A force feedback manipulator

Abstract

A force feedback manipulator solves the problem that traditional hand rehabilitation uses physical therapy and drug treatment, which cannot achieve autonomous rehabilitation training for patients with hand dysfunction. The main hand device of the present invention is arranged at the front end of the support device, and five sets of force feedback drive devices are arranged in parallel on the support device. The first guide wheel device and the second guide wheel device are installed at the front end of the force feedback drive device. One end of the spring is set on the hole of the traction member, and the other end is connected to one end of the thin rope. The other end of the thin rope corresponding to the second guide wheel device passes through the second positioning hole, bypasses the second pulley, the lower pulley, passes through the middle finger ring, and is tied to the fingertip ring. The other end of the thin rope corresponding to the first guide wheel device passes through the first positioning hole, bypasses the upper pulley, passes through the thin rope positioning hole, and then passes through the middle finger ring and is tied to the fingertip ring. The present invention is suitable for patients with hand dysfunction, drives fingers to perform different degrees of movement, and provides appropriate auxiliary force for the fingers to facilitate rehabilitation training.

Description

Technical Field

[0001] The invention relates to a wearable force feedback manipulator. Background Art

[0002] With the increasing aging of the population, the number of chronic diseases, disabilities, and movement disorders continues to rise, and the demand for self-rehabilitation is also increasing. Many patients suffer from neurological conditions such as stroke, spinal cord injury, muscle weakness, and arm injuries, which can impair hand function. However, traditional rehabilitation methods, such as physical therapy and medication, have limitations in some cases. Force feedback manipulators are the most similar to human hands and therefore offer more ideal rehabilitation results for patients with hand dysfunction. Force feedback manipulators can provide appropriate auxiliary training for the fingers, enabling more refined and personalized rehabilitation training. This provides a new method and approach for hand function rehabilitation, with multiple implications, including improving rehabilitation outcomes, enhancing user experience, personalizing rehabilitation programs, promoting widespread application, and advancing the development of robotics technology. Summary of the Invention

[0003] The present invention provides a force feedback manipulator to solve the problem that traditional hand rehabilitation using physical therapy and drug treatment cannot achieve autonomous rehabilitation training for patients with hand dysfunction.

[0004] A force feedback manipulator comprises a main hand device, a first guide wheel device, a second guide wheel device, a force feedback drive device, a support device, a thin rope and a spring; the main hand device is arranged at the front end of the support device, there are five sets of force feedback drive devices, and the five sets of force feedback drive devices are arranged in parallel on the support device, the second guide wheel device corresponds to the second finger bar on the main hand device, and the second guide wheel device is installed at the front end of the force feedback drive device, and the first guide wheel device is installed at the front end of the remaining four sets of force feedback drive devices, there are five thin ropes and five springs, the five thin ropes and springs correspond to the five sets of force feedback drive devices, and one end of the spring is set on the traction member of the force feedback drive device The other end of the spring is connected to one end of the thin rope, and the other end of the thin rope corresponding to the second guide wheel device passes through the second positioning hole on the second guide wheel device, bypasses the two second pulleys, and then bypasses the lower pulley on the main hand device, passes through the middle finger ring on the second finger strip of the main hand device, and is tied with the fingertip ring on the second finger strip. The other end of the thin rope corresponding to the first guide wheel device passes through the first positioning hole of the first guide wheel device, bypasses the three first pulleys, and then bypasses the corresponding upper pulley on the main hand device, passes through the corresponding thin rope positioning hole on the main hand device, and then passes through the middle finger ring on the first finger strip of the corresponding main hand device, and is tied with the fingertip ring on the first finger strip.

[0005] Furthermore, the main hand device includes a fingertip ring, a middle finger ring, a first finger strip, a palm cover, an upper pulley, a palm-wrist support, a second finger strip, a lower pulley, a palm Velcro, a wrist Velcro, a vertical plate, a side plate and a finger Velcro; the palm Velcro and the wrist Velcro are both arranged at the lower end of the palm-wrist support, the palm Velcro is fixedly mounted on the palm part of the palm-wrist support, the wrist Velcro is fixedly mounted on the wrist part of the palm-wrist support, the palm cover is mounted on the upper end of the palm-wrist support and is located at the palm part, there are four first finger strips, the four first finger strips are arranged in parallel at the front end of the palm-wrist support, and the first finger strip is mounted between the palm cover and the palm-wrist support, and the second finger strip is fixed to the front end of the palm-wrist support. The wrist is connected with Velcro, the vertical plate is located behind the palm cover and is fixedly mounted on the palm and wrist support, a thin rope positioning hole is provided on the vertical plate, the side plate is located on the side of the wrist Velcro and is fixedly mounted on the palm and wrist support, the lower pulley is installed under the side plate, there are four upper pulleys, the four upper pulleys are located behind the vertical plate and are mounted on the palm and wrist support, there are five fingertip rings, the five fingertip rings are respectively arranged at the top of the second finger strip and the four first finger strips, there are nine middle finger rings, one of which is arranged at the middle position of the finger of the second finger strip, and the other eight middle finger rings are arranged at the middle and base positions of the fingers of the first finger strip, and the lower parts of the fingertip rings and the middle finger rings are installed with finger Velcro.

[0006] Furthermore, the first guide wheel device includes a first pulley and a first pulley frame; there are three first pulleys, one of which is installed under the first pulley frame, and the other two first pulleys are installed on the side of the first pulley frame, and the first pulley frame is provided with a first positioning hole.

[0007] Furthermore, the second guide wheel device includes a second pulley and a second pulley frame; there are two second pulleys, the two second pulleys are installed on the side of the second pulley frame, and the second pulley frame is provided with a second positioning hole.

[0008] Furthermore, the force feedback drive device includes a motor, a driving wheel, a synchronous belt, a fixed plate, a pressure plate, a slider, a driven wheel, an aluminum plate, a sensor seat, a force sensor, a traction piece and a slide rail; the driving wheel and the driven wheel are both located under the aluminum plate, the motor is fixed on the upper part of the aluminum plate, the driving wheel is mounted on the motor shaft of the motor by screws, the driven wheel is mounted on the aluminum plate, one end of the synchronous belt is sleeved on the driving wheel, the other end of the synchronous belt is sleeved on the driven wheel, the slide rail is mounted on the aluminum plate, the slider is slidably connected to the slide rail, the sensor seat is fixed on the slider, the upper end of the fixed plate is fixed on the sensor seat, the lower end of the fixed plate is fixed to the pressure plate, the synchronous belt is clamped between the fixed plate and the pressure plate, the force sensor is fixed on the sensor seat, and the traction piece is fixed on the force sensor.

[0009] Furthermore, the supporting device includes a base plate, an angle bracket, a first profile, a second profile and a fixing member; there are two first profiles and two second profiles, the two second profiles are arranged in parallel, the two first profiles are arranged perpendicular to the second profile, and the two first profiles are respectively located at both ends of the second profile, the first profile is installed on top of the second profile, the first profile and the second profile are fixed by angle brackets and fixing members, there are two angle brackets and fixing members, and the base plate is fixed under the first profile.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] 1. The force feedback manipulator of the present invention adopts rope-driven wire transmission to provide accurate, programmable and controllable pulling force for the joints of the force feedback manipulator, and adds a spring on the basis of rope drive, which can make the manipulator safer and more flexible, realize autonomous rehabilitation training for patients with hand dysfunction, help fingers to move, improve the mobility of finger joints and muscles, and achieve the effect of hand rehabilitation training during use.

[0012] 2. The force feedback manipulator of the present invention can use the force signal collected by the force sensor as feedback, close the loop to control the DC motor to output the desired pulling force, drive the fingers to move to different degrees, and provide appropriate auxiliary force for the fingers. The accurate force control output makes the present invention have a wide audience and strong functionality.

[0013] 3. The force feedback manipulator of the present invention can realize the patient's autonomous rehabilitation training, has a compact structure, and can adjust the size of the manipulator according to the patient's hand.

[0014] 4. The force feedback manipulator of the present invention can be used for hand strength training of patients or normal people through accurate, programmable and controllable pulling force output.

[0015] 5. The present invention is used for auxiliary medical treatment of rehabilitation treatment. It can simulate the structure and movement of the human hand and realize the movement of five fingers through a multi-joint, multi-degree-of-freedom design, and has high flexibility. During the patient's recovery stage, the force feedback manipulator assists the fingers to passively stretch, helps the fingers to move, improves the mobility of the finger joints, muscles and tendons, and reduces muscle tension to prevent changes in the passive characteristics of the joints and muscles. The present invention processes the information fed back by sensors such as the tracked motion signals and force signals interacting with the environment through a single-chip microcomputer, and provides tension to the joints of the force feedback manipulator through rope-driven transmission through specialized equipment such as DC motors, drives the fingers to move to different degrees, and provides appropriate auxiliary force for the fingers. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A three-dimensional diagram of the overall structure of the force feedback manipulator of the present invention;

[0017] Figure 2A structural perspective diagram of the main hand device 1;

[0018] Figure 3 It is a structural perspective diagram of the first guide wheel device 2;

[0019] Figure 4 It is a structural perspective diagram of the second guide wheel device 3;

[0020] Figure 5 It is a structural perspective diagram of the force feedback drive device 4;

[0021] Figure 6 It is a structural perspective view of the supporting device 5;

[0022] Among them, 1. Main hand device; 10. Finger tip ring; 11. Middle finger ring; 12. First finger bar; 13. Palm cover; 14. Upper pulley; 15. Palm and wrist support; 16. Second finger bar; 17. Lower pulley; 18. Palm Velcro; 19. Wrist Velcro; 1A. Vertical plate; 1B. Side plate; 1C. Finger Velcro; 2. First guide wheel device; 20. First pulley; 21. First pulley frame; 3. Second guide wheel device; 30. Second pulley; 31. Second pulley frame; 4. Force feedback drive device; 40. Motor; 41. Driving pulley; 42. Synchronous belt; 43. Fixed plate; 44. Pressure plate; 45. Slider; 46. Driven pulley; 47. Aluminum plate; 48. Sensor seat; 49. Force sensor; 4A. Traction member; 4B. Slide rail; 5. Support device; 50. Bottom plate; 51. Angle code; 52. First profile; 53. Second profile; 54. Fastener; 6. String; 7. Spring. DETAILED DESCRIPTION

[0023] The specific embodiments of the present invention are described below to facilitate understanding of the present invention by those skilled in the art. However, it should be clear that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the appended claims, these changes are obvious, and all inventions and creations utilizing the concepts of the present invention are protected.

[0024] like Figures 1 to 6As shown, the present invention provides a force feedback manipulator, which comprises a main hand device 1, a first guide wheel device 2, a second guide wheel device 3, a force feedback drive device 4, a supporting device 5, a thin rope 6 and a spring 7; the main hand device 1 is arranged at the front end of the supporting device 5, and the force feedback drive device 4 has five sets, and the five sets of force feedback drive devices 4 are arranged in parallel on the supporting device 5, the second guide wheel device 3 corresponds to the second finger bar 16 on the main hand device 1, and the second guide wheel device 3 is installed at the front end of the force feedback drive device 4, and the first guide wheel device 2 is installed at the front end of the remaining four sets of force feedback drive devices 4, and the five sets of force feedback drive devices 4 correspond to five fingers respectively; there are five thin ropes 6 and five springs 7, and the five thin ropes 6 and springs 7 correspond to the five sets of force feedback drive devices 4, and one end of the spring 7 is arranged at the force feedback drive device 4, the other end of the spring 7 is connected to one end of the thin rope 6, the other end of the thin rope 6 corresponding to the second guide wheel device 3 passes through the second positioning hole 32 on the second guide wheel device 3, passes around the two second pulleys 30, and then passes around the lower pulley 17 on the master hand device 1, passes through the middle finger ring 11 on the second finger strip 16 of the master hand device 1, and is tied with the fingertip ring 10 on the second finger strip 16; the other end of the thin rope 6 corresponding to the first guide wheel device 2 passes through the first positioning hole 22 of the first guide wheel device 2, passes around the three first pulleys 20, and then passes around the corresponding upper pulley 14 on the master hand device 1, passes through the corresponding thin rope positioning hole 1D on the master hand device 1, and then passes through the middle finger ring 11 on the corresponding first finger strip 12 of the master hand device 1, and is tied with the fingertip ring 10 on the first finger strip 16. The master hand device 1 functions as a glove, fitting over the user's hand. The force feedback drive device 4 provides and adjusts power to coordinate with the user's hand movements. The first and second guide pulley devices 2 and 3 redirect the force applied by the string 6, increasing the distance of the force and making the structure more compact. The support device 5 supports the master hand device 1 and the force feedback drive device 4. The string 6 transmits power to the master hand device 1, and the spring 7 allows the user to use the robotic hand with greater flexibility.

[0025] like Figure 2As shown, the main hand device 1 includes a fingertip ring 10, a middle finger ring 11, a first finger strip 12, a palm cover 13, an upper pulley 14, a palm-wrist support 15, a second finger strip 16, a lower pulley 17, a palm Velcro 18, a wrist Velcro 19, a vertical plate 1A, a side plate 1B and a finger Velcro 1C; the palm Velcro 18 and the wrist Velcro 19 are both arranged at the lower end of the palm-wrist support 15, the palm Velcro 18 is fixedly mounted on the palm part of the palm-wrist support 15, the wrist Velcro 19 is fixedly mounted on the wrist part of the palm-wrist support 15, the palm cover 13 is mounted on the upper end of the palm-wrist support 15 and is located at the palm part, there are four first finger strips 12, the four first finger strips 12 are arranged in parallel at the front end of the palm-wrist support 15, and the first finger strips 12 are mounted between the palm cover 13 and the palm-wrist support 15, the second finger strip 16 is connected to the wrist Velcro 19, the vertical plate 1A is located behind the palm cover 13 and is fixed on the palm-wrist support 15. A thin rope positioning hole 1D is provided on the vertical plate 1A. The side plate 1B is located on the side of the wrist Velcro 19 and is fixed on the palm-wrist support 15. The side plate 1B is made integrally with the palm-wrist support 15. The lower pulley 17 is installed under the side plate 1B. There are four upper pulleys 14. The four upper pulleys 14 are located behind the vertical plate 1A and are installed on the palm-wrist support 15. There are five fingertip rings 10, and the five fingertip rings 10 are respectively arranged at the top of the second finger strip 16 and the four first finger strips 12. There are nine middle finger rings 11, one of which is arranged at the middle position of the second finger strip 16, and the other eight middle finger rings 11 are arranged at the middle and base positions of the first finger strip 12. One second finger strip 16 and four first finger strips 12 are respectively arranged according to the average length of the five fingers of the human body. The fingertip rings 10 correspond to the fingertips of the five fingers of a person, and the middle finger rings 11 correspond to the middle and base of the five fingers of a person. The lower parts of the fingertip rings 10 and the middle finger rings 11 are both installed with finger Velcro 1C. The fingertip rings 10 and the middle finger rings 11 are made of flexible materials and can be adjusted in size through the finger Velcro 1C to match the user's fingers; the first finger strips 12 are used to connect the fingertip rings 10 and the middle finger rings 11 thereon; the second finger strips 16 are used to connect the fingertip rings 10 and the middle finger rings 11 thereon; the palm cover 13 is used to fix the four first finger strips 12; the upper pulley 14 and the lower pulley 17 are used to guide the thin rope 6; the palm-wrist support 15 is used to support the entire main hand device 1, and can be adjusted in size through the palm Velcro 18 and the wrist Velcro 19 to match the user's palm and wrist.

[0026] like Figure 3 As shown, the first guide wheel device 2 includes a first pulley 20 and a first pulley frame 21; there are three first pulleys 20, one of which is installed under the first pulley frame 21, and the other two first pulleys 20 are installed on the side of the first pulley frame 21, and a first positioning hole 22 is provided on the first pulley frame 21.

[0027] The second pulley 20 is used to change the direction of the thin rope 6 and increase the distance of the force, and the first pulley frame 21 is used to support the second pulley 20.

[0028] like Figure 4 As shown, the second guide wheel device 3 includes a second pulley 30 and a second pulley frame 31; there are two second pulleys 30, which are mounted on the side of the second pulley frame 31. The second pulley frame 31 is provided with a second positioning hole 32. The third pulley 30 is used to change the direction of the string 6 and increase the distance of the force, and the second pulley frame 31 is used to support the third pulley 30.

[0029] like Figure 5 As shown, the force feedback drive device 4 includes a motor 40, a driving wheel 41, a synchronous belt 42, a fixed plate 43, a pressure plate 44, a slider 45, a driven wheel 46, an aluminum plate 47, a sensor seat 48, a force sensor 49, a traction member 4A and a slide rail 4B; the driving wheel 41 and the driven wheel 46 are both located below the aluminum plate 47, the motor 40 is fixed on the aluminum plate 47, the driving wheel 41 is mounted on the motor shaft of the motor 40 by screws, the driven wheel 46 is mounted on the aluminum plate 47, and the driven wheel 47 itself has a shaft One end of the synchronous belt 42 is sleeved on the driving pulley 41, and the other end of the synchronous belt 42 is sleeved on the driven pulley 46. The slide rail 4B is mounted on the aluminum plate 47. The slider 45 is slidably connected to the slide rail 4B. The sensor seat 48 is fixed to the slider 45. The upper end of the fixed plate 43 is fixed to the sensor seat 48. The lower end of the fixed plate 43 is fixed to the pressure plate 44. The fixed plate 43 and the pressure plate 44 clamp the synchronous belt 42 between them. The force sensor 49 is fixed to the sensor seat 48, and the traction member 4A is fixed to the force sensor 49. The first pulley frame 21 of the first guide pulley assembly 2 and the second pulley frame 31 of the second guide pulley assembly 3 are mounted on the front end of the aluminum plate 47. Five motors 40 are used to provide power for the main hand device 1, the driving wheel 41, the synchronous belt 42, the fixed plate 43, the pressure plate 44, the slider 45, the driven wheel 46 and the slide rail 4B are used to transmit power and convert the power into the tension of the rope. The force sensor 49 is used to detect the force signal on the thin rope 6. The motor 40 can change the applied power according to the processing structure of the force signal. The traction part 4A is used to connect the spring 7 and the force sensor 49. The sensor seat 48 is used to connect the force sensor 49 and the slider 45 and support the force sensor 49. The aluminum plate 47 is used to support the entire force feedback drive device 4.

[0030] like Figure 6As shown, the support device 5 includes a base plate 50, angle brackets 51, a first profile 52, a second profile 53, and a fastener 54. There are two first profiles 52 and two second profiles 53, each of which is arranged parallel to and perpendicular to the second profile 53. The two first profiles 52 are located at either end of the second profile 53. The first profile 52 is mounted on top of the second profile 53. The first and second profiles 52, 53 are secured together by angle brackets 51 and fasteners 54. There are two angle brackets 51 and two fasteners 54. The base plate 50 is fixedly mounted below the first profile 52. The palm cover 15 of the main hand device 1 is mounted on the base plate 50. The aluminum plates 47 of the five force feedback drive devices 4 are all mounted on the first profile 52. The support device 5 is used to support the entire force feedback manipulator.

[0031] Working principle of the present invention

[0032] The master hand device 1 is wearable and can be adjusted according to the size of the user's hand. The force feedback drive device 4 uses a synchronous belt to convert the movement of the motor into linear motion. The thin rope 6 and the spring 7 are used to transmit power to drive the movement of the fingers. The spring 7 can make the movement more flexible. One end of the thin rope 6 is connected to the force sensor 49 on the slider 45 through the spring 7, and the other end passes through the force feedback drive device 4 and the guide wheel device to be connected to the master hand device 1 to achieve the effect of rope drive. At the same time, the force sensor 49 can collect the force signal on the thin rope 6, adjust the output of the motor 40 according to the algorithm, and change the algorithm parameters according to the requirements of different users, so that the present invention has a wide audience and strong functionality, and achieves the effect of hand rehabilitation training during use.

Claims

1. A force feedback manipulator, characterized in that: The force feedback manipulator comprises a main hand device (1), a first guide wheel device (2), a second guide wheel device (3), a force feedback drive device (4), a support device (5), a thin rope (6) and a spring (7); the main hand device (1) is arranged at the front end of the support device (5); there are five sets of force feedback drive devices (4), and the five sets of force feedback drive devices (4) are arranged in parallel on the support device (5); the second guide wheel device (3) corresponds to the second finger (16) on the main hand device (1), and the second guide wheel device (3) is installed at the front end of the force feedback drive device (4); the first guide wheel device (2) is installed at the front end of the remaining four sets of force feedback drive devices (4); there are five thin ropes (6) and springs (7); the five thin ropes (6) and springs (7) correspond to the five sets of force feedback drive devices (4); one end of the spring (7) is arranged on the hole of the traction member (4A) of the force feedback drive device (4); The other end is connected to one end of the thin rope (6). The other end of the thin rope (6) corresponding to the second guide wheel device (3) passes through the second positioning hole (32) on the second guide wheel device (3), passes around the two second pulleys (30), passes around the lower pulley (17) on the master hand device (1), passes through the middle finger ring (11) on the second finger bar (16) on the master hand device (1), and is tied with the fingertip ring (10) on the second finger bar (16). The other end of the thin rope (6) corresponding to the first guide wheel device (2) passes through the first positioning hole (22) of the first guide wheel device (2), passes around the three first pulleys (20), passes around the corresponding upper pulley (14) on the master hand device (1), passes through the corresponding thin rope positioning hole (1D) on the master hand device (1), passes through the middle finger ring (11) on the first finger bar (12) on the corresponding master hand device (1), and is tied with the fingertip ring (10) on the first finger bar (16).

2. A force feedback manipulator according to claim 1, characterized in that: The master hand device (1) comprises a fingertip ring (10), a middle finger ring (11), a first finger strip (12), a palm cover (13), an upper pulley (14), a palm-wrist support (15), a second finger strip (16), a lower pulley (17), a palm Velcro (18), a wrist Velcro (19), a vertical plate (1A), a side plate (1B) and a finger Velcro (1C); the palm Velcro (18) and the wrist Velcro (19) are both arranged at the lower end of the palm-wrist support (15). The palm Velcro (18) is fixedly mounted on the palm part of the palm-wrist support (15), the wrist Velcro (19) is fixedly mounted on the wrist part of the palm-wrist support (15), the palm cover (13) is mounted on the upper end of the palm-wrist support (15) and is located on the palm part, there are four first finger strips (12), the four first finger strips (12) are arranged in parallel at the front end of the palm-wrist support (15), and the first finger strips (12) are mounted between the palm cover (13) and the palm-wrist support (15), the second finger strips (12) are arranged on the upper end of the palm-wrist support (15), and the first finger strips (12) are arranged on the upper end of the palm-wrist support (15). 6) is connected to the wrist Velcro (19), the vertical plate (1A) is located behind the palm cover (13) and is fixed on the palm and wrist support (15), a string positioning hole (1D) is provided on the vertical plate (1A), the side plate (1B) is located on the side of the wrist Velcro (19) and is fixed on the palm and wrist support (15), the lower pulley (17) is installed under the side plate (1B), and there are four upper pulleys (14), which are located behind the vertical plate (1A) and are installed on the palm and wrist support There are five fingertip rings (10) on the support member (15), and the five fingertip rings (10) are respectively arranged at the top of the second finger strip (16) and the four first finger strips (12). There are nine middle finger rings (11), one of which is arranged at the middle position of the finger of the second finger strip (16), and the other eight middle finger rings (11) are arranged at the middle and base positions of the fingers of the first finger strip (12). Finger Velcro (1C) is installed at the lower parts of the fingertip rings (10) and the middle finger rings (11).

3. The force feedback manipulator according to claim 1, characterized in that: The first guide wheel device (2) includes a first pulley (20) and a first pulley frame (21); there are three first pulleys (20), one of which is installed below the first pulley frame (21), and the other two first pulleys (20) are installed on the side of the first pulley frame (21); and the first pulley frame (21) is provided with a first positioning hole (22).

4. The force feedback manipulator according to claim 1, characterized in that: The second guide wheel device (3) includes a second pulley (30) and a second pulley frame (31); there are two second pulleys (30), and the two second pulleys (30) are installed on the side of the second pulley frame (31); the second pulley frame (31) is provided with a second positioning hole (32).

5. The force feedback manipulator according to claim 1, characterized in that: The force feedback drive device (4) comprises a motor (40), a driving wheel (41), a synchronous belt (42), a fixed plate (43), a pressure plate (44), a slider (45), a driven wheel (46), an aluminum plate (47), a sensor seat (48), a force sensor (49), a traction member (4A) and a slide rail (4B); the driving wheel (41) and the driven wheel (46) are both located below the aluminum plate (47), the motor (40) is fixed on the aluminum plate (47), the driving wheel (41) is mounted on the motor shaft of the motor (40) by screws, the driven wheel (46) is mounted on the aluminum plate (47), and the synchronous belt ( One end of the synchronous belt (42) is sleeved on the driving wheel (41), the other end of the synchronous belt (42) is sleeved on the driven wheel (46), the slide rail (4B) is installed on the aluminum plate (47), the slider (45) is slidably connected to the slide rail (4B), the sensor seat (48) is fixed on the slider (45), the upper end of the fixed plate (43) is fixed on the sensor seat (48), the lower end of the fixed plate (43) is fixed on the pressure plate (44), the synchronous belt (42) is clamped between the fixed plate (43) and the pressure plate (44), the force sensor (49) is fixed on the sensor seat (48), and the traction member (4A) is fixed on the force sensor (49).

6. The force feedback manipulator according to claim 1, characterized in that: The supporting device (5) comprises a base plate (50), an angle bracket (51), a first profile (52), a second profile (53) and a fixing member (54); the first profile (52) and the second profile (53) are both provided in pairs, the two second profiles (53) are arranged in parallel, the two first profiles (52) and the second profile (53) are arranged perpendicularly, and the two first profiles (52) are respectively located at both ends of the second profile (53); the first profile (52) is installed on the top of the second profile (53); the first profile (52) and the second profile (53) are fixed by the angle bracket (51) and the fixing member (54); the angle bracket (51) and the fixing member (54) are both provided in pairs, and the base plate (50) is fixed under the first profile (52).

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