Wearable remote control glove, dexterous hand and control system

Abstract

The invention provides a wearable remote control glove, a dexterous hand and a control system.The wearable remote control glove comprises a glove body and a skeleton body, the glove body is arranged on the inner side of the skeleton body, and the skeleton body comprises a hand back skeleton, a finger skeleton and a length adjusting mechanism; the length adjusting mechanism is connected with the hand back skeleton and the finger skeleton, the glove main body can be worn by a user, and the length adjusting mechanism is configured to allow the extension length of the finger skeleton relative to the hand back skeleton to be changed and locked. According to the wearable remote control glove, the overall shape of the skeleton main body can be adjusted according to the finger lengths and the hand shapes of different users, the flexible glove main body can deform and can be tightly attached to the hands of the different users, and therefore the accuracy of the remote control glove for capturing the hand actions of the users is improved.

Description

Technical Field

[0001] This application relates to the field of wearable device technology, specifically to a wearable remote control glove, a dexterous hand, and a control system. Background Technology

[0002] With the continuous development of technology, wearable devices are increasingly widely used in fields such as industrial control, medical rehabilitation, and smart homes. Wearable remote control gloves, as a type of device that enables remote operation, allow users to control external devices by controlling the movement of the gloves. However, due to significant individual differences in hand size, finger length, and joint range of motion among different users, users cannot effectively adjust the gloves according to their own hand characteristics, which can lead to distortion of motion data acquisition. This is especially true for precision movements, potentially causing operational errors or even safety risks.

[0003] Therefore, there is an urgent need for a new type of wearable remote control glove. Summary of the Invention

[0004] In view of this, the embodiments of this application aim to provide a wearable remote control glove, a dexterous hand, and a control system to solve the problem in the prior art that the inability to adaptively adjust according to the hand characteristics of different users leads to errors in subsequent data acquisition.

[0005] This application provides a wearable remote control glove, including a skeleton body and a flexible glove body. The glove body is disposed inside the skeleton body. The skeleton body includes a back hand skeleton, a finger skeleton, and a length adjustment mechanism. The length adjustment mechanism connects the back hand skeleton and the finger skeleton. The glove body is wearable by a user. The length adjustment mechanism is configured to allow changing and locking the extension length of the finger skeleton relative to the back hand skeleton.

[0006] According to the wearable remote control glove of this application, the length adjustment mechanism includes a guide and a locking component. The guide is connected to the back of the hand skeleton, and the locking component is connected to the finger skeleton and can slide along the guide. The locking component includes at least one locking member. The guide has a plurality of spaced positioning portions arranged axially. The locking member is detachably connected to any of the positioning portions and can be disengaged by deformation.

[0007] Optionally, a finger sleeve is provided on the inner side of the finger skeleton, the finger sleeve having two first ends spaced apart circumferentially.

[0008] Optionally, the peripheral wall of the finger sleeve is further provided with a thin-walled region, which is deformable under force to change the distance between the two first ends; or

[0009] At least one of the finger sleeves is further provided with a first constraint band and a tactile feedback assembly, the tactile feedback assembly is electrically connected with the control module to provide tactile feedback to the user, and two ends of the first constraint band are connected to the two first end portions respectively, and the length of the first constraint band is adjustable to change the distance between the two first end portions.

[0010] The wearable remote control glove according to the present application further comprises:

[0011] A second constraint band is arranged at the palm position of the glove body, and two sides of the width direction of the back bone are respectively provided with a first mounting portion, and two ends of the second constraint band are connected with the first mounting portion respectively.

[0012] The wearable remote control glove according to the present application further comprises:

[0013] An arm ring is hinged with the back bone, and the arm ring is used for wearing on the wrist, and the arm ring has two second end portions spaced along the circumference;

[0014] A third constraint band is connected with the two second end portions respectively, and the length of the third constraint band is adjustable to change the distance between the two second end portions.

[0015] Optionally, the arm ring and the back bone are connected through at least two groups of first rotation pairs, the rotation axes of each group of the first rotation pairs are cross arranged, each group of the first rotation pairs is provided with a first angle detection unit, the first angle detection unit is electrically connected with the control module, and the control module generates a control instruction according to the angle data obtained by the first angle detection unit to drive the dexterous hand to perform a corresponding action.

[0016] Optionally, the finger skeleton comprises a knuckle group, the knuckle group comprises four knuckle pieces connected through second rotation pairs in sequence, the rotation axes of each second rotation pair extend along the width direction of the knuckle piece; the knuckle piece at the proximal end of the knuckle group is a first knuckle piece, the first knuckle piece is connected with the length adjustment mechanism through a third rotation pair, and the rotation axis of the third rotation pair is perpendicular to the back bone; the second rotation pair and the third rotation pair are both provided with a second angle detection unit, the second angle detection unit is electrically connected with the control module, and the control module is configured to generate a control instruction according to the angle data obtained by the first angle detection unit and the second angle detection unit.

[0017] Optionally, the wearable remote control glove further comprises a force feedback assembly arranged on the back skeleton or the locking assembly, an output end of the force feedback assembly being connected with the finger skeleton, the force feedback assembly being used in communication connection with the control module to provide resistance in the opposite direction of the rotation direction of the finger skeleton.

[0018] Optionally, a posture detection unit is arranged on the arm ring and electrically connected with the control module.

[0019] In the second aspect, the application provides a dexterous hand used in cooperation with the wearable remote control glove, the dexterous hand comprising:

[0020] An actuator corresponding to the wearable remote control glove and having the same freedom of movement;

[0021] A driving device used to drive the actuator to move;

[0022] A master control unit in communication connection with the driving device, the master control unit being configured to:

[0023] Receive the action control signal sent by the control module, the action control signal being generated based on the hand action collected by the wearable remote control glove;

[0024] Control the driving device according to the action control signal, so that the actuator moves synchronously with the user's hand;

[0025] Collect current data of the driving device when the driving device is running to generate an external control signal and send the external control signal to the control module.

[0026] In the third aspect, the application provides a control system comprising the wearable remote control glove and the dexterous hand.

[0027] Compared with the prior art, the above technical solution provided by the embodiments of the application has the following advantages:

[0028] The wearable remote control glove provided by the application can change the extension length of the finger skeleton relative to the back skeleton and lock the extension length, and can adjust the overall shape of the skeleton body according to the finger length and hand shape contour of different users.

[0029] The flexible glove body can be deformed to closely fit different user hands without tightness or slackness, avoiding blood circulation obstruction caused by tightness and operation delay caused by slackness, providing sufficient movement space for long-fingered users to maintain operation flexibility, preventing long-fingered users from causing motion transmission deviation due to the long skeleton body, and avoiding rigid contact between the skeleton body and the user's hand. The angle detection unit collects based on the corresponding relationship between the finger skeleton, the back of the hand skeleton and the user's hand.

[0030] In summary, the overall shape of the skeleton body is adjusted according to the finger length and hand shape of different users to avoid the finger tips of short-handed users from floating and causing relative sliding during operation, and to avoid the finger skeleton of long-handed users from not moving synchronously during operation. The collection reference of the angle detection unit can remain consistent when used by different users, so that the angle data received by the subsequent control module can truly reflect the finger movement trajectory of the user, improve the accuracy of the remote control glove in capturing the user's hand movement, avoid interference signals caused by poor adaptation, and ultimately realize that regardless of the length of the user's fingers, the precise fitting of the skeleton body and the user's hand can convert the motion into control instructions without deviation, and drive the dexterous hand to perform corresponding actions. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 Fig. 1 shows a perspective view of a wearable remote control glove according to the first embodiment of the present application.

[0032] Figure 2 Fig. 2 shows a perspective view of a skeleton body of a wearable remote control glove according to the first embodiment of the present application.

[0033] Figure 3 Fig. 3 shows a perspective view of a wearable remote control glove according to the first embodiment of the present application from another angle.

[0034] Figure 4 Fig. 4 shows an enlarged view of area A in Fig. 3. Figure 3

[0035] Figure 5 Fig. 5 shows a perspective view of a wearable remote control glove according to the first embodiment of the present application from another angle.

[0036] Figure 6 Fig. 6 shows a front view of a skeleton body of a wearable remote control glove according to the first embodiment of the present application.

[0037] Figure 7 Fig. 7 shows a perspective view of a skeleton body of a wearable remote control glove according to the second embodiment of the present application.

[0038] Figure 8 Fig. 8 shows an enlarged view of area B in Fig. 7. Figure 7

[0039] ​​Figure 9 Fig. 3 shows a perspective view of a wearable remote control glove according to a third embodiment of the present application.

[0040] Figure 10 Fig. 4 shows a perspective view of a posture detection unit of a wearable remote control glove according to an embodiment of the present application.

[0041] Figure 11 Fig. 5 shows a partial structural view of a wearable remote control glove according to an embodiment of the present application, in which a backhand skeleton and a glove main body are shown.

[0042] Reference signs:

[0043] Skeleton main body 10, backhand skeleton 11, first mounting portion 111, connecting piece 112, protruding portion 1121, support piece 113, finger skeleton 12, finger sleeve 121, mounting groove 1211, thin wall area 122, first constraint band 123, second rotation pair 124, third rotation pair 125, first knuckle piece 126, second knuckle piece 127, third knuckle piece 128, hinged arm 1281, fourth knuckle piece 129, length adjustment mechanism 13, guide piece 131, locking assembly 132, locking piece 1321, positioning portion 1322, glove main body 20, tactile feedback assembly 30, second constraint band 40, arm ring 50, cushion layer 501, first rotation pair 51, hollow opening 52, third constraint band 60, first angle detection unit 71, second angle detection unit 72, force feedback assembly 80, wire winder 81, pull cable 82, second power portion 83, first power portion 84, posture detection unit 90, circuit board 91, hand 2. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0045] The following disclosure provides many different embodiments, or examples, for implementing different structures of the present application. For the purpose of simplicity, the components and arrangements of the particular examples are shown in the following description. These are, of course, merely examples and are not intended to limit the application. Moreover, the application can be practiced with different specific details (e.g., modifications, omissions, replacements). Such variations are intended to be embraced by the scope of the present application.

[0046] For ease of description, spatial relative terms can be used herein to describe the relative position relationship or movement condition of one element or feature with respect to another element or feature as shown in the drawings, such as "inner", "outer", "inboard", "outboard", "under", "below", "on", "above", "front", "back", and the like. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the drawings. For example, if the device in the drawings is turned over or the posture is changed or the movement state is changed, the directional indications will also change accordingly, for example: the element described as "under" or "below" another element or feature will be subsequently oriented as "above" or "above" another element or feature. Therefore, the example term "below" can include both the upper and lower positions. The device can be additionally oriented (rotated by 90 degrees or in other directions) and the spatial relative relationship descriptors used herein are interpreted accordingly.

[0047] The wearable remote control gloves are used in applications such as precise data acquisition or remote control, for example, mechanical arm operation in a contaminated area, part assembly, surgical simulation in the medical field, rehabilitation treatment, immersive interaction in virtual reality and augmented reality scenes, etc. By setting different control components thereon, the actions of the user's hand 2 can be converted into precise control instructions and real-time interaction feedback can be provided. For example, a posture detection unit 90 is arranged on the wearable remote control gloves, and the combination of the accelerometer, gyroscope and magnetometer of the posture detection unit 90 can calculate the position change of the remote control gloves by measuring the motion acceleration and angular velocity. In combination with an external camera, the accuracy and stability of motion capture can be improved through the image obtained by the camera and the data obtained by the posture detection unit 90.

[0048] As shown in Figures 1-3 The wearable remote control gloves according to the embodiments of the present application include a skeleton body 10 and a flexible glove body 20, the glove body 20 is arranged on the inner side of the skeleton body 10, the skeleton body 10 includes a backhand skeleton 11, a finger skeleton 12 and a length adjustment mechanism 13, the length adjustment mechanism 13 is connected to the backhand skeleton 11 and the finger skeleton 12, the glove body 20 is wearable by a user, and the length adjustment mechanism 13 is configured to allow the extension length of the finger skeleton 12 relative to the backhand skeleton 11 to be changed and locked.

[0049] The skeleton body 10 can serve as a support structure, the backhand skeleton 11 and the finger skeleton 12 are connected through the length adjustment mechanism 13, the length adjustment mechanism 13 can realize the change and locking of the extension length of the finger skeleton 12 relative to the backhand skeleton 11, so as to dynamically adjust the overall size of the skeleton according to different user hand sizes.

[0050] The flexible glove body 20 is arranged on the inner side of the skeleton body 10, is made of an elastic material, can be directly worn by the user, can improve the wearing comfort through the soft texture, and can closely fit the hand 2 to accurately capture the finger action of the user. When the user needs to wear the remote control glove, the appropriate finger skeleton 12 is first adjusted relative to the back of the hand skeleton 11 in the extension length and is locked, so that the skeleton body 10 is matched with the size of the hand 2 of the user, then the action of the hand 2 of the user drives the flexible glove body 20 to deform, thereby driving the finger skeleton 12 and the back of the hand skeleton 11 of the skeleton body 10 to be linked, and finally the action of the hand 2 is converted into a mechanical motion signal that can be collected by the skeleton body 10, thereby providing accurate action data basis for subsequent dexterous hand training.

[0051] As shown in Figure 7 and Figure 11 The back of the hand skeleton 11 can be made of a light rigid material, and the shape is matched with the curved surface of the back of the hand. The finger skeleton 12 can correspond to a three-finger layout, a four-finger layout or a five-finger layout. Each finger skeleton 12 includes proximal, middle and distal knuckles, and each knuckle is connected by a rotating pair. The rotating pair can be a flexible hinge or a damping shaft, which allows natural bending and maintains the rigidity of action transmission.

[0052] In some embodiments, each finger skeleton 12 includes four knuckle pieces, which are a first knuckle piece 126, a second knuckle piece 127, a third knuckle piece 128 and a fourth knuckle piece 129 in sequence. The first knuckle piece 126 is connected with the length adjusting mechanism 13, and the second knuckle piece 127, the third knuckle piece 128 and the fourth knuckle piece 129 correspond to the proximal, middle and distal knuckles respectively.

[0053] The finger skeleton 12 can be provided with an angle detection unit. The angle detection unit can collect the knuckle bending angle and can be arranged at the rotating pair between adjacent knuckle pieces. It can be a flexible strain gauge type angle detection or a potentiometer type angle detector.

[0054] The length adjusting mechanism 13 connects the back of the hand skeleton 11 and the finger skeleton 12, and can be in the form of sliding fit and locking. For example, the length adjusting mechanism 13 includes a guide piece 131 and a locking assembly 132. The guide piece 131 is connected with the back of the hand skeleton 11, and the locking assembly 132 is connected with the finger skeleton 12. The locking assembly 132 can slide along the guide piece 131 to adjust the position of the finger skeleton 12, and can be locked with the relative position of the guide piece 131 through elastic buckle or knob type fastening, so as to realize the adjustment and fixation of the extension length of the finger skeleton 12.

[0055] In some embodiments, the guide 131 is a cylindrical sleeve, the inner wall of the sleeve is provided with spring beads, the locking assembly 132 includes a cylindrical rod, the rod is provided with a push rod, the surface of the rod is uniformly provided with a positioning groove in the length direction, when the length of the finger skeleton 12 is adjusted, the rod is pulled to a suitable position or the rod is pushed inward to a suitable position, the beads are clamped into the positioning groove, and locking is realized. When the push rod is pressed to push the beads inward, the locking is released.

[0056] The glove body 20 is made of an elastic material, which can be a textile fabric. The glove body 20 can be a single-layer material or a multi-layer material composite. The glove body 20 at least wraps the palm position and the finger root position of the user. For example, in some embodiments, the glove body 20 only wraps the palm position and the finger root position of the user. In some embodiments, the glove body 20 wraps the palm position and the finger position of the user.

[0057] The side of the glove body 20 facing the skeleton body 10 can also be provided with an anti-slip layer, which can increase the friction between the skeleton body 10 and the glove body 20.

[0058] The connection mode of the glove body 20 and the skeleton body 10 can be that the back of the hand area is fixed with the inside of the back of the hand skeleton 11 through magic tape or buckle. If the glove body 20 is a finger-closed type, the finger part can also be embedded in the finger skeleton 12. For example, the thumb sleeve of the glove body 20 and the thumb skeleton of the finger skeleton 12 are fixed through an elastic bandage, ensuring that the finger skeleton 12 does not slide relative to the glove body 20 when the glove body 20 moves.

[0059] According to the wearable remote control glove of the embodiments of the present application, the length adjusting mechanism 13 can change the extension length of the finger skeleton 12 relative to the back of the hand skeleton 11 and lock it. The overall shape of the skeleton body 10 can be adjusted according to the finger length and hand shape profile of different users. The flexible glove body 20 can be deformed and can closely fit the hands 2 of different users without being tight or loose. It not only avoids the blood circulation obstruction caused by tightness, but also prevents the operation delay caused by looseness. It not only allows users with longer fingers to have sufficient space for movement to maintain the operation flexibility, but also prevents users with shorter fingers from causing movement transmission deviation due to the overlong skeleton body 10. At the same time, it avoids the rigid contact between the skeleton body 10 and the hands 2 of the user.

[0060] The collection of the angle detection unit is based on the correspondence of the finger skeleton 12 and the back of hand skeleton 11 with the user's hand 2, and the overall shape of the skeleton main body 10 is adjusted according to the finger length and hand shape contour of different users, so as to avoid the finger tip of a short-handed user from being suspended and generating relative sliding with the skeleton main body 10 during action, and also avoid the finger skeleton 12 of a long-handed user from not moving synchronously or not moving in place during action, so that the collection reference of the angle detection unit can remain consistent when used by different users, thereby enabling the angle data received by the subsequent control module to truly reflect the finger movement trajectory of the user, improving the accuracy of the motion capture of the remote control glove on the user's hand 2, avoiding interference signals caused by poor adaptation, and finally realizing that no matter the length of the user's fingers, the precise fitting of the skeleton main body 10 and the user's hand 2 can convert the action into control instructions without deviation, and drive the dexterous hand to perform corresponding actions.

[0061] As shown in Figures 6-8 The wearable remote control glove according to the embodiment of the present application includes a length adjusting mechanism 13, which includes a guide piece 131 and a locking assembly 132. The guide piece 131 is connected with the back of hand skeleton 11, and the locking assembly 132 is connected with the finger skeleton 12 and can slide along the guide piece 131. The locking assembly 132 includes at least one locking piece 1321. A plurality of spaced positioning portions 1322 are arranged on the guide piece 131 in the axial direction. The locking piece 1321 is detachably connected with any positioning portion 1322 and can be detached by deformation.

[0062] The guide piece 131 is fixedly connected with the back of hand skeleton 11, which can provide guidance for the movement of the finger skeleton 12, reduce the difficulty of adjusting and positioning, and ensure that the finger skeleton 12 can move in a predetermined direction to adapt to different finger lengths. The locking assembly 132 is rigidly connected with the finger skeleton 12 and slides synchronously with the finger skeleton 12, and is unlocked and locked by deformation.

[0063] When the user pulls or pushes the finger skeleton 12, the locking piece 1321 is elastically deformed under the extrusion of the surface of the guide piece 131, allowing the locking assembly 132 to slide along the guide piece 131. When the finger skeleton 12 moves to the appropriate position, the locking piece 1321 is clamped into the corresponding positioning portion 1322 under the action of elastic force, forming a mechanical lock to prevent the finger skeleton 12 from moving randomly, thereby fixing the extension length of the finger skeleton 12. When it is necessary to adjust again, the user applies external force to make the locking piece 1321 escape from the constraint of the positioning portion 1322, so that the finger skeleton 12 can be slid again. Through the cooperation of the locking piece 1321 and the positioning portion 1322, the elastic deformation and the reset cycle, the extension length of the finger skeleton 12 is adjusted and locked, and the skeleton main body 10 can accurately adapt to the size of the hands of different users, providing a stable structural basis for subsequent action transmission and force tactile feedback.

[0064] The guide 131 can extend linearly along the length direction of the finger, or be slightly curved along the natural curvature of the finger skeleton 12, that is, extend along a curve consistent with the inner curvature of the finger when the finger is naturally curved. When the locking member 1321 slides on the curved guide 131, it can better fit the shape change of the finger when the finger is curved.

[0065] In the above embodiments, the positioning part 1322 can be a groove or a limiting hole, and the guide 131 can be provided in the form of a guide rail or a cylindrical sleeve.

[0066] For example, as shown in Figures 7-9 The guide 131 is in the form of a cuboid or a cuboid-like guide rail, the guide rail is provided with the positioning part 1322 on both sides, the positioning part 1322 is in the form of a limiting hole, the locking member 1321 of the locking assembly 132 is in the form of a cuboid, and the inner side is provided with an elastic buckle. When the user adjusts the length of the finger skeleton 12, the buckle deforms under the action of pulling force or pushing force to escape from the limiting hole, and is embedded in the new limiting hole under the action of elastic force when it is moved to the corresponding limiting hole, thereby forming mechanical locking.

[0067] In this way, all the finger skeletons 12 except the thumb can be connected with one locking member 1321, or each finger skeleton 12 corresponds to one locking member 1321, and the guide 131 is provided in multiple, and the locking member 1321 corresponds to the guide 131 one by one. It can be understood that by providing multiple locking members 1321, the user can individually adjust the extension length of the finger skeleton 12 corresponding to the finger, for example, when the user adjusts the length of the index finger, the fixed position of the middle finger will not be affected, and the main finger skeleton 12 or each finger skeleton 12 can accurately fit the size of the finger itself. As shown in Figure 7 In this embodiment, each finger skeleton 12 corresponds to one guide 131.

[0068] In some embodiments, the buckle on the same side of the length direction of the locking member 1321 is provided with at least one, that is, one can be provided, and two or three can also be provided, so as to avoid the offset of the locking member 1321 caused by the too small stress point.

[0069] According to the wearable remote control glove, the guide piece 131 can provide accurate positioning for sliding of the finger skeleton 12, and ensure that different users can adjust the length of the finger skeleton 12 extending from the back of the hand skeleton 11 according to the length of their fingers; the plurality of spaced positioning portions 1322 of the guide piece 131 arranged in the axial direction, the user only needs to exert a sliding external force to make the locking piece 1321 deform and disengage from the positioning portion 1322 under the compression of the outer wall of the guide piece 131, and after reaching the target position, the locking piece 1321 is automatically clamped into the new positioning portion 1322 under the action of the elastic force, which not only ensures the flexibility of adjustment, but also avoids loosening of the skeleton in use through the close clamping of the positioning portion 1322 and the locking piece 1321, provides a stable structural basis for subsequent action transmission, ensures that the action of the user's hand 2 can be transmitted to the skeleton main body 10 without lag and deviation, and then be accurately collected by the angle detection unit, and at the same time provides a reliable installation basis for the force feedback assembly 80 and the tactile feedback assembly 30, significantly improves the reliability and comfort of human-computer interaction.

[0070] As shown in Figure 1 and Figure 9 In some embodiments, the remote control glove further comprises at least one of a force feedback assembly 80 and a tactile feedback assembly 30, the force feedback assembly 80 is arranged on the finger skeleton 12 or the back of the hand skeleton 11, the output end of the force feedback assembly is connected with the finger skeleton 12, and the force feedback assembly is electrically connected with the control module to provide resistance in the opposite direction of rotation of the finger skeleton 12, the tactile feedback assembly 30 is arranged on the back of the hand skeleton 11 or the finger skeleton 12, and is in communication connection with the control module to provide tactile feedback; the control module is used for receiving an external control signal and driving the force feedback assembly 80 and / or the tactile feedback assembly 30 to work.

[0071] In some embodiments, the force feedback assembly 80 is arranged on the locking assembly 132.

[0072] It can be understood that the force feedback assembly 80 can be one or more groups, for example, only one group is arranged to provide resistance for bending of the finger skeleton 12 corresponding to the index finger, or two groups are arranged to provide resistance for bending of the finger skeleton 12 corresponding to the middle finger, or more groups are arranged, for example, a corresponding force feedback assembly 80 is arranged at the base of each finger skeleton 12.

[0073] When the force feedback assembly 80 comprises a driving group, the fixed end of the driving group is connected with the first phalangeal piece 126, and the output end of the driving group is connected with the second phalangeal piece 127, and the control module is electrically connected with the driving group to provide rotational resistance to the second phalangeal piece 127.

[0074] Exemplarily, as shown in Figure 1As shown, the drive group includes a first power part 84 and a reducer, the output shaft of the first power part 84 is connected with the input end of the reducer, and the output end of the reducer is connected with the second knuckle piece 127. When the control module receives the control signal of the external device, according to the preset force sense mapping model, the rotational speed and torque instructions are sent to the drive group, the first power part 84 drives the reducer to generate resistance in the opposite direction of the bending direction of the finger skeleton 12, the resistance is transmitted to the flexible glove body 20 through the finger skeleton 12, and finally acts on the fingers of the user, so that the user can perceive the weight feeling similar to real grabbing. The first power part 84 can be a motor.

[0075] As shown in the embodiment, Figure 9 As shown, the drive group includes a second power part 83 and a tension-adjustable coil assembly, the coil assembly includes a winder 81 and a cable 82, the winder 81 is connected with the first knuckle piece 126, and the free end of the cable 82 is connected with the second knuckle piece 127. When the control module receives the control signal of the external device, the second power part 83 drives the winder 81 to rotate according to the instruction of the control module to adjust the cable 82 to be loosened or tightened, so as to realize the resistance control of the rotation of the finger skeleton 12. The second power part 83 can be a motor, and the cable 82 can be a nylon rope, a fiber rope, a metal wire, a carbon fiber bundle, etc., which is not limited in the application.

[0076] It can be understood that the force feedback assembly 80 is arranged on the remote control glove, so that the user can perceive the operation state of the mechanical arm or dexterous hand without visual observation, and the object is prevented from being damaged due to improper force, especially in precise assembly, the tightness of the parts can be distinguished through subtle feedback differences, and the operation fault tolerance is improved.

[0077] As shown in the embodiment, Figure 3 and Figure 4 As shown in the embodiment, the tactile feedback assembly 30 converts the electrical signal sent by the control module into physical vibration through mechanical vibration, pressing and the like, and accurately transmits the physical vibration to the user. The tactile feedback assembly 30 can be arranged at the fingertip part of the finger skeleton 12 or the area corresponding to the palm of the hand back skeleton 11. The tactile feedback assembly 30 can include a micro vibration motor arranged on the finger skeleton 12. The control module controls the vibration motor to vibrate at a specific frequency and amplitude, and transmits the vibration to the user through the finger skeleton 12, so that the user can perceive the touch signal. Different touch signals correspond to different vibration modes.

[0078] For example, when the external device is a mechanical arm, when the mechanical arm grabs an object, the force sensor of the mechanical arm detects the grabbing force or the control current of the mechanical arm and feeds back to the control module. The control module drives the force feedback assembly 80 to operate or drives the tactile feedback assembly to vibrate at a specific frequency when a certain threshold is met, so that the user can perceive the grabbing force and the operation range, and avoid overloading the mechanical arm.

[0079] The control module can be directly mounted on the back of the hand frame 11 or externally mounted. For example, when the control module is directly mounted on the back of the hand frame 11, a mounting box can be installed on the back of the hand frame 11, and the control module is installed inside the mounting box. The control module may only include a circuit board 91, which contains a chip, a wireless communication module, and a drive circuit. A metal shield can also be installed on the back of the circuit board 91 to isolate electromagnetic interference. The angle detection unit on the finger frame 12 can be connected to the circuit board 91 wirelessly or by wire. The circuit board 91 can perform preliminary data filtering, etc. The control module may also include an external server.

[0080] For example, when a user wears a remote-controlled glove to operate a dexterous hand, the force sensor signal of the dexterous hand or the output current signal of the drive motor is wirelessly transmitted to the control module. The control module then feeds back data from angle detection units (first angle detection unit 71 or second angle detection unit 72) to the dexterous hand, enabling it to perform the same movements as the remote-controlled glove. For instance, when the user makes a pinching motion, the control module generates the dexterous hand's grasping posture based on the bending angle of the finger skeleton 12, ensuring that the range of motion of each finger joint is completely consistent with the remote-controlled glove. The dexterous hand receives this data and executes the actions sequentially, synchronizing its movements with the remote-controlled glove. Subsequently, the control module transmits data such as finger movement angles and grasping force to the server, which converts this data into training data. Through imitation learning, the dexterous hand replicates the movements of the remote-controlled glove, allowing it to learn from human operational experience and autonomously generate grasping postures suitable for different tasks, thus achieving skill training for the dexterous hand.

[0081] like Figure 7 and Figure 11 As shown, in some embodiments, the back-of-hand skeleton 11 includes a support member 113 and a connector 112 fixedly connected. The support member 113 is made of a rigid material, and the glove body 20 is fixedly connected to the connector 112. At least a portion of the connector 112 can deform as the second restraint strap 40 tightens or loosens. A guide member 131 is connected to the support member 113, and a locking component 132 is provided on the finger skeleton 12. The support member 113 can be made of a lightweight material with a certain strength, such as aluminum alloy and plastic, to reduce the wearing weight while ensuring rigidity. The edge of the support member 113 can avoid the contour of the back-of-hand according to the stress characteristics of the human hand skeleton, thereby avoiding discomfort caused by stress concentration when the user wears the glove.

[0082] It can be understood that the support 113 and the guide 131 can be assembled after being shaped respectively, or can be integrally formed. In this way, the connection strength of the support 113 and the guide 131 can be enhanced, and stability can be maintained during the adjustment of the extension length of the finger skeleton 12 and various movements, and the support 113 and the guide 131 are not prone to loosening.

[0083] One side of the connecting piece 112 is connected with the support 113, and the other side is fixed with the glove main body 20, which has the functions of connection and fixation and adaptive deformation. The rigidity of the connecting piece 112 is less than that of the support 113, and the rigidity of the connecting piece 112 is greater than that of the glove main body 20, that is, the rigidity of the support 113, the connecting piece 112 and the glove main body 20 decreases in turn. This makes the connecting piece 112 not only have a certain strength to connect with the support, but also can deform to better adapt to the shape of the user's hand when stressed.

[0084] The connecting piece 112 can be made of elastic material or flexible structure. The elastic material can be silicone, thermoplastic elastomer, etc., and the flexible structure can be a structure with wrinkles or a mesh with hollows. The structure or material of the connecting piece 112 enables it to adaptively deform under external force. The connecting piece 112 can be designed with a biomimetic arc to match the natural curved surface of the back of the hand. The biomimetic arc can be designed to be relatively small, and closer to a plane when not worn, so as to adapt to different users and reduce discomfort when worn by different users.

[0085] The connecting piece 112 is fixedly connected with the support 113, and can be stably connected by embedding, buckling or integrally formed by injection molding, etc., to ensure that it can follow the change of the curved surface of the back of the hand and reliably link with the rigid support 113 during force transmission.

[0086] The flexible glove main body 20 can provide a comfortable wearing experience for the user and constrain the palm support assembly to the back of the hand area. The flexible glove main body 20 can fit the palm, the back of the hand, and if the glove main body 20 is a fingerless glove, it can also fit the fingers.

[0087] The glove main body 20 can be made of elastic knitted fabric, elastic fabric or flexible polymer, so as to naturally bend and stretch with the movement of the hand 2. The glove main body 20 can be designed in zones, for example, an anti-slip layer or anti-slip pattern can be provided on the inside of the palm to prevent slipping, and a hollow breathable area can be provided in the back of the hand area to improve the wearing comfort, and an elastic wrinkle can be reserved at the knuckle joint to reduce the restriction of movement.

[0088] The glove main body 20 can be a fingerless glove, and the glove main body 20 can also be a fingerless glove. When the fingers are not exposed, it can be a three-finger, four-finger or five-finger glove, such as Figure 5As shown, the glove body 20 is a fingerless glove and can wrap around the base of five fingers, for example, the glove body 20 can include the thumb, index finger and middle finger when it is a three-finger glove, and can cover the remaining four fingers except the little finger when it is a four-finger glove.

[0089] The connecting piece 112 is deformable with the tightening or loosening of the second restraint band 40, that is, the connecting piece 112 can be in a flat plate shape, a plate shape with regular curved surfaces or a plate shape with local rigid regions when not subjected to pulling, and at least part of the connecting piece 112 can deform to adapt to the curved surface of the back of the user's hand under the joint pulling action of the glove body 20 and the second restraint band 40, so as to ensure that the back of the hand skeleton 11 is not easily displaced.

[0090] The support piece 113 is provided with a main body area and at least one deformation area, and the wall thickness of the deformation area is thinned relative to the wall thickness of the main body area.

[0091] The main body area maintains a regular wall thickness, forming a flat and rigid plate structure or a slightly convex curved plate, and the shape thereof is adapted to the main bony contour of the back of the hand, and the edge can adopt a rounded transition to prevent discomfort to the user.

[0092] The deformation area can be provided in the relatively flat central area of the back of the hand, for example, opposite the metacarpal gap, and moderate flexible bending is achieved by local thinning. Exemplarily, a longitudinal strip-shaped deformation area can be provided in the central area of the back of the hand in the direction from the carpal bone to the fingers; or the deformation areas can be symmetrically provided on the left and right sides with the midline of the back of the hand as the axis of symmetry.

[0093] The support piece 113 is provided with a non-deformation area, so that the support piece 113 can ensure the stability of the core bearing and avoid force feedback loss due to excessive deformation. At the same time, by providing at least one deformation area, the deformation area is thinned by wall thickness, so that the support piece 113 has moderate flexibility in the area and can slightly bend under the pulling action of the second restraint band 40. Although the support piece 113 cannot be fitted to the back of the hand, it can reduce the gap between the plate structure and the back of the hand, further reduce the possibility of displacement of the back of the hand skeleton 11, and disperse local pressure when wearing, so that the support piece 113 is more ergonomic than a rigid flat plate structure, improves the comfort of long-term wearing, and avoids the feeling of oppression and the feeling of being restricted during movement.

[0094] It can be understood that the support piece 113 can be made of metal and milled by numerical control machining, or can be made of plastic material and formed by injection molding or 3D printing.

[0095] In some embodiments, the deformation area is configured as a deformation groove, and the deformation groove is provided on the side of the support piece 113 away from the connecting piece 112.

[0096] The deformation groove generally extends along the direction of the dorsal metacarpal suture, generally close to the direction of finger extension, so that the support 113 can better adapt to the dorsal metacarpal skeleton and be more easily attached to the back of the hand, so that the deformation of the support 113 is curved in the extension direction of the deformation groove, and the deformation direction and position of the support 113 are controllable.

[0097] Exemplarily, the deformation groove can be designed as a single straight through groove extending along the direction of the middle finger, and symmetrical rigid edges are arranged on both sides to maintain the support strength in the width direction, and the support 113 can be uniformly curved along both sides of the deformation groove when stressed.

[0098] Exemplarily, a plurality of parallel deformation grooves can be arranged on the support 113, each column of deformation grooves including a plurality of linearly arranged and spaced sub-grooves, and each column of deformation grooves corresponding to the main skeleton of the dorsal metacarpal ridge.

[0099] Of course, a guide rib corresponding to the deformation groove can also be arranged on the inner side of the support 113, which can further limit the deformation direction of the support 113, so that the support 113 can only be curved along the two sides of the deformation groove.

[0100] The support 113 can be first injection molded, and then the connecting piece 112 can be attached to the inner side surface of the support 113 and wrapped at least part of the outer side surface of the support 113 outward, which can not only enhance the interface bonding force between the support 113 and the connecting piece 112, but also buffer the pressure of the edge of the support 113 on the back of the hand through the flexible edge formed by the connecting piece 112.

[0101] Exemplarily, the outer side surface of the support 113 can be provided with grooves arranged continuously or intermittently in the contour direction, and the connecting piece 112 is embedded in the groove during injection molding. The depth of the groove matches the thickness of the connecting piece 112, so that the connecting piece 112 wraps the outer side surface of the support 113 while forming a mechanical lock at the groove, which can prevent the relative sliding of the connecting piece 112 and the support 113.

[0102] The inner side of the support 113 can also be provided with an anchor structure in the form of a barb, which can be filled with the connecting piece 112 during injection molding, so as to improve the bonding force between the two, prevent separation, and prolong the service life.

[0103] Of course, the connecting piece 112 can also wrap the edge of the support 113 in segments, which can not only ensure the connection strength of the two, but also reduce the overall weight of the remote control glove through the hollowing of the non-wrapping area.

[0104] According to the remote control glove, the support 113 and the connecting piece 112 are integrally formed by injection molding, so that a gapless interface is formed between the support 113 and the connecting piece 112, the interface bonding strength between the support 113 and the connecting piece 112 is significantly improved, the connecting piece 112 can more accurately follow the contour of the support 113 to change, and the wearing comfort and motion following of the user are improved.

[0105] As shown in Figure 11 According to the remote control glove, the connecting piece 112 includes a first body part and a protruding part 1121 arranged at the periphery of the first body part, the first body part is provided with a threading hole, the threading hole is arranged at the inner side of the protruding part in a spaced manner, and the glove body 20 is connected with the threading hole through sewing thread.

[0106] The first body part is closely attached to the inner side of the support 113 and the outer side of the glove body 20, and the protruding part 1121 at the periphery has the effect of structural reinforcement, thereby improving the overall strength of the connecting part of the glove body 20. The threading holes are uniformly distributed along the inner side of the protruding part 1121, so that stable support can be formed by the protruding part 1121 when the glove body 20 is sewn with the sewing thread, thereby avoiding the fracture of the solid structure at the edge of the threading hole due to stress concentration, enhancing the connection reliability between the glove body 20 and the connecting piece 112, and preventing the sewing thread from falling off or loosening during use. In addition, the sewing operation is facilitated, and the assembly efficiency is improved.

[0107] As shown in Figure 11 The protruding part 1121 is arranged as an annular boss structure surrounding the edge of the first body part, and the width thereof is adapted to the width of the sewing edge of the glove body 20. Of course, the protruding part 1121 can also be arranged in a wedge shape, and the thickness of the end thereof away from the first body part is greater than the thickness of the end thereof connected with the first body part.

[0108] In some embodiments, the glove body 20 is provided with a positioning mark for indicating the connection position of the protruding part 1121.

[0109] The positioning mark can directly indicate the key fixing area of the threading hole, so that the fixing points of the glove body 20 and the threading hole can be quickly aligned during sewing operation, the sewing thread is prevented from deviating or being unevenly stressed due to manual alignment deviation, the good effect of fixing the specified position of the threading hole is enhanced through accurate positioning, the manufacturing convenience is improved, and the use durability and motion following of the remote control glove are enhanced.

[0110] Exemplarily, the positioning mark can be a woven line of the same material as the glove body 20, which is distributed along the preset sewing path of the threading hole. The positioning mark can be quickly aligned with the threading hole, so that the sewing thread position can be quickly aligned during sewing, and the bonding strength between the threading hole and the glove body 20 is enhanced.

[0111] Exemplarily, the positioning mark can also be provided with a color coating, which can also be quickly recognized for alignment.

[0112] As shown in Figure 6 and Figure 7 , in some embodiments, the inner side of the finger skeleton 12 is provided with a finger sleeve 121, and the finger sleeve 121 has two first ends spaced in the circumferential direction.

[0113] The inner side of the finger skeleton 12 is provided with a finger sleeve 121, which can be provided on the second knuckle piece 127, the third knuckle piece 128 and the fourth knuckle piece 129 respectively; it can also be provided on the third knuckle piece 128 and the fourth knuckle piece 129 respectively; it can also be provided only on the fourth knuckle piece 129, as shown in Figure 6 .

[0114] As shown in Figure 7 , the third knuckle piece 128 of the finger skeleton 12 is configured as two articulated arms, and the articulated part of the two articulated arms is provided with a finger sleeve 121.

[0115] The finger sleeve 121 forms a cavity for accommodating the user's finger, and the finger is inserted into the cavity. The finger sleeve 121 has two first ends spaced in the circumferential direction, i.e. the finger sleeve 121 is not closed in the circumferential direction. When the finger is inserted into the finger sleeve 121, the finger sleeve 121 is elastically expanded by the radial extrusion of the finger to increase the distance between the two first ends. After the inner wall of the finger sleeve 121 contacts the surface of the finger, the finger sleeve 121 exerts a radial clamping force on the finger by relying on the elastic restoring force of the material, thereby forming a constraint on the user's finger. The two spaced first ends reserve space for the circumferential deformation of the finger sleeve 121, so that the finger sleeve 121 can adapt to different finger thicknesses. When the finger moves, the finger sleeve 121 directly transmits the bending or stretching force to the finger skeleton 12, while allowing the finger sleeve 121 to slightly expand radially when the knuckle bends, thereby avoiding the movement constraint caused by the closure.

[0116] In the above embodiments, the thickness of the finger sleeve 121 is uniform in the circumferential direction, and it can also be thinned in some areas.

[0117] Exemplarily, as shown in Figures 2-4 , the circumferential wall of the finger sleeve 121 is further provided with a thin-walled area 122, which can deform to change the distance between the two first ends when subjected to force.

[0118] When the finger is inserted, the radial pressure first acts on the thin-walled area 122 to cause controllable elastic deformation, thereby reducing the insertion resistance of the finger, driving the two first end portions to expand outward, increasing the opening distance, and facilitating the rapid insertion of fingers of different thicknesses; after insertion, the thin-walled area 122 generates a reverse contraction trend by virtue of the material elastic restoring force, so that the finger sleeve 121 applies uniform radial clamping force to the finger; when the finger moves, the thin-walled area 122 synchronously deforms with the knuckles, reducing the discomfort of the finger, allowing the finger sleeve 121 to slightly expand or contract radially, eliminating frictional resistance and restraint during movement, and ensuring that the force of finger bending or stretching is transmitted to the finger skeleton 12 through the finger sleeve 121.

[0119] The thin-walled area 122 is circumferentially arranged between the two first end portions, and the thin-walled area 122 can extend along the axial direction of the finger sleeve 121, and the edge thereof is transitioned through a circular arc with the main body of the finger sleeve 121 to avoid stress concentration and breakage. Some textures can also be arranged on the outer wall surface of the thin-walled area 122, so that the material thickness is reduced while maintaining a certain rigidity to avoid excessive deformation, and the non-thin-walled area 122 can maintain a certain rigidity to ensure accurate transmission of finger movements of the user. The thin-walled area 122 can be arranged on the side of the finger to ensure the accuracy of movement transmission.

[0120] The thin-walled area 122 and the non-thin-walled area 122 of the finger sleeve 121 are integrally formed, which can resist fatigue and improve the service life. In some embodiments, the thin-walled area 122 and the non-thin-walled area 122 of the finger sleeve 121 are integrally formed by a mold injection molding process, and a groove can also be formed on the outside of the finger sleeve 121 to form the thin-walled area 122. It can be understood that the groove is arranged on the outside of the finger sleeve 121, which can reduce the discomfort of the user when wearing.

[0121] As shown in Figure 3 and Figure 4 , in some embodiments, at least one of the finger sleeves 121 is further provided with a first restraint band 123 and a tactile feedback assembly 30, the tactile feedback assembly 30 is electrically connected with the control module to provide tactile feedback to the user, and the two ends of the first restraint band 123 are respectively connected to the two first end portions. The length of the first restraint band 123 is adjustable to change the distance between the two first end portions.

[0122] When a user needs to wear remote control gloves, the length of the first constraint band 123 can be adjusted to fit the hand size of different users. When the user's fingers are thicker, the distance between the two first ends is increased. After the user wears the gloves, the length of the first constraint band 123 is increased so that the finger sleeve 121 fits tightly with the fingers, avoiding relative slippage between the fingers and the finger sleeve 121 due to large movements. When the user's fingers are thinner, the length of the first constraint band 123 can be shortened. The deformation of the thin-walled area 122 causes the two first ends to be pulled closer together, and the distance can be reduced so that the finger sleeve 121 fits tightly with the fingers, avoiding relative slippage between the fingers and the finger sleeve 121 due to large movements.

[0123] Because the first constraint band 123 allows users with fingers of different thicknesses to have close contact with the finger sleeve 121, the haptic feedback component 30 can accurately transmit the vibration emitted by the component at a specific vibration frequency to the user, enabling the user to perceive the instructions issued by the control module in real time and avoiding overload of the dexterous hand or robotic arm.

[0124] like Figure 4 As shown, in some embodiments, the inner wall of the finger sleeve 121 is provided with an installation groove 1211. The tactile feedback component 30 includes a tactile sensor, a vibration motor, and a transmission post. The two ends of the transmission post are respectively connected to the output shaft of the tactile sensor and the vibration motor. The vibration motor generates vibration and transmits it to the tactile sensor through the transmission post. The tactile sensor is in contact with the surface of the finger skin and directly transmits the transmitted vibration to the user, allowing the user to perceive tactile feedback of a specific frequency or amplitude, such as collision feedback.

[0125] A buffer layer can be set at the bottom of the mounting slot 1211 to ensure that vibration can be concentrated and transmitted to the user through the tactile contact, avoiding the dispersion of vibration and resulting in unclear tactile feedback.

[0126] The vibration motor can be a linear vibration motor or an eccentric vibration motor, etc., and this application does not impose any restrictions.

[0127] In the above embodiments, the length of the first constraint band 123 can be adjusted by Velcro, buckles, or sliding locks.

[0128] like Figure 2 and Figure 5 As shown, the wearable remote control glove according to an embodiment of this application further includes a second restraint strap 40. The second restraint strap 40 is located at the palm position of the glove body 20, and first mounting portions 111 are respectively provided on both sides of the back of the hand skeleton 11 in the width direction. The two ends of the second restraint strap 40 are respectively connected to the first mounting portions 111.

[0129] The second constraint band 40 is located at the palm of the user after the user wears the remote control glove, and can tightly bind the back of the hand skeleton 11 and the palm of the user, preventing the remote control glove from slipping as a whole during violent actions such as rapid clenching or stretching, or during long-term wearing, and especially after the length of the finger skeleton 12 is adjusted, ensuring that the relative position of the back of the hand skeleton 11 as a reference to the palm does not change, providing stable support for the transmission of finger actions.

[0130] The second constraint band 40 can be automatically adjusted by using elastic materials such as spandex belts, or manually adjusted in length by using magic tape, adjustment buckles, etc., so as to adapt to the palm width of different users. Exemplarily, when the second constraint band 40 has elastic force, the second constraint band 40 can naturally fit the palm curvature of the user, and when the palm is opened, the second constraint band 40 can also be lengthened along with it, adapting to the increase of the user's palm, and when the user clutches the palm, the second constraint band 40 can naturally contract and fit the user's palm without relaxation.

[0131] The two ends of the second constraint band 40 are respectively connected with the first mounting portion 111, ensuring that the back of the hand skeleton 11 does not easily deviate laterally when the finger skeleton 12 acts. In addition, the mounting position of the second constraint band 40 can also avoid the action area of the hand 2, avoiding interference with the user's action, and at the same time, it can also constrain the user, ensuring that the user's action is accurately transmitted to the back of the hand skeleton 11.

[0132] The first mounting portion 111 can be provided with a protruding clamping slot or a through hole, and one end of the second constraint band 40 can be directly fixed in the through hole and connected with the other end through magic tape or an adjustment buckle. The second constraint band 40 can also be fixed in the through hole through a hook.

[0133] As shown in Figure 1 , Figure 3 and Figure 5 , the wearable remote control glove according to the embodiment of the application further comprises an arm ring 50 and a third constraint band 60.

[0134] Specifically, the arm ring 50 is hinged with the back of the hand skeleton 11, and the arm ring 50 is used to be worn on the wrist, and the arm ring 50 has two second end portions spaced along the circumference; the two ends of the third constraint band 60 are respectively connected to the arm ring 50, and the length of the third constraint band 60 is adjustable to change the distance between the two second end portions.

[0135] The arm ring 50 is used to be worn on the user's arm, usually close to the small arm of the wrist, the arm ring 50 is hinged with the back of the hand skeleton 11, so that the hand 2 can rotate naturally with the wrist joint without rigid restraint when bending, stretching or swinging, two circumferentially spaced second ends, so that the arm ring 50 is not closed in the circumferential direction, cooperates with the third restraint belt 60, can adapt to the small arms of different users, the third restraint belt 60 closes the interval formed by the two second ends, thereby forming a closed restraint on the user's wrist after the user wears the remote control glove, the length of the third restraint belt 60 can be adjusted, which can be automatically adjusted by using elastic materials such as spandex tape, or manually adjusted by using magic tape, adjustment buckle and the like, so as to adapt to the small arms of different users.

[0136] The cooperation of the third restraint belt 60 and the arm ring 50 improves the stability of the remote control glove, which can be firmly fixed on the user's small arm when the user performs various actions, preventing the back of the hand skeleton 11 from deviating due to inertia, ensuring the stability of the installation position of the angle detection unit, the force feedback assembly 80 and the like, and ensuring that the wrist movement such as internal rotation and external rotation can be transmitted to the control module without lag, avoiding signal acquisition errors caused by displacement.

[0137] As shown in Figure 5 , the arm ring 50 can be made of plastic, and a cushion 501 is arranged on the inner side of the arm ring 50, thereby enhancing the comfort of the user, avoiding the compression of the rigid edge of the arm ring 50 on the user's small arm, and the cushion 501 of a certain thickness can also increase the friction between the small arm and the arm ring 50, thereby preventing the arm ring 50 from turning sideways. The cushion 501 has a certain thickness and can be compressed, which not only has the above advantages, but also is more easily adapted to arms of different thicknesses. The third restraint belt 60 can be a textile belt, one end of which is fixed to the arm ring 50 and has a magic tape arranged thereon, and the other end of which is fixed to the arm ring 50 and has another magic tape arranged thereon, which can be fixed by the magic tape when the user wears it.

[0138] The two ends of the arm ring 50 can be respectively provided with second mounting portions, and the third restraint belt 60 can be fixed by the second mounting portions; the outer side of the arm ring 50 can be provided with a third mounting portion, which can be located at about the middle position of the outer side of the arm ring 50, and the third restraint belt 60 can be fixed by the second mounting portions and the third mounting portion, so that the tension of the third restraint belt 60 can be dispersed on both sides and the middle of the wrist, and the arm ring 50 can be kept in close contact with the wrist by uniform tension, especially during intense or large-amplitude movements, the increased third mounting portion can further increase the stretching ability of the third restraint belt 60 on the arm ring 50, more easily tighten the arm ring 50, prevent the arm ring 50 from shifting due to inertia, and ensure that the motion data is transmitted to the dexterous hand without deviation.

[0139] As shown in Figure 1 and Figure 5As shown, in some embodiments, the arm ring 50 and the back of the hand skeleton 11 are connected through at least two groups of first revolute pairs 51, the rotation axes of each group of first revolute pairs 51 are cross arranged, each group of first revolute pairs 51 is provided with a first angle detection unit 71, the first angle detection unit 71 is electrically connected with the control module, the control module generates control instructions according to the angle data obtained by the first angle detection unit 71, so as to drive the dexterous hand to perform corresponding actions.

[0140] Each group of first revolute pairs 51 includes at least one first revolute pair 51, at least one of the first revolute pairs 51 in the same group is provided with a first angle detection unit 71, that is, the first angle detection unit 71 can be arranged on one of the first revolute pairs 51 in the same group, of course, the first angle detection unit 71 can also be arranged on each first revolute pair 51 in the same group. The rotation axes of the first revolute pairs 51 in different groups are cross arranged,

[0141] The first revolute pairs 51 in different groups correspond to different directions of wrist movement, for example, one group of first revolute pairs 51 corresponds to flexion and extension movement, and the other two first revolute pairs 51 correspond to side swing movement, so that the wrist can complete a compound action, such as bending and swinging inward at the same time.

[0142] The first angle detection unit 71 corresponding to each group of first revolute pairs 51 can independently collect the rotation angle of the corresponding rotation axis, and the control module can accurately restore the three-dimensional posture of the wrist, such as the rotation angle and the bending degree, by using the multiple groups of angle data obtained by the multiple first angle detection units 71, so that the control instructions are more consistent with the real wrist movement, and the consistency of the remote mechanical arm or the dexterous hand operation is ensured.

[0143] When the arm ring 50 is fixed to the wrist through the third constraint belt 60, the reference position of the first revolute pair 51 is stable, the zero point of the angle detection unit is not easy to drift, the repeatability of the control instructions in long-term use is ensured, and the cross design of the rotation axes makes the movement range of the first revolute pair 51 cover the natural activity limit of the human wrist, which neither limits the normal action, nor captures the subtle angle change through the detection unit, so that the dexterous hand can realize fine operation.

[0144] As Figure 1 、 Figure 2 and Figure 5As shown, in some embodiments, the finger skeleton 12 comprises a knuckle group, the knuckle group comprising four knuckle pieces connected in sequence by second rotary pairs 124, the rotary axis of each second rotary pair 124 extending along the width direction of the knuckle piece; the knuckle piece at the proximal end of the knuckle group is a first knuckle piece 126, the first knuckle piece 126 being connected to the length adjustment mechanism 13 through a third rotary pair 125, the rotary axis of the third rotary pair 125 being perpendicular to the back of the hand skeleton 11; a second angle detection unit 72 is arranged on each of the second rotary pair 124 and the third rotary pair 125, the second angle detection unit 72 being electrically connected to the control module, and the control module being configured to generate a control instruction according to the angle data obtained by the first angle detection unit 71 and the second angle detection unit 72.

[0145] The four knuckle pieces are arranged in sequence along the length direction of the finger, and two adjacent knuckle pieces are connected by a second rotary pair 124.

[0146] Exemplarily, the end portions of two adjacent knuckle pieces are provided as concave-convex matching structures, wherein the end portion of one knuckle piece is a concave portion, and the end portion of the other knuckle piece is a convex portion, the convex portion being inserted into the concave portion and being connected by the pin shaft of the second rotary pair 124, the rotary axis extending along the width direction of the knuckle piece through the matching portion of the concave portion and the convex portion. The second angle detection unit 72 is fixed to the end portion of the pin shaft of the second rotary pair 124, ensuring that interference with the adjacent knuckle piece will not occur.

[0147] Exemplarily, the second rotary pair 124 can be provided in a hinge type or a shaft sleeve type, and the third rotary pair 125 can be provided in a pin shaft type (as shown) or a spherical hinge type. Figure 5

[0148] The second knuckle piece 127, the third knuckle piece 128, and the fourth knuckle piece 129 are sequentially shortened along the length direction, forming a structure that matches the natural shape of the finger.

[0149] The inner side of the knuckle piece can also be provided with an arc-shaped groove, the edge of the arc-shaped groove being fitted with the curved surface formed on the upper surface of the finger.

[0150] ​The rotation axis of the second rotation pair 124 extends along the width direction of the knuckle piece, accurately matches the motion trajectory of the natural bending of the finger, and enables each knuckle piece to independently rotate like a human knuckle and cooperatively link, for example, when grabbing a spherical object, the four knuckle pieces can be sequentially bent according to the curvature of the object, and the posture of the object surface is formed through the angle change of each second rotation pair 124, thereby improving the flexibility of the action. The first knuckle piece 126 is connected to the length adjustment mechanism 13 through a third rotation pair 125, and the rotation axis of the third rotation pair 125 is perpendicular to the back skeleton 11, so that the knuckle group as a whole can swing in the width direction of the back skeleton 11, so that the movement range of the finger skeleton 12 covers the main movement direction of the human hand, and complex gestures are combined through two orthogonal degrees of freedom.

[0151] As shown in Figure 1 , Figure 2 and Figure 5 , there are a total of 20 second angle detection units 72, and each finger skeleton 12 corresponds to four second angle detection units 72. The second angle detection unit 72 arranged on each second rotation pair 124 and third rotation pair 125 can respectively collect the angle change data at the corresponding rotation pair (second rotation pair 124 or third rotation pair 125). The second angle detection unit 72 of the second rotation pair 124 records the flexion angle between the knuckle pieces, and the second angle detection unit 72 of the third rotation pair 125 obtains the side swing angle of the first knuckle piece 126 relative to the length adjustment mechanism 13. These angle data and the angle data collected by the first angle detection unit 71 are transmitted to the control module together, and the control module generates a control instruction by fusing these data to drive the dexterous hand to complete the same action. In this way, the arrangement of multiple angle detection units (first angle detection unit 71 and second angle detection unit 72) not only enables the dexterous hand to complete basic gripping and other actions, but also enables the dexterous hand to complete fine operations such as pinching thin sheets, and is suitable for medical, industrial control and other scenes with extremely high operation precision requirements.

[0152] As shown in Figure 1 and Figure 10 , in some embodiments, the arm ring 50 is provided with a posture detection unit 90, and the posture detection unit 90 is in communication connection with the control module. Among them, Figure 1 shows a posture detection unit 90 of an embodiment, Figure 10 shows a posture detection unit 90 of another embodiment.

[0153] The posture detection unit 90 can be a somatosensory tracker, which can include an inertial measurement module. In some embodiments, the somatosensory tracker can also be matched with a camera, and the camera is arranged at other positions so that its field of view can obtain the motion of the remote control glove.

[0154] The posture detection unit 90 is arranged close to the rotation center of the wrist, so as to reduce the measurement error.

[0155] Exemplarily, a clamping member can be arranged on the corresponding position of the arm ring 50, and the clamping member is clamped with the posture detection unit 90.

[0156] The shell of the posture detection unit 90 can be made of a non-magnetic material, for example, plastic. Alternatively, the shell of the posture detection unit 90 is provided with a metal shielding cover, and the arm ring 50 is also made of metal, so as to shield electromagnetic interference.

[0157] As shown in the figure, the arm ring 50 can be provided with a hollow opening 52 on each side close to the rotation center of the wrist, and a clamping member is arranged beside the hollow opening 52 on one side. Figure 5

[0158] The posture detection unit 90 can capture the three-dimensional motion trajectory and the spatial posture of the wrist in real time. When the wrist performs a large range of motion, due to the limitation of the rotation range, the angle detection unit (the first angle detection unit 71 and the second angle detection unit 72) can not be able to detect the posture change of the hand 2 in the space, and the posture detection unit 90 can capture the posture change of the whole process when the remote control glove performs an operation.

[0159] According to the dexterous hand of the embodiment of the present application, the dexterous hand is used in cooperation with the wearable remote control glove, and the dexterous hand comprises an execution mechanism, a driving device and a master control unit.

[0160] Specifically, the execution mechanism is arranged corresponding to the wearable remote control glove and has the same motion freedom; the driving device is used to drive the execution mechanism to move; the master control unit is in communication connection with the driving device, and the master control unit is configured to: receive the action control signal sent by the control module, the action control signal being generated based on the action of the hand 2 collected by the wearable remote control glove; drive the driving device according to the action control signal, so that the execution mechanism moves synchronously with the hand 2 of the user; collect the current data of the driving device when the driving device runs to generate an external control signal, and send the external control signal to the control module.

[0161] The execution mechanism of the dexterous hand has the same motion freedom as the remote control glove, that is, each joint of the execution mechanism such as finger flexion and wrist rotation corresponds to the rotation pair (the first rotation pair 51, the second rotation pair 124 or the third rotation pair 125) of the remote control glove one by one, so as to ensure that each subtle action of the user can be reproduced by the execution mechanism, and to avoid the simplification or distortion of the action caused by the mismatch of the freedom. For example, the remote control glove captures the bending action of the index finger of the user, and the corresponding joint of the execution mechanism can move synchronously with the same trajectory.

[0162] ​The driving device is a power source for the actuator to act. When the master control unit receives the action control signal sent by the control module of the remote control glove, the driving device is controlled to make the actuator act synchronously with the user's hand 2, and the actuator follows the law of the user's hand 2 action.

[0163] When the master control unit collects the current data of the driving device, it can indirectly reflect the load on the actuator, such as the weight of the object grasped or the resistance of the contacted surface, and convert it into an external control signal to return to the control module of the remote control glove. The control module drives the force feedback assembly 80 or the tactile feedback assembly 30 to generate corresponding force sense stimulation, such as resistance size or vibration amplitude. For example, when the dexterous hand grasps a heavy object, the current of the driving device increases, and the control module controls the force feedback assembly 80 to output greater resistance, avoiding the user from overexerting and causing damage to the object, or making the driving device overload, so that the user can obtain the experience of direct contact operation, so that the dexterous hand can adapt to various operation tasks and optimize the action accuracy through interaction with the remote control glove.

[0164] The control system according to the embodiments of the present application includes the wearable remote control glove and the dexterous hand described above.

[0165] The angle detection unit (the first angle detection unit 71 or the second angle detection unit 72) of the remote control glove cooperates with the posture detection unit 90 to collect the motion angle and posture trajectory of each joint of the user's hand 2. These detection data are processed by the control module to generate an action control signal, which is controlled by the master control unit to control the driving device to drive the actuator to synchronously reproduce the corresponding action. When the driving device of the dexterous hand performs the action, the master control unit collects the current data in real time, indirectly senses the load on the actuator, generates an external control signal, and returns it to the glove control module to trigger the force feedback assembly 80 to convert the force state into a perceptible tactile stimulation through vibration, extrusion, etc., so that the user can judge the operation force without visual observation. At the same time, the restraint belt (the first restraint belt 123, the second restraint belt 40, and the third restraint belt 60) of the remote control glove, as well as the glove main body 20, the finger sleeve 121, etc. are adapted to different sizes of fingers and palms of different thicknesses of arms, so that the remote control glove does not shake, the collected data is more accurate, and the reliability of the control of the dexterous hand and the subsequent data training is improved.

[0166] It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "includes", "including" and "has" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order

[0167] Although the terms first, second, third, etc. can be used herein to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first", "second", and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

[0168] The above merely preferred embodiments of the present application and are not intended to limit the present application. These and other modifications can occur to those skilled in the art upon reading the specification and may be implemented as suitable without departing from the teachings of the present application. Therefore, the present application should be understood to include all such modifications within the scope of the present application.

Claims

1. A wearable remote-controlled glove, characterized in that, The device includes a skeleton body and a flexible glove body, the glove body being disposed inside the skeleton body. The skeleton body includes a back hand skeleton, a finger skeleton, and a length adjustment mechanism, the length adjustment mechanism connecting the back hand skeleton and the finger skeleton. The glove body is wearable by a user, and the length adjustment mechanism is configured to allow changing and locking the extension length of the finger skeleton relative to the back hand skeleton.

2. The wearable remote control glove according to claim 1, characterized in that, The length adjustment mechanism includes a guide and a locking assembly. The guide is connected to the back of the hand skeleton, and the locking assembly is connected to the finger skeleton and can slide along the guide. The locking assembly includes at least one locking element. The guide has a plurality of spaced positioning parts arranged along the axial direction. The locking element is detachably connected to any of the positioning parts and can be disengaged by deformation.

3. The wearable remote control glove according to claim 2, characterized in that, The inner side of the finger skeleton is provided with a finger sleeve, and the finger sleeve has two first ends spaced apart circumferentially.

4. The wearable remote control glove according to claim 3, characterized in that, The peripheral wall of the finger sleeve is further provided with a thin-walled area, which can deform under force to change the distance between the two first ends; or At least one of the finger sleeves is also provided with a first restraint band and a tactile feedback component, the tactile feedback component being electrically connected to a control module to provide tactile feedback to the user, the two ends of the first restraint band being respectively connected to two first ends, and the length of the first restraint band being adjustable to change the spacing between the two first ends.

5. The wearable remote control glove according to claim 1, characterized in that, Also includes: The second constraint strap is located at the palm position of the glove body. The back of the hand skeleton is provided with first mounting parts on both sides in the width direction. The two ends of the second constraint strap are respectively connected to the first mounting parts.

6. The wearable remote control glove according to claim 1, characterized in that, Also includes: An armband, hinged to the back of the hand skeleton, the armband being worn on the wrist, the armband having two second ends spaced circumferentially; The third constraint band has its two ends connected to the arm ring, and the length of the third constraint band is adjustable to change the distance between the two second ends.

7. The wearable remote control glove according to claim 6, characterized in that, The arm ring and the back of the hand skeleton are connected by at least two sets of first rotating joints. The rotation axes of each set of first rotating joints are arranged to cross each other. Each set of first rotating joints is provided with a first angle detection unit. The first angle detection unit is used to be electrically connected to the control module. The control module generates control commands based on the angle data obtained by the first angle detection unit to drive the dexterous hand to perform corresponding actions.

8. The wearable remote control glove according to claim 7, characterized in that, The finger skeleton includes: A knuckle assembly, comprising four knuckle members connected sequentially by a second revolute joint, wherein the axis of rotation of each second revolute joint extends along the width direction of the knuckle member; The phalanx located at the proximal end of the phalanx group is the first phalanx, which is connected to the length adjustment mechanism via a third rotating joint. The rotation axis of the third rotating joint is perpendicular to the back of the hand skeleton. Both the second and third rotary joints are provided with a second angle detection unit. The second angle detection unit is electrically connected to the control module. The control module is configured to generate control commands based on the angle data obtained by the first and second angle detection units.

9. The wearable remote control glove according to claim 2, characterized in that, It also includes a force feedback component, which is disposed on the back of the hand skeleton or the locking component. The output end of the force feedback component is connected to the finger skeleton. The force feedback component is used to communicate with the control module to provide resistance opposite to the rotation direction of the finger skeleton.

10. The wearable remote control glove according to claim 6, characterized in that, An attitude detection unit is provided on the arm ring, and the attitude detection unit is electrically connected to the control module.

11. A dexterous hand, characterized in that, For use with the wearable remote control glove according to any one of claims 1-10, the dexterous hand comprises: An actuator, which is configured to correspond to the wearable remote control glove and has the same degrees of freedom of movement; A driving device, wherein the driving device is used to drive the actuator to move; The main control unit is communicatively connected to the drive device, and the main control unit is configured as follows: The system receives motion control signals sent by the control module, which are generated based on hand movements collected by the wearable remote control glove. The drive device is controlled according to the motion control signal, so that the actuator moves synchronously with the user's hand; The current data during the operation of the drive device is collected to generate an external control signal, which is then sent to the control module.

12. A control system, characterized in that, This includes the wearable remote-controlled glove as described in any one of claims 1-10 and the dexterous hand as described in claim 11.

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