| 摘要 |
An actuator system provides force feedback to a dextrous master glove. A first, second and third digit support are connectable by hook and loop fasteners to the thumb, index and middle digits of the glove, respectively. First, second and third actuators comprising pneumatic cylinders extend between the first, second and third digit supports and an "L" shaped palm support mountable on the palm of the glove. Sensors mounted on the back of the glove provide electrical signals that are interpreted by a glove interface and forwarded to a host computer. The host computer computes the movement of the glove and provides feedback through a digital-to-analog circuit, and an actuator interface to the first, second and third actuators. Sphere joints connect the first, second and third actuators to the palm support. Each sphere joint includes an air passageway that communicates with the pneumatic force feedback cylinders in the actuators. Cylindrical joints connect the first, second and third digit supports to the first, second and third actuators. The spherical joints permit rotation in a cone of about 60 DEG and provide for realistic three-dimensional manipulation in a compact environment.
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