can be implemented only with a low-cost motor that uses a small motor and has a low motor output.

In addition, in the present invention, the parts are arranged so that the entire center of gravity of the glove comes to the wrist. An actuator is placed on the back of the hand, a heavy pump, a PCB and a battery are placed on the wrist. Therefore, by configuring the center of gravity on the wrist to reduce the burden due to the weight.

In addition, PCBs and batteries requiring heat dissipation are disposed on the wrist, and an air vent is formed on the wrist cover so that heat can be radiated.

In the above, preferred embodiments of the present invention have been illustrated and described, but the present invention is not limited to the specific embodiments described above, and is generally used in the technical field to which the present invention belongs without departing from the gist of the present invention claimed in the claims. Of course, various modifications can be implemented by those skilled in the art, and these modifications should not be understood individually from the technical idea or prospect of the present invention.

10: virtual reality controller 20: visual device
100: touch transmission glove 101: glove body
110: fingertip position measurement unit 120: finger touch
130: fingertip stimulation unit 140: reaction force providing unit
150: tracker 160: pneumatic pump
170: stimulation generating unit 180: actuator
190: control device 200: communication unit
210: power supply

Claims (5)

In the actuator of a reaction force providing device for controlling finger bending by connecting a wire to a finger portion of a virtual reality glove and controlling the wire,
A flange is formed at the upper and lower ends of the cylindrical part, and a square gear part in which grooves and protrusions are continuous is formed on the outer periphery of the flange, is rotatably installed on a fixed shaft, and a wire reel for winding or unwinding the wire in the cylindrical part ;
An eddy spring having an inner end fixed to the fixed shaft and an outer end fixed to the wire reel to provide a rotational restoring force in the direction of winding the wire;
A motor that is controlled by reaction force provision information of the virtual reality system to rotate and stop the cam;
At the upper and lower ends of the wire reel, it is supported by a compression spring on the fixed shaft and is installed to be horizontally movable outside the square gear part, and is inserted into the square gear part by the rotation of the cam to lock or release the rotation of the wire reel. Lever to do; Including
Actuator of virtual reality reaction force providing device.
The method of claim 1,
A sensor detecting a locked or unlocked state of the wire reel by detecting the position of the lever or cam; Further comprising
Actuator of virtual reality reaction force providing device.
According to claim 1
The actuator,
A plurality of wire drawing holes for drawing the wire into the housing of the actuator are formed on the front and left and right sides, respectively.
Actuator of virtual reality reaction force providing device.
The method of claim 1,
The wire,
It is fixedly installed on the upper surface of each finger part of the glove body, and a finger joint is divided into a plurality of joints and connected to a rotating joint, and one end is fixed to the fingertip joint of the finger joint, and the back of the hand through the inside of the finger joint The other end is fixed to the wire reel of the actuator installed in
Actuator of virtual reality reaction force providing device.
According to claim 1
Actuators respectively corresponding to the wires of the finger are arranged on the back of the hand of the glove and installed as an actuator module.
Actuator of virtual reality reaction force providing device.

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