A lightweight hand exoskeleton force feedback device

Abstract

The present invention provides a lightweight hand exoskeleton force feedback device, which includes a driver, a driver power fixing member, a driver fixed rotating shaft fixing member, a driver pull rod fixing member, a first rotating link, a second rotating link, a first linkage link, a second linkage link, a bearing, a finger sleeve, and a pressure sensor fixing member; the driver is worn on the back of the user's metacarpal bones through a strap, the finger sleeve is fixed on the index finger of the human hand, the pressure sensor fixing member is fixed under the index finger of the human hand through a strap, when the human hand bends to simulate the state of grasping an object, the driver drives the first rotating link to couple the first linkage link and the second linkage link through the second rotating link to drive the finger sleeve to flex and extend, apply force feedback to the fingertip, and cause pressure on the pressure sensor in the pressure sensor fixing member, thereby realizing closed-loop force feedback control; the device has a simple structure and can achieve the lightweight of the wearable exoskeleton force feedback device, which will reduce the discomfort caused by the long-term wearing of the device by the user.

Description

Technical Field

[0001] The present invention belongs to the technical field of exoskeleton robots, and particularly relates to a lightweight hand exoskeleton force feedback device. Background Art

[0002] The global population aging trend is intensifying, and the self-care ability of the elderly is declining, manifested as impaired or lost functions, including difficulties in daily life activities or inability to complete basic self-care activities, such as eating, washing, dressing, toileting, and walking. The force feedback exoskeleton is expected to be a solution to address the challenges of an aging society, which can help the elderly maintain physical activity ability, delay muscle strength decline, and improve self-care ability. At the same time, the force feedback exoskeleton device combined with technologies such as virtual reality (VR) and augmented reality (AR) can provide a more immersive somatosensory interaction experience, and the wearer can interact with the virtual environment through the exoskeleton, enhancing the entertainment experience and training effect.

[0003] Traditional finger force feedback exoskeleton devices have certain limitations. There are also problems of discomfort during wearing. Due to the complex structure, the device is too heavy, making it inconvenient for patients to wear and use, and it is easy to cause harm to the wearer and cannot be worn for a long time. Moreover, most of them are open-loop control and cannot perform closed-loop control on the output of the actuator. At the same time, the structure of traditional finger force feedback exoskeleton devices is a fixed rotating shaft, while the human index finger bone rotates in multiple axes and the force application direction changes, and most of the traditional exoskeleton structure designs cannot change the rotating shaft. Summary of the Invention

[0004] To solve the above problems, the present invention discloses a lightweight hand exoskeleton force feedback device with a simple structure and a pressure sensor, so as to achieve closed-loop control of the index finger force feedback.

[0005] To achieve the above object, the technical solution of the present invention is as follows:

[0006] A lightweight hand exoskeleton force feedback device, comprising an actuator, an actuator power fixing member, an actuator fixed rotating shaft fixing member, an actuator pull rod fixing member, a first rotating link, a second rotating link, a first linkage link, a second linkage link, a bearing, a gasket, a finger sleeve, and a pressure sensor fixing member;

[0007] The driver is installed on the driver power fixing part and the driver fixed rotating shaft fixing part. The driver power fixing part and the driver fixed rotating shaft fixing part are worn on the back of the user's metacarpal bone through a strap. The driving rod of the driver is rotationally connected to the first section of the first rotating link through the driver rod fixing part. The rear end of the first rotating link is rotationally connected to the front end of the second rotating link. The front end of the first linkage link is rotationally connected to the driver fixed rotating shaft fixing part. The rear end of the first linkage link and the front end of the second linkage link are rotationally connected. The rear end of the second linkage link is rotationally connected to the central rotating bearing hole of the second rotating link. The rear end of the second rotating link is rotationally connected to the finger sleeve. The pressure sensor fixing part is connected to the finger sleeve through a strap and fixed under the fingertip. The driver drives the first rotating link to couple the first linkage link and the second linkage link through the second rotating link to drive the finger sleeve to flex and extend, apply force feedback to the fingertip, and cause pressure on the pressure sensor in the pressure sensor fixing part, thereby realizing the force feedback closed-loop control module. The device has a simple structure and can realize the lightweight of the wearable exoskeleton force feedback device, which will reduce the discomfort caused by the user wearing the device for a long time.

[0008] Further, the bearings include two types of bearings, namely twelve rotating bearings and one sliding bearing.

[0009] The driver power fixing part and the driver fixed rotating shaft fixing part are fixed on the back of the user's palm through a strap and are fixed close to the index finger side. The driver base is fixed through the driver power fixing part and the driver fixed rotating shaft fixing part. The driver fixed rotating shaft fixing part is located at the proximal end of the metacarpal bone and is provided with a rotating bearing hole A, and a rotating bearing A is placed in the rotating bearing hole A.

[0010] The driver is a DC wireless servo motor, and when the motor drives, it pushes and pulls the driver rod, and the rod is rigidly fixed to the driver rod fixing part.

[0011] The driver rod fixing part is provided with a rotating bearing hole B, and a rotating bearing B is placed in the rotating bearing hole B.

[0012] Both the front and rear ends of the first rotating link are provided with rotating bearing holes, namely rotating bearing hole C and rotating bearing hole D, and rotating bearings, namely rotating bearing C and rotating bearing D, are placed in them respectively. The front end of the first rotating link is rotationally connected to the rotating bearing B of the driver rod fixing part through the rotating bearing C and the sliding bearing a. In particular, the first rotating link is provided with a chute at its central position, and a sliding bearing b is placed in the chute.

[0013] Both the front and rear ends of the second rotating link are provided with rotating bearing holes, namely rotating bearing hole E and rotating bearing hole F respectively, and rotating bearings are placed therein, namely rotating bearing E and rotating bearing F respectively. The front end of the second rotating link is rotationally connected to the rear end rotating bearing C of the first rotating link through rotating bearing E. In particular, a rotating bearing hole G is provided at the center position of the link of the second rotating link, and a rotating bearing G is placed in the rotating bearing hole G;

[0014] The finger sleeve is provided with a rotating bearing hole H, and a rotating bearing H is placed in the rotating bearing hole H. The finger sleeve is rotationally connected to the rear end rotating bearing F of the second rotating rod through rotating bearing H. In particular, the finger sleeve is fixedly connected to the finger and the pressure sensor fixing member through a strap;

[0015] Both the front and rear ends of the first linkage link are provided with rotating bearing holes, namely rotating bearing hole I and rotating bearing hole J respectively, and rotating bearings are placed therein, namely rotating bearing I and rotating bearing J respectively;

[0016] Both the front and rear ends of the second linkage link are provided with rotating bearing holes, namely rotating bearing hole K and rotating bearing hole L respectively, and rotating bearings are placed therein, namely rotating bearing K and rotating bearing L respectively.

[0017] Further, the front end of the first linkage link is rotationally connected to the rotating bearing B of the drive rod fixing member through rotating bearing I. The rear end of the first linkage link is rotationally connected to the sliding bearing b and the gasket through rotating bearing J. At the same time, the gasket is rotationally connected to the front end of the second linkage link through rotating bearing K.

[0018] Further, the rear end of the second linkage link is rotationally connected to the rotating bearing G at the center position of the second rotating link through rotating bearing L.

[0019] Further, the pressure sensor fixing member is fixedly connected to the finger and the finger sleeve through a strap.

[0020] Further, the pressure sensor is tightly fixed to the pressure sensor fixing member, and the force feedback closed-loop control module is used to set the expected driving force.

[0021] Further, when the driver is driving, the expected force feedback value F in the current control period is set c , the drive rod drives the first rotating link to couple the first linkage link and the second linkage link through the second rotating link to drive the finger sleeve to flex and extend, and perform force feedback on the fingertip. At the same time, the pressure sensor in the pressure sensor fixing member collects an actual force feedback value F once in the current control period r , compare the expected force feedback value F c and the actual force feedback value F rAccording to the expected force feedback value F c and the actual force feedback value F r The difference is calculated to obtain the increment Δd of the force feedback value of the DC wireless servo motor and is superimposed on the force feedback value of the DC wireless servo motor in the previous control cycle, and is output as the increment of the force feedback value of the DC wireless servo motor in the current control cycle, thereby realizing the force feedback closed-loop control module.

[0022] Furthermore, if the expected force feedback value F c is greater than the actual force feedback value F r then the increment Δd of the force feedback value of the DC wireless servo motor is positive. If the expected force feedback value F c is less than the actual force feedback value F r then the increment Δd of the force feedback value of the DC wireless servo motor is negative.

[0023] The beneficial effects of the present invention are:

[0024] (1) The first rotating link of the present invention is coupled with the second rotating link through the first linkage link, the second linkage link and the sliding bearing, and can realize that when the driver of the lightweight hand exoskeleton force feedback device of the present invention drives, the rotation axes of the first rotating link and the second rotating link can be changed simultaneously, so that when the lightweight hand exoskeleton force feedback device of the present invention performs force feedback on the human index finger, it conforms to the multi-axis rotation characteristics of the human index finger bone rotation, thereby avoiding harm to the human body, and can provide high-efficiency fingertip force feedback;

[0025] (2) The driving pull rod drives the first rotating link to couple the first linkage link and the second linkage link through the second rotating link to drive the finger sleeve to flex. The control method is simple and effective, and can provide sufficient force feedback magnitude to the fingertip. At the same time, the simplicity of the structure realizes the lightweight of the wearable exoskeleton force feedback device, reduces the weight of the index finger exoskeleton device, and enables long-term wearing by the human body;

[0026] (3) The force feedback closed-loop control module of the present invention monitors the actual force feedback value in real time through the pressure sensor and makes output adjustments, so that the force feedback value applied by the index finger exoskeleton device to the human index finger fingertip reaches the expected force feedback value, realizing accurate control. At the same time, the lightweight hand exoskeleton force feedback device has a certain robustness, can cope with the interference caused by environmental changes, and reduces the damage that may be caused to the human body due to environmental interference. Description of the Drawings

[0027] Figure 1 is the overall structural schematic diagram of the lightweight hand exoskeleton force feedback device of the present invention in the extended state;

[0028] Figure 2It is a schematic diagram of the overall structure of the lightweight hand exoskeleton force feedback device described in the present invention in a bent state;

[0029] Figure 3 It is a schematic diagram of the structure of the fixed rotating shaft fixing part of the driver and the cooperation with the first linkage rod described in the present invention;

[0030] Figure 4 It is a schematic diagram of the structure of the driver pull rod fixing part and the cooperation with the driver pull rod described in the present invention;

[0031] Figure 5 It is a schematic diagram of the structure of the cooperation between the first rotating link, the first linkage rod and the second linkage rod described in the present invention;

[0032] Figure 6 It is a schematic diagram of the structure of the cooperation between the second rotating link and the second linkage rod described in the present invention;

[0033] Figure 7 It is a schematic diagram of the structure of the cooperation between the second rotating link and the finger sleeve described in the present invention;

[0034] Figure 8 It is a schematic diagram of the principle of the force feedback closed-loop control module described in the present invention.

[0035] List of drawing reference signs:

[0036] 1. Driver pull rod, 2. Driver, 3. Gasket, 4. Gasket, 5. First rotating link, 6. Second linkage rod, 7. Second rotating link, 8. Finger sleeve, 9. Pressure sensor fixing part, 10. First linkage rod, 11. Driver pull rod fixing part, 12. Driver fixed rotating shaft fixing part, 13. Driver power fixing part, 14 - 25. All are rotating bearings, 26. Sliding bearing, 27. Pressure sensor. Detailed implementation manners

[0037] The following further clarifies the present invention in conjunction with the drawings and specific implementation manners. It should be understood that the following specific implementation manners are only used to illustrate the present invention and not to limit the scope of the present invention.

[0038] As Figures 1-8As shown in the figure, a specific embodiment of the lightweight hand exoskeleton force feedback device of the present invention includes: a drive rod 1, a driver 2, a gasket 3, a gasket 4, a first rotating link 5, a second linkage link 6, a second rotating link 7, a finger sleeve 8, a pressure sensor fixing member 9, a first linkage link 10, a drive rod fixing member 11, a driver fixed shaft fixing member 12, a driver power fixing member 13, rotating bearings 14-25, a sliding bearing 26, a pressure sensor 27, and a force feedback closed-loop control module. Specifically, the second rotating link 7 is an arc-shaped rod, and the first rotating link 5, the second linkage link 6, and the first linkage link 10 are all straight rods.

[0039] As Figure 1 shown, a finger sleeve 8 is worn on the fingertip of the index finger of the human hand. The finger sleeve 8 is fixedly connected to the pressure sensor fixing member 9 and the fingertip of the index finger through a strap. The finger sleeve 8 is fixed above the index finger of the human hand through a strap, and the pressure sensor fixing member 9 is fixed below the index finger of the human hand through a strap. When the human hand bends to simulate the state of grasping an object, the driver 2 pushes and pulls the drive rod 1 to drive the first rotating link 5 to couple the first linkage link 10 and the second linkage link 6 via the second rotating link 7 to drive the finger sleeve 8 to flex and extend, and apply force feedback to the fingertip. At this time, the state of the human hand and the lightweight hand exoskeleton force feedback device of the present invention is as Figure 2 . At the same time, the pressure sensor 27 in the pressure sensor fixing member 9 monitors the actual force feedback value, compares the expected force feedback value F c and the actual force feedback value F r in size. According to the difference between the expected force feedback value F c and the actual force feedback value F r , the DC wireless servo motor force feedback value increment Δd is calculated and superimposed on the DC wireless servo motor force feedback value of the previous control cycle as the DC wireless servo motor force feedback value increment of the current control cycle for output, so as to realize the force feedback closed-loop control module, as Figure 8 shown.

[0040] As Figures 1-3 shown, the driver fixed shaft fixing member 12 and the driver power fixing member 13 are fixed above the back of the user's hand through a strap. In particular, the driver power fixing member 13 is fixed close to the wrist, and the driver fixed shaft fixing member 12 is fixed close to the index finger. Both are fixed on the side close to the index finger. The driver 2 of the present invention is fixed above the driver power fixing member and the driver fixed shaft fixing member, and the driving direction of the driver 2 is from the wrist to the index finger direction.

[0041] The sides of the driver fixed shaft fixing member 12 and the driver power fixing member 13 close to the back of the hand are both arc-shaped designs, as Figure 3 shown, which conforms to the curvature of the back of the human hand, thus avoiding possible harm to the human hand when the present invention is worn.

[0042] Among them, a rotating bearing hole is provided at the bottom of the drive fixed rotating shaft fixing member 12 close to the middle finger direction. A rotating bearing 14 is placed in the rotating bearing hole. A rotating bearing hole is provided inside the first end of the first linkage rod 10, and a rotating bearing 17 is placed in the rotating bearing hole, as Figure 5 shown. Through the rotating bearing 20 and the rotating bearing 25, the first linkage rod 10 is rotatably connected to the left side of the drive fixed rotating shaft fixing member 12.

[0043] The drive 2 provided in the embodiment of the present invention is provided with a drive pull rod 1, and the drive pull rod 1 can move freely within a certain range, so as not to generate resistance to the free grasping action of the human hand. In this embodiment, when the human hand bends to simulate the state of grasping an object, the drive pull rod 1 is locked and cannot move freely. The force feedback closed-loop control module calculates the required expected force feedback value and converts it into a driving force value and outputs it to the drive 2. The drive 2 pushes and pulls the drive pull rod 1 to drive the first rotating link 5 to drive the first linkage rod 10 and the second linkage rod 6 through the second rotating link 7 to drive the finger sleeve 8 to flex. At this time, the state of the human hand and the lightweight hand exoskeleton force feedback device of the present invention is as Figure 2 shown.

[0044] As Figure 4 shown, the drive pull rod fixing member 11 is rigidly fixed to the top of the drive pull rod 1 near the index finger end, locking the rotating shaft. The drive pull rod fixing member 11 is aligned with the right side surface of the drive pull rod 1 and there is no relative movement. A rotating bearing hole is provided at the top of the drive pull rod fixing member 11, and a rotating bearing 16 is placed in the rotating bearing hole.

[0045] Referring to Figure 1 On the left side of the drive pull rod fixing member 11, it is rotatably connected to the first end of the first rotating link 5 through the gasket 3, the rotating bearing 16 and the rotating bearing 17. The gasket 3 is located between the drive pull rod fixing member 11 and the first rotating link 5 to prevent skew when the drive pull rod fixing member 11 and the first rotating link 5 rotate.

[0046] In a specific embodiment of the present invention, as Figure 5As shown, a chute is provided at the central position of the first rotating link 5. The sliding bearing 26 is placed in the chute and can slide freely. A rotating bearing hole is provided at the first end of the second linkage link 6. The rotating bearing 20 is placed in the rotating bearing hole. A rotating bearing hole is provided at the second end of the first linkage link 10. The rotating bearing 18 is placed in the rotating bearing hole. The gasket 4, the first rotating link 5, and the first linkage link 10 are sequentially placed on the left side of the first end of the second linkage link 6. The rotational connection between the parts is achieved through the rotating bearing 20, the gasket 4, the sliding bearing 26, and the rotating bearing 18. Through the slidable sliding bearing 26, the rotating shafts of the first rotating link 5 and the second rotating link 7 can be changed along with the movement of the human hand, so as to achieve the purpose that a lightweight hand exoskeleton force feedback device of the present invention conforms to the multi-axis rotation characteristics of the human index finger bone rotation when performing force feedback on the human index finger. The gasket 3 is located between the second linkage link 6 and the sliding bearing 26 to prevent the second linkage link 6 and the sliding bearing 26 from skewing during rotation.

[0047] As Figure 6 shown, a rotating bearing hole is provided at the first end of the second rotating link 7. The rotating bearing 24 is placed in the rotating bearing hole. A rotating bearing hole is provided at the second end of the second rotating link 7. The rotating bearing 22 is placed in the rotating bearing hole. A rotating bearing hole is provided at the central position of the second rotating link 7. The rotating bearing 23 is placed in the rotating bearing hole. The central position of the second rotating link 7 is rotationally connected to the second linkage link 6 through the rotating bearing 21 and the rotating bearing 23, and the second rotating link 7 is located on the left side of the second linkage link 6.

[0048] Further, the first end of the second rotating link 7 is rotationally connected to the second end of the first rotating link 5 through the rotating bearing 18 and the rotating bearing 24, as Figure 1 shown, and the second rotating link 7 is located on the right side of the first rotating link 5.

[0049] Referring to Figure 1 and Figure 7 , a rotating bearing hole is provided at the top of the finger sleeve 8. The rotating bearing 25 is placed in the rotating bearing hole. The top of the finger sleeve 8 is rotationally connected to the second end of the second rotating link 7 through the rotating bearing 25 and the rotating bearing 22, and the second rotating link 7 is located on the left side of the finger sleeve 8. The side of the finger sleeve 8 close to the index finger is designed in an arc shape, as Figure 7 shown, which conforms to the curvature of the back of the human index finger, thereby avoiding possible injuries to the human hand when the present invention is worn and improving the comfort of the wearer. The side of the finger sleeve 8 close to the index finger is fixedly connected to the pressure sensor fixing member 9 and the index finger fingertip through a strap. The finger sleeve 8 is fixed above the index finger of the human hand through a strap, and the pressure sensor fixing member 9 is fixed below the index finger of the human hand through a strap, as Figure 1 shown.

[0050] Among them, the strap in the present invention is a Velcro, which is used to fix the drive fixed rotating shaft member 12 and the drive power fixing member 13 above the user's palm and back, and to fix the finger sleeve 8 and the pressure sensor fixing member 9 at the fingertip of the index finger, as Figure 1 shown.

[0051] It should be noted that the side of the pressure sensor fixing member 9 close to the index finger is designed in an arc shape, as Figure 1 shown, which conforms to the arc of the pulp of the index finger of the human hand. The pressure sensor 27 is located between the pressure sensor fixing member 9 and the pulp of the index finger of the human hand, and is fixed on the side of the pressure sensor fixing member 9 close to the index finger of the human hand.

[0052] The lightweight hand exoskeleton force feedback device of the embodiment of the present invention realizes the force feedback movement process of the index finger: the driver 2 pulls the driver pull rod 1 in the direction of the wrist, so that the driver pull rod 1 drives the first rotating link 5 to couple the first linkage link 10 and the second linkage link 6 via the second rotating link 7, thereby driving the finger sleeve 8 to move from the pulp of the index finger towards the back of the index finger, realizing the force feedback action on the index finger.

[0053] In a specific embodiment of the present invention, as Figure 8 shown, the force feedback closed-loop control module of the present invention includes a pressure sensor 27, a lightweight hand exoskeleton force feedback device, a controller, a computer-side virtual environment, and a binocular camera. Among them, the computer-side virtual environment communicates with the controller through UART. The sensor group 27 is arranged under the pulp of the index finger and transmits the measured actual force feedback value F r to the controller; the computer-side virtual environment can send control instructions to the controller, and at the same time the controller can send the obtained sensor information to the computer-side virtual environment; the binocular camera sends the detected human hand posture information to the computer-side virtual environment as a basis for judging whether the device performs a force feedback action.

[0054] Furthermore, when the computer-side virtual environment calculates the expected force feedback value F c required when judging that the simulated hand in the virtual environment grasps a virtual object according to the human hand posture information, and transmits the instruction to the controller through UART, so that the controller sets the expected force feedback value F c in the current control cycle. At the same time, the pressure sensor 27 in the pressure sensor fixing member collects an actual force feedback value F r once in the current control cycle, compares the expected force feedback value F c with the actual force feedback value F r , and according to the expected force feedback value F c and the actual force feedback value F rThe difference calculation obtains the increment Δd of the force feedback value of the DC wireless servo motor and superimposes it on the force feedback value of the DC wireless servo motor in the previous control cycle, and outputs it as the increment of the force feedback value of the DC wireless servo motor in the current control cycle, so as to realize the force feedback closed-loop control module.

[0055] Further, if the expected force feedback value F c is greater than the actual force feedback value F r , then the increment Δd of the force feedback value of the DC wireless servo motor is positive. If the expected force feedback value F c is smaller than the actual force feedback value F r , then the increment Δd of the force feedback value of the DC wireless servo motor is negative.

[0056] It should be noted that the above content only illustrates the technical idea of the present invention and cannot be used to limit the protection scope of the present invention. For those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements all fall within the protection scope of the claims of the present invention.

Claims

1. A lightweight hand exoskeleton force feedback device, characterized in that: It includes a driver, a driver power fixing member, a driver fixed rotating shaft fixing member, a driver pull rod fixing member, a first rotating link, a second rotating link, a first linkage link, a second linkage link, a bearing, a gasket, a finger sleeve, and a pressure sensor fixing member; The driver is installed on the driver power fixing member and the driver fixed rotating shaft fixing member. The driver power fixing member and the driver fixed rotating shaft fixing member are worn on the back of the user's metacarpal bone through a strap. The drive pull rod of the driver is rotatably connected to the first section of the first rotating link through the driver pull rod fixing member. The rear end of the first rotating link is rotatably connected to the front end of the second rotating link. The front end of the first linkage link is rotatably connected to the driver fixed rotating shaft fixing member. The rear end of the first linkage link and the front end of the second linkage link are rotatably connected. The rear end of the second linkage link is rotatably connected to the central rotating bearing hole of the second rotating link. The rear end of the second rotating link is rotatably connected to the finger sleeve. The pressure sensor fixing member is connected to the finger sleeve through a strap and fixed under the fingertip. The driver drives the first rotating link to couple the first linkage link and the second linkage link through the second rotating link to drive the finger sleeve to flex and extend, exerting force feedback on the fingertip and causing pressure on the pressure sensor in the pressure sensor fixing member, thereby realizing the force feedback closed-loop control module.

2. The lightweight hand exoskeleton force feedback device according to claim 1, wherein: The bearing includes two types of bearings, namely twelve rotating bearings and one sliding bearing; The driver power fixing member and the driver fixed rotating shaft fixing member are fixed on the back of the user's hand through a strap and are fixed close to the index finger side. The driver base is fixed through the driver power fixing member and the driver fixed rotating shaft fixing member. The driver fixed rotating shaft fixing member is located at the proximal end of the metacarpal bone and is provided with a rotating bearing hole A, and a rotating bearing A is placed in the rotating bearing hole A; The driver is a DC wireless servo motor, which pushes and pulls the drive pull rod when driving, and the pull rod is rigidly fixed to the driver pull rod fixing member; The driver pull rod fixing member is provided with a rotating bearing hole B, and a rotating bearing B is placed in the rotating bearing hole B; Both the front and rear ends of the first rotating link are provided with rotating bearing holes, namely rotating bearing hole C and rotating bearing hole D, and rotating bearings, namely rotating bearing C and rotating bearing D, are placed respectively. The front end of the first rotating link is rotatably connected to the rotating bearing B of the driver pull rod fixing member through the rotating bearing C. The first rotating link is provided with a sliding groove at its central position, and a sliding bearing is placed in the sliding groove; Both the front and rear ends of the second rotating link are provided with rotating bearing holes, namely rotating bearing hole E and rotating bearing hole F, and rotating bearings, namely rotating bearing E and rotating bearing F, are placed respectively. The front end of the second rotating link is rotatably connected to the rotating bearing D at the rear end of the first rotating link through the rotating bearing E. The second rotating link is provided with a rotating bearing hole G at the central position of the link, and a rotating bearing G is placed in the rotating bearing hole G; The finger sleeve is provided with a rotating bearing hole H, and a rotating bearing H is placed in the rotating bearing hole H. The finger sleeve is rotatably connected to the rotating bearing F at the rear end of the second rotating rod through the rotating bearing H. The finger sleeve is fixedly connected to the finger and the pressure sensor fixing member through a strap; Both the front and rear ends of the first linkage rod are provided with rotating bearing holes, namely rotating bearing hole I and rotating bearing hole J respectively, and rotating bearings are placed in both, namely rotating bearing I and rotating bearing J respectively; Both the front and rear ends of the second linkage rod are provided with rotating bearing holes, namely rotating bearing hole K and rotating bearing hole L respectively, and rotating bearings are placed in both, namely rotating bearing K and rotating bearing L respectively.

3. The lightweight hand exoskeleton force feedback device according to claim 2, characterized in that: The front end of the first linkage rod is rotatably connected to the rotating bearing B of the drive rod fixing part through rotating bearing I, and the rear end of the first linkage rod is rotatably connected to the sliding bearing and the gasket through rotating bearing J. At the same time, the gasket is rotatably connected to the front end of the second linkage rod through rotating bearing K.

4. The lightweight hand exoskeleton force feedback device according to claim 1, wherein: The rear end of the second linkage rod is rotatably connected to the rotating bearing G at the central position of the second rotating link through rotating bearing L.

5. A lightweight hand exoskeleton force feedback device according to claim 1, characterized in that: The pressure sensor fixing part is fixedly connected to the finger and the finger sleeve through a strap.

6. The lightweight hand exoskeleton force feedback device according to claim 1, wherein: When the driver is driving, set the expected force feedback value F for the current control cycle c , the pull rod of the driver drives the first rotating link, and through the second rotating link, the first linkage and the second linkage are coupled to drive the finger sleeve to flex and extend, so as to implement force feedback on the fingertip. At the same time, the pressure sensor in the pressure sensor fixing part collects the actual force feedback value F once in the current control cycle r , compare the expected force feedback value F c with the actual force feedback value F r . According to the difference between the expected force feedback value F c and the actual force feedback value F r , calculate the force feedback value increment Δd of the DC wireless servo motor and add it to the force feedback value of the DC wireless servo motor in the previous control cycle, and output it as the force feedback value increment of the DC wireless servo motor in the current control cycle, so as to realize the force feedback closed-loop control module 7. The lightweight hand exoskeleton force feedback device according to claim 6, characterized in that: If the expected force feedback value F c is greater than the actual force feedback value F r , the increment Δd of the force feedback value of the DC wireless servo motor is positive. If the expected force feedback value F c is less than the actual force feedback value F r , the increment Δd of the force feedback value of the DC wireless servo motor is negative.

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