A variable stiffness hand exoskeleton device based on antagonistic drive

Abstract

The present invention discloses a variable stiffness hand exoskeleton device based on antagonistic drive, comprising independent power mechanisms, support seats, spring-link composite transmission mechanisms and end finger sleeves connected to the power output end of the spring-link composite transmission mechanism for the index finger, middle finger, ring finger and little finger; the power mechanism drives the finger to rotate through the spring-link composite transmission mechanism; the end finger sleeve is fixed to the periphery of the end joint of the finger joint through a first elastic adjustment belt, and the end finger sleeve provides force feedback for the end of the finger joint under the power actuation of the connecting rod structure, the inner surface of the support seat is palm-shaped, and the back of the support seat is provided with a rotating support seat and a motor fixing seat; the motor group of the power mechanism is installed on the motor fixing seat; the present invention realizes independent control of joint angle and joint stiffness by imitating the behavior of biological joints. Through the feedforward algorithm, the device can realize the adjustment of joint stiffness without the need for feedback sensors, thereby reducing system complexity and cost, and improving reliability and practicality.

Description

Technical Field

[0001] The invention belongs to the technical field of exoskeleton robots, and in particular relates to a variable stiffness hand exoskeleton device based on antagonistic drive. Background Art

[0002] Against the backdrop of an aging global population, the ability of the elderly to take care of themselves has become a focus of social attention. As they age, many elderly people face problems with impaired or lost functions, which seriously affects their daily activities such as eating, washing, dressing, going to the toilet, and walking. Force feedback exoskeletons, as an emerging technology, provide a possible solution to this challenge. By simulating the working principles of human muscles and bones, force feedback exoskeletons can help the elderly maintain their physical mobility, delay muscle strength decline, and improve their ability to take care of themselves.

[0003] Force feedback exoskeletons not only have breakthroughs in functionality, but their combination with technologies such as virtual reality (VR) and augmented reality (AR) also provides a more immersive somatosensory interactive experience for the elderly. The wearer can interact with the virtual environment through the exoskeleton, which not only enhances the entertainment experience, but also provides a more effective means for rehabilitation training. However, traditional finger force feedback exoskeleton devices have many limitations, such as discomfort, excessive weight, complex structure, open-loop control, etc., which limit their effectiveness in practical applications. Summary of the invention

[0004] To solve the above problems, the present invention proposes a variable stiffness hand exoskeleton based on antagonistic drive. The device integrates the latest research results of bionics and robotics, especially in the control of joint stiffness, using nonlinear springs in an antagonistic configuration. By simulating the multi-axis rotation of human joints and the change of force direction, this exoskeleton can provide more natural and flexible movement support.

[0005] Unlike traditional rigid exoskeletons, the device of the present invention can adjust joint stiffness in real time through a closed-loop control system to adapt to different movement requirements. This real-time adjustment not only improves the wearer's comfort and efficiency, but also achieves accurate force tactile feedback by adjusting joint stiffness in real time, thereby reducing system complexity and cost and improving reliability and practicality.

[0006] To achieve the above object, the technical solution of the present invention is as follows:

[0007] A variable stiffness hand exoskeleton device based on antagonistic drive, comprising a power mechanism, a support seat, a spring-connecting rod composite transmission mechanism, and a terminal finger sleeve connected to the power output end of the spring-connecting rod composite transmission mechanism;

[0008] The end finger sleeve can be fixed to the periphery of the end joint of the finger joint through the first elastic adjustment belt, and the end finger sleeve provides force feedback for the end of the finger joint under the power actuation of the connecting rod structure. The inner surface of the support seat is configured according to the complete back of the palm / part of the back of the palm, and the back of the support seat is provided with a rotating support seat and a motor fixing seat; the motor group of the power mechanism is installed on the motor fixing seat; when providing force feedback, the spring-connecting rod composite transmission mechanism is located on the outside of the palm.

[0009] Furthermore, the power mechanism includes a first motor and a second motor disposed up and down; the motor fixing seat is disposed at a position adjacent to the palm-level end of the support seat, and the motor fixing seat includes a first motor fixing seat and a second motor fixing seat disposed up and down;

[0010] The spring-link composite transmission mechanism includes a first spring and a second spring, a rotary bearing, a rotary center, a first spring motor linkage cable, a second spring motor linkage cable, a first spring rotary pivot link, and a second spring rotary pivot link;

[0011] The finger connecting rod structure is provided with a rotation center, and two rotation positions are provided at the upper and lower ends of the rotation center, namely, rotation position A and rotation position B; the middle hollow of the rotating part is provided with a rotation center point C;

[0012] The support seat includes a rotating support seat and a motor fixing seat; the base of the first motor is fixed on the first motor fixing seat, and the base of the second motor is fixed on the second motor fixing seat; the rotating position C of the spring-connecting rod composite transmission machine is rotationally connected to the rotating support seat of the support seat through a rotating bearing.

[0013] Further, the first spring motor linkage cable is rotationally connected to the power output end of the first motor, and the second spring motor linkage cable is rotationally connected to the power output of the second motor; the two ends of the first spring are respectively fixedly connected to the first spring rotation pivot connecting rod and the first spring motor linkage cable, and the two ends of the second spring are respectively fixedly connected to the second spring rotation pivot connecting rod and the second spring motor linkage cable; the first spring rotation pivot connecting rod is rotationally connected to the rotation position A of the rotation center, and the second spring rotation pivot connecting rod is rotationally connected to the rotation position B of the rotation center;

[0014] The end finger sleeve comprises an index finger end finger sleeve that can be sleeved on the outer periphery of the end of the wearer's index finger, a middle finger end finger sleeve that can be sleeved on the outer periphery of the end of the wearer's middle finger, a ring finger end finger sleeve that can be sleeved on the outer periphery of the end of the wearer's ring finger, and a little finger end finger sleeve that can be sleeved on the outer periphery of the end of the wearer's little finger; the spring-connecting rod composite transmission mechanism comprises an index finger spring-connecting rod composite transmission mechanism, a middle finger spring-connecting rod composite transmission mechanism, a ring finger spring-connecting rod composite transmission mechanism, and a little finger spring-connecting rod composite transmission mechanism that work independently of each other;

[0015] The rotation center of the spring-link compound transmission mechanism of the index finger is connected to the finger sleeve at the end of the index finger; the rotation center of the spring-link compound transmission mechanism of the middle finger is connected to the finger sleeve at the end of the middle finger; the rotation center of the spring-link compound transmission mechanism of the ring finger is connected to the finger sleeve at the end of the ring finger; the rotation center of the spring-link compound transmission mechanism of the little finger is connected to the finger sleeve at the end of the little finger;

[0016] The motor mount includes a four-finger motor mount, which is disposed adjacent to a location where the palm-level end of the support base is located;

[0017] The four-finger motor fixing seat includes a first motor fixing seat for the index finger, a second motor fixing seat for the index finger, a first motor fixing seat for the middle finger, a second motor fixing seat for the middle finger, a first motor fixing seat for the ring finger, a second motor fixing seat for the ring finger, a first motor fixing seat for the little finger, and a second motor fixing seat for the little finger;

[0018] The rotating support seat comprises a four-finger rotating support seat, and the four-finger root-level ends of the rotating support seat can be level with the cross-sections where the index finger root, the middle finger root, the ring finger root, and the little finger root are located;

[0019] The four-finger rotating support seat includes an index finger rotating support seat, a middle finger rotating support seat, a ring finger rotating support seat, and a little finger rotating support seat;

[0020] The rotation center of the index finger spring-link compound transmission mechanism is installed on the index finger rotation support seat, the rotation center of the middle finger spring-link compound transmission mechanism is installed on the middle finger rotation support seat, the rotation center of the ring finger spring-link compound transmission mechanism is installed on the ring finger rotation support seat, and the rotation center of the little finger spring-link compound transmission mechanism is installed on the little finger rotation support seat.

[0021] Further, the index finger spring-link compound transmission mechanism, the middle finger spring-link compound transmission mechanism, the ring finger spring-link compound transmission mechanism and the pinky finger spring-link compound transmission mechanism each include a spring group, a rotary bearing, a rotation center, a spring motor linkage cable group, and a spring rotary pivot connecting rod group;

[0022] The spring group includes a first spring and a second spring; the spring motor linkage cable group includes a first spring motor linkage cable and a second spring motor linkage cable; the spring rotation pivot link group includes a first spring rotation pivot link and a second spring rotation pivot link; two rotation sites are arranged at the upper and lower ends of the rotation center, namely, rotation site A and rotation site B; the middle of the rotation center is hollowed out to have a rotation site C;

[0023] The rotation position C of the spring-link compound transmission is rotationally connected to the rotation support seat of the support seat through a rotation bearing; the first spring motor linkage cable is rotationally connected to the power output of the first motor, and the second spring motor linkage cable is rotationally connected to the power output of the second motor; the two ends of the first spring are respectively fixedly connected to the first spring rotation pivot link and the first spring motor linkage cable, and the two ends of the second spring are respectively fixedly connected to the second spring rotation pivot link and the second spring motor linkage cable; the first spring rotation pivot link is rotationally connected to the rotation position A of the rotation center, and the second spring rotation pivot link is rotationally connected to the rotation position B of the rotation center; the rotation center of the spring-link compound transmission is rotationally connected to the end finger sleeve; the center of the first motor is horizontally aligned with the rotation position A, and the center of the second motor is horizontally aligned with the rotation position B, so as to ensure that the power mechanism can smoothly pull the spring group.

[0024] Furthermore, the support base is arranged in a U shape, including a rotating support base and a motor fixing base; the support base is arranged near the finger end in sequence with an index finger rotating support base, a middle finger rotating support base, a ring finger rotating support base and a little finger rotating support base; the support base is arranged near the wrist end in sequence with an index finger first motor fixing base, an index finger second motor fixing base, a middle finger first motor fixing base, a middle finger second motor fixing base, a ring finger first motor fixing base, a ring finger second motor fixing base, a little finger first motor fixing base and a little finger second motor fixing base;

[0025] The rotation position C-1 of the rotation center A of the index finger spring-connecting rod composite transmission mechanism is rotationally connected to the index finger rotation support seat of the support seat through the index finger rotation bearing; the first motor a and the second motor b in the index finger power mechanism are respectively fixed on the index finger first motor fixing seat and the index finger second motor fixing seat;

[0026] The rotation position C-2 of the rotation center B of the middle finger spring-link composite transmission mechanism is rotationally connected to the middle finger rotation support seat of the support seat through the middle finger rotation bearing; the first motor c and the second motor d in the middle finger power mechanism are respectively fixed on the middle finger first motor fixing seat and the middle finger second motor fixing seat;

[0027] The rotation position C-3 of the rotation center C of the ring finger spring-connecting rod composite transmission mechanism is rotationally connected to the ring finger rotation support seat of the support seat through the ring finger rotation bearing; the first motor e and the second motor f in the ring finger power mechanism are respectively fixed on the ring finger first motor fixing seat and the ring finger second motor fixing seat;

[0028] The rotation position C-4 of the rotation center D of the pinky spring-connecting rod composite transmission mechanism is rotationally connected to the pinky rotating support seat of the support seat through the pinky rotating bearing; the first motor g and the second motor h in the pinky power mechanism are respectively fixed on the pinky first motor fixing seat and the pinky second motor fixing seat;

[0029] The axes of the index finger rotation support seat, the middle finger rotation support seat, the ring finger rotation support seat and the little finger rotation support seat are collinearly arranged; the axes of the first motor fixing seat of the index finger, the middle finger first motor fixing seat, the ring finger first motor fixing seat and the little finger first motor fixing seat are collinearly arranged; the axes of the second motor fixing seat of the index finger, the middle finger second motor fixing seat, the ring finger second motor fixing seat and the little finger second motor fixing seat are collinearly arranged; and the axes of the first motor fixing seat and the second motor fixing seat are staggered.

[0030] Another technical object of the present invention is to provide a method for using a variable stiffness hand exoskeleton device based on antagonistic drive, comprising:

[0031] The index finger power mechanism is started to change the stiffness of the index finger spring-link compound transmission mechanism; the middle finger power mechanism is started to change the stiffness of the middle finger spring-link compound transmission mechanism; the ring finger power mechanism is started to change the stiffness of the ring finger spring-link compound transmission mechanism; the little finger power mechanism is started to change the stiffness of the little finger spring-link compound transmission mechanism; wherein the index finger spring-link compound transmission mechanism, the middle finger spring-link compound transmission mechanism, the ring finger spring-link compound transmission mechanism and the little finger spring-link compound transmission mechanism all include a spring group, a rotating bearing, a rotating center, a spring motor linkage cable group, and a spring rotating pivot connecting rod group;

[0032] The spring group includes a first spring and a second spring; the spring motor linkage cable group includes a first spring motor linkage cable group and a second spring motor linkage cable group; the spring rotation pivot link group includes a first spring rotation pivot link group and a second spring rotation pivot link group;

[0033] The working process of the index finger spring-connecting rod compound transmission mechanism, the middle finger spring-connecting rod compound transmission mechanism, the ring finger spring-connecting rod compound transmission mechanism and the little finger spring-connecting rod compound transmission mechanism is as follows:

[0034] When the finger moves naturally, the second motor drives the movement in reverse, the second spring relaxes, the first motor starts, and the power output by the first motor is used to tighten the first spring through the first spring motor linkage cable that is rotationally connected to the power output end of the first motor. The first spring is tightened to reduce the stiffness of the spring-link compound transmission mechanism and adapt to the natural movement of the finger; when the finger needs to provide force feedback, the first motor drives the movement in reverse, the first spring relaxes, the second motor starts, and the power output by the second motor is used to tighten the second spring through the second spring motor linkage cable that is rotationally connected to the power output end of the second motor. The second spring is tightened to increase the stiffness of the spring-link compound transmission mechanism and simulate the stiffness of the object to provide force feedback to the fingertip wearing the fingertip sleeve.

[0035] The beneficial effects of the present invention are:

[0036] 1. The support base and the spring-connecting rod composite transmission mechanism installed on the support base of the present invention are both located in the outer area of ​​the palm. When the hand exoskeleton is in motion, it will not interfere with the user's grip or other hand movements. The device allows the user's fingers to reach a 90-degree range of motion near the metacarpophalangeal joint, almost without hindering the natural movement space of the hand. At the same time, this design ensures the high portability of the device, so that it can be flexibly used in different occasions without being restricted by a specific environment.

[0037] 2. The spring-connecting rod compound transmission mechanism described herein includes the index finger spring-connecting rod compound transmission mechanism, the middle finger spring-connecting rod compound transmission mechanism, the ring finger spring-connecting rod compound transmission mechanism and the little finger spring-connecting rod compound transmission mechanism, which work independently of each other. That is, the present invention configures the index finger precise force feedback mechanism, the middle finger precise force feedback mechanism, the ring finger precise force feedback mechanism and the little finger precise force feedback mechanism for the index finger, the middle finger, the ring finger precise force feedback mechanism and the little finger precise force feedback mechanism accordingly; and the index finger precise force feedback mechanism, the middle finger precise force feedback mechanism, the ring finger precise force feedback mechanism and the little finger precise force feedback mechanism work independently of each other. Therefore, the four fingers of the present invention can operate independently, the active finger movements are more, and the force feedback effect is better.

[0038] 3. The spring-connecting rod composite transmission mechanism described in the present invention uses two nonlinear springs to simulate the biceps and triceps of the human arm, thereby simulating the ability of the antagonistic muscles in the biological system to achieve the purpose of changing the stiffness of the spring-connecting rod composite transmission mechanism. This design not only provides the necessary power support for the fingers, but also can accurately adjust the force output according to the user's hand movements, thereby achieving fine force feedback. The antagonistic drive design allows the device to respond to the user's hand movements by dynamically adjusting the stiffness while providing support. This adaptive stiffness adjustment function greatly enhances the flexibility and comfort of use. In addition, the antagonistic drive mechanism of the system also helps to simulate the biomechanical characteristics of natural hand movements, thereby providing users with more natural and smooth hand movement support without sacrificing the natural feel. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the structure of the variable stiffness hand exoskeleton device based on antagonistic drive according to the present invention installed on the hand;

[0040] Figure 2 is a schematic structural diagram of the support base of the present invention;

[0041] Figure 3 It is a schematic diagram of the structure of the spring-connecting rod compound transmission mechanism of the index finger, the spring-connecting rod compound transmission mechanism of the middle finger, the spring-connecting rod compound transmission mechanism of the ring finger, and the spring-connecting rod compound transmission mechanism of the little finger;

[0042] Figure 4 It is a detailed structural diagram of the index finger spring-connecting rod composite transmission mechanism of the present invention.

[0043] List of Figure Symbols:

[0044] 1. Support seat; 1-1. Little finger rotation support seat; 1-2. Ring finger rotation support seat; 1-3. Middle finger rotation support seat; 1-4. Index finger rotation support seat; 1-5. Little finger first motor fixing seat; 1-6. Little finger second motor fixing seat; 1-7. Ring finger first motor fixing seat; 1-8. Ring finger second motor fixing seat; 1-9. Middle finger first motor fixing seat; 1-10. Middle finger second motor fixing seat; 1-11. Index finger first motor fixing seat Fixed seat; 1-12, index finger second motor fixed seat; 2, pinky finger rotation bearing; 3, ring finger rotation bearing; 4, middle finger rotation bearing; 5, index finger rotation bearing; 6, pinky finger connecting rod structure; 6-1, pinky finger rotation center; 6-2, pinky finger end sleeve; 7, ring finger connecting rod structure; 7-1, ring finger rotation center; 7-2, ring finger end sleeve; 8, middle finger connecting rod structure; 8-1, middle finger rotation center; 8-2, middle finger end sleeve; 9, Index finger connecting rod structure; 9-1, index finger rotation center; 9-2, index finger end sleeve; 10, pinky finger spring group; 10-1, pinky finger first spring; 10-2, pinky finger second spring; 11, ring finger spring group; 11-1, ring finger first spring; 11-2, ring finger second spring; 12, middle finger spring group; 12-1, middle finger first spring; 12-2, middle finger second spring; 13, index finger spring group; 13-1, index finger first spring; 13 -2, the second spring of the index finger; 14, the first motor of the little finger; 15, the second motor of the little finger; 16, the first motor of the ring finger; 17, the second motor of the ring finger; 18, the first motor of the middle finger; 19, the second motor of the middle finger; 20, the first motor of the index finger; 21, the second motor of the index finger; 22, the motor linkage cable of the first spring of the index finger; 23, the motor linkage cable of the second spring of the index finger; 24, the rotating pivot link of the first spring of the index finger; 25, the rotating pivot link of the second spring of the index finger. DETAILED DESCRIPTION

[0045] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0046] As shown in the figure, the variable stiffness hand exoskeleton device based on antagonistic drive of the present invention comprises a power mechanism, a support seat 1, a spring-connecting rod composite transmission mechanism, and a terminal finger sleeve connected to the power output end of the spring-connecting rod composite transmission mechanism;

[0047] The end finger sleeve can be fixed to the periphery of the end joint of the finger joint through an elastic adjustment belt, and the end finger sleeve provides force feedback for the end of the finger joint under the power actuation of the connecting rod structure. The inner surface of the support seat 1 is configured according to the complete back of the palm / part of the back of the palm, and the back of the support seat is provided with a rotating support seat and a motor fixing seat; the motor group of the power mechanism is installed on the motor fixing seat; when providing force feedback, the spring-connecting rod composite transmission mechanism is located on the outside of the palm.

[0048] In order to enable the variable stiffness hand exoskeleton device described in the present invention to work independently on the index finger, middle finger, ring finger and little finger, the present invention configures the index finger, middle finger, ring finger and little finger (not involving the thumb) with correspondingly independently working index finger precise force feedback mechanisms, middle finger precise force feedback mechanisms, ring finger precise force feedback mechanisms and little finger precise force feedback mechanisms.

[0049] The precise force feedback mechanism for the index finger comprises a spring-connecting rod composite transmission mechanism for the index finger, a power structure for the index finger, and a finger sleeve 9-2 at the end of the index finger connected to the power output end of the power structure for the index finger; the precise force feedback mechanism for the middle finger comprises a spring-connecting rod composite transmission mechanism for the middle finger, a power structure for the middle finger, and a finger sleeve 8-2 at the end of the middle finger connected to the power output end of the power structure for the middle finger; the precise force feedback mechanism for the ring finger comprises a spring-connecting rod composite transmission mechanism for the ring finger, a power structure for the ring finger, and a finger sleeve 7-2 at the end of the ring finger connected to the power output end of the power structure for the ring finger; the precise force feedback mechanism for the little finger comprises a spring-connecting rod composite transmission mechanism for the little finger, a power structure for the little finger, and a finger sleeve 6-2 at the end of the little finger connected to the power output end of the power structure for the little finger.

[0050] It can be seen that the spring-connecting rod composite transmission mechanism described in the present invention includes an index finger spring-connecting rod composite transmission mechanism, a middle finger spring-connecting rod composite transmission mechanism, a ring finger spring-connecting rod composite transmission mechanism and a little finger spring-connecting rod composite transmission mechanism; and the terminal finger sleeve includes an index finger terminal finger sleeve 9-2 that can be sleeved on the periphery of the terminal knuckle of the user's index finger, a middle finger terminal finger sleeve 8-2 that can be sleeved on the periphery of the terminal knuckle of the user's middle finger, a ring finger terminal finger sleeve 7-2 that can be sleeved on the periphery of the terminal knuckle of the user's ring finger, and a little finger terminal finger sleeve 6-2 that can be sleeved on the periphery of the terminal knuckle of the user's little finger.

[0051] In order to realize the arrangement of the spring-connecting rod composite transmission mechanism on the outside of the palm, the spring-connecting rod composite transmission mechanism of the present invention adopts the following structural form:

[0052] The index finger spring-link composite transmission mechanism, the middle finger spring-link composite transmission mechanism, the ring finger spring-link composite transmission mechanism and the little finger spring-link composite transmission mechanism all include a spring group (little finger spring group 10\ring finger spring group 11\middle finger spring group 12\index finger spring group 13), a rotating bearing (little finger rotating bearing 2\ring finger rotating bearing 3\middle finger rotating bearing 4\index finger rotating bearing 5), a rotating center (index finger rotating center 9-1\middle finger rotating center 8-1\ring finger rotating center 7-1\little finger rotating center 6-1), a spring motor linkage cable group (a first spring motor linkage cable 22\a second spring motor linkage cable 23), and a spring rotation pivot link group (a first spring rotation pivot link 24\a second spring rotation pivot link 25); two rotation sites are arranged at the upper and lower ends of the rotation center, namely, a rotation site A and a rotation site B; the middle of the rotation center is hollowed out and provided with a rotation site C; the rotation site C of the spring-link composite transmission mechanism is connected to the rotation center by a rotating bearing (little finger rotating bearing 2\ring finger rotating bearing 3\ The middle finger rotation bearing 4\index finger rotation bearing 5) is rotationally connected to the rotation support seat of the support seat (the little finger rotation support seat 1-1\ring finger rotation support seat 1-2\middle finger rotation support seat 1-3\index finger rotation support seat 1-4); the first spring motor linkage cable is rotationally connected to the power output of the first motor (the first motor includes the little finger first motor 14\ring finger first motor 16\middle finger first motor 18\index finger first motor 20; here taking the index finger as an example, the index finger first spring motor linkage cable 22 is connected to the index finger first The second motor is connected to the second motor 20, and the related parts of the middle finger, ring finger and little finger described in this patent are all connected in the same way), the second spring motor linkage cable is connected to the power output of the second motor (the second motor includes the second motor 15 for the little finger\the second motor 17 for the ring finger\the second motor 19 for the middle finger\the second motor 21 for the index finger, and the index finger is taken as an example here, the second spring motor linkage cable 23 for the index finger is connected to the second motor 21 for the index finger, and the related parts of the middle finger, ring finger and little finger described in this patent are all connected in the same way);The first spring (the first spring 10-1 for the little finger, the first spring 11-1 for the ring finger, the first spring 12-1 for the middle finger, and the first spring 13-1 for the index finger) is respectively fixedly connected at both ends with the first spring rotation pivot link and the first spring motor linkage cable (here taking the index finger as an example, the first spring 13-1 for the index finger is respectively fixedly connected at both ends with the first spring rotation pivot link 24 for the index finger and the first spring motor linkage cable 22 for the index finger, and the related parts of the middle finger, ring finger and little finger described in this patent are all connected in the same way), the second spring (the first spring 10-1 for the little finger, the first spring 11-1 for the ring finger, the first spring 12-1 for the middle finger, and the first spring 13-1 for the index finger) is respectively fixedly connected at both ends with the first spring rotation pivot link 24 for the index finger and the first spring motor linkage cable 22 for the index finger. The two ends of the second spring 10-2\the second spring 11-2 of the ring finger\the second spring 12-2 of the middle finger\the second spring 13-2 of the index finger are respectively fixedly connected with the second spring rotation pivot connecting rod and the second spring motor linkage cable (here taking the index finger as an example, the two ends of the second spring 13-2 of the index finger are respectively fixedly connected with the second spring rotation pivot connecting rod 25 of the index finger and the second spring motor linkage cable 23 of the index finger, and the relevant parts of the middle finger, ring finger and little finger described in this patent are connected in the same way); the rotation position of the first spring rotation pivot connecting rod and the rotation center Point A is rotationally connected, and the second spring rotation pivot link is rotationally connected to the rotation site B of the rotation center (the rotation center includes the little finger rotation center 6-1\ring finger rotation center 7-1\middle finger rotation center 8-1\index finger rotation center 9-1; here, taking the index finger as an example, the first spring rotation pivot link 24 of the index finger is rotationally connected to the rotation site A of the index finger rotation center 9-1, and the second spring rotation pivot link 25 of the index finger is rotationally connected to the rotation site B of the index finger rotation center 9-1. The related parts of the middle finger, ring finger and little finger described in this patent All are connected in the same way); the rotation center of the spring-link composite transmission mechanism is rotationally connected to the end finger sleeve (the pinky finger sleeve 6-2, the ring finger sleeve 79-2, the middle finger sleeve 8-2, and the index finger sleeve 9-2); the center of the first motor is horizontally aligned with the rotation position A, and the center of the second motor is horizontally aligned with the rotation position B, so as to ensure that the power mechanism can smoothly pull the spring group (the spring group includes the pinky finger spring group 10, the ring finger spring group 11, the middle finger spring group 12, and the index finger spring group 13). It can be seen that the present invention adopts a spring-link composite transmission mechanism and its specific installation method on the support seat 1, which can provide sufficient palm accommodation space for finger movement. The setting method of realizing the spring-link composite transmission mechanism on the outside of the palm ensures that the present invention does not affect the user's gripping action during the movement, and can realize the complete activity space of the user's movement. After testing, the activity range of the MCP joint (proximal metacarpophalangeal joint) is 90 degrees, which almost meets all activity spaces. ;

[0053] The power mechanism includes a first motor (a first motor for the pinky finger 14, a first motor for the ring finger 16, a first motor for the middle finger 18, and a first motor for the index finger 20) and a second motor (a second motor for the pinky finger 15, a second motor for the ring finger 17, a second motor for the middle finger 19, and a second motor for the index finger 21), a first spring motor linkage cable 22 is rotationally connected to the power output of the first motor (the first motor for the pinky finger 14, the first motor for the ring finger 16, the first motor for the middle finger 18, and the first motor for the index finger 20), and a second spring motor linkage cable 23 is rotationally connected to the power output of the second motor (the second motor for the pinky finger 15, the second motor for the ring finger 17, the second motor for the middle finger 19, and the second motor for the index finger 21).

[0054] The axis of the index finger rotation support seat 1-4, the axis of the middle finger rotation support seat 1-3, the axis of the ring finger rotation support seat 1-2 and the axis of the little finger rotation support seat 1-1 are collinearly arranged, the axis of the index finger first motor fixing seat 1-11, the axis of the middle finger first motor fixing seat 1-9, the axis of the ring finger first motor fixing seat 1-7, and the axis of the little finger first motor fixing seat 1-5 are collinearly arranged, the axis of the index finger second motor fixing seat 1-12, the axis of the middle finger second motor fixing seat 1-10, the axis of the ring finger second motor fixing seat 1-8, and the axis of the little finger second motor fixing seat 1-6 are collinearly arranged, and the axis of the first motor fixing seat is staggered with the axis of the second motor fixing seat;

[0055] In order to realize the antagonistic drive design with variable stiffness, two nonlinear springs (the first spring 10-1 of the little finger\the first spring 11-1 of the ring finger\the first spring 12-1 of the middle finger\the first spring 13-1 of the index finger\the second spring 10-2 of the little finger\the second spring 11-2 of the ring finger\the second spring 12-2 of the middle finger\the second spring 13-2 of the index finger) are used to simulate the biceps and triceps of the human arm, thereby simulating the ability of the antagonistic muscles in the biological system. When the fingers move naturally, the second motor (the second motor 15 of the little finger\the second motor 17 of the ring finger\the second motor 19 of the middle finger\the second motor 21 of the index finger) drives the movement in reverse, the second spring (the second spring 10-2 of the little finger\the second spring 11-2 of the ring finger\the second spring 12-2 of the middle finger\the second spring 13-2 of the index finger) is relaxed, and the first motor (the first motor 14 of the little finger\the first motor 16 of the ring finger\the first motor 18 of the middle finger\the first motor 20 of the index finger) is started, and the first motor The output power is tightened by the first spring motor linkage cable 22 which is rotatably connected to the power output end of the first motor to tighten the first spring (the first spring 10-1 of the little finger\the first spring 11-1 of the ring finger\the first spring 12-1 of the middle finger\the first spring 13-1 of the index finger), and the first spring is tightened to reduce the stiffness of the spring-link compound transmission mechanism to conform to the natural movement of the finger; when the finger needs to provide force feedback, the first motor drives the movement in reverse, the first spring is relaxed, the second motor is started, and the power output by the second motor is tightened by the second spring motor linkage cable 23 which is rotatably connected to the power output end of the second motor to tighten the second spring, and the second spring is tightened to increase the stiffness of the spring-link compound transmission mechanism, simulating the stiffness of the object to provide force feedback to the fingertip wearing the finger end finger sleeve; this design not only provides the necessary power support for the finger, but also can accurately adjust the power output according to the user's hand movement, thereby achieving fine force feedback. The antagonistic drive design allows the device to respond to the user's hand movement by dynamically adjusting the stiffness while providing support. This adaptive stiffness adjustment function greatly enhances the flexibility and comfort of use. In addition, the system's antagonistic drive mechanism also helps to simulate the biomechanical characteristics of natural hand movements, thereby providing users with more natural and smooth hand movement support without sacrificing the natural feel.

[0056] like Figure 2 As shown, the inner surface of the support seat 1 is shaped according to the complete back side of the palm / partial back side of the palm, and the back side of the support seat is provided with a rotating support seat and a motor fixing seat; the motor group of the power mechanism is installed on the motor fixing seat; when worn, the spring-connecting rod composite transmission mechanism is located on the outside of the palm.

[0057] Furthermore, the support seat 1 is arranged in a U shape, including a rotating support seat and a motor fixing seat; the support seat is provided with an index finger rotating support seat 1-4, a middle finger rotating support seat 1-3, a ring finger rotating support seat 1-2 and a little finger rotating support seat 1-1 in sequence near the finger end; the support seat 1 is provided with an index finger first motor fixing seat 1-11, an index finger second motor fixing seat 1-12, a middle finger first motor fixing seat 1-9, a middle finger second motor fixing seat 1-10, a ring finger first motor fixing seat 1-7, a ring finger second motor fixing seat 1-8, a little finger first motor fixing seat 1-5 and a little finger second motor fixing seat 1-6 in sequence near the wrist end;

[0058] The rotation position C-1 of the index finger rotation center 9-1 of the index finger connecting rod structure 9 is rotationally connected to the index finger rotation support seat 1-4 of the support seat 1 through the index finger rotation bearing 5; the index finger first motor 20 and the index finger second motor 21 in the index finger power mechanism are respectively fixed on the index finger first motor fixing seat 1-11 and the index finger second motor fixing seat 1-12; the rotation position C-2 of the middle finger rotation center 8-1 of the middle finger connecting rod structure 8 is rotationally connected to the middle finger rotation support seat 1-3 of the support seat 1 through the middle finger rotation bearing 4; the middle finger first motor 18 and the middle finger second motor 19 in the middle finger power mechanism are respectively fixed on the middle finger first motor fixing seat 1-9 and the middle finger second motor fixing seat 1-10; the ring finger connecting rod structure The rotation position C-3 of the ring finger rotation center 7-1 of the little finger 7 is rotationally connected to the ring finger rotation support seat 1-2 of the support seat 1 through the ring finger rotation bearing 3; the first ring finger motor 16 and the second ring finger motor 17 in the ring finger power mechanism are respectively fixed on the first ring finger motor fixing seat 1-7 and the second ring finger motor fixing seat 1-8; the rotation position C-4 of the little finger rotation center 6-1 of the little finger connecting rod structure 6 is rotationally connected to the little finger rotation support seat 1-1 of the support seat 1 through the little finger rotation bearing 2; the first little finger motor 14 and the second little finger motor 15 in the little finger power mechanism are respectively fixed on the first little finger motor fixing seat 1-5 and the second little finger motor fixing seat 1-6;

[0059] Based on the above-mentioned variable stiffness hand exoskeleton device based on antagonistic drive, it can be known that the working principle of the present invention is as follows:

[0060] When force feedback is required on the end of the index finger, the index finger spring-connecting rod composite transmission mechanism is started to drive the finger sleeve at the end of the index finger to achieve force feedback on the end of the index finger;

[0061] When force feedback is required on the end of the middle finger, the middle finger spring-link composite transmission mechanism is started to drive the finger sleeve at the end of the middle finger to achieve force feedback on the end of the middle finger;

[0062] When force feedback is required on the end of the ring finger, the ring finger spring-link compound transmission mechanism is started to drive the finger sleeve at the end of the ring finger to achieve force feedback on the end of the ring finger;

[0063] When force feedback is required on the end of the little finger, the little finger spring-connecting rod composite transmission mechanism is started to drive the finger sleeve at the end of the little finger to achieve force feedback on the end of the little finger.

[0064] The specific steps of the spring-link compound transmission mechanism to realize force feedback to the end of the finger by actuating the end finger sleeve are as follows:

[0065] When the fingers move naturally, the second motor (the second motor 15 for the little finger\the second motor 17 for the ring finger\the second motor 19 for the middle finger\the second motor 21 for the index finger) moves in reverse, the second spring (the second spring 10-2 for the little finger\the second spring 11-2 for the ring finger\the second spring 12-2 for the middle finger\the second spring 13-2 for the index finger) relaxes, the first motor (the first motor 14 for the little finger\the first motor 16 for the ring finger\the first motor 18 for the middle finger\the first motor 20 for the index finger) starts, the power output by the first motor is used to tighten the first spring (the first spring 10-1 for the little finger\the first spring 11-1 for the ring finger\the first spring 12-1 for the middle finger\the first spring 13-1 for the index finger) through the first spring motor linkage cable 22 rotatably connected to the power output end of the first motor, and the first spring is tightened to reduce the stiffness of the spring-connecting rod composite transmission mechanism to comply with the natural movement of the fingers;

[0066] When the finger needs to provide force feedback, the first motor drives the movement in reverse, the first spring relaxes, the second motor starts, and the power output by the second motor tightens the second spring through the second spring motor linkage cable 23 which is rotationally connected to the power output end of the second motor. The second spring is tightened to increase the stiffness of the spring-connecting rod composite transmission mechanism, simulating the stiffness of the object to provide force feedback to the fingertip wearing the fingertip sleeve.

[0067] 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 ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications all fall within the protection scope of the claims of the present invention.

Claims

1. A variable stiffness hand exoskeleton device based on antagonistic drive, characterized in that: It includes independent power mechanisms, support seats, spring-connecting rod compound transmission mechanisms and end finger sleeves connected to the power output end of the spring-connecting rod compound transmission mechanism, each of which is equipped for the index finger, middle finger, ring finger and little finger; the power mechanism implements force feedback through the spring-connecting rod compound transmission mechanism; The end finger sleeve is fixed to the periphery of the end joint of the finger joint through the first elastic adjustment belt, and the end finger sleeve provides force feedback for the end of the finger joint under the power actuation of the connecting rod structure. The inner surface of the support seat is configured according to the complete back of the palm / part of the back of the palm, and the back of the support seat is provided with a rotating support seat and a motor fixing seat; the motor group of the power mechanism is installed on the motor fixing seat; when providing force feedback, the spring-connecting rod composite transmission mechanism is located on the outside of the palm; The power mechanism includes a first motor and a second motor arranged up and down; the motor fixing seat is arranged at a position adjacent to the palm-level end of the support seat, and the motor fixing seat includes a first motor fixing seat and a second motor fixing seat arranged up and down; The support seat includes a rotating support seat and a motor fixing seat; The spring-link composite transmission mechanism includes a first spring and a second spring, a rotary bearing, a rotary center, a first spring motor linkage cable, a second spring motor linkage cable, a first spring rotary pivot link, and a second spring rotary pivot link; The finger connecting rod structure is provided with a rotation center, and two rotation positions are provided at the upper and lower ends of the rotation center, namely, rotation position A and rotation position B; the middle hollow of the rotating part is provided with a rotation center point C; The base of the first motor is fixed on the first motor fixing seat, and the base of the second motor is fixed on the second motor fixing seat; the rotation center point C of the spring-connecting rod compound transmission machine is rotationally connected with the rotation support seat of the support seat through a rotation bearing.

2. The variable stiffness hand exoskeleton device based on antagonistic drive according to claim 1, characterized in that: The first spring motor linkage cable is rotationally connected to the power output end of the first motor, and the second spring motor linkage cable is rotationally connected to the power output of the second motor; the two ends of the first spring are respectively fixedly connected to the first spring rotation pivot link and the first spring motor linkage cable, and the two ends of the second spring are respectively fixedly connected to the second spring rotation pivot link and the second spring motor linkage cable; the first spring rotation pivot link is rotationally connected to the rotation position A of the rotation center, the second spring rotation pivot link is rotationally connected to the rotation position B of the rotation center, and the rotation center of the spring link compound transmission machine is rotationally connected to the end finger sleeve; the center of the first motor is horizontally aligned with the rotation position A, and the center of the second motor is horizontally aligned with the rotation position B.

3. The variable stiffness hand exoskeleton device based on antagonistic drive according to claim 1, characterized in that: The spring-connecting rod compound transmission mechanism includes an index finger spring-connecting rod compound transmission mechanism, a middle finger spring-connecting rod compound transmission mechanism, a ring finger spring-connecting rod compound transmission mechanism and a little finger spring-connecting rod compound transmission mechanism, each of which works independently; The rotation center of the spring-link compound transmission mechanism of the index finger is connected to the finger sleeve at the end of the index finger; the rotation center of the spring-link compound transmission mechanism of the middle finger is connected to the finger sleeve at the end of the middle finger; the rotation center of the spring-link compound transmission mechanism of the ring finger is connected to the finger sleeve at the end of the ring finger; the rotation center of the spring-link compound transmission mechanism of the little finger is connected to the finger sleeve at the end of the little finger; The motor mount includes a four-finger motor mount, which is disposed adjacent to a location where the palm-level end of the support base is located; The four-finger motor fixing seat includes a first motor fixing seat for the index finger, a second motor fixing seat for the index finger, a first motor fixing seat for the middle finger, a second motor fixing seat for the middle finger, a first motor fixing seat for the ring finger, a second motor fixing seat for the ring finger, a first motor fixing seat for the little finger, and a second motor fixing seat for the little finger; The rotating support seat comprises a four-finger rotating support seat, and the four-finger root-level ends of the rotating support seat can be level with the cross-sections where the index finger root, the middle finger root, the ring finger root, and the little finger root are located.

4. The variable stiffness hand exoskeleton device based on antagonistic drive according to claim 1, characterized in that: The support base is U-shaped, including a rotating support base and a motor fixing base; the support base is provided with an index finger rotating support base, a middle finger rotating support base, a ring finger rotating support base and a little finger rotating support base in sequence near one end of the finger; The support base is provided with a first motor fixing base for the index finger, a second motor fixing base for the index finger, a first motor fixing base for the middle finger, a second motor fixing base for the middle finger, a first motor fixing base for the ring finger, a second motor fixing base for the ring finger, a first motor fixing base for the little finger, and a second motor fixing base for the little finger in sequence at one end thereof close to the wrist; The rotation position C-1 of the rotation center A of the index finger spring-connecting rod composite transmission mechanism is rotationally connected to the index finger rotation support seat of the support seat through the index finger rotation bearing; the first motor a and the second motor b in the index finger power mechanism are respectively fixed on the index finger first motor fixing seat and the index finger second motor fixing seat; The rotation position C-2 of the rotation center B of the middle finger spring-link composite transmission mechanism is rotationally connected to the middle finger rotation support seat of the support seat through the middle finger rotation bearing; the first motor c and the second motor d in the middle finger power mechanism are respectively fixed on the middle finger first motor fixing seat and the middle finger second motor fixing seat; The rotation position C-3 of the rotation center C of the ring finger spring-connecting rod composite transmission mechanism is rotationally connected to the ring finger rotation support seat of the support seat through the ring finger rotation bearing; the first motor e and the second motor f in the ring finger power mechanism are respectively fixed on the ring finger first motor fixing seat and the ring finger second motor fixing seat; The rotation position C-4 of the rotation center D of the pinky spring-connecting rod composite transmission mechanism is rotationally connected to the pinky rotating support seat of the support seat through the pinky rotating bearing; the first motor g and the second motor h in the pinky power mechanism are respectively fixed on the pinky first motor fixing seat and the pinky second motor fixing seat; The axes of the index finger rotation support seat, the middle finger rotation support seat, the ring finger rotation support seat and the little finger rotation support seat are collinearly arranged; the axes of the first motor fixing seat of the index finger, the middle finger first motor fixing seat, the ring finger first motor fixing seat and the little finger first motor fixing seat are collinearly arranged; the axes of the second motor fixing seat of the index finger, the middle finger second motor fixing seat, the ring finger second motor fixing seat and the little finger second motor fixing seat are collinearly arranged; and the axes of the first motor fixing seat and the second motor fixing seat are staggered.

5. The method for using the antagonistically driven variable stiffness hand exoskeleton device according to claim 1, characterized in that: include: The index finger power mechanism is started to change the stiffness of the index finger spring-connecting rod composite transmission mechanism; The middle finger power mechanism is activated to change the stiffness of the middle finger spring-connecting rod composite transmission mechanism; The ring finger power mechanism is started to change the stiffness of the ring finger spring-connecting rod compound transmission mechanism; the little finger power mechanism is started to change the stiffness of the little finger spring-connecting rod compound transmission mechanism; When the finger moves naturally, the second motor drives the movement in reverse, the second spring relaxes, the first motor starts, and the power output by the first motor is used to tighten the first spring through the first spring motor linkage cable that is rotationally connected to the power output end of the first motor. The first spring is tightened to reduce the stiffness of the spring-link compound transmission mechanism and adapt to the natural movement of the finger; when the finger needs to provide force feedback, the first motor drives the movement in reverse, the first spring relaxes, the second motor starts, and the power output by the second motor is used to tighten the second spring through the second spring motor linkage cable that is rotationally connected to the power output end of the second motor. The second spring is tightened to increase the stiffness of the spring-link compound transmission mechanism and simulate the stiffness of the object to provide force feedback to the fingertip wearing the fingertip sleeve.

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