A grasping adaptive underactuated hand exoskeleton mechanism from base to end and the underactuated link mechanism therein

Abstract

The present invention discloses a grip-adaptive underactuated hand exoskeleton mechanism from base to tip and the underactuated linkage mechanism therein. The hand exoskeleton mechanism comprises: an underactuated linkage mechanism and a back-of-hand base plate, a pipeline mechanism driving the underactuated linkage mechanism, and a drive motor group installed at the distal end. The distal end of the underactuated linkage mechanism is bound to the distal end of the finger, and the motor group drives the pipeline mechanism and is assisted by a return spring installed on the linkage mechanism to achieve active flexion / extension of all fingers and active abduction / adduction of the thumb. The underactuated linkage mechanism and the fingers together form a multi-degree-of-freedom mechanism that can automatically adapt to different finger sizes and the different sizes and shapes of grasped objects. The self-adaptive gripping underactuated hand exoskeleton mechanism described in the present invention is mainly used for rehabilitation training of finger function in hemiplegic patients after stroke and to assist finger movement in daily life for patients who cannot recover.

Description

Technical Field

[0001] The present invention relates to a hand exoskeleton mechanism, in particular to a grasping adaptive under-actuated hand exoskeleton mechanism from base end to end end and an under-actuated connecting rod mechanism therein. Background Art

[0002] Stroke is a severe neurological disorder that damages the brain, leading to severe disability (paralysis) and even death. Approximately 12.2 million strokes are diagnosed worldwide each year, resulting in over 100 million stroke survivors worldwide. Many suffer temporary or permanent loss of upper limb muscle control and sensation. Repetitive movement training can restore some arm function in stroke survivors, but hand function is often difficult to recover because the hand is farthest from the midline of the body and has the longest neuromuscular control pathways. Loss of hand function is equivalent to a loss of 90% of upper limb function, severely limiting stroke patients' activities of daily living and significantly reducing their quality of life. Studies have shown that within the first three months after a stroke, patients can recover 48-91% of motor function through active rehabilitation training, but this is primarily in the lower limbs, while recovery in the upper limbs, especially the hands, is less significant. Therefore, patients require ongoing active rehabilitation training using repetitive movements to further restore hand function. Numerous studies have demonstrated that robotic-assisted and rehabilitative devices can help restore upper limb motor function, at least comparable to, if not exceeding, rehabilitation training provided by occupational therapists.

[0003] A large number of hand exoskeleton devices have been developed for hand motor rehabilitation training or assistance in daily living activities. Currently, two types of hand exoskeletons are being studied in depth: soft gloves driven by pneumatic actuators or tendons (pull wires), and hand exoskeletons based on rigid links driven by gears or pull wires. Soft gloves with pneumatic actuators have become commercial devices for passive finger training, especially in the Chinese market, and are already very common. However, pneumatically driven soft gloves usually cannot generate sufficient gripping force, which makes it difficult for hand paralysis patients to grasp and move heavy objects. In addition, these pneumatically driven soft gloves often require a bulky and inconvenient air pump. The most important thing is that many studies have shown that this passive training has little obvious effect on rehabilitation except for the relief of finger spasticity. Soft tendon (pull wire) driven soft gloves have recently attracted much attention due to their light weight and compact size. Our previous study (reference [1]) has confirmed that tendon-driven soft gloves can benefit stroke patients in rehabilitation training and daily living activities. However, this type of glove requires a large number of tendons (pull wires) on both sides of the hand to drive the movement of the fingers, which makes it difficult for patients to put on and take off the gloves by themselves. In particular, the tendons on the palm side hinder grasping operations, while the tendons on the dorsal side cause patients to feel uncomfortable due to the axial pressure along the fingers when extending their fingers. In addition, our tests show that the finger flexion amplitude of patients assisted by tendon-driven soft gloves is much lower than that of healthy fingers, which is not conducive to the recovery of patients' hand function. Rigid hand exoskeletons (references [2] and [3]) can generate stronger gripping forces, but they are usually complex and bulky, and must be customized due to the differences in human hand size. In order to reduce the complexity and cost of the system, some rigid hand exoskeletons are only used to drive the thumb and index finger. In addition, because the joints between the hand exoskeleton and the human fingers are difficult to align, most rigid hand exoskeletons do not produce natural movements that conform to the human hand. Therefore, some rigid hand exoskeletons adopt some innovative mechanisms that can make the robot joints self-align with human finger joints to prevent the robot from causing damage to the user's fingers. However, these mechanisms make the hand exoskeleton more bulky and complex.

[0004] Experimental results indicate that distal training appears to be beneficial for the recovery of the entire upper limb, and therefore, rehabilitation training using a base-to-distal hand exoskeleton may accelerate patient recovery. In addition, a base-to-distal hand exoskeleton eliminates the requirement for alignment between the finger joints and the exoskeleton joints. Some studies on rigid-link hand exoskeletons claim to have adopted a base-to-distal mechanism in their design. Unfortunately, most of them are still in the experimental stage, with only two or three fingers flexing / extending, or five fingers flexing simultaneously through a single actuator. Some studies (references [4] and [5]) seem to incorporate the base-to-distal concept in their designs, but they add additional constraints to the proximal or middle phalanges, thus losing the advantages of base-to-distal. In addition, the abduction / adduction movement of the thumb is crucial for hand function, but these designs do not consider the abduction / adduction movement of the thumb.

[0005] References[1] W.Chen, G.Li, N.Li, W.Wang, P.Yu, R.Wang, X.Xue,

[0006] Reference [2] PatentUS20100305717A1: WearablePowerAssistiveDevice forHelpingaUsertoMoverTheirHand.

[0007] Reference [3] PatentUS20150223959A1: WearableExoskeletonDeviceforHandRehabilitation.

[0008] References [4] N.Secciani, M.Bianchi, A.Ridolfi, F.Vannetti, Y.Volpe, L.Governi, M.Bianchini, andB.Allotta, "Tailor-madehand exoskeletonsattheuniversityofflorence:fromkinematicsto mechatronicdesign," Machines, vol.7, no.2, p.22, 2019.

[0009] References [5] M. Dragusanu, MZIqbal, TLBaldi, D. Prattichizzo, and M. Malvezzi, "Design, development, and control of hand / wrist exoskeleton for rehabilitation and training," IEEE Transactionson Robotics, 2022. Summary of the Invention

[0010] The technical problem to be solved by the present invention is to provide a grip-adaptive underactuated hand exoskeleton mechanism from base to end that can adapt to different finger sizes of human hands and different sizes and shapes of grasped objects.

[0011] In order to solve the above technical problems, the technical solution adopted by the present invention is: an under-actuated linkage mechanism 1, which comprises: a fixed link 101, a driving link 102, a first auxiliary link 103, a second auxiliary link 104, a first cross link 105, a second cross link 106, an execution link 107, an end link 108, a groove line pulley 111 and a pipeline mechanism 3, wherein the corresponding end of the fixed link 101 and the corresponding end of the driving link 102 are movably hinged at the first hinge point I, a groove line pulley 111 is provided on the first hinge shaft, and the other end of the fixed link 101 is fixed to the corresponding pipe sleeve 303, And connected to the corresponding end of the first wire tube 302; the corresponding end of the first auxiliary link 103 is movably hinged to the second hinge point II in the middle of the fixed link 101, the other end of the first auxiliary link 103 and the corresponding end of the second auxiliary link 104 are movably hinged at the third hinge point III, the other end of the second auxiliary link 104 is movably hinged to the fourth hinge point IV in the middle of the driving link 102, the other end of the driving link 102 and the corresponding end of the first cross link 105 are movably hinged at the fifth hinge point V, the corresponding end of the second cross link 106 is movably hinged to the sixth hinge point VI on the driving link 102, the sixth hinge point is located at the Between the fourth hinge point IX and the fifth hinge point V, the other end of the second cross link 106 and the corresponding end of the execution link 107 are movably hinged at the seventh hinge point VII on the execution link 107, and the other end of the execution link 107 and the end link 108 are movably hinged at the eighth hinge point VIII. The other end of the first cross link 105 is movably hinged at the ninth hinge point IX on the execution link 107, and the ninth hinge point is located between the seventh hinge point VII and the eighth hinge point VIII. The under-actuated linkage mechanism 1 adopts a wire drive mode, and the first pull wire 301 is fixed to the third hinge point III, and after passing through the groove and the wire pulley 111, it passes through the first wire tube 3 02 is connected to the flexion and extension drive wheel 421, and the first pull wire 301 pulls the third connection point III, so that the second auxiliary link 104 pushes the drive link 102 to rotate around the first hinge point I, and then drives the execution link 107 through the first cross link 105 and the second cross link 106 to push the end link 108, thereby realizing the active bending movement of the finger 6. A first elastic reset component is provided between the third hinge point III and the tenth connection point X on the fixed link 101. The first elastic reset component cooperates with the flexion and extension drive motor 411 to release the first pull wire 301, so that the under-driven link mechanism 1 is reset to realize the extension movement of the finger 6.

[0012] As a preferred solution, in the grip-adaptive underactuated hand exoskeleton mechanism from base to tip, the first elastic return component is a first elastic return spring 121 .

[0013] The present invention also provides a grip-adaptive underactuated hand exoskeleton mechanism from base to end, comprising: the underactuated link mechanism 1 of the present invention, as well as a back-of-hand base plate 2, a pipeline mechanism 3, a drive motor group 4 and a planar thrust bearing 5; the fixed link 101 of the underactuated link mechanism 1 is fixed to the back-of-hand base plate 2 via the planar thrust bearing 5; the drive motor group 4 comprises: five flexion-extension drive motors 411 for driving all fingers to flex / extension motion and corresponding five flexion-extension drive wheels 421, an extension-adduction drive motor for driving thumb abduction / adduction motion, and a corresponding extension-extension drive motor 412 for driving thumb abduction / adduction motion. The motor 412 and the corresponding extension and retraction drive wheel 422, as well as the motor box 401 for installing all the bending and extension drive motors 411 and the extension and retraction drive motors 412; the pipeline mechanism 3 is similar to the traditional wire brake structure, including: a first pull wire 301 and a corresponding first wire tube 302 for driving all fingers to bend, a pair of tube sleeves 303 fixed at both ends of the first wire tube 302, a second pull wire 304 and a corresponding second wire tube 305 for driving the thumb to abduct, fixing the second wire tube 305 to the tube sleeve fixing block 306 on the back of the hand base plate 2, and fixing the second wire tube 305 to the tube sleeve fixing block 306. The wire tube 305 is fixed to the tube sleeve 307 on the motor box 401; as mentioned above, one end of the first wire tube 302 is fixed to one end of the fixed link 101 through a tube sleeve 303, and the other end of the first wire tube 302 is fixed to the motor box 401 through another tube sleeve 303. The first pull wire 301 fixed to the third hinge point III passes around the groove and the wire pulley 111, passes through the first wire tube 302, and is connected to the bending and extension driving wheel 421. The first pull wire 301 cooperates with the first elastic return spring 121 to realize the active bending / extension movement of all fingers; The outer side of the fixed link 101 corresponding to the thumb is connected to the second pull wire 304. After the second pull wire 304 passes through the second wire tube 305, it is connected to the expansion and contraction drive wheel 422. The second pull wire 304 allows the fixed link 101 corresponding to the thumb to rotate around the plane thrust bearing 5, thereby realizing the active outward abduction movement of the thumb. A second elastic reset component is provided between the inner side of the fixed link 101 corresponding to the thumb and the back of the hand substrate 2. The second elastic reset component cooperates with the expansion and contraction drive motor 412 to release the second pull wire 304 to realize the active inward abduction movement of the thumb.

[0014] As a preferred solution, in the grip-adaptive underactuated hand exoskeleton mechanism from base to tip, the second elastic return component is a second elastic return spring 122 .

[0015] The beneficial effects of the present invention are:

[0016] 1. The present invention forms an under-actuated multi-degree-of-freedom mechanism through an under-actuated linkage mechanism 1 from the base end to the end, together with the distal phalanx 601, the middle phalanx 602, the proximal phalanx 603, and the metacarpal 604 of the human finger. This allows the finger to naturally envelope the grasped object. When the finger is restricted by the object, the redundant degrees of freedom disappear, and the under-actuation is transformed into full actuation, thereby realizing adaptive grasping motion, including automatic adaptation to different finger sizes and automatically adapting to different sizes and shapes of the grasped object.

[0017] 2. The present invention uses the first auxiliary link 103 and the second auxiliary link 104 to allow the drive motor group 4 installed at the distal end to drive the drive link 102 through the pipeline mechanism 3, thereby driving the entire under-actuated linkage mechanism 1, and finally driving the finger end (distal phalanx 601), allowing the finger 6 to perform active adaptive bending movement.

[0018] 3. The present invention realizes active extension movement of the finger 6 by releasing the first pull wire 301 through the first return spring 121 installed at the third hinge point III and the tenth connection point X in cooperation with the flexion and extension drive motor 411 .

[0019] 4. The present invention fixes the fixed link 101 on the back-of-hand base plate 2 through the planar thrust bearing 5, thereby allowing the entire under-actuated link mechanism 1 to rotate freely on the back-of-hand base plate 2, thereby realizing active or passive abduction / adduction movement of the fingers.

[0020] 5. The present invention drives the second pull wire 304 by installing a driving motor group 4 at the distal end, so that the fixed link 101 corresponding to the thumb rotates around the planar thrust bearing 5, thereby achieving active abduction movement of the thumb.

[0021] 6. The present invention realizes active adduction movement of the thumb by releasing the second pull wire 304 through the second return spring 122 installed between the inner side of the fixed link 101 corresponding to the thumb and the back of the hand base plate 2 in cooperation with the flexion and extension drive motor 412. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the under-actuated hand exoskeleton mechanism described in the present invention.

[0023] Figure 2 It is a schematic diagram of the driving principle of the under-actuated linkage mechanism described in the present invention.

[0024] Figure 3 This is a diagram illustrating the positions of hinge points or connection points of the under-actuated linkage mechanism described in the present invention.

[0025] Figure 4 It is a schematic diagram of the three-dimensional structure of the under-actuated connecting rod mechanism of the present invention in a straightened state relative to the index finger portion.

[0026] Figure 5 It is a schematic diagram of the three-dimensional structure of the under-actuated linkage mechanism of the present invention in a bent state relative to the index finger.

[0027] Figure 6 It is a schematic diagram of the three-dimensional structure of the back of the hand base plate on which the under-actuated hand exoskeleton mechanism of the present invention is installed.

[0028] Figure 7 This is a schematic diagram of the principle of the under-actuated hand exoskeleton mechanism of the present invention to achieve passive abduction / adduction movement of the other four fingers except the thumb.

[0029] Figure 8 This is a schematic diagram showing the principle of the thumb portion of the under-actuated hand exoskeleton mechanism of the present invention achieving active abduction / adduction movement.

[0030] Figures 1 to 8 1. Underactuated link mechanism; 101. Fixed link; 102. Driving link; 103. First auxiliary link; 104. Second auxiliary link; 105. First cross link; 106. Second cross link; 107. Actuating link; 108. End link; 111. Groove line pulley; 121. First return spring; 122. Second return spring; 2. Back of hand base plate; 201. Thumb plane bearing mounting hole; 202. Index finger plane bearing mounting hole; 203. Middle finger plane bearing mounting hole; 204. Ring finger plane bearing mounting hole; 205. 5. Little finger flat bearing mounting hole, 211. Pipe sleeve fixing block mounting hole, 3. Pipeline mechanism, 301. First pull wire, 302. First wire tube, 303. Pipe sleeve, 304. Second pull wire, 305. Second wire tube, 306. Pipe sleeve fixing block, 307. Pipe sleeve, 4. Drive motor group, 401. Motor box, 411. Flexion and extension drive motor, 412. Extension and retraction drive motor, 421. Flexion and extension drive wheel, 422. Extension and retraction drive wheel, 5. Plane thrust bearing, 6. Finger, 601. Distal phalanx, 602. Middle phalanx, 603. Proximal phalanx, 604. Metacarpal

[0031] Figure 9 This is a physical picture of a hand wearing the under-actuated hand exoskeleton mechanism described in the present invention.

[0032] Figure 10 This is a physical demonstration diagram of a person wearing the under-actuated hand exoskeleton mechanism of the present invention.

[0033] Figure 11 1 is an experimental setup and test result diagram for testing the underactuated hand exoskeleton mechanism described in the present invention. DETAILED DESCRIPTION

[0034] The following describes in detail a specific implementation scheme of a base-to-end underactuated hand exoskeleton mechanism with adaptive grip according to the present invention with reference to the accompanying drawings.

[0035] like Figures 1 to 8As shown, the present invention discloses an underactuated hand exoskeleton mechanism with adaptive grip from base to end, comprising: an underactuated link mechanism 1 for driving finger movement, a back-of-hand base plate 2, a pipeline mechanism 3, a drive motor group 4 and a planar thrust bearing 5; the drive motor group 4 comprises: five flexion-extension drive motors 411 and corresponding five flexion-extension drive wheels 421 for driving all finger flexion / extension movement, a thumb abduction / adduction drive motor 412 and corresponding thumb abduction / adduction drive wheel 422, and a motor box 401 for mounting all flexion-extension drive motors 411 and thumb abduction / adduction drive motors 412; the pipeline mechanism 3 is similar to a traditional wire brake structure, comprising: a first pull wire 30 for driving all finger flexion 1 and the corresponding first wire tube 302, a pair of pipe sleeves 303 fixed at both ends of the first wire tube 302, a second pull wire 304 for driving thumb abduction and the corresponding second wire tube 305, a pipe sleeve fixing block 306 for fixing the second wire tube 305 on the back of the hand base plate 2 and a pipe sleeve 307 for fixing the second wire tube 305 on the motor box 401; the under-actuated linkage mechanism 1 includes: a fixed link 101, a driving link 102, a first auxiliary link 103, a second auxiliary link 104, a first cross link 105, a second cross link 106, an execution link 107, an end link 108 and a groove line pulley 111, the fixed link 101 is fixed on the back of the hand base plate 2 through a plane thrust bearing 5, the fixed The corresponding end of the fixed link 101 and the corresponding end of the driving link 102 are movably hinged at the first hinge point I, and a grooved wire pulley 111 is also provided on the first hinge shaft. The other end of the fixed link 101 is fixed to the corresponding end of the first wire tube 302 of the pipeline mechanism 3 through a pipe sleeve 303, and the other end of the first wire tube 302 is fixed to the motor box 401 of the driving motor group 4 through another pipe sleeve 303; the corresponding end of the first auxiliary link 103 is movably hinged to the second hinge point II in the middle of the fixed link 101, the other end of the first auxiliary link 103 and the corresponding end of the second auxiliary link 104 are movably hinged at the third hinge point III, and the other end of the second auxiliary link 104 is movably hinged to the driving link 1 02, the other end of the driving link 102 and the corresponding end of the first cross link 105 are movably hinged at the fifth hinge point V, the corresponding end of the second cross link 106 is movably hinged at the sixth hinge point VI on the driving link 102, and the sixth hinge point VI is located between the fourth hinge point IX and the fifth hinge point V, the other end of the second cross link 106 and the corresponding end of the actuator link 107 are movably hinged at the seventh hinge point VII on the actuator link 107, the other end of the actuator link 107 and the terminal link 108 are movably hinged at the eighth hinge point VIII, the other end of the first cross link 105 is movably hinged at the ninth hinge point IX on the actuator link 107, and the ninth hinge point IX is located between the seventh hinge point VII and the eighth hinge point VIII;The first pull wire 301 is fixed to the third hinge point III. After passing through the grooved wire pulley 111, it passes through the first wire tube 302 and is connected to the bending and extension drive wheel 421. A first return spring 121 is also installed between the third hinge point III and the tenth connection point X on the fixed link 101. The outer side of the fixed link 101 corresponding to the thumb is connected to the second pull wire 304. The second pull wire 304 passes through the second wire tube 305 and is connected to the extension and retraction drive wheel 422. A second return spring 122 is installed between the inner side of the fixed link 101 corresponding to the thumb and the back of the hand base plate 2. Figure 6 As shown, the back of the hand base plate 2 is provided with a thumb plane bearing mounting hole 201, an index finger plane bearing mounting hole 202, a middle finger plane bearing mounting hole 203, a ring finger plane bearing mounting hole 204 and a little finger plane bearing mounting hole 205 as well as a sleeve fixing block mounting hole 211.

[0036] In actual use, the back of the hand base plate 2 is tied to the back of the hand, and the end connecting rod 108 is tied to the fingertip (the end joint is also called the distal phalanx 601) (see Figure 2 The bending movement of the under-actuated linkage mechanism 1 can be achieved by the flexion-extension drive motor 411 installed at the distal end pulling the third link point through the first pull wire 301 in the pipeline mechanism 3 (see Figure 5 As shown), the first pull wire 301 allows the second auxiliary link 104 to push the driving link 102 to rotate around the first hinge point I, and then drives the execution link 107 through the first cross link 105 and the second cross link 106 to push the end link 108, thereby realizing the active bending movement of the finger 6; the extension movement of the under-actuated linkage mechanism 1 is realized by resetting the first return spring 121 between the fixed link 101 and the first auxiliary link 103, and the first return spring 121 resets the under-actuated linkage mechanism 1 in conjunction with the release of the first pull wire 301 by the flexion and extension drive motor 411, so that the active extension movement of the finger 6 can be realized (see Figure 4 The abduction / adduction of the driving link mechanism for the four fingers except the thumb is a passive movement, which can be achieved by simply passively rotating the fixed link 101 around the planar thrust bearing 5 mounted on the back of the hand base plate 2 (see Figure 7 The active abduction movement of the under-actuated link mechanism 1 for the thumb can be achieved by the extension and retraction drive motor 412 installed at the distal end directly pulling the fixed link 101 through the second pull wire 304 to rotate it around the planar thrust bearing 5, and the second return spring 122 between the fixed link 101 and the back of the hand base plate 2 cooperates with the extension and retraction drive motor 412 to release the second pull wire 304 so that the under-actuated link mechanism 1 for the thumb is reset in plane to achieve the active adduction movement of the thumb (see Figure 8 shown).

[0037] The eight-link underactuated hand exoskeleton mechanism from base to tip, described in the present invention, can assist in active flexion / extension of all fingers, active abduction / adduction of the thumb, and passive abduction / adduction of the remaining four fingers. Since it is installed on the back of the hand, force is only applied to the distal phalanx 601 of the fingers, allowing users to easily put on and take off the hand exoskeleton. Figure 9 This is a real picture after wearing the hand exoskeleton. The hand exoskeleton mechanism provides kinematic adaptability not only to different sizes and stiffness of fingers, but also to different geometric shapes and sizes of objects. First, the under-actuated linkage mechanism 1 from the base end to the end can be applied to all finger lengths, and the active or passive abduction / adduction of the fingers allows the under-actuated hand exoskeleton mechanism to be applied to all palm widths; secondly, the under-actuated linkage mechanism 1 from the base end to the end and the distal phalanx 601, middle phalanx 602, proximal phalanx 603, and metacarpal 604 of the human finger form an under-actuated multi-degree-of-freedom mechanism. Therefore, it can automatically adapt to objects with different geometric shapes and sizes, allowing the fingers to naturally envelope the grasped object; when the fingers are restricted by the grasped object, the redundant degrees of freedom disappear, and the under-actuation is transformed into full actuation, so that the hand exoskeleton mechanism can apply the grasping force required to grasp the object through the fingertips. In addition, when in use, the drive motor group 4 can be placed on the waist (see Figure 10 The present invention has been tested on healthy subjects and stroke survivors. The test results show that the hand exoskeleton can generate sufficient fingertip force (see Figure 11 The force is limited only by the torque of the motor group. With the help of the hand exoskeleton, stroke survivors can comfortably perform various daily hand activities such as grasping, pinching, and writing.

[0038] In summary, the eight-link underactuated hand exoskeleton mechanism from base to tip described in the invention is merely a preferred embodiment of the invention and is not intended to limit the scope of implementation of the invention. All equivalent changes and modifications made in accordance with the shape, structure, features, and spirit described in the claims of the invention should be included in the scope of the claims of the invention.

Claims

1. An underactuated linkage mechanism, characterized in that: The under-actuated link mechanism (1) comprises: a fixed link (101), a driving link (102), a first auxiliary link (103), a second auxiliary link (104), a first cross link (105), a second cross link (106), an execution link (107), an end link (108), a grooved wire pulley (111) and a pipeline mechanism (3). The specific structure of the pipeline mechanism (3) comprises: a first pull wire (301) for driving all fingers to bend and a corresponding first wire tube (302); the corresponding end of the fixed link (101) and the corresponding end of the driving link (102) are movably hinged at a first hinge point through a first hinge shaft. (I), a grooved wire pulley (111) is provided on the first hinge shaft, the first wire tube (302) is fixed to the tenth connection point (X) of the fixed link (101) through a pipe sleeve (303), the corresponding end of the first auxiliary link (103) is movably hinged to the second hinge point (II) in the middle of the fixed link (101) through the second hinge shaft, the other end of the first auxiliary link (103) and the corresponding end of the second auxiliary link (104) are movably hinged to the third hinge point (III) through the third hinge shaft, and the other end of the second auxiliary link (104) is movably hinged to the fourth hinge point (IV) in the middle of the driving link (102) through the fourth hinge shaft, The other end of the driving link (102) and the corresponding end of the first cross link (105) are movably hinged at the fifth hinge point (V) through the fifth hinge axis, the corresponding end of the second cross link (106) is movably hinged at the sixth hinge point (VI) on the driving link (102) through the sixth hinge axis, the sixth hinge point (VI) is located between the fourth hinge point (IV) and the fifth hinge point (V), the other end of the second cross link (106) and the corresponding end of the execution link (107) are movably hinged at the seventh hinge point (VII) on the execution link (107) through the seventh hinge axis, the other end of the execution link (107) and the terminal link (108) are movably hinged through the eighth hinge axis. The first cross link (105) is movably hinged at the eighth hinge point (VIII), and the other end of the first cross link (105) is movably hinged at the ninth hinge point (IX) on the execution link (107) through the ninth hinge axis, and the ninth hinge point (IX) is located between the seventh hinge point (VII) and the eighth hinge point (VIII); the under-actuated linkage mechanism (1) adopts a line drive mode, that is: the first pull wire (301) is fixed at the third hinge point (III), and after passing through the groove and the wire pulley (111), it passes through the first wire tube (302) and serves as the line drive end of the under-actuated linkage mechanism (1); a first elastic reset component is provided between the third hinge point (III) and the tenth connection point (X).

2. The underactuated linkage mechanism according to claim 1, characterized in that: The first elastic return component is a first elastic return spring (121).

3. A grip-adaptive underactuated hand exoskeleton mechanism from base to tip, capable of active flexion / extension of all fingers, active abduction / adduction of the thumb, and passive abduction / adduction of all fingers except the thumb, characterized in that: The underactuated hand exoskeleton mechanism comprises: the underactuated link mechanism (1) according to claim 1 or 2, and a back-of-hand base plate (2), a drive motor group (4) and a planar thrust bearing (5); the fixed link (101) is arranged on the back-of-hand base plate (2) through the planar thrust bearing (5); the drive motor group (4) comprises: five flexion-extension drive motors (411) for driving all fingers to flex / extension and corresponding five flexion-extension drive wheels (421), one extension-extraction drive motor (412) for driving thumb abduction / adduction and corresponding one extension-extraction drive wheel (422), and a motor box (401) for installing all flexion-extension drive motors (411) and extension-extraction drive motors (412); the pipeline mechanism (3) further comprises: a second pull wire (304) for driving thumb abduction and corresponding A second wire tube (305), one end of the second wire tube (305) is fixed to the back-of-hand base plate (2) through a tube sleeve fixing block (306), and the other end of the second wire tube (305) is fixed to the motor box (401) through a tube sleeve (307); the other end of the first wire tube (302) is fixed to the motor box (401) through another tube sleeve (303), and the wire drive end of the under-driven connecting rod mechanism (1) is connected to the bending and stretching driving wheel (421); the outer side of the fixed connecting rod (101) corresponding to the thumb is connected to the second pull wire (304), and the second pull wire (304) passes through the second wire tube (305) and is connected to the expansion and contraction driving wheel (422), and a second elastic reset component is provided between the inner side of the fixed connecting rod (101) and the back-of-hand base plate (2).

4. The grip-adaptive underactuated hand exoskeleton mechanism from base to tip according to claim 3, characterized in that: The second elastic return component is a second elastic return spring (122).

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