Multi-link underactuated finger exoskeleton structure and finger exoskeleton manipulator

Abstract

The present invention relates to a multi-link under-actuated finger exoskeleton structure, comprising a base, an arc-shaped arm, a primary finger sleeve, a secondary finger sleeve and a tertiary finger sleeve connected in sequence to the distal end, and also comprising a first lever system and a second lever system, wherein an arc-shaped slot is provided on the base, the proximal end of the arc-shaped arm is slidably arranged in the arc-shaped slot, the distal end of the arc-shaped arm is fixedly connected to the primary finger sleeve, the primary finger sleeve, the secondary finger sleeve and the tertiary finger sleeve are hinged in sequence, and the rotation axis of the hinge is consistent with the rotation axis of the interphalangeal joint; the first lever system comprises a primary pull rod, a secondary pull rod and a tertiary pull rod, the base, the primary pull rod, the secondary pull rod, the tertiary pull rod and the secondary finger sleeve are hinged in sequence, the middle part of the secondary pull rod is hinged to the primary finger sleeve, the second lever system comprises a secondary pull rod, a secondary pull rod and a secondary pull rod, the primary finger sleeve, the secondary pull rod, the secondary pull rod and the tertiary pull rod are hinged in sequence, and the middle part of the secondary pull rod is hinged to the secondary finger sleeve.

Description

Technical Field

[0001] The present invention belongs to the technical field of exoskeleton robots, and in particular relates to a multi-link under-actuated finger exoskeleton structure and a finger exoskeleton manipulator. Background Art

[0002] As my country gradually enters an aging society, stroke in the elderly has become a major problem plaguing society, and stroke is even becoming more common among younger people. Hand dysfunction is relatively common among stroke patients. Most manifestations of hand dysfunction include inability to extend or inflexible fingers, such as difficulty grasping and pinching objects, inability to separate finger movements, and thumb abduction and adduction dysfunction. This leads to poor quality of life and inability to care for oneself in patients with hand dysfunction. Restoring hand motor function is particularly challenging due to the complex neural control of the hand.

[0003] The emergence of hand rehabilitation exoskeleton robots has played a significant role in improving hand dysfunction and enhancing hand dexterity in patients with hand dysfunction. For example, existing patent 201910565502.1 discloses a multi-drive modular exoskeleton mechanism. However, existing hand rehabilitation exoskeleton robots have the following drawbacks: 1. To drive each joint of a single finger, multiple drives are required, increasing cost and control difficulty. 2. Most of them provide passive training for the metacarpophalangeal joints and proximal interphalangeal joints (located between the first phalanx (proximal segment) and the second phalanx (middle segment)), while few can provide passive training for the distal interphalangeal joints (located between the second phalanx (middle segment) and the third phalanx (distal segment)). This limits hand rehabilitation training and prevents breakthrough recovery results. 3. They have complex structures and parts, are difficult to manufacture, and are heavy, placing an additional burden on patients when worn. Summary of the Invention

[0004] In order to solve the problems in the existing technology that hand rehabilitation exoskeleton robots need to use multiple drivers to drive each joint of a single finger and cannot passively train the distal interphalangeal joints, the present invention provides a multi-link under-actuated finger exoskeleton structure and a finger exoskeleton manipulator.

[0005] To solve the above technical problems, the technical solution adopted by the present invention is as follows: a multi-link underactuated finger exoskeleton structure, comprising a base, an arc-shaped arm, a primary finger cuff, a secondary finger cuff, and a tertiary finger cuff connected in sequence to the distal end, the base being provided with an arc-shaped slot, the proximal end of the arc-shaped arm being slidably disposed in the arc-shaped slot, and the arc-shaped arm being driven to slide by a driving member, the distal end of the arc-shaped arm being fixedly connected to the primary finger cuff, the primary finger cuff, the secondary finger cuff, and the tertiary finger cuff being hinged in sequence, and the rotation axis of the hinge being consistent with the rotation axis of the interphalangeal joint;

[0006] The multi-link underactuated finger exoskeleton structure also includes a first lever system and a second lever system. The first lever system includes a primary pull rod, a secondary pull rod and a tertiary pull rod. The base, the primary pull rod, the secondary pull rod, the tertiary pull rod and the secondary finger sleeve are hinged in sequence, and the middle part of the secondary pull rod is hinged to the primary finger sleeve. The second lever system includes a secondary pull rod, a secondary pull rod and a secondary pull rod. The primary finger sleeve, the secondary pull rod, the secondary pull rod, the secondary pull rod and the tertiary pull rod are hinged in sequence, and the middle part of the secondary pull rod is hinged to the secondary finger sleeve.

[0007] Preferably, the primary, secondary, and tertiary finger cuffs are all in a downwardly opening N-shape, and are sequentially hinged via finger cuff rotation axes. This facilitates aligning the rotation axes of the primary, secondary, and tertiary finger cuffs with the rotation axes of the interphalangeal joints, effectively preventing the rotation axes of the primary, secondary, and tertiary finger cuffs from becoming stuck or pinching the fingers, thereby improving the user comfort of the multi-link underactuated finger exoskeleton structure and saving materials, reducing weight, and lowering costs.

[0008] Preferably, the upper portions of the first, second, and third finger cuffs are each provided with holes for threading a strap. The first finger cuff is strapped and fixed to the first proximal phalanx, the second finger cuff is strapped and fixed to the second middle phalanx, and the third finger cuff is strapped and fixed to the third distal phalanx. This facilitates the wearing of the multi-link underactuated finger exoskeleton structure on the fingers, and provides a safe and comfortable fit.

[0009] Preferably, the primary finger sleeve is provided with a first bracket, and the middle portion of the secondary pull rod and the end of the secondary pull rod away from the secondary pull rod are both hinged to the first bracket, with the hinge rotation axes coinciding; the secondary finger sleeve is provided with a second bracket and a third bracket along the finger axis, and the end of the tertiary pull rod away from the secondary pull rod is hinged to the second bracket, and the middle portion of the secondary pull rod is hinged to the third bracket; the tertiary finger sleeve is provided with a fourth bracket, and the end of the secondary pull rod away from the secondary pull rod is hinged to the fourth bracket. This facilitates the arrangement of the first lever system and the second lever system, and improves the reliability and stability of the first lever system and the second lever system.

[0010] Furthermore, the drive element includes a reduction motor and a bevel gear. The bevel gear is drivingly connected to the output end of the reduction motor. The reduction motor is mounted on the base via a motor mount. A rack is provided on the side wall of the arc-shaped arm, meshing with the bevel gear. The transmission structure of the bevel gear and rack is simple and reliable, with smooth transmission. The rack is located on the side wall of the arc-shaped chute, providing greater load-bearing capacity.

[0011] Furthermore, the base, curved arms, primary finger cuffs, secondary finger cuffs, tertiary finger cuffs, first lever system, and second lever system are all made of engineering plastics. Engineering plastics are lightweight and high-strength materials, making the multi-link underactuated finger exoskeleton structure extremely lightweight and easy for patients to wear, allowing for passive rehabilitation training or assisting patients in active rehabilitation training at any time.

[0012] Furthermore, the engineering plastic is nylon or ABS. The selection of engineering plastics such as nylon or ABS is light and has a certain strength, making the multi-link underactuated finger exoskeleton structure more reliable and comfortable to wear.

[0013] A finger exoskeleton manipulator comprises a back-of-hand shell and any one of the above-mentioned multi-link under-actuated finger exoskeleton structures, wherein the base is arranged on the back-of-hand shell, the number of the multi-link under-actuated finger exoskeleton structures is 1 to 5, the multi-link under-actuated finger exoskeleton structures are respectively matched with corresponding fingers, and each group of the first-level finger cuffs, second-level finger cuffs, and third-level finger cuffs are all sleeved on a corresponding single finger.

[0014] Preferably, the back-of-hand shell fits snugly against the back of the hand, and has side ears extending downward on both sides of the back-of-hand shell. The side ears are penetrated by strap holes for passing straps through, and the back-of-hand shell is fixedly connected to the palm of the hand via the straps, making it easy to wear the back-of-hand shell while ensuring comfort and safety.

[0015] Furthermore, the multi-link underactuated finger exoskeleton structures are comprised of five structures, each corresponding to the number of fingers. The multi-link underactuated finger exoskeleton structure located on the thumb is stripped of the tertiary finger cuff and secondary tertiary tie rods. Since all fingers except the thumb have three phalanges, the multi-link underactuated finger exoskeleton structure on the thumb is stripped of the tertiary finger cuff and secondary tertiary tie rods, allowing for a better fit.

[0016] Beneficial effects:

[0017] 1. In the finger exoskeleton manipulator of the present invention, a driving member drives an arcuate arm to slide along an arcuate slot, which in turn drives the primary, secondary, and tertiary finger cuffs to move. Simultaneously, the secondary and tertiary finger cuffs move under the action of a first lever system and a second lever system, thereby enabling the primary finger cuff to drive the metacarpophalangeal joint to move, the secondary finger cuff to drive the proximal interphalangeal joint to move, and the tertiary finger cuff to drive the distal interphalangeal joint to move. This allows all joints of the fingers to be trained, and has a strong load-bearing capacity, greatly improving the effectiveness of hand rehabilitation training.

[0018] 2. The finger exoskeleton manipulator of the present invention has a reasonable and ingenious arrangement of the first and second lever systems, a simple and reliable structure, and improves the control accuracy of the first-stage finger cuff-driven metacarpophalangeal joint movement, the second-stage finger cuff-driven proximal interphalangeal joint movement, and the third-stage finger cuff-driven distal interphalangeal joint movement;

[0019] 3. In the finger exoskeleton manipulator of the present invention, each finger is driven by a separate driving member, so that each finger can be controlled individually. Moreover, since each joint of each finger is trained for movement, each finger can be freely extended, which greatly improves the flexibility of the fingers and enhances the patient's self-care ability and quality of life.

[0020] 4. The finger exoskeleton manipulator of the present invention has a simple and reliable structure, ingenious design, overall lightness, strong load-bearing capacity, easy to wear, low control difficulty and low manufacturing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 2. It is a schematic diagram of the three-dimensional structure of the multi-link under-actuated finger exoskeleton structure of the present invention;

[0023] Figure 2 yes Figure 1 Schematic diagram of the three-dimensional structure of the hidden base;

[0024] Figure 3 is a side view schematic diagram of a multi-link underactuated finger exoskeleton structure of the present invention;

[0025] Figure 4 Schematic diagram of the three-dimensional structure of the finger exoskeleton manipulator of the present invention;

[0026] In the figure: 1. Multi-link under-actuated finger exoskeleton structure, 11. Base, 111. Motor base, 12. Arc arm, 13. First finger sleeve, 131. Finger sleeve shaft, 132. Rope hole, 133. First bracket, 14. Second finger sleeve, 141. Second bracket, 142. Third bracket, 15. Third finger sleeve, 151. Fourth bracket, 16. Driving member, 161. Reducer motor, 162. Bevel gear, 163. Rack, 17. First lever system, 171. First pull rod, 172. Second pull rod, 173. Third pull rod, 18. Second lever system, 181. Second pull rod, 182. Second pull rod, 183. Third pull rod; 21. First proximal phalanx, 22. Second middle phalanx, 23. Third distal phalanx; 3. Back of hand shell, 31. Side ear, 32. Strap hole. DETAILED DESCRIPTION

[0027] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, rather than all embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection of the present invention.

[0028] Example

[0029] like Figures 1 to 4 As shown, a multi-link underactuated finger exoskeleton structure 1 includes a base 11, an arc-shaped arm 12, a primary finger sleeve 13, a secondary finger sleeve 14 and a tertiary finger sleeve 15 connected in sequence to the distal end, the base 11 is provided with an arc-shaped slot, the proximal end of the arc-shaped arm 12 is slidably arranged in the arc-shaped slot, and the arc-shaped arm 12 is driven to slide by a driving member 16, the distal end of the arc-shaped arm 12 is fixedly connected to the primary finger sleeve 13, the primary finger sleeve 13, the secondary finger sleeve 14 and the tertiary finger sleeve 15 are hinged in sequence, and the rotation axis of the hinge is consistent with the rotation axis of the interphalangeal joint; the multi-link underactuated finger exoskeleton structure 1 also includes a first lever system 17 and a second The lever system 18, the first lever system 17 includes a primary pull rod 171, a secondary pull rod 172 and a tertiary pull rod 173, the base 11, the primary pull rod 171, the secondary pull rod 172, the tertiary pull rod 173 and the secondary finger sleeve 14 are hinged in sequence, and the middle part of the secondary pull rod 172 is hinged to the primary finger sleeve 13, the second lever system 18 includes a secondary pull rod 181, a secondary pull rod 182 and a secondary pull rod 183, the primary finger sleeve 13, the secondary pull rod 181, the secondary pull rod 182, the secondary pull rod 183 and the tertiary pull rod 15 are hinged in sequence, and the middle part of the secondary pull rod 182 is hinged to the secondary finger sleeve 14.

[0030] In order to facilitate the wearing of the multi-link under-actuated finger exoskeleton structure 1, and to ensure safety, flexibility and comfort after wearing, in this embodiment, the first-level finger cuff 13, the second-level finger cuff 14 and the third-level finger cuff 15 are all in an N-shape with a downward opening, and the first-level finger cuff 13, the second-level finger cuff 14 and the third-level finger cuff 15 are hinged in sequence through the finger cuff rotating shaft 131; the upper parts of the first-level finger cuff 13, the second-level finger cuff 14 and the third-level finger cuff 15 are all provided with a rope threading hole 132 for the strap to pass through, the first-level finger cuff 13 is tied and fixed to the first proximal phalanx 21, the second-level finger cuff 14 is tied and fixed to the second middle phalanx 22, and the third-level finger cuff 15 is tied and fixed to the third distal phalanx 23.

[0031] In order to ensure the reasonable layout and reliable and stable structure of the first lever system 17 and the second lever system 18, in this embodiment, a first bracket 133 is provided on the first finger sleeve 13, and the middle part of the second pull rod 172 and the end of the sub-second pull rod 181 away from the sub-second pull rod 182 are hinged to the first bracket 133, and the hinged rotation axis coincides; a second bracket 141 and a third bracket 142 are provided on the second finger sleeve 14 along the finger axis, the end of the tertiary pull rod 173 away from the secondary pull rod 172 is hinged to the second bracket 141, and the middle part of the sub-secondary pull rod 182 is hinged to the third bracket 142; a fourth bracket 151 is provided on the tertiary finger sleeve 15, and the end of the sub-tertiary pull rod 183 away from the sub-secondary pull rod 182 is hinged to the fourth bracket 151.

[0032] In order to improve the load-bearing capacity of the multi-link under-actuated finger exoskeleton structure 1, in this embodiment, the driving member 16 includes a reduction motor 161 and a bevel gear 162, and the bevel gear 162 is transmission-connected to the output end of the reduction motor 161. The reduction motor 161 is arranged on the base 11 through the motor seat 111, and a rack 163 meshing with the bevel gear 162 is provided on the side wall of the arc arm 12.

[0033] In order to further make the multi-link under-actuated finger exoskeleton structure 1 light and reliable, in this embodiment, the materials of the base 11, the arc arm 12, the first finger cuff 13, the second finger cuff 14, the third finger cuff 15, the first lever system 17 and the second lever system 18 are all engineering plastics; specifically, the engineering plastics are nylon or ABS.

[0034] For ease of description in this embodiment, the arm is pointed to the distal end with the fingers, the back of the hand facing upward, and the palm facing downward.

[0035] like Figure 4As shown, a finger exoskeleton manipulator includes a back-of-hand shell 3 and the above-mentioned multi-link under-actuated finger exoskeleton structure 1, the base 11 is set on the back-of-hand shell 3, the number of the multi-link under-actuated finger exoskeleton structures 1 is 1 to 5, and several of the multi-link under-actuated finger exoskeleton structures 1 are matched with corresponding fingers, and each group of the first-level finger sleeves 13, the second-level finger sleeves 14, and the third-level finger sleeves 15 are all set on the corresponding single finger; specifically, in this embodiment, the back-of-hand shell 3 fits the back of the hand, and both sides of the back-of-hand shell 3 are downward. A side ear 31 is extended, and the side ear 31 is penetrated by a strap hole 32 for the strap to pass through. The back of the hand shell 3 is fixedly connected to the palm through the strap; specifically, in this embodiment, the number of the multi-link under-actuated finger exoskeleton structures 1 is 5, and the number of the 5 multi-link under-actuated finger exoskeleton structures 1 matches the 5 fingers respectively. The multi-link under-actuated finger exoskeleton structure 1 located on the thumb removes the tertiary finger cuff 15 and the secondary tertiary pull rod 183 to better match the thumb, because the remaining fingers except the thumb have 3 phalanges.

[0036] Here’s how it works:

[0037] First, place the finger exoskeleton manipulator on the back of the hand, and then use a strap to bind and fix the back of the hand shell 3 to the palm. At this time, the back of the hand shell 3 fits the back of the hand, and then use a strap to bind and fix the first-level finger cuff 13 to the first proximal phalanx 21, and then use a strap to bind and fix the second-level finger cuff 14 to the second middle phalanx 22, and then use a strap to bind and fix the third-level finger cuff 15 to the third distal phalanx 23, until the five groups of multi-link under-actuated finger exoskeleton structures 1 are all bound and fixed to the corresponding fingers, and the finger exoskeleton manipulator is worn. At this time, the rotation axis of the arc arm 12 coincides with the rotation axis of the metacarpophalangeal joint, the rotation axis between the first-level finger cuff 13 and the second-level finger cuff 14 coincides with the rotation axis of the proximal interphalangeal joint, and the rotation axis between the second-level finger cuff 14 and the third-level finger cuff 15 coincides with the rotation axis of the distal interphalangeal joint;

[0038] Restart the reduction motor 161, and the reduction motor 161 drives the bevel gear 162 to rotate. The bevel gear 162 engages with the rack 163 to drive the arc arm 12 to slide along the arc groove. The arc arm 12 then drives the first-level finger cuff 13, the second-level finger cuff 14 and the third-level finger cuff 15 to move in sequence. At the same time, the second-level finger cuff 14 and the third-level finger cuff 15 move under the action of the first lever system 17 and the second lever system 18, so that the first-level finger cuff 13 drives the metacarpophalangeal joint to move, the second-level finger cuff 14 drives the proximal interphalangeal joint to move, and the third-level finger cuff 15 drives the distal interphalangeal joint to move.

[0039] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A multi-link underactuated finger exoskeleton structure, characterized by: The invention comprises a base (11), an arc-shaped arm (12), a primary finger sleeve (13), a secondary finger sleeve (14) and a tertiary finger sleeve (15) which are sequentially connected to the distal end. The base (11) is provided with an arc-shaped sliding groove. The proximal end of the arc-shaped arm (12) is slidably arranged in the arc-shaped sliding groove. The arc-shaped arm (12) is driven to slide by a driving member (16). The distal end of the arc-shaped arm (12) is fixedly connected to the primary finger sleeve (13). The primary finger sleeve (13), the secondary finger sleeve (14) and the tertiary finger sleeve (15) are hinged in sequence, and the rotation axis of the hinge is consistent with the rotation axis of the interphalangeal joint. The multi-link underactuated finger exoskeleton structure (1) further includes a first lever system (17) and a second lever system (18), wherein the first lever system (17) includes a primary pull rod (171), a secondary pull rod (172) and a tertiary pull rod (173), wherein the base (11), the primary pull rod (171), the secondary pull rod (172), the tertiary pull rod (173) and the secondary finger sleeve (14) are hinged in sequence, and the middle portion of the secondary pull rod (172) is hinged to the primary finger sleeve (13), and the second lever system (18) includes a secondary pull rod (181), a secondary pull rod (182) and a secondary pull rod (183), wherein the primary finger sleeve (13), the secondary pull rod (181), the secondary pull rod (182), the secondary pull rod (183) and the tertiary pull rod (15) are hinged in sequence, and the middle portion of the secondary pull rod (182) is hinged to the secondary finger sleeve (14); The first-level finger sleeve (13), the second-level finger sleeve (14) and the third-level finger sleeve (15) are all in an N-shape with a downward opening, and the first-level finger sleeve (13), the second-level finger sleeve (14) and the third-level finger sleeve (15) are hinged in sequence through the finger sleeve rotating shaft (131); The first finger sleeve (13) is provided with a first bracket (133), the middle part of the second pull rod (172) and the end of the second pull rod (181) away from the second pull rod (182) are both hinged to the first bracket (133), and the hinged rotation axis coincides; the second finger sleeve (14) is provided with a second bracket (141) and a third bracket (142) along the finger axis, the end of the third pull rod (173) away from the second pull rod (172) is hinged to the second bracket (141), and the middle part of the second pull rod (182) is hinged to the third bracket (142); the third finger sleeve (15) is provided with a fourth bracket (151), and the end of the third pull rod (183) away from the second pull rod (182) is hinged to the fourth bracket (151); The driving member (16) includes a reduction motor (161) and a bevel gear (162), wherein the bevel gear (162) is transmission-connected to the output end of the reduction motor (161), the reduction motor (161) is arranged on the base (11) via a motor seat (111), and a rack (163) meshing with the bevel gear (162) is arranged on the side wall of the arc-shaped arm (12).

2. The multi-link underactuated finger exoskeleton structure according to claim 1, characterized in that: The upper parts of the first-level finger sleeve (13), the second-level finger sleeve (14) and the third-level finger sleeve (15) are all provided with a rope threading hole (132) for the strap to pass through. The first-level finger sleeve (13) is tied and fixed on the first proximal phalanx (21), the second-level finger sleeve (14) is tied and fixed on the second middle phalanx (22), and the third-level finger sleeve (15) is tied and fixed on the third distal phalanx (23).

3. The multi-link underactuated finger exoskeleton structure according to any one of claims 1 or 2, characterized in that: The materials of the base (11), the arc-shaped arm (12), the first-level finger sleeve (13), the second-level finger sleeve (14), the third-level finger sleeve (15), the first lever system (17) and the second lever system (18) are all engineering plastics.

4. The multi-link underactuated finger exoskeleton structure according to claim 3, characterized in that: The engineering plastic is nylon or ABS.

5. A finger exoskeleton manipulator, characterized in that: The invention comprises a back-of-hand shell (3) and several multi-link under-actuated finger exoskeleton structures (1) according to any one of claims 1 to 4, wherein the base (11) is arranged on the back-of-hand shell (3), the number of the multi-link under-actuated finger exoskeleton structures (1) is 1 to 5, and the several multi-link under-actuated finger exoskeleton structures (1) are respectively matched with corresponding fingers, and each group of the first-level finger sleeves (13), the second-level finger sleeves (14), and the third-level finger sleeves (15) are all sleeved on the corresponding single finger.

6. The finger exoskeleton manipulator according to claim 5, characterized in that: The back-of-hand shell (3) fits the back of the hand, and side ears (31) extend downwards on both sides of the back-of-hand shell (3). The side ears (31) are penetrated by strap holes (32) for straps to pass through, and the back-of-hand shell (3) is fixedly connected to the palm through the straps.

7. The finger exoskeleton manipulator according to claim 5 or 6, characterized in that: The number of the multi-link under-actuated finger exoskeleton structures (1) is 5, and the number of the 5 multi-link under-actuated finger exoskeleton structures (1) matches the 5 fingers respectively. The multi-link under-actuated finger exoskeleton structure (1) located on the thumb removes the tertiary finger sleeve (15) and the secondary tertiary pull rod (183).

Images