A lasso transmission device for hand exoskeleton
Through the design of a lasso transmission device, two motors are used to drive five fingers, achieving stable output and portability of the hand exoskeleton, solving the problems of complex control, large size and heavy weight in existing technologies, and providing human-like grip and good portability.
Patent Information
- Application Number
- CN202211270760.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-10-17
- Publication Date
- 2025-09-30
- Estimated Expiration
- 2042-10-17
AI Technical Summary
Existing hand exoskeleton devices focus more on function than structure, with complex control systems, large size, heavy weight, and poor portability. Especially when multiple fingers move synchronously, the control is difficult, and the motor is arranged in the hand, which affects the user's sense of ease in operation.
A lasso transmission device is used, with two motors driving five fingers. The finger freedom output is achieved through a spring slider mechanism and a movable pulley mechanism, and the output force is adjusted through a stiffness adjustment buckle. The overall structure is compact and highly portable, and the motor is remotely arranged at the waist or back.
It achieves stable output of five fingers, reduces the control difficulty and equipment weight, provides human-like grip, simple and compact structure, good portability, and does not affect the sense of ease of operation.
Smart Images
Figure CN115635473B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of wearable hand exoskeletons, and in particular to a lasso transmission device for a hand exoskeleton. Background Art
[0002] Wearable hand exoskeletons can be used to enhance the strength of healthy people's hands and assist patients with hand dysfunction in rehabilitation training. They are one of the important tools to improve people's ability to interact with the external environment.
[0003] In order to efficiently complete daily grasping tasks, it is necessary to find a balance between the structure and function of a hand exoskeleton when designing it, that is, how to achieve more complex functions with a simpler structure. Existing hand exoskeletons often focus on function rather than structure, and generally have problems such as complex control systems, large size and weight, and poor portability, resulting in low practicality. In Chinese invention patent CN201910672628.9, an exoskeleton finger rehabilitation training device and its use method are proposed. Each finger requires an independent motor drive to complete rehabilitation training. When multiple fingers move synchronously, the control difficulty increases sharply; in Chinese invention patent CN202111528220.8, an intelligent finger exoskeleton mechanism is proposed. Each finger requires two motors to drive together. Too many motors not only increase the control difficulty, but also increase the size and weight of the equipment. In addition, the above two hand exoskeletons arrange the drive motors close to the back of the hand or fingers, which has poor portability and affects the user's sense of ease of operation. Summary of the Invention
[0004] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a lasso transmission device for a hand exoskeleton, which can achieve stable output of five finger degrees of freedom with only two drive motors, and the output force is adjustable. It has the advantages of simple control, small size, light weight, and strong portability.
[0005] In order to achieve the above object, the technical solution adopted by the present invention is:
[0006] A lasso transmission device for a hand exoskeleton comprises a control box 1, one end of which is fixed with two motors 2. A winding drum 3 is connected to the output shaft of each motor 2, on which an input rope 4 is wound. The other end of the input rope 4 is connected to the input end of a spring slider mechanism 5. All spring slider mechanisms 5 are connected on both sides to linear guide rails 6, on which the spring slider mechanisms 5 can slide freely. The linear guide rails 6 are symmetrically fixed on both sides of the control box 1. The output end of the spring slider mechanism 5 is provided with five branches, each branch being connected to a movable pulley mechanism 8 via an intermediate rope 7. The movable pulley mechanism 8 is connected to an output rope 9, which passes through an output rope sleeve 10 and is connected to the corresponding finger actuator. The output rope sleeve 10 is connected to the outside of the other end of the control box 1.
[0007] The spring slider mechanism 5 includes a slider 501, a compression spring 502 and a stiffness adjustment buckle 503; five cylindrical cavities are evenly distributed inside the slider 501, and a compression spring 502 is provided in the cylindrical cavity. One end of the compression spring 502 is connected to the inside of the cylindrical cavity, and the other end is connected to the middle rope 7 that passes axially through the middle of the cylindrical cavity; there are small holes distributed radially along the cylindrical cavity on the surface of the slider 501, and the small holes are installed with stiffness adjustment buckles 503. The stiffness adjustment buckle 503 and the compression spring 502 cooperate to achieve stiffness adjustment.
[0008] The stiffness adjustment buckle 503 limits and changes the effective working length of the compression spring 502, thereby changing the stiffness of the compression spring 502 and the output force of the corresponding output rope 9 in a tensioned state.
[0009] The compression spring 502 is set with different stiffness according to actual needs, thereby providing different output forces to drive the corresponding finger actuator to achieve stable grasping of objects.
[0010] The movable pulley mechanism 8 includes a pulley housing 802 and a movable pulley 801 installed therein. The movable pulley 801 is connected to the spring slider mechanism 5 via an intermediate rope 7 , and the pulley housing 802 is connected to the output rope 9 .
[0011] The motor 2 drives the winding drum 3 to rotate, so that the input rope 4 drives the spring slider mechanism 5 to slide along the linear guide rail 6, and then the compression spring 502 begins to compress, so that the middle rope 7 is tensioned and generates tension, thereby driving the movable pulley mechanism 8, the output rope 9 and the potential finger actuator to move; before the finger actuator contacts the grasped object, all the output ropes 9 move normally; when one or more of the finger actuators contact the grasped object, the corresponding output rope 9 cannot move normally, causing the corresponding compression spring 502 to be further compressed and deformed. At this time, the spring slider mechanism 5 as a whole still slides along the linear guide rail 6 and drives the remaining output ropes 9 and the corresponding finger actuators to move normally until all the finger actuators contact the grasped object and complete the grasping task.
[0012] The lasso transmission device for a hand exoskeleton is remotely arranged around the waist or back of the user.
[0013] The beneficial effects of the present invention are:
[0014] 1. The present invention is designed based on the under-actuated concept. It can achieve stable output of five degrees of freedom with only two motors as drive, reducing the overall weight of the device while lowering the control difficulty. It can be used to control rehabilitation equipment such as hand exoskeletons.
[0015] 2. The present invention is designed based on the theory of force synergy when the human hand grasps an object. It is a mechanical implementation of force synergy. By adjusting the stiffness of the compression spring, when the motor drives the hand exoskeleton to move according to the set mode, each finger can output human-like grasping force to achieve stable grasping of objects.
[0016] 3. The present invention adopts a lasso transmission design, which has a simple and compact overall structure and strong portability. It can achieve the control target without being close to the hand exoskeleton and can be remotely arranged at the user's waist or back, saving space without affecting the ease of operation.
[0017] 4. The present invention incorporates a modular design concept and uses a spring slider mechanism as the basic functional module. Its overall output freedom can be adjusted accordingly according to actual control requirements, and has good scalability. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 Schematic diagram of the structure of an embodiment of the present invention.
[0019] Figure 2 Schematic diagram of the spring slider mechanism of the present invention, wherein (a) is an axonometric diagram of the spring slider mechanism; (b) is a schematic diagram of the internal structure of the spring slider mechanism.
[0020] Figure 3 Schematic diagram of the movable pulley mechanism of the present invention. DETAILED DESCRIPTION
[0021] The present invention is described in detail below with reference to the accompanying drawings and embodiments.
[0022] Reference Figure 1 A lasso transmission device for a hand exoskeleton includes a control box 1, one end of which is fixed with two oppositely arranged motors 2, and the output shaft of each motor 2 is connected to a winding disk 3, on which an input rope 4 is wound, and the other end of the input rope 4 is connected to the input end of a spring slider mechanism 5; all the spring slider mechanisms 5 are connected to linear guide rails 6 on both sides, and the spring slider mechanisms 5 can slide freely on the linear guide rails 6, and the linear guide rails 6 are symmetrically fixed on both sides of the control box 1; the output end of the spring slider mechanism 5 is provided with five branches, each branch is connected to a movable pulley mechanism 8 through an intermediate rope 7; the movable pulley mechanism 8 is connected to the output rope 9, and the output rope 9 passes through the output rope sleeve 10 and is connected to the corresponding finger actuator, and the output rope sleeve 10 is connected to the outside of the other end of the control box 1.
[0023] Reference Figure 2 The spring slider mechanism 5 includes a slider 501, a compression spring 502 and a stiffness adjustment buckle 503; five cylindrical cavities are evenly distributed inside the slider 501, and a compression spring 502 is provided in the cylindrical cavity. One end of the compression spring 502 is connected to the inside of the cylindrical cavity, and the other end is connected to the middle rope 7 that passes through the middle of the cylindrical cavity along the axial direction; there are small holes distributed radially along the cylindrical cavity on the surface of the slider 501, and the small holes are equipped with a stiffness adjustment buckle 503. The stiffness adjustment buckle 503 can limit and change the effective working length of the compression spring 502, thereby changing its stiffness and the output force of the corresponding output rope 9 in the tensioned state; the compression spring 502 can be set with different stiffness according to actual needs, thereby providing different output forces to drive the corresponding finger actuator to achieve stable grasping of objects.
[0024] The present invention operates as follows: the input rope 4, intermediate rope 7, and output rope 9 can only provide tension, and their elastic deformation in the tensioned state is negligible. The motor 2 rotates the winding drum 3, forcing the input rope 4 to tighten and its effective length to begin to shorten. The input rope 4 then drives the spring slider mechanism 5 to slide along the linear guide 6. The compression spring 502 then begins to compress, causing the intermediate rope 7 to tighten and generate tension, which in turn drives the movable pulley mechanism 8, the output rope 9, and potential finger actuators to move. Before the finger actuators contact the object, all output ropes 9 can move normally. When one or more finger actuators contact the object, the corresponding output rope 9 cannot move normally, forcing the corresponding compression spring 502 to further compress and deform. At this point, the spring slider mechanism 5 as a whole can still slide along the linear guide 6, driving the remaining output ropes 9 and corresponding finger actuators to move normally, until all finger actuators fully contact the object and complete the grasping task.
[0025] Reference Figure 3 The movable pulley mechanism 8 includes a pulley housing 802 and a movable pulley 801 installed therein. The movable pulley 801 is connected to the spring slider mechanism 5 through an intermediate rope 7, and the pulley housing 802 is connected to the output rope 9.
[0026] The above embodiments are only for illustrating the technical concept and features of the present invention and are not intended to limit the scope of protection of the present invention. For those skilled in the art, any equivalent transformation or modification made according to the spirit of the present invention should be included in the scope of protection of the present invention.
Claims
1. A lasso transmission device for a hand exoskeleton, comprising a control box (1), characterized in that: Two motors (2) are fixed to one end of the control box (1), and a winding drum (3) is connected to the output shaft of each motor (2), an input rope (4) is wound on the winding drum (3), and the other end of the input rope (4) is connected to the input end of a spring slider mechanism (5); both sides of all the spring slider mechanisms (5) are connected to a linear guide rail (6), and the spring slider mechanism (5) can slide freely on the linear guide rail (6), and the linear guide rail (6) is symmetrically fixed on both sides of the control box (1); the output end of the spring slider mechanism (5) is provided with five branches, and each branch is connected to a movable pulley mechanism (8) through an intermediate rope (7); the movable pulley mechanism (8) is connected to the output rope (9), and the output rope (9) passes through the output rope sleeve (10) and is connected to the corresponding finger actuator, and the output rope sleeve (10) is connected to the outside of the other end of the control box (1); The spring slider mechanism (5) comprises a slider (501), a compression spring (502) and a stiffness adjustment buckle (503); five cylindrical cavities are evenly distributed inside the slider (501), and a compression spring (502) is provided in each cylindrical cavity. One end of the compression spring (502) is connected to the inside of the cylindrical cavity, and the other end is connected to a middle rope (7) passing through the middle of the cylindrical cavity in the axial direction; the surface of the slider (501) has small holes distributed radially along the cylindrical cavity, and the small holes are equipped with stiffness adjustment buckles (503), and the stiffness adjustment buckle (503) and the compression spring (502) cooperate to achieve stiffness adjustment; The motor (2) drives the winding drum (3) to rotate, so that the input rope (4) drives the spring slider mechanism (5) to slide along the linear guide rail (6), and then the compression spring (502) begins to compress, so that the middle rope (7) is tensioned and generates tension, thereby driving the movable pulley mechanism (8), the output rope (9) and the potential finger actuator to move; before the finger actuator contacts the grasped object, all the output ropes (9) move normally; when one or more of the finger actuators contact the grasped object, the corresponding output rope (9) cannot move normally, causing the corresponding compression spring (502) to be further compressed and deformed. At this time, the spring slider mechanism (5) as a whole still slides along the linear guide rail (6) and drives the remaining output ropes (9) and the corresponding finger actuators to move normally until all the finger actuators contact the grasped object and complete the grasping task; The movable pulley mechanism (8) comprises a pulley housing (802) and a movable pulley (801) installed therein. The movable pulley (801) is connected to the spring slider mechanism (5) via an intermediate rope (7), and the pulley housing (802) is connected to an output rope (9).
2. The device according to claim 1, characterized in that: The stiffness adjustment buckle (503) limits and changes the effective working length of the compression spring (502), thereby changing the stiffness of the compression spring (502) and the output force of the corresponding output rope (9) in a tensioned state.
3. The device according to claim 1, characterized in that: The compression spring (502) is set with different stiffnesses according to actual needs, thereby providing different output forces to drive the corresponding finger actuators to achieve stable grasping of objects.
4. The device according to claim 1, characterized in that: The lasso transmission device for a hand exoskeleton is remotely arranged around the waist or back of the user.