A wearable external limb auxiliary grasping device and control method
A technology for grabbing devices and extracting devices, which is applied in the direction of program-controlled manipulators, manufacturing tools, and manipulators. It can solve the problems of complex structure, heavy mass, and large size, and achieve assisting hand movement, diversifying control, and enhancing grip strength. Effect
Active Publication Date: 2022-06-07
WUHAN UNIV
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[0005] Chinese patent application number 201810320697, which discloses an auxiliary operation device for external limbs, including a driving end, an adjusting end and a flexible joint, adopts a multi-link structure to realize grasping, and can grasp irregularly shaped objects, but the The structure of the mechanism is complex, the size is too large, it is not suitable for auxiliary grasping in daily life, and the quality is heavy, so it is not suitable for wearing by middle-aged and elderly people
[0006] Chinese patent application number 2020105386136 discloses a slider-push robot finger structure. The main body of the finger is composed of a base, a root, a middle segment and a fingertip, and the base, root and fingertip are connected in series in sequence; The root connects the base and the fingertip, and a stepping motor is arranged in the root of the finger to drive the screw to rotate, but this device does not consider the cooperation between the device and the palm of the human body, and cannot be used in conjunction with the human body
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[0029] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. In the figure: base 1, the first connecting rod 2 of the grabbing device, the second connecting rod 3 of the grabbing device, the third connecting rod of the grabbing device is the second knuckle 4, and the fourth connecting rod of the grabbing device is the first knuckle 5. Finger base 6, the first link 7 of the posture extraction device, the second link of the posture extraction device 8, the third link of the posture extraction device 9, the fourth link of the posture extraction device 10, the finger end fixed 11, the output gear 12, the first bearing 13, the second bearing 14, the wire slot 15, the cross string 16, the strap fixing 17, the screw 18, the control panel 19, the potentiometer 20, the battery pack 21, the first knuckle connector 22, the first Two-knuckle connector 23, driving steering gear 24, top cover 25.
[0030] The i...
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The invention relates to an auxiliary grasping device for extremities, in particular to a wearable auxiliary grasping device for extremities and a control method. It includes a base (1), and a grabbing device, a posture extraction device, a power input and a control device arranged on the base (1), the grabbing part includes several connecting rods, and the posture extracting part includes several connecting rods that fit the user's fingers , the power input and control device includes a potentiometer, a control panel, a steering gear, and a battery. The gesture extraction part extracts the state of the human finger movement, and then drives the potentiometer to change the angle. The angle change is received by the potentiometer and transmitted to the control panel. panel, the control panel processes the angle signal of the potentiometer accordingly, and outputs the angle change as the angle change of the rotating shaft of the steering gear to drive the grabbing part to move.
Description
technical field [0001] The invention relates to an auxiliary grasping device for external limbs, in particular to an auxiliary grasping device for external limbs worn between the palm and the back of the hand and a control method. Background technique [0002] With the accelerated aging of the population, the demand for robots that help the elderly and the disabled has grown rapidly, and the hand grasping motion of the human body plays a very important role in daily life. Weakness and difficulty in grasping objects bring many inconveniences to life. [0003] Compared with the mature foreign exoskeleton robot technology, the domestic research started late, the level is relatively backward, and there are few successful commercial products, mainly because the external limbs of the hand cannot fit well with the hand, and the control methods of the external limbs of the hand are limited. , can only complete the specified actions of the program, the flexibility is poor, the weara...
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IPC IPC(8): B25J9/00B25J11/00B25J19/00
CPCB25J9/0006B25J11/00B25J19/005
Inventor 林旭伟韦珊珊郑凯彬张明兴
Owner WUHAN UNIV