Patent Description:
This application relates to a motion platform, a haptic feedback device, and a man-machine interactive system according to claims <NUM>, <NUM>, and <NUM> respectively. The other dependent claims define further embodiments of the invention.

With the continuous progress of science and technology, technologies such as virtual reality (VR) and augmented reality (AR) have been widely used. Technologies related to visual feedback has been developed, but there is great room for the development of haptic feedback technologies. The visual feedback technology can feed back a scene of a remote or virtual world to a user, and the haptic feedback technology can feed back the force of a remote or virtual world to a user. The combination of haptic feedback and visual feedback technologies can further enhance the user's sense of presence. For example, <CIT> discloses an apparatus for generating motion around a remote center of motion (RCM), comprising a distal link, a proximal link, a first mechanism, and a second mechanism, where the second mechanism comprises one link or a serial connection of links connecting the base link to the first link, configured to have an orientation of instant motion which is different from an orientation of instant motion of the proximal link, relative to the base link. "<NPL> et al. describes the design and development of a <NUM> DOF force-reflective master robot (RoboMaster1) for haptic telesurgery applications <CIT> discloses a multiple degrees-of-freedom (DOF) haptic interface for providing force feedback to a user's fingers, the haptic interface comprising a global DOF mechanism extending from a base for providing three DOFs, the global DOF mechanism including a four-bar linkage, and a local DOF mechanism extending from the global DOF mechanism for providing three to five local DOFs.

This invention relates to a motion platform, a haptic feedback device, and a man-machine interactive system, according to claims <NUM>, <NUM>, and <NUM>, respectively. The other dependent claims define further embodiments of the invention.

In an embodiment of this application, the motion platform includes a static platform, a dynamic platform, and a linkage assembly; the static platform and the dynamic platform being connected by the linkage assembly, and the static platform can drive, through the linkage assembly, the dynamic platform to move, thereby transmitting a force of a remote or virtual world to the dynamic platform.

In an embodiment of this application, the haptic feedback device includes at least two motion platforms and a platform connection element connecting the at least two motion platforms. When a thumb and an index finger of a user are respectively placed on dynamic platforms of the two motion platforms, through relative motion, the two dynamic platforms can realize the relative motion between the thumb and index finger such as pinching and rubbing, thereby transmitting the force of the remote or virtual world to the user and realizing haptic feedback. The motion platform and the haptic feedback device have characteristics of high stiffness, simple and compact structure, and good dynamic performance.

An embodiment of this application provides a motion platform, which includes a first platform, a second platform, and a linkage assembly, the first platform and the second platform being connected by the linkage assembly, and the second platform being configured to move relative to the first platform. The first platform includes: a first power output apparatus including a first output shaft, and a second power output apparatus including a second output shaft. The linkage assembly includes: a first parallelogram linkage mechanism and a second parallelogram linkage mechanism connected to each other, and a two-bar linkage mechanism; the first parallelogram linkage mechanism and the second parallelogram linkage mechanism having same or parallel planes of motion, the first parallelogram linkage mechanism being fixedly connected to the first output shaft, the second parallelogram linkage mechanism being fixedly connected to the second platform, and the first output shaft being configured to drive the first parallelogram linkage mechanism and the second parallelogram linkage mechanism to perform planar motion; and
the two-bar linkage mechanism and the first parallelogram linkage mechanism having the same plane of motion, one end of the two-bar linkage mechanism being fixedly connected to the second output shaft, the other end of the two-bar linkage mechanism being hinged with the second platform, and the second output shaft being configured to drive the two-bar linkage mechanism to move.

An embodiment of this application further provides a haptic feedback device, which includes at least two motion platforms according to the embodiments of this application and a platform connection element connecting the at least two motion platforms, each of the motion platforms being fixed on the platform connection element through the first platform included therein.

An embodiment of this application further provides a man-machine interactive system, which includes the haptic feedback device according to any of the foregoing and a control apparatus, the control apparatus being connected to the haptic feedback device and being configured to control motion of the haptic feedback device based on force information.

To make the objectives, technical solutions, and advantages of the embodiments of this application more comprehensible, the following clearly and completely describes the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Apparently, the described embodiments are a part rather than all of the embodiments of this application.

Unless otherwise defined, a technical term or a scientific term used in this application is to have a general meaning understood by persons of ordinary skill in the art of this application. The "first", the "second", and similar terms used in this application do not indicate any order, quantity or significance, but are used to only distinguish different components. Similar terms such as "include" or "comprise" are intended to mean that an element or object appearing before the word covers the enumerated element or object appearing after the word and its equivalents, without excluding other elements or objects. Similar terms such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right", or the like are used to only indicate a relative positional relationship, which may change accordingly when an absolute position of a described object is changed.

Embodiments of this application provide a motion platform, a haptic feedback device, and a man-machine interactive system. The motion platform includes a static platform, a dynamic platform, and a linkage assembly. The static platform and the dynamic platform are connected by the linkage assembly, and the static platform can drive, through the linkage assembly, the dynamic platform to move, thereby transmitting the force of a remote or virtual world to the dynamic platform. The haptic feedback device includes at least two motion platforms and a platform connection element connecting the at least two motion platforms. When limbs of a user, such as a thumb and an index finger, are respectively placed on the dynamic platforms of the two motion platforms, through relative motion, the two dynamic platforms can realize the relative motion between the thumb and the index finger such as pinching and rubbing, thereby transmitting the force of the remote or virtual world to the user and realizing haptic feedback. In addition, the motion platform and the haptic feedback device have characteristics of high stiffness, simple and compact structure, and good dynamic performance.

The motion platform, the haptic feedback device, and the man-machine interactive system according to the embodiments of this application are described in detail below with reference to the accompanying drawings.

It should be noted that in the embodiments of this application, two or more components hinged with each other and a revolute joint formed by hinging described in the following refer to that the two or more components have a common rotation axis, and can rotate relative to each other around the common rotation axis.

<FIG> is a schematic three-dimensional structural diagram of a motion platform according to an embodiment of this application, <FIG> is a schematic top structural view of the motion platform, <FIG> is a schematic bottom structural view of the motion platform, and <FIG> is a schematic side structural view of the motion platform. As shown in <FIG>, the motion platform <NUM> according to the embodiment of this application includes a static platform <NUM>, a dynamic platform <NUM>, and a linkage assembly <NUM> (as shown in the dotted block in <FIG>). The static platform <NUM> and the dynamic platform <NUM> are connected by the linkage assembly <NUM>, and the dynamic platform <NUM> can perform planar motion relative to the static platform <NUM>.

The "static platform" and "dynamic platform" are used herein to indicate that they can move relative to each other, rather than limiting that the static platform must be in a static state and the dynamic platform must be in a moving state. Therefore, the static platform and the dynamic platform herein may also be referred to as a "first platform" and a "second platform" respectively.

As shown in <FIG>, the static platform <NUM> includes a mounting rack <NUM> on which a first power output apparatus <NUM> and a second power output apparatus <NUM> are fixedly provided. The first power output apparatus <NUM> includes a first output shaft <NUM>, and the second power output apparatus <NUM> includes a second output shaft <NUM> (not shown in <FIG>, see <FIG>), and the first output shaft <NUM> and the second output shaft <NUM> are arranged in parallel. For example, the first power output apparatus <NUM> and the second power output apparatus <NUM> are motors which can be connected to the mounting rack <NUM> by screws. Embodiments of this application do not limit the type of the motors, for example, the motors may be servo motors, stepping motors, or the like.

In some embodiments, as shown in <FIG>, the linkage assembly <NUM> includes a first parallelogram linkage mechanism, a second parallelogram linkage mechanism, and a two-bar linkage mechanism.

In some embodiments, as shown in <FIG>, the first parallelogram linkage mechanism and the second parallelogram linkage mechanism have same or parallel planes of motion, the first parallelogram linkage mechanism is fixedly connected to the first output shaft <NUM>, the second parallelogram linkage mechanism is fixedly connected to the dynamic platform <NUM>, and the first output shaft <NUM> is configured to drive the first parallelogram linkage mechanism and the second parallelogram linkage mechanism to perform planar motion.

In some embodiments, as shown in <FIG>, a first rotation point (a connection point between a first end <NUM> of a first linkage <NUM> described in the following and the first output shaft <NUM>) of the first parallelogram linkage mechanism is fixedly connected to the first output shaft <NUM>, and a second rotation point (a connection point between a second end <NUM> of a third linkage <NUM> described in the following and the static platform <NUM>) adjacent to the first rotation point is hinged with the static platform <NUM>. The first output shaft <NUM> is configured to drive, through the first rotation point, the first parallelogram linkage mechanism to perform planar motion.

In some embodiments, as shown in <FIG>, the second parallelogram linkage mechanism and the first parallelogram linkage mechanism have same or parallel planes of motion. A first side (a second linkage <NUM> described in the following) of the second parallelogram linkage mechanism is connected to the first parallelogram linkage mechanism, and the first side of the second parallelogram linkage mechanism is parallel to a connecting line (that is, the line connecting the first output shaft <NUM> and the second output shaft <NUM> on the plane of motion) of the first rotation point and the second rotation point of the first parallelogram linkage mechanism, and a second side (for example, a fifth linkage <NUM> shown later in <FIG>) of the second parallelogram linkage mechanism parallel to the first side is fixedly connected to the dynamic platform <NUM>.

It should be noted that although in <FIG> the first parallelogram linkage mechanism and the second parallelogram linkage mechanism share a linkage (a second linkage <NUM> described in the following), the first parallelogram linkage mechanism and the second parallelogram linkage mechanism may not share a linkage, which will be further described in the following.

In some embodiments, as shown in <FIG>, the two-bar linkage mechanism and the first parallelogram linkage mechanism have the same or parallel planes of motion, one end (a first end <NUM> of a seventh linkage <NUM> described in the following) of the two-bar linkage mechanism is fixedly connected to the second output shaft <NUM>, the other end (a second end <NUM> of an eighth linkage <NUM> described in the following) of the two-bar linkage mechanism is hinged with the second platform <NUM>. The second output shaft <NUM> is configured to drive the two-bar linkage mechanism to perform planar motion.

In some embodiments, as shown in <FIG>, the linkage assembly <NUM> includes a first linkage <NUM>, a second linkage <NUM>, a third linkage <NUM>, a fourth linkage <NUM>, a fifth linkage <NUM>, a sixth linkage <NUM>, a seventh linkage <NUM>, and an eighth linkage <NUM>. A first end <NUM> of the first linkage <NUM> is fixedly connected to the first output shaft, a second end <NUM> of the first linkage <NUM> is hinged with a first end <NUM> of the second linkage <NUM> to form a first revolute joint <NUM>, a second end <NUM> of the second linkage <NUM> is hinged with a first end <NUM> of the third linkage <NUM> to form a second revolute joint <NUM>, and a second end <NUM> of the third linkage <NUM> is hinged with the static platform <NUM> to form a third revolute joint <NUM>. The first linkage <NUM>, the second linkage <NUM>, the third linkage <NUM>, and a line connecting an axis of the first output shaft and an axis of the third revolute joint <NUM> form the first parallelogram linkage mechanism. The first power output apparatus <NUM> can drive the first parallelogram linkage mechanism to perform planar motion, and an extension direction of the second linkage <NUM> remains unchanged during the motion.

In some embodiments, as shown in <FIG>, a first end <NUM> of the fourth linkage <NUM> is hinged to the first revolute joint <NUM>, and a second end <NUM> of the fourth linkage <NUM> is hinged with a first end <NUM> of the fifth linkage <NUM> to form a fourth revolute joint <NUM>. A second end <NUM> of the fifth linkage <NUM> is hinged with a first end <NUM> of the sixth linkage <NUM> to form a fifth revolute joint <NUM>. A second end <NUM> of the sixth linkage <NUM> is hinged to the second revolute joint <NUM>. The second linkage <NUM>, the fourth linkage <NUM>, the fifth linkage <NUM>, and the sixth linkage <NUM> form the second parallelogram linkage mechanism. Thus, the second parallelogram linkage mechanism and the first parallelogram linkage mechanism share the second linkage <NUM>, thereby reducing the number of revolute joints and simplifying the structure of the motion platform. The first parallelogram linkage mechanism can drive the second parallelogram linkage mechanism to perform planar motion, and an extension direction of the fifth linkage <NUM> remains unchanged during the motion.

It should be noted that the first end <NUM> of the fourth linkage <NUM> and the second end <NUM> of the sixth linkage <NUM> may also be hinged at other positions. For example, the first end <NUM> of the fourth linkage <NUM> is hinged at an intermediate portion of the first linkage <NUM>, and the second end <NUM> of the sixth linkage <NUM> is hinged at an intermediate portion of the third linkage <NUM>. The intermediate portion refers to a certain part between two ends of a linkage, and is not limited to a midpoint position of the linkage. In another example, the first end and the second end of the second linkage <NUM> are respectively provided with extensions based on the structure shown in <FIG>, the first end of the fourth linkage <NUM> is hinged on the extension of the first end of the second linkage <NUM>, and the second end of the sixth linkage <NUM> is hinged on the extension of the second end of the second linkage <NUM>. The foregoing hinged position of the first end <NUM> of the fourth linkage <NUM> and the hinged position of the second end <NUM> of the sixth linkage <NUM> also enable the planar motion of the second parallelogram linkage mechanism.

In some embodiments, as shown in <FIG>, the fifth linkage <NUM> is fixedly connected to the dynamic platform <NUM>. In this way, because the extension direction of the fifth linkage <NUM> remains unchanged during the motion, the dynamic platform <NUM> can perform translational motion in the plane of motion, but cannot perform rotational motion.

In some embodiments, as shown in <FIG>, a first end <NUM> of the seventh linkage <NUM> is fixedly connected to the second output shaft, a second end <NUM> of the seventh linkage <NUM> is hinged with a first end <NUM> of the eighth linkage <NUM> to form a sixth revolute joint <NUM>, and a second end <NUM> of the eighth linkage <NUM> is hinged with the dynamic platform <NUM> to form a seventh revolute joint <NUM> (not shown in <FIG>, see <FIG>). The seventh linkage <NUM> and the eighth linkage <NUM> form the two-bar linkage mechanism. Thus, the second power output apparatus <NUM> and the first power output apparatus <NUM> jointly drive the dynamic platform <NUM> to perform the translational motion in the plane of motion, and can accurately control the position of the dynamic platform <NUM>.

In some embodiments, the first end <NUM> of the first linkage <NUM> is connected to the first output shaft of the first power output apparatus <NUM> by a flange, and the first end <NUM> of the seventh linkage <NUM> is connected to the second output shaft of the second power output apparatus <NUM> also by a flange. Thus, the first power output apparatus <NUM> and the second power output apparatus <NUM> can respectively drive the first linkage <NUM> and the seventh linkage <NUM> to perform rotational motion. Alternatively, the first linkage and the first power output apparatus or the seventh linkage and the second power output apparatus may also be connected by other means such as a shaft coupling, which is not limited in the embodiments of this application.

For example, the axis of the first output shaft <NUM>, the axis of the second output shaft <NUM>, and the axis of the third revolute joint <NUM> lie in the same plane. Such arrangement helps improve control accuracy of the first output apparatus and the second output apparatus on the position of the dynamic platform. Alternatively, the axis of the first output shaft <NUM>, the axis of the second output shaft <NUM>, and the axis of the third revolute joint <NUM> may not lie in the same plane.

For example, an axis of the fourth revolute joint <NUM>, an axis of the fifth revolute joint <NUM>, and an axis of the seventh revolute joint <NUM> lie in the same plane. Such arrangement helps improve control accuracy of the first output apparatus and the second output apparatus on the position of the dynamic platform. For example, the axis of the fifth revolute joint <NUM> is coincident with the axis of the seventh revolute joint <NUM>. Alternatively, the axis of the fourth revolute joint <NUM>, the axis of the fifth revolute joint <NUM>, and the axis of the seventh revolute joint <NUM> may not lie in the same plane.

For example, as shown in <FIG>, the dynamic platform <NUM> includes a third power output apparatus <NUM>, a first connection element <NUM>, and a second connection element <NUM>. One end of the first connection element <NUM> is fixedly connected to the third power output apparatus <NUM>, and the other end of the first connection element <NUM> is hinged with a wall surface of the second connection element <NUM> to form an eighth revolute joint <NUM> (not shown in <FIG>, see <FIG>). The third power output apparatus <NUM> is configured to drive the first connection element <NUM> to rotate, and the rotation of the first connection element <NUM> drives the second connection element <NUM> to rotate. The second connection element <NUM> is rotatable relative to the first connection element <NUM> about an axis of the eighth revolute joint <NUM>.

In some embodiments, as shown in <FIG>, the third power output apparatus <NUM> is a motor, which includes a third output shaft <NUM> (not shown in <FIG>, see <FIG>). For example, the motor is connected to the fifth linkage <NUM> by a screw, and the motor may be a servo motor or a stepping motor. For example, the third output shaft <NUM>, the first output shaft <NUM>, and the second output shaft <NUM> are arranged in parallel.

In some embodiments, as shown in <FIG>, the first connection element <NUM> has an approximately arc shape, a first end <NUM> of the first connection element <NUM> is fixedly connected to the third output shaft <NUM>, and a second end <NUM> of the first connection element <NUM> is hinged with the second connection element <NUM> to form the eighth revolute joint <NUM>. An axis of the eighth revolute joint <NUM> is not parallel to an axis of the third output shaft <NUM>. For example, the axis of the eighth revolute joint <NUM> is perpendicular to or approximately perpendicular to the axis of the third output shaft <NUM>, for example, the difference between the included angle and the right angle is less than a preset angle threshold (for example, the preset angle threshold is <NUM>°).

For example, the first end <NUM> of the first connection element <NUM> is connected to the third output shaft <NUM> of the third power output apparatus <NUM> by a flange. Thus, the third power output apparatus <NUM> can drive the first connection element <NUM> to perform rotational motion. Alternatively, the first end <NUM> of the first connection element <NUM> and the third output shaft <NUM> of the third power output apparatus <NUM> may also be connected by other means such as a shaft coupling.

In some embodiments, as shown in <FIG>, the second connection element <NUM> is ring-shaped and allows a human finger to extend in. For example, the second connection element <NUM> may be annular, elliptical or rectangular, and its specific shape is not limited in the embodiments of this application, as long as the second connection element <NUM> allows a finger to extend in and does not interfere with the first connection element <NUM> in motion.

The third power output apparatus <NUM> can drive, through the first connection element <NUM>, the second connection element <NUM> to rotate, thereby increasing a degree of freedom of the second connection element <NUM> to enhance a haptic feedback effect. The second connection element <NUM> is hinged with the first connection element <NUM>, which can further increase the degree of freedom of the second connection element <NUM> to enhance adaptability of the second connection element to the finger.

The motion platform according to the embodiment of this application has characteristics of high stiffness, simple and compact structure, and good dynamic performance.

In the motion platform according to the embodiment of this application, the linkage assembly has two translational degrees of freedom in the plane of motion, where the first linkage <NUM> and the seventh linkage <NUM> are driving linkages, and the other linkages are driven linkages. The first power output apparatus <NUM> drives the first linkage <NUM> to rotate, the second power output apparatus <NUM> drives the seventh linkage <NUM> to rotate, and the first linkage <NUM> and the seventh linkage <NUM> drive other linkages to move, so as to realize motion control of the dynamic platform <NUM>, thereby transmitting the force of the remote or virtual world to the dynamic platform.

In the motion platform according to the embodiment of this application, the second connection element <NUM> has four degrees of freedom, which are two translational degrees of freedom following motion of the dynamic platform, a rotational degree of freedom following the first connection element <NUM> around the third power output apparatus <NUM>, and a rotational degree of freedom around the axis of the eighth revolute joint <NUM>.

When the user extends a finger into the second connection element of the dynamic platform, the dynamic platform drives the finger to move, thereby transmitting the force of the remote or virtual world to the user and realizing haptic feedback.

For example, as shown in <FIG>, in the motion platform according to the embodiment of this application, in the axial direction of the first output shaft or the second output shaft (up and down direction in <FIG>), the first linkage <NUM>, the second linkage <NUM>, the third linkage <NUM>, the fourth linkage <NUM>, the fifth linkage <NUM>, and the sixth linkage <NUM> are located on the upper side, and the seventh linkage <NUM> and the eighth linkage <NUM> are located on the lower side. That is, the seventh linkage <NUM> and the eighth linkage <NUM> are located on a side of the first linkage <NUM>, the second linkage <NUM>, the third linkage <NUM>, the fourth linkage <NUM>, the fifth linkage <NUM>, and the sixth linkage <NUM> that is closer to the second connection element <NUM>. Such arrangement helps save space occupied by the motion platform.

It should be noted that in the axial direction of the first output shaft or the second output shaft, the seventh linkage <NUM> and the eighth linkage <NUM> may also be located on a side of the first linkage <NUM>, the second linkage <NUM>, the third linkage <NUM>, the fourth linkage <NUM>, the fifth linkage <NUM> and the sixth linkage <NUM> that is away from the second connection element <NUM>.

For example, in the motion platform according to the embodiment of this application, at least one bearing is provided in the first revolute joint <NUM>. For example, the bearing is a rolling bearing, including an inner ring and an outer ring that can rotate relatively. The second end <NUM> of the first linkage <NUM>, the first end <NUM> of the second linkage <NUM>, and the first end <NUM> of the fourth linkage <NUM> rotate relative to each other by the bearing. Alternatively, the first revolute joint <NUM> may also not include a bearing, and the second end <NUM> of the first linkage <NUM>, the first end <NUM> of the second linkage <NUM>, and the first end <NUM> of the fourth linkage <NUM> rotate relative to each other by direct running fit. For example, the second revolute joint <NUM>, the third revolute joint <NUM>, the fourth revolute joint <NUM>, the fifth revolute joint <NUM>, the sixth revolute joint <NUM>, the seventh revolute joint <NUM>, and the eighth revolute joint <NUM> each have a structure similar to that of the first revolute j oint <NUM>.

An embodiment of this application further provides a haptic feedback device. <FIG> is a schematic three-dimensional structural diagram of a haptic feedback device according to an embodiment of this application. For example, as shown in <FIG>, the haptic feedback device according to the embodiment of this application includes two motion platforms <NUM> and a platform connection element <NUM> connecting the two motion platforms.

For example, as shown in <FIG>, the two motion platforms <NUM> are respectively connected to two ends of the platform connection element <NUM>, and the two motion platforms <NUM> are disposed opposite each other. The two motion platforms <NUM> being disposed opposite each other refers to that the dynamic platforms <NUM> of the two motion platforms <NUM> are close to each other while the static platforms of the two motion platforms <NUM> are away from each other. That is, sides of the two motion platforms, on which the dynamic platforms <NUM> are provided, face each other, so that two fingers can be brought closer to each other or the fingers can be conveniently inserted into the second connection element.

For example, as shown in <FIG>, the mounting racks <NUM> of the static platforms <NUM> of the two motion platforms <NUM> are fixedly connected to two ends of the platform connection element <NUM> by screws.

For example, the planes of motion of the dynamic platforms <NUM> of the two motion platforms <NUM> are approximately parallel to each other or in the same plane.

When a thumb and an index finger (which may also be other fingers) of a user respectively extend into the second connection elements <NUM> of the two motion platforms <NUM>, the second connection elements <NUM> of the two motion platforms perform relative motion under the drive of the static platforms <NUM> and the dynamic platforms <NUM>, so that the relative motion between the finger tip of the thumb and the finger tip of the index finger can be realized, thereby transmitting the force of the remote or virtual world to the user and realizing haptic feedback. For example, the second connection elements <NUM> of the two motion platforms get closer to farther from each other, so that contact (pinching) or separation between the finger tip of the thumb and the finger tip of the index finger can be achieved; the second connection elements <NUM> of the two motion platforms perform relative motion to each other in a direction parallel to the extension direction of the fifth linkage <NUM>, so that rubbing motion between the finger tip of the thumb and the finger tip of the index finger can be achieved.

<FIG> is a schematic three-dimensional structural diagram of a motion state of the haptic feedback device, and <FIG> is a schematic three-dimensional structural diagram of another motion state of the haptic feedback device. <FIG> and <FIG> show different motion positions of the second connection element <NUM>. As shown in <FIG>, in this state, a central axis of the second connection element <NUM> is approximately parallel to a plane of motion of the linkage assembly. As shown in <FIG>, in this state, the central axis of the second connection element <NUM> is perpendicular to or approximately perpendicular to the plane of motion of the linkage assembly, for example, the difference between the included angle and the right angle is less than a preset angle threshold (for example, the preset angle threshold is <NUM>°).

In some embodiments, the haptic feedback device according to the embodiments of this application may also include a greater number of motion platforms <NUM>, so that the haptic feedback to more fingers can be achieved. The number of the motion platforms <NUM> is not limited in the embodiments of this application.

The haptic feedback device according to the embodiment of this application also has characteristics of high stiffness, simple and compact structure, and good dynamic performance.

An embodiment of this application further provides a man-machine interactive system. <FIG> is a schematic structural of the man-machine interactive system. As shown in <FIG>, the man-machine interactive system includes the haptic feedback device according to any one of the foregoing embodiments and a control apparatus. The control apparatus is connected to the haptic feedback device and is configured to control motion of the haptic feedback device based on force information, so as to feed back the force to a human and realize man-machine interaction. For example, the force information may be information stored in the control apparatus or received from a remote or virtual world.

For example, the control apparatus may be a computer or other apparatuses with a data processing function.

For example, the man-machine interactive system may also include a visual feedback device. The visual feedback device feeds back a picture of the remote or virtual world to a human through a display apparatus, so as to realize a visual feedback function.

In the man-machine interactive system according to the embodiment of this application, by combining the haptic feedback technology and the visual feedback technology, a user can feel the force and see the picture, thereby enhancing a man-machine interactive effect.

For example, the man-machine interactive system may also include an auditory feedback device. The auditory feedback device feeds back a sound of the remote or virtual world to a human through a sounding apparatus, so as to realize an auditory feedback function.

In the man-machine interactive system according to the embodiment of this application, by combining the haptic feedback technology, the visual feedback technology, and the auditory feedback technology, the user can feel the force, see the picture, and hear the sound, thereby enhancing the man-machine interactive effect.

For example, the man-machine interactive system can be implemented as a virtual reality (VR) or augmented reality (AR) device. For example, the man-machine interactive system can be applied to a game device, a wearable device, a robot, a mobile advertisement, an automobile, a medical instrument, or other devices with haptic and visual feedback functions.

Claim 1:
A motion platform (<NUM>) for
a haptic feedback device, the motion platform (<NUM>) comprising a first platform (<NUM>), a second platform (<NUM>) and a linkage assembly (<NUM>), the first platform (<NUM>) and the second platform (<NUM>) being connected by the linkage assembly (<NUM>), the second platform (<NUM>) being configured to move relative to the first platform (<NUM>),
the first platform (<NUM>) comprising: a first power output apparatus (<NUM>) and a second power output apparatus (<NUM>), the first power output apparatus (<NUM>) comprising a first output shaft (<NUM>) and the second power output apparatus (<NUM>) comprising a second output shaft (<NUM>);
the linkage assembly (<NUM>) comprising: a first parallelogram linkage mechanism and a second parallelogram linkage mechanism connected to each other, and a two-bar linkage mechanism;
the first parallelogram linkage mechanism and the second parallelogram linkage mechanism having same or parallel planes of motion, the first parallelogram linkage mechanism being fixedly connected to the first output shaft (<NUM>), the second parallelogram linkage mechanism being fixedly connected to the second platform (<NUM>), and the first output shaft (<NUM>) being configured to drive the first parallelogram linkage mechanism and the second parallelogram linkage mechanism to perform planar motion; and
the two-bar linkage mechanism and the first parallelogram linkage mechanism having the same plane of motion, one end of the two-bar linkage mechanism being fixedly connected to the second output shaft (<NUM>), the other end of the two-bar linkage mechanism being hinged with the second platform (<NUM>), and the second output shaft (<NUM>) being configured to drive the two-bar linkage mechanism to move,
wherein the first output shaft (<NUM>) and the second output shaft (<NUM>) are arranged in parallel, and the second platform (<NUM>) comprises: a third power output apparatus (<NUM>), a first connection element (<NUM>), and a second connection element (<NUM>); wherein
the third power output apparatus (<NUM>) comprises a third output shaft (<NUM>);
a first end of the first connection element is fixedly connected to the third output shaft (<NUM>); and
the second connection element is hinged with a second end of the first connection element to form an eighth revolute joint (<NUM>), and an axis of the eighth revolute joint (<NUM>) form an angle with an axis of the third output shaft (<NUM>).