CN108614639A - Feedback glove for virtual reality - Google Patents

Abstract

The present invention relates to a kind of feedback gloves for virtual reality, including：Ectoskeleton gloves, link mechanism, fingerstall and driving mechanism.The exoskeleton hand set is for being set in forearm.The link mechanism is rotatably connected with the ectoskeleton gloves, and the link mechanism is also rotatably connected with the fingerstall.The driving mechanism is connected with the linkage transmission, and the driving mechanism is for driving the link mechanism.The above-mentioned feedback glove for virtual reality, it is additionally arranged link mechanism, and ectoskeleton gloves are transferred to by the back of the hand on forearm, i.e., the supporting point on the back of the hand of ectoskeleton gloves is transferred on forearm, the degree of freedom of fingerstall in this way is satisfied with the degree of freedom of finger itself, improves properties of product.In addition, support force can be transmitted on forearm rather than on the back of the hand by finger when carrying out grasp motion, the back of the hand can be made to be not necessarily to by the active force not being inconsistent with actual conditions in this way.

Description

Feedback gloves for virtual reality

technical field

The invention relates to a glove, in particular to a feedback glove for virtual reality.

Background technique

Traditional feedback gloves for virtual reality include exoskeleton gloves, finger cots and micro-cylinders. The exoskeleton glove is set on the back of the hand, and the micro cylinder is set on the exoskeleton glove and used to drive the action of the finger cot. When the finger cot acts on the finger, it can simulate the force of the finger in the virtual environment. However, when the exoskeleton glove is placed on the back of the hand, the degree of freedom of the finger cuff is less than that of the finger itself, making the actual wearing experience inconsistent with the real situation.

Contents of the invention

Based on this, it is necessary to overcome the defects of the prior art, and provide a feedback glove for virtual reality, which can make the degree of freedom of the fingertip meet the degree of freedom of the finger itself, and improve product performance.

Its technical solution is as follows: a feedback glove for virtual reality, comprising: an exoskeleton glove, which is used to be set on the forearm; a linkage mechanism, a finger cot, the linkage mechanism and the The exoskeleton glove is rotatably connected, and the linkage mechanism is also rotatably connected with the finger cot; and a drive mechanism, the drive mechanism is connected with the linkage mechanism, and the drive mechanism is used to drive the linkage mechanism.

In the above-mentioned feedback glove for virtual reality, when the driving mechanism drives the link mechanism to act, the link mechanism drives the finger cot accordingly so that the finger cot acts on the finger, thereby simulating the stress on the finger in the virtual environment. Secondly, a link mechanism is added, and the exoskeleton glove is transferred from the back of the hand to the forearm, that is, the support point of the exoskeleton glove on the back of the hand is transferred to the forearm, so that the degree of freedom of the fingertip is satisfied with the freedom of the finger itself to improve product performance. In addition, the fingers can transfer the support force to the forearm instead of the back of the hand during the grasping action, so that the back of the hand does not need to be subjected to unrealistic forces.

Further, the link mechanism includes a first rotating rod, a second rotating rod, a third rotating rod, a fourth rotating rod and a connecting rod assembly; the first rotating rod is connected to one end of the second rotating rod, the One end of the third rotating rod is rotatably connected, and the other end of the second rotating rod and the other end of the third rotating rod are rotatably connected with the fourth rotating rod; one end of the fourth rotating rod is connected to the finger The sleeve is rotatably connected, and the other end of the fourth rotating rod is rotatably connected with the connecting rod assembly; the connecting rod assembly is also rotatably connected with the finger sleeve; one end of the first rotating rod is rotatably connected with the second A rotating shaft, the other end of the first rotating rod is rotatably connected to a second rotating shaft, and the first rotating rod can rotate around the axis of the first rotating rod; the first rotating shaft and the The driving end of the driving mechanism is rotatably connected, and the second rotating shaft is rotatably installed on the exoskeleton glove.

Further, the finger cot is an index finger cot, a middle finger cot, a ring finger cot or a little finger cot; the finger cot includes a first shell, a second shell and a third shell that are sequentially connected in rotation; the The connecting rod assembly includes a first connecting rod, a second connecting rod and a third connecting rod; one end of the first connecting rod is connected with the fourth rotating rod, and the other end of the first connecting rod is connected with the second connecting rod respectively. One end of the rod and one end of the third connecting rod are rotatably connected; the other end of the second connecting rod is rotatably connected to the second shell, and the other end of the third connecting rod is rotatably connected to the third shell connected, the fourth rotating rod is rotatably connected with the first shell.

Further, the finger cot is a thumb cot, and the finger cot includes a fourth shell and a fifth shell that are sequentially rotatably connected; the connecting rod assembly includes a fourth connecting rod; one end of the fourth connecting rod It is connected with the fourth rotating rod, and the fifth casing at the other end of the fourth connecting rod is rotatably connected; the fourth rotating rod is rotatably connected with the fourth casing.

Further, the driving mechanism includes a position output mechanism, a pulling member, an oil storage tank, a slider, an oil cylinder, an oil pipe and a piston rod; the position output mechanism is connected to the pulling member, and the pulling member is connected to the pulling member. The slider is connected to the slider, the slider is slidably arranged in the oil storage bin, and the slider is sealed with the oil storage bin; the oil cylinder communicates with the oil storage bin through the oil pipe, The piston rod is movably arranged in the oil cylinder, one end of the piston rod is provided with a piston head sealingly matched with the oil cylinder, and the other end of the piston rod is used for transmission connection with the connecting rod mechanism.

Further, the pulling member includes an elastic member and two pull cords respectively connected to both ends of the elastic member, one of which is connected to the position output mechanism, and the other is connected to the sliding cord. The blocks are connected.

Further, the feedback glove for virtual reality also includes more than two valves and more than two branch pipes, the oil cylinder, the linkage mechanism and the finger cuffs are all two or more, the branch pipes, all the The valve, the connecting rod mechanism, and the finger sleeve are all arranged correspondingly to the oil cylinder one by one, the oil pipe is connected to the oil cylinder through the branch pipe, and the valve is arranged on the branch pipe.

Further, the exoskeleton glove includes a sleeve body and a guide plate, one end of the sleeve body is connected to the guide plate, and the other end of the sleeve body is rotatably connected to the linkage mechanism, and the sleeve body is used for the sleeve It is arranged on the forearm; the position output mechanism, the pulling member, the oil storage tank and the oil pipe are all installed on the surface of the guide plate, and the oil cylinder is arranged on the sleeve body .

Further, the feedback glove for virtual reality also includes a vibration generator, a force sensor, an inertial navigator and several gyro sensors, and the vibration generator and the force sensor are arranged on the finger cuff; The inertial navigator and several gyroscope sensors are distributed on the finger cuff, the linkage mechanism and the exoskeleton glove.

Further, the feedback glove for virtual reality further includes a controller, the controller is arranged on the exoskeleton glove, and the controller is electrically connected with the driving mechanism.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the feedback glove for virtual reality described in an embodiment of the present invention when it is not worn;

Fig. 2 is a structural schematic diagram of a feedback glove for virtual reality described in an embodiment of the present invention when worn;

Fig. 3 is a top view of a feedback glove for virtual reality according to an embodiment of the present invention;

Fig. 4 is a bottom view of the feedback glove for virtual reality according to an embodiment of the present invention;

Fig. 5 is a structural schematic diagram of a link mechanism and a finger cot in a feedback glove for virtual reality according to an embodiment of the present invention;

Fig. 6 is a cross-sectional view of the link mechanism and the finger cot in the feedback glove for virtual reality according to an embodiment of the present invention;

Fig. 7 is a structural schematic diagram of a link mechanism and a finger cot in a feedback glove for virtual reality according to another embodiment of the present invention;

Fig. 8 is a cross-sectional view of the link mechanism and the finger cot in the feedback glove for virtual reality according to another embodiment of the present invention;

9 is a schematic diagram of the drive mechanism installed in the exoskeleton glove in the feedback glove for virtual reality according to another embodiment of the present invention;

Fig. 10 is a schematic diagram of a driving mechanism in a feedback glove for virtual reality according to an embodiment of the present invention;

Fig. 11 is a schematic cross-sectional view of a driving mechanism in a feedback glove for virtual reality according to an embodiment of the present invention.

Reference signs:

10, exoskeleton glove, 11, cover body, 12, guide plate, 13, fixed pulley, 20, linkage mechanism, 21, the first rotating rod, 22, the second rotating rod, 23, the third rotating rod, 24, The fourth rotating rod, 25, the first rotating shaft, 26, the second rotating shaft, 27, the first connecting rod, 28, the second connecting rod, 29, the third connecting rod, 291, the fourth connecting rod, 30, finger cots, 31, the first shell, 32, the second shell, 33, the third shell, 34, the fourth shell, 35, the fifth shell, 40, the driving mechanism, 41, the position output mechanism, 42, the pulling piece, 421, elastic piece, 422, pull rope, 43, oil storage tank, 44, slider, 45, oil cylinder, 46, oil pipe, 47, piston rod, 471, piston head, 48, valve, 49, branch pipe, 50 , vibration generator, 60, force sensor, 70, inertial navigator, 80, gyro sensor, 90, controller.

Detailed ways

In order to make the above objects, features and advantages of the present invention more comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without departing from the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

In the description of the present invention, it should be understood that the terms "first" and "second" are used for description purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless specifically defined otherwise.

In the description of the present invention, it should be understood that when an element is considered to be "connected" to another element, it can be directly connected to the other element or intervening elements may be present at the same time. In contrast, when an element is referred to as being "directly" connected to another element, there are no intervening elements present.

In one embodiment, referring to FIG. 1 , FIG. 2 , FIG. 3 or FIG. 4 , a feedback glove for virtual reality includes: an exoskeleton glove 10 , a link mechanism 20 , finger cuffs 30 and a driving mechanism 40 . The exoskeleton glove 10 is used to be set on the forearm. The link mechanism 20 is rotatably connected with the exoskeleton glove 10 , and the link mechanism 20 is also rotatably connected with the finger cuff 30 . The driving mechanism 40 is in transmission connection with the link mechanism 20 , and the driving mechanism 40 is used to drive the link mechanism 20 .

In the aforementioned feedback glove for virtual reality, when the driving mechanism 40 drives the link mechanism 20 to act, the link mechanism 20 drives the finger cot 30 accordingly so that the finger cot 30 acts on the finger, thereby simulating the stress of the finger in the virtual environment Happening. Secondly, a link mechanism 20 is added, and the exoskeleton glove 10 is transferred from the back of the hand to the forearm, that is, the support point of the exoskeleton glove 10 on the back of the hand is transferred to the forearm, so that the degree of freedom of the fingertip 30 is satisfied at The degree of freedom of the finger itself improves product performance. In addition, the fingers can transfer the support force to the forearm instead of the back of the hand during the grasping action, so that the back of the hand does not need to be subjected to unrealistic forces.

In addition, further, referring to any one of Fig. 5 to Fig. 8, the linkage mechanism 20 includes a first rotating rod 21, a second rotating rod 22, a third rotating rod 23, a fourth rotating rod 24 and a connecting rod components. The first rotating rod 21 is rotatably connected to one end of the second rotating rod 22 and one end of the third rotating rod 23 respectively. The other end of the second rotating rod 22 and the other end of the third rotating rod 23 are both rotatably connected to the fourth rotating rod 24 . One end of the fourth rotating rod 24 is rotatably connected to the finger cot 30 , and the other end of the fourth rotating rod 24 is rotatably connected to the connecting rod assembly. The link assembly is also rotatably connected with the finger cot 30 . One end of the first rotating rod 21 is rotatably connected with a first rotating shaft 25, and the other end of the first rotating rod 21 is rotatably connected with a second rotating shaft 26, and the first rotating rod 21 can be rotated with the first rotating shaft. The shaft center of the rod 21 is a center and rotates on its own axis. The first rotating shaft 25 is rotatably connected to the driving end of the driving mechanism 40 , and the second rotating shaft 26 is rotatably mounted on the exoskeleton glove 10 .

In this way, the link mechanism 20 is located directly above the back of the hand, and can transmit the force of pressing the fingertip 30 to the driving end of the driving mechanism 40 without contacting the back of the hand. In addition, please refer to Fig. 3 and Fig. 4 for comparison. Since the first rotating rod 21 can rotate around the axis of the first rotating rod 21, the fingers can not only drive the finger cot 30 to bend and stretch, but also drive the finger cot 30 to bend and stretch. When the activity is about 30, the feedback glove used for virtual reality is more flexible. Specifically, the length of the first rotating rod 21 is equal to that of the fourth rotating rod 24 , and the length of the second rotating rod 22 is equal to that of the third rotating rod 23 . In this way, the first rotating rod 21 , the second rotating rod 22 , the third rotating rod 23 and the fourth rotating rod 24 respectively form a parallelogram structure.

In one embodiment, please refer to FIG. 5 and FIG. 6 , the finger cot 30 is an index finger cot 30 , a middle finger cot 30 , a ring finger cot 30 or a little finger cot 30 . The finger cover 30 includes a first shell 31 , a second shell 32 and a third shell 33 which are sequentially connected in rotation. The connecting rod assembly includes a first connecting rod 27 , a second connecting rod 28 and a third connecting rod 29 . One end of the first connecting rod 27 is connected to the fourth rotating rod 24 , and the other end of the first connecting rod 27 is rotatably connected to one end of the second connecting rod 28 and one end of the third connecting rod 29 respectively. The other end of the second connecting rod 28 is rotatably connected to the second shell 32, the other end of the third connecting rod 29 is rotatably connected to the third shell 33, and the fourth rotating rod 24 is rotatably connected to the third shell 33. The first casing 31 is rotatably connected. In this way, the first shell 31, the second shell 32, and the third shell 33 can be installed outside the three joints of the index finger, middle finger, ring finger or little finger respectively, and can be connected to the three joints of the index finger, middle finger, ring finger or little finger. Applying the force separately can better simulate the force situation of the finger in the virtual environment.

In another embodiment, please refer to FIG. 7 and FIG. 8 , the finger cot 30 is a thumb cot 30 , and the finger cot 30 includes a fourth shell 34 and a fifth shell 35 which are sequentially rotatably connected. The link assembly includes a fourth link 291 . One end of the fourth link 291 is connected to the fourth rotating rod 24 , and the other end of the fourth link 291 is rotatably connected to the fifth shell 35 . The fourth rotating rod 24 is rotatably connected to the fourth casing 34 . In this way, the fourth shell 34 and the fifth shell 35 can be respectively installed outside the two joints of the thumb, and can exert force on the two joints of the thumb respectively, which can better simulate the fingers in the virtual environment. stress situation.

Further, please refer to FIG. 9 , FIG. 10 and FIG. 11 together. The driving mechanism 40 includes a position output mechanism 41 , a pulling member 42 , an oil storage bin 43 , a slider 44 , an oil cylinder 45 , an oil pipe 46 and a piston rod 47 . The position output mechanism 41 is connected with the pulling member, and can rotate, pull or reversely loosen the pulling member 42 . Specifically, the position output mechanism 41 is a motor, a steering gear or a linear movement mechanism. The pulling member 42 is connected to the slider 44 , specifically, the pulling member 42 is an elastic pulling member 42 . The sliding block 44 is slidably disposed in the oil storage bin 43 , and the sliding block 44 is sealingly engaged with the oil storage bin 43 . The oil cylinder 45 communicates with the oil storage bin 43 through the oil pipe 46 . The piston rod 47 is movably arranged in the oil cylinder 45, and one end of the piston rod 47 is provided with a piston head 471 sealingly engaged with the oil cylinder 45, and the other end of the piston rod 47 is used for connecting with the connecting rod. Mechanism 20 is connected by transmission. In this way, when the position output mechanism 41 rotates and wraps around the pulling member 42, the pulling member 42 drives the slider 44 in the oil storage bin 43 to move, and the hydraulic oil in the oil cylinder 45 is pumped to the oil storage through the oil pipe 46 during the movement of the slider 44. In the chamber 43, the hydraulic oil makes the piston rod 47 shrink, and the piston rod 47 correspondingly pulls the finger cot 30, and the finger cot 30 acts on the finger to simulate the stress situation of the finger in the virtual environment. It can be seen that there is no need to use pipelines to connect to the air source device, which makes it easy to move and walk after wearing.

Further, the pulling member 42 includes an elastic member 421 and two drawstrings 422 respectively connected to two ends of the elastic member 421 . One of the pull ropes 422 is connected to the position output mechanism 41 , and the other pull rope 422 is connected to the slider 44 . Specifically, the elastic member 421 is a spring or an elastic cord. In addition, the pulling member 42 can also be an elastic cord as a whole. In this way, when the slider 44 is in a fixed state, since the pulling member 42 can elastically expand and contract, the position output mechanism 41 can continue to rotate and stretch the pulling member 42, so that the internal pressure of the oil storage tank 43 can be adjusted, so that Cooperate to simulate the force of different sizes under the specific posture of the finger.

Further, the feedback glove for virtual reality also includes more than two valves 48 and more than two branch pipes 49 . There are more than two oil cylinders 45 , the link mechanism 20 and the finger cuffs 30 . The branch pipe 49 , the valve 48 , the link mechanism 20 , and the finger cuff 30 are all arranged corresponding to the oil cylinder 45 one by one. The oil pipe 46 is connected with the oil cylinder 45 through the branch pipe 49 , and the valve 48 is arranged on the branch pipe 49 . In this way, more than two oil cylinders 45 can be respectively connected with two or more finger cots 30 in transmission, and can drive more than two finger cots 30 to move, so that there is no need to set more than two sets of position output mechanisms 41 and oil storage bins 43, thereby enabling the structure Simplify and save power. In addition, the flow rate of the hydraulic oil entering the oil cylinder 45 is adjusted by adjusting the opening of the valve 48, so that the force of the finger is independently controlled through the corresponding valve 48, and the force state of different fingers is different, which can realize the simulation of fingers in various Stress under posture. Specifically, the valve 48 is an electronically controlled valve 48 . The number of oil cylinder 45, connecting rod mechanism 20, finger cuff 30, valve 48 and branch pipe 49 can be set to 5 according to the number of fingers, so that the tension mechanism of the virtual reality force feedback glove can synchronously control and simulate the force of 5 fingers Happening. In addition, the number of oil cylinder 45, connecting rod mechanism 20, finger cot 30, valve 48 and branch pipe 49 can also be set to three, so that the tension mechanism of the virtual reality force feedback glove can synchronously control and simulate the stress of three fingers .

Further, the exoskeleton glove 10 includes a sleeve body 11 and a guide plate 12 . One end of the sleeve body 11 is connected to the guide plate 12 , and the other end of the sleeve body 11 is rotatably connected to the linkage mechanism 20 , and the sleeve body 11 is used to be sleeved on the forearm. The position output mechanism 41 , the pulling member 42 , the oil storage tank 43 and the oil pipe 46 are all installed on the surface of the guide plate 12 , and the oil cylinder 45 is arranged on the casing 11 superior. In this way, guided by the guide plate 12, the hand is easy to insert into the sleeve body 11, and it is convenient to wear. In addition, the position output mechanism 41, the pulling member 42, the oil storage tank 43, the oil pipe 46, the branch pipe 49 and the valve 48 can be installed on the surface of the guide plate 12, and the oil cylinder 45 is arranged above the upper surface of the casing 11. In order to save the surface space of the guide plate 12, a fixed pulley 13 can be arranged on the surface of the guide plate 12, and the pulling member 42 bypasses the fixed pulley 13 and connects the position output mechanism 41 and the slider 44 respectively.

Further, please refer to Fig. 1, Fig. 2, Fig. 4 and Fig. 6, the described feedback glove for virtual reality also includes vibration generator 50, force sensor 60, inertial navigator 70 and several gyroscope sensors 80 . The vibration generator 50 and the force sensor 60 are arranged on the finger cuff 30 . The inertial navigator 70 and several gyro sensors 80 are distributed on the finger cuff 30 , the link mechanism 20 and the exoskeleton glove 10 . In this way, finger touch can be simulated by adjusting the vibration frequency and vibration intensity, and the force sensor 60 can sense the force of the finger. The spatial position of the feedback glove used for virtual reality can be detected through the inertial navigator 70, and the finger posture information and finger position information can be obtained through the inertial navigator 70 and several gyroscope sensors 80, and the finger posture and finger position can be monitored in real time. Feedback, and then realize the full closed-loop control of the position.

Further, the feedback glove for virtual reality also includes a controller 90 . The controller 90 is arranged on the exoskeleton glove 10 , and the controller 90 is electrically connected with the driving mechanism 40 . Specifically, the controller 90 is electrically connected to the valve 48 and the position output mechanism 41 respectively.

In addition, the controller 90 is also electrically connected to the vibration generator 50 , the force sensor 60 , the inertial navigator 70 and the gyroscope sensor 80 . The controller 90 communicates with the host computer in a wireless manner.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the patent scope of the invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (10)

1. A feedback glove for virtual reality, characterized in that, comprising: exoskeleton glove, the exoskeleton glove is used for sheathing on the forearm; A link mechanism and a finger cot, the link mechanism is rotatably connected to the exoskeleton glove, and the link mechanism is also rotatably connected to the finger cot; and A driving mechanism, the driving mechanism is in transmission connection with the connecting rod mechanism, and the driving mechanism is used to drive the connecting rod mechanism. 2. The feedback glove for virtual reality according to claim 1, wherein the linkage mechanism comprises a first rotating rod, a second rotating rod, a third rotating rod, a fourth rotating rod and a connecting rod assembly The first rotating rod is rotatably connected to one end of the second rotating rod and one end of the third rotating rod respectively, and the other end of the second rotating rod and the other end of the third rotating rod are connected to the first rotating rod The four rotating rods are rotatably connected; one end of the fourth rotating rod is rotatably connected to the finger cot, and the other end of the fourth rotating rod is rotatably connected to the connecting rod assembly; the connecting rod assembly is also connected to the The finger cots are rotatably connected; one end of the first rotating rod is rotatably connected to a first rotating shaft, and the other end of the first rotating rod is rotatably connected to a second rotating shaft, and the first rotating rod can be connected with the first The axis of the rotating rod is the center for self-rotation; the first rotating shaft is rotatably connected with the driving end of the driving mechanism, and the second rotating shaft is rotatably installed on the exoskeleton glove. 3. The feedback glove for virtual reality according to claim 2, wherein the finger cot is an index finger cot, middle finger cot, ring finger or little finger cot; The first casing, the second casing and the third casing; the connecting rod assembly includes a first connecting rod, a second connecting rod and a third connecting rod; one end of the first connecting rod and the fourth rotating The other end of the first connecting rod is rotatably connected with one end of the second connecting rod and one end of the third connecting rod; the other end of the second connecting rod is rotatably connected with the second shell , the other end of the third connecting rod is rotatably connected to the third shell, and the fourth rotating rod is rotatably connected to the first shell. 4. The feedback glove for virtual reality according to claim 2, characterized in that, the finger cot is a thumb cot, and the finger cot includes a fourth shell and a fifth shell that are sequentially connected by rotation; The connecting rod assembly includes a fourth connecting rod; one end of the fourth connecting rod is connected to the fourth rotating rod, and the other end of the fourth connecting rod is rotatably connected to the fifth shell; the fourth rotating rod The rod is rotatably connected with the fourth shell. 5. The feedback glove for virtual reality according to claim 1, wherein the driving mechanism comprises a position output mechanism, a pulling member, an oil storage bin, a slider, an oil cylinder, an oil pipe, and a piston rod; The position output mechanism is connected with the pulling member, the pulling member is connected with the slider, and the slider is slidably arranged in the oil storage bin, and the slider is connected with the oil storage bin. Warehouse seal fit; The oil cylinder communicates with the oil storage bin through the oil pipe, the piston rod is movably arranged in the oil cylinder, and one end of the piston rod is provided with a piston head sealingly fitted with the oil cylinder, and the piston The other end of the rod is used for transmission connection with the linkage mechanism. 6. The feedback glove for virtual reality according to claim 5, wherein the pulling member comprises an elastic member and two pull cords respectively connected to two ends of the elastic member, wherein one of the pull cords is It is connected with the position output mechanism, and the other pull cord is connected with the slider. 7. The feedback glove for virtual reality according to claim 5, further comprising two or more valves and two or more branch pipes, the oil cylinder, the linkage mechanism and the finger cuffs are two More than one, the branch pipe, the valve, the linkage mechanism, and the finger sleeve are all arranged correspondingly to the oil cylinder one by one, the oil pipe is connected with the oil cylinder through the branch pipe, and the valve is arranged at the on the branch pipe. 8. The feedback glove for virtual reality according to claim 5, wherein the exoskeleton glove comprises a cover body and a guide plate, one end of the cover body is connected with the guide plate, and the cover body is another One end is rotatably connected with the link mechanism, and the sleeve is used to be sleeved on the forearm; the position output mechanism, the pulling member, the oil storage tank and the oil pipe are all installed on the On the plate surface of the guide plate, the oil cylinder is arranged on the sleeve body. 9. The feedback glove for virtual reality according to claim 1, further comprising a vibration generator, a force sensor, an inertial navigator and several gyroscope sensors, the vibration generator and the force sensor Arranged on the finger cot; the inertial navigator and several gyroscope sensors are distributed on the finger cot, the linkage mechanism and the exoskeleton glove. 10. The feedback glove for virtual reality according to any one of claims 1 to 9, further comprising a controller, the controller is arranged on the exoskeleton glove, the controller and the driving mechanism electrical connection.