A bionic finger exoskeleton mechanism and its use method

Abstract

The present invention relates to a bionic finger exoskeleton mechanism and a method for using the same. The bionic finger exoskeleton mechanism comprises a distal finger link, a distal finger connecting rod, a middle finger link, a proximal finger link, a proximal finger connecting rod, a sliding guide rail, a finger support and a plurality of rotating connecting rods. Under the action of a power source, the sliding components of the bionic finger exoskeleton mechanism move along the guide rail, driving each finger joint connecting rod mechanism to generate a rotational motion around a different rotation axis to achieve flexion and extension motion. The present invention optimizes the components of the bionic finger exoskeleton mechanism, and gives the finger support the functions of transmitting and installing sensors, thereby reducing the number of components of the mechanism, simplifying the mechanical structure, reducing the overall weight of the mechanism, and improving the comfort of wearing. At the same time, through the close cooperation of the components, the stability of the mechanism movement process can be guaranteed, so that the bionic finger exoskeleton mechanism has a good use effect.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation equipment, and in particular to a bionic finger exoskeleton mechanism and a method of using the same. Background Art

[0002] At present, rehabilitation training has become one of the effective methods for treating stroke-related disability. However, due to the large gap between the number of rehabilitation physicians and the number of patients, and considering the long-term nature of rehabilitation treatment, fewer patients can receive effective treatment. In addition, the number of finger amputees is increasing due to accidents and other reasons, and finger amputation will seriously affect daily life. Therefore, there are still many occupations that require long-term manual labor, etc. Wearable exoskeleton bionic mechanisms have broad application prospects and social benefits.

[0003] The Chinese patent application with publication date of September 19, 2017 and publication number of CN107174485A discloses an exoskeleton rehabilitation mechanical finger, which connects the main components such as the proximal finger connecting rod, the middle finger connecting rod and the distal finger first connecting rod, the distal finger second connecting rod and the distal finger third connecting rod through a transmission member, and drives the finger mechanism under the action of the driving mechanism to achieve the straightening and bending of the finger. The Chinese patent application with publication date of August 7, 2013 and publication number of CN103231365A discloses a back-type exoskeleton finger joint detour mechanism, which cooperates with gears, sliding rods, guide rods and finger sleeves, and its main purpose is to adapt to the thickness of different fingers, realize the rotational movement of nonlinear extension, and ensure the smooth movement of the exoskeleton mechanism. From the above two patents, we can see that various existing finger exoskeletons have added redundant structures to better match the finger joints, which increases the weight borne by the hand and affects the portability of the finger exoskeleton; some finger exoskeletons are too focused on the fit with the fingers, and the placement of sensors such as curvature sensors will affect the stability of the exoskeleton movement. In general, the existing finger exoskeleton bionic mechanism has redundant structure and heavy weight, which will affect the use effect of the finger exoskeleton. Summary of the invention

[0004] An object of the present invention is to provide a bionic finger exoskeleton mechanism and a method of using the same, wherein the bionic finger exoskeleton mechanism has a small number of overall components, a simple and compact structure, a light weight, high stability during movement, and good use effect.

[0005] On the one hand, the present invention provides a bionic finger exoskeleton mechanism, including a six-link coupling mechanism and a finger support connected to the six-link coupling mechanism, wherein the six-link coupling mechanism is composed of a distal finger link, a distal finger connecting rod, a middle finger link, a proximal finger link, a proximal finger connecting rod and a sliding guide rail hinged by multiple rotating connectors, wherein the rotating connectors include a first rotating connector, a second rotating connector, a third rotating connector, a fourth rotating connector, a fifth rotating connector, a sixth rotating connector, a seventh rotating connector, an eighth rotating connector and a ninth rotating connector, wherein the front end of the distal finger link is connected to the first rotating connector, the middle end of the distal finger link is hinged to the front end of the middle finger link through the second rotating connector, and the rear end of the distal finger link is hinged to the front end of the middle finger link through the second rotating connector. The third rotating connection piece is hinged to the front end of the distal finger connecting rod, the rear end of the distal finger connecting rod is hinged to the first front end of the finger support member through the fourth rotating connection member, the middle end of the middle finger connecting rod is hinged to the front end of the proximal finger connecting rod through the fifth rotating connection member, the rear end of the middle finger connecting rod is hinged to the second front end of the finger support member through the sixth rotating connection member, the middle end of the proximal finger connecting rod is hinged to the front end of the sliding guide rail through the seventh rotating connection member, the rear end of the proximal finger connecting rod is hinged to the front end of the proximal finger connecting rod through the eighth rotating connection member, the rear end of the proximal finger connecting rod is hinged to the rear end of the finger support member through the ninth rotating connection member, and the end of the ninth rotating connection member is located in the slide groove of the sliding guide rail;

[0006] When the ninth rotating connector is driven to slide along the sliding groove of the sliding guide rail, the ninth rotating connector drives the finger support and the near finger connecting rod to move, so that the near finger connecting rod drives the near finger connecting rod to rotate around the seventh rotating connector through the eighth rotating connector, and at the same time, the finger support drives the middle finger connecting rod to rotate around the fifth rotating connector through the sixth rotating connector, and the finger support is transmitted to the distal finger connecting rod through the fourth rotating connector, and the distal finger connecting rod drives the distal finger connecting rod to rotate around the second rotating connector through the third rotating connector, thereby completing the flexion and extension movement of the bionic finger exoskeleton mechanism.

[0007] In one embodiment of the present invention, the distal finger link, the distal finger connecting rod, the middle finger link, the proximal finger link, the proximal finger connecting rod, and the sliding guide rail are all two, and the distal finger link, the middle finger link, and the proximal finger link are all V-shaped links.

[0008] In one embodiment of the present invention, the finger support member includes a mounting portion, an extension arm extending from the mounting portion, and a hinged arm extending vertically from the extension arm, wherein the first front end and the second front end are two ends of the hinged arm, and the rear end of the finger support member is an end opposite to an end of the mounting portion from which the extension arm is extended.

[0009] In one embodiment of the present invention, the mounting portion is crescent-shaped and is provided with a plurality of mounting positions for assembling sensors, wherein the sensors are used to measure the relative movement of the mechanism, and calculate the movement information of the proximal finger link, the middle finger link and the distal finger link according to the size and rotation mode of each link, so as to calculate the overall movement effect of the bionic finger exoskeleton mechanism.

[0010] In one embodiment of the present invention, the extension arm is a V-shaped structure.

[0011] In one embodiment of the present invention, the sliding guide rail is a linear slide rail or an arc-shaped slide rail.

[0012] In one embodiment of the present invention, the rotating connection member is a combination of one or more of a rotating shaft, a flange, and a gear.

[0013] In one embodiment of the present invention, the bionic finger exoskeleton mechanism also includes a fixing component, which includes one or more fixing members and a fixing belt connected to the fixing member, the fixing member is connected to the seventh rotating connecting member, and the fixing belt is used to be fixed to the back of the wearer's hand to achieve connection and fixation between the bionic finger exoskeleton mechanism and the back of the wearer's hand.

[0014] In one embodiment of the present invention, the fixing member includes a base connected to the fixing belt and a connecting portion vertically extending from the base, and the connecting portion is provided with a mounting hole so that the fixing member can be mounted on the seventh rotating connecting member.

[0015] In another aspect, the present invention further provides a method for using a bionic finger exoskeleton mechanism, comprising the steps of:

[0016] A power source is used to drive the ninth rotating connecting member to slide along the slide groove of the sliding guide rail;

[0017] The finger support member and the proximal finger connecting rod are driven to move by sliding of the ninth rotating connecting member;

[0018] The proximal finger connecting rod and the eighth rotating connecting member drive the proximal finger connecting rod to rotate around the seventh rotating connecting member;

[0019] The middle finger connecting rod is driven to rotate around the fifth rotating connecting rod via the finger supporting member and the sixth rotating connecting member, and is transmitted to the distal finger connecting rod via the finger supporting member and the fourth rotating connecting member; and

[0020] The distal finger connecting rod and the third rotating connecting member drive the distal finger connecting rod to rotate around the second rotating connecting member, thereby completing the flexion and extension movement of the bionic finger exoskeleton mechanism.

[0021] The bionic finger exoskeleton mechanism of the present invention can realize flexion and extension movements similar to those of fingers under the action of a power source. At the same time, the present invention optimizes the various components of the bionic finger exoskeleton mechanism. The adopted finger support can simultaneously connect the middle finger connecting rod and the distal finger connecting rod and is provided with a mounting portion for placing external devices such as sensors. That is, the finger support of the present invention has the functions of transmitting and installing external devices. The present invention reduces the number of components of the mechanism, simplifies the mechanical structure, reduces the overall weight of the mechanism, and improves the comfort of wearing. At the same time, through the close cooperation of the various components, the stability of the movement process of the mechanism can be guaranteed, so that the bionic finger exoskeleton mechanism has a good use effect.

[0022] Further objects and advantages of the present invention will be fully apparent from an understanding of the following description and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the three-dimensional structure of the bionic finger exoskeleton mechanism in an initial state according to a preferred embodiment of the present invention.

[0024] Figure 2 It is a schematic front view of the bionic finger exoskeleton mechanism in the initial state according to the above preferred embodiment of the present invention.

[0025] Figure 3 It is a schematic diagram of the three-dimensional structure of the bionic finger exoskeleton mechanism in the above preferred embodiment of the present invention in a moving state.

[0026] Figure 4 It is a front schematic diagram of the bionic finger exoskeleton mechanism in the above preferred embodiment of the present invention in a moving state.

[0027] Figure 5 It is a schematic structural diagram of the fixing components of the bionic finger exoskeleton mechanism according to the above preferred embodiment of the present invention.

[0028] Figure 6 It is a schematic diagram of the three-dimensional structure of the finger support of the bionic finger exoskeleton mechanism according to the above preferred embodiment of the present invention.

[0029] Explanation of the accompanying figure numbers: bionic finger exoskeleton mechanism 100; distal finger link 10; distal finger connecting rod 11; middle finger link 12; proximal finger link 13; proximal finger connecting rod 14; sliding guide rail 15; slide groove 151; finger support 16; mounting portion 161; mounting position 162; extension arm 163; hinged arm 164; first front end 165; second front end 166; rear end 167 of finger support; first rotating connector 21; second rotating connector 22; third rotating connector 23; fourth rotating connector 24; fifth rotating connector 25; sixth rotating connector 26; seventh rotating connector 27; eighth rotating connector 28; ninth rotating connector 29; fixing assembly 30; fixing member 31; base 311; connecting portion 312; fixing belt 32. DETAILED DESCRIPTION

[0030] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, deformation schemes, improved schemes, equivalent schemes, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0031] Those skilled in the art should understand that, in the disclosure of the present invention, the terms "vertical", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0032] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] The present invention discloses a bionic finger exoskeleton mechanism, which can be used in the fields of hand function rehabilitation and finger prosthesis. Under the action of a power source, the sliding components of the mechanism move along the guide rail, driving the finger joint connecting rod mechanisms to generate rotational motion around different rotation axes, thus realizing flexion and extension motion similar to that of fingers. At the same time, the present invention optimizes the components in the bionic finger exoskeleton mechanism, giving some components new functions, reducing the number of components of the mechanism, reducing the overall weight, and combining the components tightly, thereby ensuring the stability of the mechanism's motion process and improving the motion effect. Figures 1 to 6 As shown, the specific structure of the bionic finger exoskeleton mechanism 100 according to a preferred embodiment of the present invention is explained.

[0035] like Figures 1 to 4 As shown, the bionic finger exoskeleton mechanism 100 mainly includes a distal finger link 10, a distal finger connecting rod 11, a middle finger link 12, a proximal finger link 13, a proximal finger connecting rod 14, a sliding guide rail 15, a finger support 16 and a plurality of rotating connectors. The distal finger link 10, the distal finger connecting rod 11, the middle finger link 12, the proximal finger link 13, the proximal finger connecting rod 14 and the sliding guide rail 15 are hingedly connected through a plurality of rotating connectors to form a six-link coupling mechanism of the bionic finger exoskeleton mechanism 100, which can ultimately realize the movement of each knuckle of the finger.

[0036] It is worth mentioning that, under the action of the power source, the addition of the sliding guide rail 15 can ensure the stability of the movement line and limit the movement distance, thereby improving the safety of use.

[0037] Optionally, the sliding guide rail 15 may be a linear slide rail or an arc-shaped slide rail, which is not limited in the present invention.

[0038] In this specific embodiment, the rotating connector includes a first rotating connector 21, a second rotating connector 22, a third rotating connector 23, a fourth rotating connector 24, a fifth rotating connector 25, a sixth rotating connector 26, a seventh rotating connector 27, an eighth rotating connector 28 and a ninth rotating connector 29.

[0039] Optionally, the rotating connection member is a rotating shaft, a flange, a gear or a combination thereof. Preferably, in this embodiment, the rotating connection member is a rotating shaft.

[0040] Specifically, the front end of the distal finger link 10 is connected to the first rotating connection member 21, the middle end of the distal finger link 10 is hinged to the front end of the middle finger link 12 through the second rotating connection member 22, the rear end of the distal finger link 10 is hinged to the front end of the distal finger connecting rod 11 through the third rotating connection member 23, the rear end of the distal finger connecting rod 11 is hinged to the first front end 165 of the finger support 16 through the fourth rotating connection member 24, the middle end of the middle finger link 12 is hinged to the front end of the proximal finger link 13 through the fifth rotating connection member 25, and the The rear end of the middle finger link 12 is hinged to the second front end 166 of the finger support 16 through the sixth rotating connection 26, the middle end of the near finger link 13 is hinged to the front end of the sliding guide rail 15 through the seventh rotating connection 27, the rear end of the near finger link 13 is hinged to the front end of the near finger connecting rod 14 through the eighth rotating connection 28, the rear end of the near finger connecting rod 14 is hinged to the rear end 167 of the finger support through the ninth rotating connection 29, and the end of the ninth rotating connection 29 is located in the slide groove 151 of the sliding guide rail 15.

[0041] It can be understood that the proximal finger link 13 is connected to the middle finger link 12 via the sixth rotating connector 26 , and then the middle finger link 12 is connected to the distal finger link 10 via the second rotating connector 22 .

[0042] That is to say, the rotation axes of the connecting rods of each finger joint of the bionic finger exoskeleton mechanism 100 are respectively located at the ends of the connecting rods of the previous stage, thereby finally achieving the bending effect of each finger joint.

[0043] Furthermore, if Figure 5 As shown, the bionic finger exoskeleton mechanism 100 further includes a fixing assembly 30, the fixing assembly 30 includes one or more fixing members 31 and a fixing belt 32 connected to the fixing member 31, the proximal finger link 13 is connected to the fixing member 31 via the seventh rotating connector 27, and the fixing belt 32 is used to be fixed to the back of the wearer's hand, so as to realize the connection and fixation between the bionic finger exoskeleton mechanism 100 and the back of the wearer's hand. The bionic finger exoskeleton mechanism 100 is fixed to the back of the wearer's hand via the fixing assembly 30, and a finger exoskeleton mechanism model is preliminarily formed.

[0044] It is worth mentioning that the fixing member 31 includes a base 311 connected to the fixing belt 32 and a connecting portion 312 vertically extending from the base 311 , and the connecting portion 312 is provided with a mounting hole so that the fixing member 31 can be mounted on the seventh rotating connecting member 27 .

[0045] In addition, it is worth mentioning that the base 311 may be a square base, and the connecting portion 312 may be a semicircular connecting portion. Figures 1 to 4 As shown, it can also be a square connecting portion, such as Figure 5 As shown, the present invention does not limit the shape of the fixing member 31 .

[0046] It can be understood that the proximal finger connecting rod 14 is connected to the proximal finger connecting rod 13 through the eighth rotating connecting member 28, and is connected to the finger support member 16 through the ninth rotating connecting member 29; the finger support member 16 is connected to the distal finger connecting rod 11 through the fourth rotating connecting member 24, and is connected to the middle finger connecting rod 12 through the sixth rotating connecting member 26, the distal finger connecting rod 11 is connected to the distal finger connecting rod 10 through the third rotating connecting member 23, the sliding guide rail 15, the proximal finger connecting rod 13 and the fixing member 31 are connected through the seventh rotating connecting member 27, and together complete the support and power transmission functions of the finger exoskeleton.

[0047] It is worth mentioning that the distal finger link 10, the distal finger connecting rod 11, the middle finger link 12, the proximal finger link 13, the proximal finger connecting rod 14, and the sliding guide rail 15 are all two, and the distal finger link 10, the middle finger link 12 and the proximal finger link 13 are all V-shaped links. In this embodiment, the distal finger link 10, the middle finger link 12 and the proximal finger link 13 are the same V-shaped link structure. In some embodiments of the present invention, the distal finger link 10, the middle finger link 12 and the proximal finger link 13 can be replaced by two links fixed together.

[0048] Furthermore, if Figure 6 As shown, the finger support 16 includes a mounting portion 161, an extension arm 163 extending from the mounting portion 161, and a hinged arm 164 extending vertically from the extension arm 163, wherein the first front end 165 and the second front end 166 are two ends of the hinged arm 164, and the rear end 167 of the finger support is an end opposite to an end of the mounting portion 161 from which the extension arm 163 is extended.

[0049] In particular, the mounting portion 161 is crescent-shaped and is provided with a plurality of mounting positions 162 for assembling sensors, which are used to measure the relative movement of the mechanism, and calculate the movement information of the proximal finger link, the middle finger link and the distal finger link according to the size and rotation mode of each link, so as to calculate the overall movement effect of the bionic finger exoskeleton mechanism.

[0050] It can be understood that by setting the mounting portion 161 as a half-moon structure, it can ensure that the mounting portion 161 has enough space to install the sensor, and can also avoid the structure of the finger support 16 affecting the movement of other finger exoskeletons, such as affecting the rotational movement of the proximal finger connecting rod 14.

[0051] It should be understood that the mounting position 162 may also be used to mount other external devices and is not limited to sensors, and the present invention is not limited to this.

[0052] It is worth mentioning that the extension arm 163 is a V-shaped structure.

[0053] It can be understood that the finger support 16 can not only connect the proximal finger connecting rod 14, the middle finger connecting rod 12 and the distal finger connecting rod 10, but also reserve a position for placing a sensor in the mounting portion 161. Therefore, the angle between the finger support 16 and the proximal finger connecting rod 14 during movement can be detected by the sensor, and the motion information of each component of the bionic finger exoskeleton mechanism 100 can be calculated.

[0054] In other words, the finger support 16 can not only complete power transmission, but also reserve a position for placing sensors to facilitate information collection. The motion information between components can be detected by the sensors placed on the finger support 16 to calculate the overall motion effect of the finger exoskeleton. In this way, the present invention utilizes the finger support 16 to appropriately expand the back of the hand space for placing various sensors, thereby reducing the impact on the motion effect of the finger movement without affecting the motion feedback. In other words, the present invention can avoid the installation of the sensor affecting the stability of other finger exoskeleton movements by placing the sensor on the finger support 16, which is beneficial to improving the motion stability of the bionic finger exoskeleton mechanism.

[0055] In some embodiments of the present invention, the finger support 16 may also be replaced by other connecting rods to only perform the motion transmission function, and the present invention is not limited to this.

[0056] It can be understood that the size of the finger links (i.e., the proximal finger link 13, the middle finger link 12, and the distal finger link 10) and the placement position of the finger support 16 sensor can be appropriately adjusted and changed based on the user's information (such as the length of each finger joint, etc.), and the present invention does not impose any restrictions on this.

[0057] The specific movement process of the bionic finger exoskeleton mechanism 100 is as follows:

[0058] Under the action of the power source, the ninth rotating connector 29 drives the connection between the proximal finger connecting rod 14 and the seventh rotating connector 27 to slide along the slide groove 151 of the sliding guide rail 15, so that the proximal finger connecting rod 14 drives the proximal finger connecting rod 13 to rotate around the seventh rotating connector 27 through the eighth rotating connector 28, and at the same time, the finger support 16 drives the middle finger connecting rod 12 to rotate around the fifth rotating connector 25 through the sixth rotating connector 26, and the finger support 16 is transmitted to the distal finger connecting rod 11 through the fourth rotating connector 24, and the distal finger connecting rod 11 drives the distal finger connecting rod 10 to rotate around the second rotating connector 22 through the third rotating connector 23. The rotation effect generated by the proximal finger connecting rod 13, the middle finger connecting rod 12 and the distal finger connecting rod 10 will drive the user's fingers to complete flexion and extension movements.

[0059] It is worth mentioning that the power source can be a driving device capable of realizing linear motion, such as a motor, a cylinder, a hydraulic cylinder, etc., and the present invention does not impose any limitation on this.

[0060] It is understandable that the present invention proposes a multi-purpose finger exoskeleton bionic mechanism, which can be used as a finger of a prosthetic hand, and can also be worn on the outside of the finger to drive the finger movement to complete hand function rehabilitation and finger strength enhancement. The mechanism is an under-actuated mechanism, which uses the power that can complete linear motion as a power source to drive each component to complete the corresponding movement, and finally can complete a similar finger flexion and extension movement. The component combination of this mechanism is compact, and at the same time, finger support parts are added to facilitate the placement of various sensors. The overall weight is light and the practicability is strong.

[0061] The bionic finger exoskeleton mechanism of the present invention can realize flexion and extension movements similar to those of fingers under the action of a power source. At the same time, the present invention optimizes the various components of the bionic finger exoskeleton mechanism. The adopted finger support can simultaneously connect the middle finger connecting rod and the distal finger connecting rod and is provided with a mounting portion for placing external devices such as sensors. That is, the finger support of the present invention has the functions of transmitting and installing external devices. The present invention reduces the number of components of the mechanism, simplifies the mechanical structure, reduces the overall weight of the mechanism, and improves the comfort of wearing. At the same time, through the close cooperation of the various components, the stability of the movement process of the mechanism can be guaranteed, so that the bionic finger exoskeleton mechanism has a good use effect.

[0062] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0063] The above embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A bionic finger exoskeleton mechanism, characterized in that: It includes a six-link coupling mechanism and a finger support connected to the six-link coupling mechanism, the six-link coupling mechanism is composed of a distal finger link, a distal finger connecting rod, a middle finger link, a proximal finger link, a proximal finger connecting rod and a sliding guide rail hinged by multiple rotating connectors, the rotating connectors include a first rotating connector, a second rotating connector, a third rotating connector, a fourth rotating connector, a fifth rotating connector, a sixth rotating connector, a seventh rotating connector, an eighth rotating connector and a ninth rotating connector, wherein the front end of the distal finger link is connected to the first rotating connector, the middle end of the distal finger link is hinged to the front end of the middle finger link through the second rotating connector, and the rear end of the distal finger link is hinged to the third rotating connector The front end of the distal finger connecting rod is connected to the rear end of the distal finger connecting rod, which is hinged to the first front end of the finger support member through the fourth rotating connection member, the middle end of the middle finger connecting rod is hinged to the front end of the proximal finger connecting rod through the fifth rotating connection member, the rear end of the middle finger connecting rod is hinged to the second front end of the finger support member through the sixth rotating connection member, the middle end of the proximal finger connecting rod is hinged to the front end of the sliding guide rail through the seventh rotating connection member, the rear end of the proximal finger connecting rod is hinged to the front end of the proximal finger connecting rod through the eighth rotating connection member, the rear end of the proximal finger connecting rod is hinged to the rear end of the finger support member through the ninth rotating connection member, and the end of the ninth rotating connection member is located in the slide groove of the sliding guide rail; The finger support comprises a mounting portion, an extension arm extending from the mounting portion, and a hinged arm extending vertically from the extension arm, wherein the first front end and the second front end are two ends of the hinged arm, and the rear end of the finger support is an end opposite to an end of the mounting portion from which the extension arm extends; The mounting portion is in a half-moon shape and is provided with a plurality of mounting positions for assembling sensors, wherein the sensors are used to measure the relative movement of the mechanism, and calculate the movement information of the proximal finger link, the middle finger link and the distal finger link according to the size and rotation mode of each link, so as to calculate the overall movement effect of the bionic finger exoskeleton mechanism.

2. The bionic finger exoskeleton mechanism according to claim 1, characterized in that: There are two of each of the distal finger link, the distal finger connecting rod, the middle finger link, the proximal finger link, the proximal finger connecting rod and the sliding guide rail, and each of the distal finger link, the middle finger link and the proximal finger link are V-shaped links.

3. The bionic finger exoskeleton mechanism according to claim 1, characterized in that: The extension arm is a V-shaped structure.

4. The bionic finger exoskeleton mechanism according to any one of claims 1 to 3, characterized in that: The sliding guide rail is a linear slide rail or an arc-shaped slide rail.

5. The bionic finger exoskeleton mechanism according to any one of claims 1 to 3, characterized in that: The rotating connecting member is one or a combination of a rotating shaft, a flange, and a gear.

6. The bionic finger exoskeleton mechanism according to any one of claims 1 to 3, characterized in that: The bionic finger exoskeleton mechanism also includes a fixing component, which includes one or more fixing members and a fixing belt connected to the fixing member, the fixing member is connected to the seventh rotating connecting member, and the fixing belt is used to be fixed to the back of the wearer's hand to achieve connection and fixation between the bionic finger exoskeleton mechanism and the back of the wearer's hand.

7. The bionic finger exoskeleton mechanism according to claim 6, characterized in that: The fixing member includes a base connected to the fixing belt and a connecting portion vertically extending from the base, and the connecting portion is provided with a mounting hole so that the fixing member can be mounted on the seventh rotating connecting member.

8. The method for using the bionic finger exoskeleton mechanism according to any one of claims 1 to 7, characterized in that: Includes steps: A power source is used to drive the ninth rotating connecting member to slide along the slide groove of the sliding guide rail; The finger support member and the proximal finger connecting rod are driven to move by sliding of the ninth rotating connecting member; The proximal finger connecting rod and the eighth rotating connecting member drive the proximal finger connecting rod to rotate around the seventh rotating connecting member; The middle finger connecting rod is driven to rotate around the fifth rotating connecting rod via the finger supporting member and the sixth rotating connecting member, and is transmitted to the distal finger connecting rod via the finger supporting member and the fourth rotating connecting member; and The distal finger connecting rod and the third rotating connecting member drive the distal finger connecting rod to rotate around the second rotating connecting member, thereby completing the flexion and extension movement of the bionic finger exoskeleton mechanism.

Images