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Seven-degree-of-freedom external skeleton type teleoperation main hand

The invention relates to a seven-degree-of-freedom external skeleton type teleoperation main hand. The seven-degree-of-freedom external skeleton type teleoperation main hand is composed of an external skeleton main hand portion, a driving unit and a support. The external skeleton main hand portion comprises an arm wearing portion and a singular configuration adjusting unit. The arm wearing portion is worn on the upper limb of an operator; the singular configuration adjusting unit provides rotation in two directions; the singular configuration of the adjustable external skeleton main hand can be carried out on the edge of working space; the driving unit is composed of motors, harmonic reducers, encoders, torque transducers, transmission wheels and the like; power is transmitted through steel wire ropes; and the weight of the arm part is greatly reduced. The support is used for fixing the external skeleton main hand portion and the driving unit and can achieve height adjustment and gravity balance of the arm. The seven-degree-of-freedom external skeleton type teleoperation main hand is flexible in operation and good in applicability; the arm part is compact in structure, low in inertia and not prone to fatiguing after long-time operation. By means of the seven-degree-of-freedom external skeleton type teleoperation main hand, the operator can remotely control a multi-degree-of-freedom robot through the external skeleton type main operation hand.
Owner:BEIJING UNIV OF POSTS & TELECOMM
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