A hand exoskeleton system and control method

An exoskeleton and hand technology, applied in the field of exoskeleton robots, can solve problems such as poor real-time performance, cumbersome control process, delay, etc., and achieve the effects of improving user experience, simplifying control process, reducing volume and cost

Active Publication Date: 2021-09-17
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

The exoskeleton glove is simple to set up, and there is no fusion of sensors to measure the human-machine contact force and joint angle of the hand; five servos are used to wind the rope, and the finger movement of the five fingers is pulled, and the control process is cumbersome; The user's motion intention has a large delay, and the real-time performance of the control is not good

Method used

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  • A hand exoskeleton system and control method
  • A hand exoskeleton system and control method
  • A hand exoskeleton system and control method

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Embodiment Construction

[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0041] The present invention provides that the hand exoskeleton robot system of this invention includes a soft glove module, a drive module, a detection and control module, and the overall diagram is as follows figure 1 shown.

[0042] (1) Soft Glove Module

[0043] In order to improve the user's body feeling, it is based on soft gloves, which are well adapted to the shape of the human hand. Figure 2 and image 3 shown. Relevant studies have shown that most tasks in life can be completed by the thumb, index finger and middle finger, while the ring finger and little finger assist these three fingers to complete the work. Therefore, in this embodiment, active control is performed on the thumb part, the index finger part and the middle finger part of the glove. In other implementation manners, different fingers may also be selected ...

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Abstract

The invention discloses a hand exoskeleton system, which comprises gloves, a winding wheel set, several pre-tightening devices, several clamping devices, several ropes and a driving device. The drive device uses one motor to drive the movement of several fingers, which reduces the volume and cost of the system, reduces the complexity of the system, and simplifies the control process on the premise of ensuring the realization of the grasping function. The designed force transmission path can ensure that each joint of the finger gets enough tension, and can improve the user experience. The invention also provides a control method for the hand exoskeleton system.

Description

technical field [0001] The invention belongs to the technical field of exoskeleton robots. Background technique [0002] Contemporary society is facing increasingly serious social problems such as the aging of the social population, younger incidence of stroke, and frequent traffic accidents. The result is motor dysfunction for the elderly and physically disabled. Research priorities and hotspots in the field. The hand exoskeleton can assist the elderly and patients with motor dysfunction to grasp daily objects, and can also carry out rehabilitation training to prevent muscle atrophy and restore the movement ability of affected limbs. This hand exoskeleton is an intelligent mechanical system that can be connected in parallel to the upper limbs of a person through gloves to provide additional power for the movement of the hand, assist the patient in completing the grasping action, and restore motor function. [0003] There are still many deficiencies in the traditional hand...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J15/08B25J18/02A61B5/397A61B5/389
CPCA61B5/1071A61B5/225B25J9/0006B25J15/086B25J18/025
Inventor 吴青聪徐大文
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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