Wearable hand exoskeleton device

An exoskeleton and wearable technology, applied in the direction of manipulators, program-controlled manipulators, joints, etc., can solve the problems of exoskeleton mechanism complexity, increase mechanism inertia and weight, etc., to ensure movement flexibility, simplify mechanism design, and easy to use Effect

Inactive Publication Date: 2016-11-16
BEIJING UNIV OF TECH
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Problems solved by technology

However, this design will complicate the exoskeleton mech

Method used

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  • Wearable hand exoskeleton device
  • Wearable hand exoskeleton device
  • Wearable hand exoskeleton device

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Embodiment Construction

[0027] Such as Figure 1-Figure 9 As shown, a wearable hand exoskeleton device includes a thumb mechanism (1), an index finger mechanism (2), a middle finger mechanism (3), a ring finger mechanism (4), a little finger mechanism (5) and a fixed base (6 ): the mechanism composition of the thumb mechanism (1), index finger mechanism (2), middle finger mechanism (3), ring finger mechanism (4) and little finger mechanism (5) is the same, taking the index finger mechanism (2) as an example, including the index finger mechanism End finger sleeve (7-2), index finger first connecting rod (8-2), index finger rolling bearing two (13B-2), index finger bearing ring two (15B-2), index finger second connecting rod (9-2) , Index finger near-end finger sleeve (10-2) and index finger slide bar (11-2): The index finger first connecting rod (8-2) passes through the index finger rolling bearing two (13B-2), the index finger bearing retaining ring two (15B -2) Connect with the second connecting ro...

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Abstract

A wearable hand exoskeleton device comprises a fixing base, a thumb mechanism, an index finger mechanism, a middle finger mechanism, a ring finger mechanism and a little finger mechanism. The thumb mechanism, the index finger mechanism, the middle finger mechanism, the ring finger mechanism and the little finger mechanism are identical in constitution, and each comprise a tail-end fingerstall, a first linkage rod, a second linkage rod, a near-end fingerstall and a sliding rod all of which are sequentially connected through rolling bearings. The sliding rods of the finger mechanisms are connected with sliding slots in the hand back fixing base. Through the structure, the number of degrees of freedom of the hand exoskeleton device can be matched with the number of hand joints, and moving flexibility of the fingers is ensured. By means of the wearable hand exoskeleton device, the structure design of the hand exoskeleton is simplified, and the wearable exoskeleton device is convenient to use, small in occupied space, low in manufacturing cost and capable of being applied to the fields of force feedback gloves, hand rehabilitation devices, humanoid manipulators and the like.

Description

technical field [0001] The invention belongs to the field of hand exoskeleton devices, and in particular relates to a series mechanism based on a planar five-bar mechanism and a space six-bar mechanism. Background technique [0002] The hand is an important sensory organ and executive organ, undertaking the task of interacting between the human body and the external environment. Exoskeleton wearable device is one of the research hotspots in the field of robotics in recent years. It uses mechanical joints to imitate human joints, so that the wearable device can assist the movement of the human body. However, the anatomical structure of the human hand is delicate and complex, including 27 bones and 16 joints. Its movement capabilities are flexible and diverse, with 20 degrees of freedom, and it can perform at least 34 different movements, making it a research area. The hand exoskeleton posed certain difficulties. [0003] Some hand exoskeletons have relatively simple mechani...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J17/02
CPCB25J9/0006B25J17/0258
Inventor 李剑锋张兆晶
Owner BEIJING UNIV OF TECH
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