A hand exoskeleton device

Abstract

This invention relates to a hand exoskeleton device, comprising an MCP joint drive mechanism, a PIP-DIP joint drive mechanism, an IP joint drive mechanism, and a back-of-hand kit. The MCP and IP joint drive mechanisms are movably connected and worn on the thumb, and the MCP and PIP-DIP joint drive mechanisms are movably connected and worn on the four fingers other than the thumb. The back-of-hand kit can be worn on the back of the hand. The MCP joint drive mechanism includes a first and a second slide groove component that are arranged opposite to each other and can be interlocked. The second slide groove component forms an arc-shaped slide groove by partially removing itself, holding an arc-shaped intermediate slide rod between the two slide groove components. One end of the intermediate slide rod is provided with a guide pulley for adjusting the direction of a first steel cable. The first steel cable is connected to a groove on the back of the intermediate slide rod via the guide pulley to drive the intermediate slide rod to move bidirectionally in the slide groove. The center of the intermediate slide rod coincides with the rotation center of the MCP joint.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton robot technology, and more particularly to a hand exoskeleton device. Background Technology

[0002] In contemporary rehabilitation medicine, the integration of robotics has brought about revolutionary changes, especially in the field of hand function recovery. Advanced hand exoskeleton robotic systems, as an innovative rehabilitation assistive solution, offer new hope to patients with movement disorders. These devices, designed with highly integrated electromechanical systems, can precisely coordinate with the patient's hand movements, providing the necessary power support to help the patient regain hand function. These intelligent exoskeletons not only significantly reduce manual intervention by rehabilitation professionals but also effectively alleviate the shortage of medical rehabilitation resources. Wearable rehabilitation devices allow patients to autonomously adjust the intensity and frequency of training according to their individual rehabilitation progress under the supervision of medical experts. Thanks to precise motor control systems, these exoskeleton robots can perform tasks according to pre-set programs and provide instant feedback, allowing patients and therapists to monitor and adjust the rehabilitation process in real time. More importantly, using these innovative rehabilitation devices, patients can enjoy personalized treatment methods. Compared with traditional rehabilitation methods, these robot-assisted solutions not only provide similar effects but also improve treatment effectiveness with more precise movement replication. Their unique feature lies in their ability to provide patients with semi-autonomous movement modes, significantly improving patient initiative and motivation for rehabilitation through active participation and personalized training programs. In conclusion, hand exoskeleton robots are playing an increasingly crucial role in the field of rehabilitation medicine, not only optimizing traditional treatment methods but also providing patients with more efficient rehabilitation support through technological innovation.

[0003] In existing hand exoskeleton robot drive system designs, the mainstream classifications are rigid drive and flexible drive. Rigid drive typically involves placing power sources such as motors on the back of the hand and transmitting power through rigid components like rigid links to achieve basic finger movements. However, this design often has a heavy mass, poor adaptability, and is prone to generating severe impact forces, thus putting significant pressure on the hand. In contrast, flexible drive systems mostly use ropes or flexible materials that conform to the human hand for force transmission. When using rope drive, the power source can be placed further away from the back of the hand, helping to reduce the burden on the hand. The disadvantage of this configuration is its weaker structural rigidity. As for exoskeletons using flexible materials, their advantages lie in their light weight and better fit, but they usually face problems such as low motion transmission accuracy, difficulty in control, and may not provide sufficient force output during rehabilitation training.

[0004] Patent document CN116617048A discloses a rope-driven hand rehabilitation exoskeleton and its rehabilitation training method. The hand rehabilitation exoskeleton includes a control system, a sensor system, a finger actuator mechanism, a forearm rod, a back-of-hand rod, a hand rehabilitation exoskeleton execution mechanism, and a thumb rehabilitation mechanism. The hand rehabilitation exoskeleton execution mechanism includes a proximal interphalangeal joint adaptive mechanism and a distal interphalangeal joint rehabilitation closed-loop mechanism. The finger actuator mechanism includes a finger extension and flexion power component, a fingertip extension and flexion power component, a thumb extension and flexion power component, and multiple sets of rope transmission mechanisms. The rope transmission mechanism includes a rope spring transmission mechanism and a pulley transmission mechanism. The finger actuator mechanism drives the hand rehabilitation exoskeleton execution mechanism to perform extension or flexion movements.

[0005] The hand rehabilitation exoskeleton described in this patent document employs a cable and spring-based transmission mechanism to drive the fingers, aiming to provide power for rehabilitation training of the distal interphalangeal joints of the four fingers. However, this design does not adequately consider the joint center of rotation of the fingers, i.e., the ideal point or actual area where the axis of rotation of each joint lies during movement. The joint center of rotation is a key reference point in joint movement, determining the natural trajectory of joint movement. Due to significant differences in finger size and shape among individuals, the position of the joint center of rotation also varies, making it difficult for this patented exoskeleton system to adapt to the biomechanical characteristics of all users. In particular, the clips added to the exoskeleton system to prevent the springs from bending under force, while restricting the spring's movement, fail to accommodate the differences in the joint center of rotation of individual fingers. This not only increases the complexity of the system but may also cause a mismatch between the elastic force generated by the spring and the actual movement state of the fingers, resulting in the finger's range of motion not reaching the expected level, ultimately affecting the rehabilitation training effect.

[0006] Therefore, the design of existing hand rehabilitation exoskeletons needs to be optimized based on the anatomical structure and kinematic principles of finger joints. The optimized exoskeleton device should precisely correspond to the joint rotation center of each user's finger to ensure accurate force transmission and movement guidance, thereby providing users with natural and efficient rehabilitation support.

[0007] Furthermore, on the one hand, there are differences in understanding among those skilled in the art; on the other hand, the applicant studied a large number of documents and patents when making this invention, but due to space limitations, not all details and contents were listed in detail. However, this does not mean that the present invention does not possess the features of these prior art. On the contrary, the present invention already possesses all the features of the prior art, and the applicant reserves the right to add relevant prior art to the background art. Summary of the Invention

[0008] Existing technologies typically achieve rehabilitation training for different hand exoskeletons by setting up a single type of driving device. For example, patent document CN106943279A discloses a hand exoskeleton hand-following rehabilitation device. This device includes a rehabilitation device for the affected hand of the hand exoskeleton and a rehabilitation device led by the healthy hand of the hand exoskeleton. The rehabilitation device led by the healthy hand of the hand exoskeleton is placed on the healthy hand. The rehabilitation device led by the healthy hand of the hand exoskeleton is connected to a controller via a data signal line. The controller is connected to the rehabilitation device for the affected hand of the hand exoskeleton via a control signal line. The rehabilitation device for the affected hand of the hand exoskeleton includes a finger section, a back of the hand, a glove, and a controller. The finger section includes four finger mechanisms and a thumb mechanism. The four finger mechanisms are the index finger mechanism, the middle finger mechanism, the ring finger mechanism, and the little finger mechanism. The four finger mechanisms have the same mechanical composition. The first angle sensor and the first power source of each finger mechanism, as well as the back of the hand, are all connected to the controller. However, in this technical solution, the driving force for each finger is located in each finger individually. The driving devices independently located on each finger often have separate driving components, resulting in a relatively heavy weight for each finger sleeve mechanism. This can easily exert significant pressure on the patient's hand during rehabilitation training, increasing the burden on the patient and hindering efficient and accurate hand exoskeleton rehabilitation training. Furthermore, this technical solution relies solely on the clamping and rotation of the distal interphalangeal joints to drive the metacarpophalangeal joints. The movement of the metacarpophalangeal joints is limited by the clamping and rotation process of the distal interphalangeal joints. This not only fails to match the metacarpophalangeal joint parameters of different patients but also completely contradicts the actual hand movement pattern where the movement of the metacarpophalangeal joints drives the movement of the proximal and distal interphalangeal joints. Therefore, it cannot accurately reflect the actual hand movement state of the patient.

[0009] In view of the shortcomings of the prior art, the present invention provides a hand exoskeleton device to solve at least some of the above-mentioned technical problems.

[0010] The hand exoskeleton device of the present invention includes an MCP joint drive mechanism, a PIP-DIP joint drive mechanism, an IP joint drive mechanism, and a back-of-hand kit. One end of the MCP joint drive mechanism is movably connected to the IP joint drive mechanism and worn together on the thumb, or movably connected to the PIP-DIP joint drive mechanism and worn together on the other four fingers. The MCP joint drive mechanism is connected to the back-of-hand kit. The MCP joint drive mechanism includes a first slide groove component and a second slide groove component that are arranged opposite to each other and can be interlocked. The second slide groove component forms an arc-shaped slide groove by partially removing itself, holding an arc-shaped intermediate slide rod between the two slide groove components. One end of the intermediate slide rod is provided with a guide pulley for adjusting the direction of the first steel cable. The first steel cable is connected to a groove on the back of the intermediate slide rod via the guide pulley to drive the intermediate slide rod to move bidirectionally in the slide groove. The center of curvature of the intermediate slide rod coincides with the rotation center of the finger MCP joint.

[0011] Unlike existing technologies, the MCP joint drive mechanism of the present invention includes a first and a second slide rail component that are arranged opposite to each other and can be interlocked to restrict an arc-shaped intermediate slide rod. The intermediate slide rod is driven by a first steel cable to achieve reciprocating bidirectional movement in the arc-shaped slide rail within the second slide rail component. The center of curvature of the reciprocating movement of the arc-shaped intermediate slide rod coincides with the rotation center of the finger MCP joint during the patient's actual rehabilitation training. Based on the above distinguishing technical features, the problem to be solved by the present invention may include: how to achieve a more natural rehabilitation training posture for the patient's hand exoskeleton by adjusting the combination of the drive components. Specifically, the present invention provides the active driving force for the movement of the hand MCP joint directly through a flexible first steel cable. Through the power guidance of the first steel cable, the power supply structure of the MCP joint drive mechanism can be set at a relatively distant position, thereby avoiding the burden on hand rehabilitation training caused by placing rigid drive devices similar to those in the prior art at the finger. Furthermore, under the action of the MCP joint drive mechanism, the MCP joint of the patient's hand moves first, which in turn causes the proximal and distal interphalangeal joints to follow with a certain degree of extension or flexion. This is consistent with the natural movement state of the human hand, thus providing a more effective and accurate rehabilitation training effect. Simultaneously, due to the driving effect provided by the MCP joint movement to the proximal and distal interphalangeal joints, and the follow-up rigid mechanical structure connected to the intermediate slide bar, the proximal and distal interphalangeal joints do not require additional drive devices to provide corresponding motion power. Only a rigid mechanical structure is needed to provide support and limitation to complete the rehabilitation training process for this part of the fingers. This invention pays particular attention to the complex coupled motion relationship between the DIP, PIP, and MCP of the human finger. To achieve smooth extension and flexion movements of the finger joints, this invention has conducted in-depth research on the MCP, PIP, and DIP joints and proposed two drive mechanism designs. In terms of drive method selection, this invention adopts a rigid-flexible coupling drive strategy. This strategy combines the stability of rigid mechanical structures with the flexibility of flexible drive components, achieving precise control of the mechanical structure through the key element of steel cables. The steel cables, acting as the medium for transmitting driving force, efficiently transmit the torque of the motor to various components in the drive mechanism, thereby driving the finger joints to complete the expected extension and flexion movements. Specifically, based on the anatomical structure and kinematic principles of finger joints, this invention establishes a relevant mathematical model that allows the exoskeleton device to precisely correspond to the joint rotation center of the user's fingers, ensuring the accuracy of force transmission and movement guidance, thus providing users with natural and efficient rehabilitation support.

[0012] According to a preferred embodiment, the distal end of the intermediate slide bar extends from the arc-shaped groove to the outside of the first and second groove components, and is held and fixed by the first and second proximal phalanges of the four fingers. When the intermediate slide bar moves, the two connectors also move to the same degree. The proximal end of the intermediate slide bar remains within the arc-shaped groove and moves within the groove in a restricted manner without moving out of the area enclosed by the first and second groove components. With this configuration, the arc-shaped groove restricts the intermediate slide bar at least in terms of the direction of movement and the maximum range of movement. Specifically, when the index finger is extended, the bending angle of the MCP joint is 0°, at which point the proximal end of the intermediate slide bar is located at the proximal end of the arc-shaped groove. When the index finger is bent, the bending angle of the MCP joint gradually increases from 0°, and when the set maximum joint rehabilitation index, 75°, is reached, the proximal end of the intermediate slide bar is located at the distal end of the arc-shaped groove.

[0013] According to a preferred embodiment, the first connector of the proximal phalanx of the four fingers includes a semi-circular ring component that matches the contour of the back of the finger and an upright component perpendicular to the top of the semi-circular ring component. The semi-circular ring component has an MCP joint finger strap that can wrap around the fingertip. The upright component has a notch that matches the shape of the distal end of the intermediate slide bar, allowing the intermediate slide bar to engage with it and be held between the two connectors under the pressure of the second connector of the proximal phalanx of the four fingers. With this configuration, the bidirectional movement of the intermediate slide bar can drive the two connectors and the MCP joint finger strap connected to the first connector of the proximal phalanx of the four fingers to move synchronously, thereby achieving rehabilitation training of the index finger.

[0014] According to a preferred embodiment, the bidirectional movement of the intermediate slide bar is powered by a first steel cable for stretching and bending the proximal phalanges of the fingers. Both ends of the first steel cable are located inside a rope traction device, forming a fixed-length closed loop outside the rope traction device, with one section fixedly connected to the intermediate slide bar. By introducing the first steel cable, the rope traction device controlling the movement of the intermediate slide bar can be fixed to a load-bearing support outside the arm, significantly reducing the wearer's burden. The device can also be installed on the wearer's torso, such as the back or waist, which not only greatly reduces the load on the arm and improves limb flexibility but also lowers the center of gravity of the entire device, thereby enhancing stability and controllability.

[0015] According to a preferred embodiment, the second chute component is partially hollowed out at the junction of the inner and outer spaces to accommodate an MCP joint cable sheath connector for defining the entry and exit points of the first cable into and out of the second chute component. The distal end of the MCP joint cable sheath connector is provided with an MCP cable sheath wrapped around the surface of the first cable. The MCP cable sheath not only extends along with the first cable to the motor winch of the rope traction device, but is also made of polytetrafluoroethylene (PTFE) material with wear-resistant, high-temperature-resistant, and corrosion-resistant properties to ensure that the motor torque can be efficiently and stably transmitted to the MCP joint drive mechanism, thereby improving the performance and reliability of the entire device.

[0016] According to a preferred embodiment, the PIP-DIP joint drive mechanism and the MCP joint drive mechanism are arranged adjacent to each other and are connected by a rotating shaft. The rotating shaft passes through the first connector and the second connector of the proximal phalanx of the four fingers and is connected to the four-finger drive rod. The PIP-DIP joint drive mechanism adopts a six-bar linkage design to simultaneously realize the movement between the PIP and DIP joints. This six-bar linkage can not only accurately control the bending and extension movements of the two fingers synchronously according to the coupling relationship between the PIP and DIP joints, but more importantly, it has a small space occupancy, effectively solving the design problem caused by insufficient finger space.

[0017] According to a preferred embodiment, bearings are installed at both ends of the rotating shaft. One end of the rotating shaft is connected to a cable winch wound with a second steel cable. The cable winch rotates under the drive of the second steel cable and transmits the generated torque to the four-finger drive rod. An encoder is installed at the other end of the rotating shaft to measure the position of the fingers in real time and provide feedback data. A section of the second steel cable is wound on the cable winch, which serves as a connection point tightly connected to the rotating shaft, ensuring accurate torque transmission. Unlike the prior art, in this invention, one end of the rotating shaft connecting the PIP-DIP joint drive mechanism and the MCP joint drive mechanism is connected to a cable winch wound with a second steel cable. The cable winch rotates under the drive of the second steel cable and transmits the generated torque to the four-finger drive rod. Based on the above distinguishing technical features, the problem to be solved by this invention may include: how to separately realize the rehabilitation training process of the middle and distal phalanges of the patient's hand. Specifically, existing finger rehabilitation training devices usually only set up one set of driving force providing devices to realize the training of all finger joints, thus failing to target the training process of specific finger joints. This invention, by adjusting the control methods of the first and second steel cables, can independently achieve MCP joint rehabilitation training, PIP-DIP joint rehabilitation training, or overall rehabilitation training of the hand and finger joints. When the second steel cable on the winch moves clockwise, the rotating shaft connected to it also rotates clockwise synchronously. This action, in turn, drives the four-finger drive rod to rotate in the same direction, ultimately enabling the middle and distal phalanges of the index finger to achieve natural flexion. Conversely, when the second steel cable on the winch moves counterclockwise, the rotating shaft, the four-finger drive rod, and the corresponding phalanx of the index finger will also rotate counterclockwise, thereby achieving extension.

[0018] According to a preferred embodiment, the second connector of the proximal phalanx of the four fingers is provided with at least two cylindrical holes with a diameter larger than that of the second steel cable to accommodate the PIP-DIP joint cable sheath connector. The PIP-DIP joint cable sheath connector defines the specific position of the second steel cable when entering and exiting the second connector of the proximal phalanx of the four fingers. A PIP-DIP cable sheath is provided between the sheath and the second steel cable, adhering to the surface of the second steel cable. This sheath fits tightly against the surface of the second steel cable, forming a protective barrier. The PIP-DIP cable sheath not only extends synchronously with the second steel cable to the motor winch of the rope traction device, but its wear-resistant properties also ensure that the torque of the motor can be efficiently and stably transmitted to the PIP-DIP joint drive mechanism.

[0019] According to a preferred embodiment, the PIP-DIP joint actuation mechanism includes a PIP joint finger strap located on the middle phalanx and a DIP joint finger strap located on the distal phalanx. The PIP joint finger strap can be connected to the middle phalanx connector of the four fingers to form a loop structure fitted onto the middle phalanx, and the DIP joint finger strap can be connected to the distal phalanx connector of the four fingers to form a loop structure fitted onto the distal phalanx. The design of both finger straps fully considers ergonomics and the physiological structure of the middle phalanx. It is made of flexible yet durable materials to ensure sufficient support without causing discomfort to the fingers. Both connectors can be made of rigid materials to provide solid support for the finger bandages.

[0020] According to a preferred embodiment, the IP joint drive mechanism is equipped with a distal phalanx connector for the thumb. The distal phalanx connector can be designed as a pair of parallel vertical plate-like components with a gap between them. This gap allows one end of the thumb IP joint driven rod, which drives the distal phalanx connector to rotate, to be inserted. Through holes are provided on the vertical plate-like structures of the thumb IP joint drive rod, the thumb IP joint driven rod, and the distal phalanx connector, and a four-bar linkage pin is installed at each through hole as a rotation axis. Through these designs, the thumb IP joint drive rod can establish a four-bar linkage transmission mechanism with the distal phalanx connector via the thumb IP joint driven rod. That is, the rotational movement of the thumb IP joint drive rod can synchronously drive the distal phalanx connector and the attached IP joint finger strap to rotate. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the hand exoskeleton device provided by the present invention;

[0022] Figure 2 This is a schematic diagram of the index finger exoskeleton device provided by the present invention.

[0023] Figure 3 This is an exploded view of the MCP joint drive mechanism provided by the present invention.

[0024] Figure 4 This is an exploded view of the PIP-DIP joint drive mechanism provided by the present invention.

[0025] Figure 5 This is a schematic diagram of the thumb exoskeleton device provided by the present invention.

[0026] Figure 6 This is an exploded view of the IP joint drive mechanism provided by the present invention.

[0027] List of reference numerals

[0028] 100: MCP joint drive mechanism; 101: First slide rail component; 102: MCP joint cable sheath connector; 103: MCP cable sheath; 104: First cable; 105: Guide pulley; 106: Intermediate slide rod; 107: Second slide rail component; 108: Second connector for the proximal phalanx of the four fingers; 109: First connector for the proximal phalanx of the four fingers; 110: MCP joint finger strap; 111: Slide rod pin; 200: PIP-DIP joint drive mechanism; 201: PIP joint driven rod of the four fingers; 202: Middle phalanx connector of the four fingers; 203: DIP joint driven rod of the four fingers; 204: Distal phalanx connector of the four fingers ; 205: PIP joint finger strap; 206: Steel cable winch; 207: Four-finger drive rod; 208: DIP joint finger strap; 209: Bearing; 210: Six-bar linkage pin; 211: PIP-DIP joint steel cable sheath connector; 212: PIP-DIP steel cable sheath; 213: Second steel cable; 300: IP joint drive mechanism; 301: Thumb IP joint drive rod; 302: Thumb IP joint driven rod; 303: Thumb distal phalanx connector; 304: Thumb proximal phalanx connector; 305: Four-bar linkage pin; 306: IP joint finger strap; 400: Back of hand kit; 401: Back of hand strap. Detailed Implementation

[0029] The following is a detailed explanation with reference to the accompanying drawings.

[0030] Position definition: In this embodiment, the proximal end refers to the end of the device / component that is closer to the proximal phalanx, and the distal end refers to the end of the device / component that is closer to the distal phalanx.

[0031] Fingers, as the most dexterous part of the human body, play a vital role in daily life, involving various movements such as straightening and bending. Taking the index finger as an example, the index finger joint is composed of the proximal phalanx (phalanx), middle phalanx (phalanx), and distal phalanx (phalanx). The proximal phalanx is connected to the metacarpal bone via the metacarpophalangeal joint (MCP), the middle phalanx is connected to the proximal phalanx via the intermediate joint (PIP), and the distal phalanx is connected to the middle phalanx via the distal joint (DIP). The range of motion of the three joints are MCP: 0–90°, PIP: 0–110°, and DIP: 0–90°. For normal individuals, the number of times they reach the limit of finger bending during normal exercise is extremely small. Therefore, the rehabilitation indicators for each finger joint are designed as follows: MCP: 0–75°, PIP: 0–90°, and DIP: 0–65°. Because the thumb's structure differs from the other four fingers, it consists of three joints: the CMC joint, the MCP joint, and the IP joint. The CMC joint is located at the base of the thumb, connecting the metacarpals and carpal bones, while the IP joint is located between the proximal and distal phalanges. The CMC joint is primarily responsible for generating the thumb's adduction and abduction movements, while the MCP and IP joints complete the thumb's flexion and extension movements. Therefore, when designing rehabilitation exercise indicators, only the movements of the thumb's MCP and IP joints need to be considered.

[0032] This invention provides a hand exoskeleton device that can be applied to finger rehabilitation training, such as... Figure 1 As shown, it includes an MCP joint drive mechanism 100, a PIP-DIP joint drive mechanism 200, an IP joint drive mechanism 300, and a back-of-hand kit 400. The MCP joint drive mechanism 100 and the IP joint drive mechanism 300 can be movably connected and worn on the thumb, the MCP joint drive mechanism 100 and the PIP-DIP joint drive mechanism 200 can be movably connected and worn on the other four fingers besides the thumb, and the back-of-hand kit 400 can be worn on the back of the hand.

[0033] Since the joint rehabilitation indices of the little finger, ring finger, middle finger, and index finger are the same, the assembly method and operating principle of the hand rehabilitation exoskeleton mechanism worn by these four fingers in the hand exoskeleton device of this invention are also the same. Therefore, the working principle and specific structure of the hand exoskeleton device are explained in detail using the index finger as an example. In exploring the movement mechanism of the four fingers, this invention pays special attention to the complex coupling movement relationship between the DIP, PIP, and MCP of the human finger. In order to achieve smooth extension and flexion movements of the finger joints, this invention has conducted in-depth research on the MCP, PIP, and DIP joints and proposed two drive mechanism designs. In terms of the choice of drive method, this invention adopts a rigid-flexible coupling drive strategy. This strategy combines the stability of rigid mechanical structures with the flexibility of flexible drive elements, and achieves precise control of the mechanical structure through the key element of steel cable. As the medium for transmitting driving force, the steel cable can efficiently transmit the torque of the motor to each component in the drive mechanism, thereby driving the finger joint to complete the expected extension and flexion movements. Specifically, one end of the steel cable is connected to the motor, and the other end is connected to the drive mechanism of the finger joint. When the motor starts, the torque it generates is directly transmitted to the drive mechanism via the steel cable. After receiving the driving force, the drive mechanism converts the force into finger joint movement through its internal mechanical structure. Due to the flexibility of the steel cable, it can easily adapt to the bending and stretching of the finger joints. At the same time, the rigidity of the steel cable ensures the effective transmission and precise control of the driving force.

[0034] Preferably, Figure 2 A schematic diagram of an exoskeleton device for the index finger is shown, which can be disassembled into Figure 3 The MCP joint drive mechanism 100 shown and Figure 4 The PIP-DIP joint drive mechanism 200 shown consists of two parts: the MCP joint drive mechanism 100 is responsible for the stretching and bending of the proximal phalanx of the index finger, while the PIP-DIP joint drive mechanism 200 is responsible for the stretching and bending of the middle and distal phalanxes of the index finger.

[0035] Preferably, such as Figure 3As shown, the MCP joint drive mechanism 100 includes two interlocking slide rail components. The middle of each slide rail component has an arc shape that protrudes away from the direction of the index finger, while the two ends of the arc shape extend outward to form large-area sheet-like structures. The two slide rail components are a first slide rail component 101 and a second slide rail component 107. The sheet-like structure of the first slide rail component 101 has several threaded holes, and the corresponding positions of the sheet-like structure of the second slide rail component 107 are also equipped with threaded holes of a certain depth. By screwing screws into the threaded holes of the two slide rail components, the first slide rail component 101 and the second slide rail component 107 can be interlocked and fixed together. The thickness of the second slide rail component 107 is greater than that of the first slide rail component 101. The second slide rail component 107, by partially removing itself to form an arc-shaped slide rail, holds the equally arc-shaped intermediate slide rod 106 between the two slide rail components, allowing the intermediate slide rod 106 to move in both directions under the constraint of the arc-shaped slide rail.

[0036] Preferably, such as Figure 2 , Figure 4 As shown, the distal end of the intermediate slide bar 106 extends from the arc-shaped groove to the outside of the first groove component 101 and the second groove component 107, and is clamped and fixed by the first connector 109 and the second connector 108 of the proximal phalanx of the four fingers. When the intermediate slide bar 106 moves, the two connectors also move to the same extent. The proximal end of the intermediate slide bar 106 can always remain inside the arc-shaped groove. When the intermediate slide bar 106 moves, the proximal end moves in a restricted manner within the arc-shaped groove without moving out of the area enclosed by the first groove component 101 and the second groove component 107 after they are engaged. In this way, the arc-shaped groove restricts the intermediate slide bar 106 at least in terms of the direction of movement and the maximum range of movement. Specifically, when the index finger is straightened, the bending angle of the MCP joint is 0°. At this time, the proximal end of the intermediate slide bar 106 is just located at the proximal end of the arc-shaped slide groove. When the index finger is bent, the bending angle of the MCP joint gradually increases from 0°. When the set maximum joint rehabilitation index, i.e. 75°, is reached, the proximal end of the intermediate slide bar 106 is just located at the distal end of the arc-shaped slide groove.

[0037] Preferably, such as Figure 2 , Figure 4As shown, the first connector 109 and the second connector 108 of the proximal knuckles of the four fingers can be closed together to form an integral structure. The first connector 109 of the proximal knuckles of the four fingers includes a semi-circular ring component that matches the contour of the back of the index finger, and an upright component vertically disposed on the top of the semi-circular ring structure. The semi-circular ring component is provided with an MCP joint finger strap 110 that can wrap around the fingertip of the index finger. The cooperation of the two can securely fix the MCP joint drive mechanism 100 at the proximal knuckle position of the index finger. The upright component is provided with a notch that matches the shape of the distal end of the intermediate slide bar 106, so that the intermediate slide bar 106 can be fitted with it and held between the two connectors under the pressing action of the second connector 108 of the proximal knuckles of the four fingers. Specifically, the upright member of the first connector 109 of the proximal phalanx of the four fingers has an opening on its concave wall, and a slide pin 111 is pre-installed on the distal structure of the intermediate slide rod 106, which can be inserted into the opening to further enhance the connection stability between the intermediate slide rod 106 and the two connectors. In this way, the bidirectional movement of the intermediate slide rod 106 can drive the two connectors and the MCP joint finger strap 110 connected to the first connector 109 of the proximal phalanx of the four fingers to move synchronously, thereby realizing the rehabilitation training of the index finger.

[0038] Preferably, such as Figure 3 As shown, the bidirectional movement of the intermediate slide bar 106 is powered by the first steel cable 104, which acts as the core medium for torque transmission and can be used to stretch and bend the proximal phalanx of the index finger. By introducing the first steel cable 104, the rope traction device (not shown) controlling the movement of the intermediate slide bar 106 can be fixed to a load-bearing support outside the arm, significantly reducing the wearer's burden. This device can also be installed on the wearer's torso, such as the back or waist, which not only greatly reduces the load on the arm and improves limb flexibility but also lowers the center of gravity of the entire device, thereby enhancing stability and controllability. In this design, the efficiency of the motor is maximized, ensuring the stability and efficiency of the hand exoskeleton device. The rope traction device can be driven by a motor, and the direction of rope movement can be precisely adjusted by the forward and reverse rotation of the motor.

[0039] Preferably, such as Figure 3As shown, the first steel cable 104 originates from the rope traction device and enters the first slide rail component 101 and the second slide rail component 107 along a preset path. First, it connects to the proximal end of the intermediate slide bar 106 and then fits into a pre-reserved groove on the back of the intermediate slide bar 106. Afterward, the first steel cable 104 exits from the distal end of the intermediate slide bar 106 and finally exits the slide rail component, returning to the rope traction device along the original path. Thus, both ends of the first steel cable 104 are located inside the rope traction device, forming a closed loop of fixed length outside the rope traction device, with one section fixedly connected to the intermediate slide bar 106. When the motor of the rope traction device starts, the driving force on the first steel cable 104 is directly transmitted to the intermediate slide bar 106, enabling bidirectional movement of the intermediate slide bar 106. For example, when the first steel cable 104 moves from the proximal end to the distal end, the intermediate slide bar 106 can also move towards the distal end along the arc-shaped slide groove under the drive of the first steel cable 104. When the first steel cable 104 moves from the distal end to the proximal end, the intermediate slide bar 106 can also move towards the proximal end along the arc-shaped slide groove under the drive of the first steel cable 104.

[0040] Preferably, to ensure that the first steel cable 104 efficiently and stably transmits the driving force generated by the rope traction device to the intermediate slide bar 106, such as Figure 3 As shown, a portion of the second chute component 107 is hollowed out to accommodate at least two guide pulleys 105. These two guide pulleys 105 are confined between the first chute component 101 and the second chute component 107, and are precisely positioned at both ends of the intermediate slide rod 106. The guide pulleys 105 precisely adjust the extension direction of the first steel cable 104, allowing it to smoothly engage within the curvature of the groove on the back of the intermediate slide rod 106, thereby minimizing losses during the transmission of driving force and significantly enhancing the stability of the transmission.

[0041] Preferably, such as Figure 3 As shown, to optimize the extension path of the first steel cable 104 and enhance its protection, the second chute component 107 is hollowed out in a specific area to accommodate the MCP joint cable sheath connector 102. This connector is located at the boundary between the inner and outer spaces of the second chute component 107, and its main function is to precisely define the entry and exit points of the first steel cable 104 into and out of the second chute component 107. At the distal end of the MCP joint cable sheath connector 102, an MCP cable sheath 103 is provided, which tightly wraps around the surface of the first steel cable 104, forming a protective sleeve. The MCP cable sheath 103 extends together with the first steel cable 104 to the motor winch of the rope traction device. It is made of polytetrafluoroethylene (PTFE) to ensure that the motor torque can be efficiently and stably transmitted to the MCP joint drive mechanism 100, thereby improving the performance and reliability of the entire device.

[0042] Preferably, such as Figure 3As shown, in the MCP joint drive mechanism 100, the center of the intermediate slide 106 precisely coincides with the rotation center of the MCP joint. This design not only makes the overall structure simpler, easier to install and maintain, but also ensures that the movement trajectory of the intermediate slide 106 is highly consistent with the natural movement state of the finger. The rotation center of a finger joint describes the center point of joint rotation during finger joint movement. In biomechanics and anatomy, this concept is used to analyze and understand the movement of finger joints. The rotation center of a finger joint is usually located at the geometric center of the joint and is the axis of rotation for joint movement; each joint has its specific rotation center. Taking the index finger as an example, it includes the rotation center of the MCP joint, the rotation center of the PIP joint, and the rotation center of the DIP joint. These centers remain relatively fixed during joint movement, allowing the joint to perform movements such as flexion and extension. When the intermediate slide 106 moves following the drive of the rope traction device, its movement trajectory can accurately simulate the bending and extension of the human finger, providing the user with a more natural and comfortable operating experience. Specifically, to address the diversity of finger lengths and sizes among different users and ensure that the design of the intermediate slide bar 106 can accurately adapt to various finger shapes and movement requirements, a mathematical model of the arc-shaped intermediate slide bar 106 related to finger size and movement processes needs to be established using computer software before determining the specific dimensions of the internal components of the MCP joint drive mechanism 100. The construction of this model begins with the actual measurement and observation of finger length. Using professional measurement tools and methods, key dimensions such as finger length, width, interphalangeal angles, and the rotation center of the MCP joint are accurately collected for different users. Simultaneously, the software can deeply analyze the physiological structure and kinematic mechanisms of the fingers, understanding the range of motion of the joints, changes in bending angles, and the synergistic effects of muscles and tendons during finger movement. After acquiring this basic data, the software uses mathematical tools and methods to extract and organize key dimensions and movement parameters. By applying knowledge of geometry and kinematics, the software successfully integrates these parameters into a mathematical model that accurately describes the dimensional characteristics and movement patterns of the fingers. Next, the software determines the structural dimensional parameters of the intermediate slide bar 106 through the study of this mathematical model. These parameters include the curvature, length, width, and contact point with the finger of the intermediate slide bar 106. In setting these parameters, the software fully considered the diversity of finger sizes and movement needs among different users, ensuring that the design of the intermediate slide bar 106 can adapt to various finger shapes and movement states. Through this series of steps, the software successfully established a mathematical model closely related to finger size and movement characteristics, and based on this, determined the structural dimensional parameters of the intermediate slide bar 106 and related components. Furthermore, a certain amount of play was designed at the connection point between the intermediate slide bar 106 and the first phalanx. This design allows the intermediate slide bar 106 to have a certain degree of fine-tuning capability during movement, thereby eliminating the centering difficulties caused by varying finger lengths.This flexible space not only ensures the mechanism's flexibility and adaptability during movement, but also effectively reduces the adverse effects caused by installation or movement errors, further enhancing the overall stability and reliability of the mechanism.

[0043] Preferably, due to space limitations, the PIP-DIP joint drive mechanism 200 cannot directly adopt the same drive method as the MCP joint drive mechanism 100. Furthermore, the extension and flexion of the middle and distal phalanges are not completely independent, and the coupling relationship between them needs special consideration. To overcome these challenges, the PIP-DIP joint drive mechanism 200 adopts a six-bar linkage design to simultaneously realize the movement between the PIP and DIP joints. This six-bar linkage not only accurately controls the flexion and extension movements of both fingers synchronously according to the coupling relationship between the PIP and DIP joints, but more importantly, it has a small space occupancy, effectively solving the design problems caused by insufficient finger space. Specifically, as... Figure 2 and Figure 4 As shown, the PIP-DIP joint drive mechanism 200 and the MCP joint drive mechanism 100 can be arranged adjacent to each other, and the two are closely connected by a rotating shaft. This rotating shaft passes through the first connector 109 and the second connector 108 of the proximal phalanx of the four fingers, fixing the position of the PIP-DIP joint drive mechanism 200 and ensuring the stability of the entire exoskeleton device. To achieve power transmission, the rotating shaft is closely connected to the four-finger drive rod 207 (i.e., the driving rod of the six-bar linkage). To reduce friction, miniature bearings 209 are installed at both ends of the rotating shaft to extend its service life. One end of the rotating shaft is connected to a cable winch 206, which is responsible for effectively transmitting the torque generated by the second cable 213 to the six-bar linkage, thereby driving its smooth operation. A small encoder is installed at the other end of the shaft, which can measure the position of the index finger in real time and provide accurate feedback data. This data is crucial for the optimization of the exoskeleton device and the precise control of finger movements.

[0044] Preferably, such as Figure 4As shown, the second steel cable 213, as the core medium for torque transmission, derives its rotational power directly from the rope traction device, providing precise control over the flexion and extension of the middle and distal phalanges of the index finger. Similar to the working principle of the first steel cable 104, the movement of the second steel cable 213 is also under the precise control of the rope traction device. Specifically, the second steel cable 213 starts from the rope traction device, follows a predetermined path, enters through one side wall of the second connector 108 of the proximal phalanx of the four fingers, and then exits through the opposite side wall. Next, the second steel cable 213 winds around the cable winch 206, a design that ensures effective torque transmission. Subsequently, the second steel cable 213 exits again from the cable winch 206 and passes sequentially through both side walls of the second connector 108 of the proximal phalanx of the four fingers, finally returning to the interior of the rope traction device along a predetermined path. This design ensures that both ends of the second steel cable 213 are stably fixed within the rope traction device, while forming a precisely lengthened and structurally stable closed loop on its exterior. Specifically, a second steel cable 213 is wound around the cable winch 206, serving as a connection point tightly connected to the rotating shaft to ensure precise torque transmission. When the second steel cable 213 on the cable winch 206 moves clockwise, the rotating shaft connected to it also rotates clockwise synchronously. This action drives the four-finger drive lever 207 to rotate in the same direction, ultimately causing the middle and distal phalanges of the index finger to achieve a natural bending motion. Conversely, when the second steel cable 213 on the cable winch 206 moves counterclockwise, the rotating shaft, the four-finger drive lever 207, and the corresponding phalanges of the index finger also rotate counterclockwise, thereby achieving an extension motion.

[0045] Preferably, such as Figure 4As shown, to optimize the extension path of the second cable 213 and enhance its protection, at least two cylindrical holes are provided on the second connector 108 of the proximal phalanx of the four fingers. These holes have a diameter larger than the second cable 213 to accommodate the PIP-DIP joint cable sheath connector 211. The main purpose of this design is to precisely define the position of the second cable 213 as it enters and exits the second connector 108 of the proximal phalanx of the four fingers using the PIP-DIP joint cable sheath connector 211, ensuring the smoothness and accuracy of the movement of the second cable 213. A PIP-DIP cable sheath 212 is also provided between the PIP-DIP joint cable sheath connector 211 and the second cable 213. This sheath fits tightly against the surface of the second cable 213, forming a protective barrier. The PIP-DIP cable sheath 212 not only extends synchronously with the second cable 213 to the motor winch of the rope traction device, but its material is also high-performance polytetrafluoroethylene (PTFE). Polytetrafluoroethylene (PTFE), with its excellent wear resistance, high temperature resistance, and corrosion resistance, ensures that the motor torque can be efficiently and stably transmitted to the PIP-DIP joint drive mechanism 200. The design of the PIP-DIP cable sheath 212 not only improves the durability of the second cable 213 and extends its service life, but also greatly enhances the performance and reliability of the entire device.

[0046] Preferably, such as Figure 2 , Figure 4 As shown, the PIP-DIP joint drive mechanism 200 includes a PIP joint finger strap 205 located on the middle phalanx and a DIP joint finger strap 208 located on the distal phalanx. The PIP joint finger strap 205 can be connected to the middle phalanx connector 202 of the four fingers to form a loop structure fitted onto the middle phalanx, and the DIP joint finger strap 208 can be connected to the distal phalanx connector 204 of the four fingers to form a loop structure fitted onto the distal phalanx. The design of both finger straps fully considers ergonomics and the physiological structure of the middle phalanx. It is made of flexible and durable materials to ensure sufficient support without causing discomfort to the fingers. Both connectors can be made of rigid materials, providing solid support for the finger straps. Specifically, a buckle matching the connector is provided at one end of the finger strap, allowing the finger strap to fit snugly onto the distal or middle phalanx. The other end of the finger strap is equipped with a quick-release device (such as a spring buckle) that allows for easy adjustment of tightness, increasing the applicability and flexibility of the PIP-DIP joint drive mechanism 200 when fixed to the finger.

[0047] Preferably, such as Figure 2 , Figure 4As shown, both the middle knuckle connector 202 and the distal knuckle connector 204 are designed as a pair of parallel vertical plate-like components, and are equipped with a semi-circular ring-like component that is tightly connected to the PIP joint finger strap 205 or the DIP joint finger strap 208. A gap is provided between these two plate-like structures to facilitate precise insertion of one end of the four-finger PIP joint follower rod 201 or the four-finger DIP joint follower rod 203. Through holes are provided on the vertical plate-like structures of the four-finger drive rod 207, the four-finger PIP joint follower rod 201, the four-finger DIP joint follower rod 203, and the middle and distal knuckle connectors, and a six-bar linkage pin 210 is installed at the through hole as a rotation axis. Through these designs, the four-finger drive lever 207 can establish a six-bar linkage transmission mechanism with the middle knuckle connector 202 and the distal knuckle connector 204 of the four fingers via the four-finger PIP joint driven lever 201 and the four-finger DIP joint driven lever 203. That is, the rotation of the four-finger drive lever 207 can synchronously drive the two connectors and the finger bandages attached to them to rotate. By precisely adjusting the length of the four-finger drive lever 207, the four-finger PIP joint driven lever 201, and the four-finger DIP joint driven lever 203, the rotation range of the four-finger drive lever 207, and the layout of the six-bar linkage pins 210 on each component, the PIP-DIP joint drive mechanism 200 can achieve precise rotation of the PIP joint within the range of 0° to 90° and the DIP joint within the range of 0° to 65° to meet specific rehabilitation needs.

[0048] Preferably, to accurately determine the dimensional parameters of each link in the six-bar linkage, this invention can, based on the aforementioned mathematical modeling method for determining the dimensions of the intermediate slide bar 106, closely integrate the dimensional design of the six-bar linkage with the dimensions and movement process of human fingers. Through in-depth research and analysis of the established mathematical model, this invention can accurately calculate the structural dimensional parameters of the six-bar linkage suitable for the finger characteristics of different individuals. During the manufacturing process, the overall structure adopts advanced 3D additive manufacturing technology. This technology not only significantly reduces the weight of the mechanism and the burden on the fingers, but also improves manufacturing precision and efficiency.

[0049] Preferably, Figure 5 A schematic diagram of a thumb exoskeleton device is shown, which can be disassembled into an MCP joint actuation mechanism 100 (e.g., Figure 3 (as shown) and the unique IP joint drive mechanism 300 (as shown) Figure 6 (As shown). Since the MCP joint drive mechanism 100 of the thumb exoskeleton device is completely identical in structure and function to the MCP joint drive mechanism 100 in the index finger exoskeleton device, it will not be described again here. The IP joint drive mechanism 300 is unique to the thumb exoskeleton device, and its design principle differs from the PIP-DIP joint drive mechanism 200 in some aspects, such as the number of driven rods, the connection relationship between components, and the drive method. Specifically, as shown... Figure 6 As shown, the IP joint drive mechanism 300 employs a compact four-bar linkage design to achieve flexible movement of the IP joint. The IP joint drive mechanism 300 is arranged adjacent to the MCP joint drive mechanism 100, and the two are closely linked via a shared rotation axis. This rotation axis passes through the proximal thumb joint connector 304, ensuring the positional stability of the IP joint drive mechanism 300 and thus enhancing the overall stability of the exoskeleton device. The proximal thumb joint connector 304 and the MCP joint finger strap 110 attached thereto provide a solid foundation for the IP joint drive mechanism 300. For power transmission, the rotation axis is tightly coupled to the thumb IP joint drive rod 301 (i.e., the active rod of the four-bar linkage). The distal thumb joint connector 303 can be designed as a pair of parallel vertical plate-like components, equipped with a semi-circular ring-like component tightly connected to the IP joint finger strap 306. A gap is provided between these two plate-like structures to facilitate precise insertion of one end of the thumb IP joint driven rod 302. Through holes are provided in the vertical plate-like structures of the thumb IP joint drive rod 301, the thumb IP joint driven rod 302, and the thumb distal phalanx connector 303, and a four-bar linkage pin 305 is installed at the through holes as the rotation axis. Through these designs, the thumb IP joint drive rod 301 can establish a four-bar linkage transmission mechanism with the thumb IP joint driven rod 302 and the thumb distal phalanx connector 303, that is, the rotation of the thumb IP joint drive rod 301 can synchronously drive the rotation of the thumb distal phalanx connector 303 and the IP joint finger strap 306 attached thereto. In the IP joint drive mechanism 300, the interaction mechanism between the rotating shaft and its end bearing 209, encoder, and the rotating shaft with the second steel cable 213 and the steel cable winch 206 is similar to the corresponding part in the PIP-DIP joint drive mechanism 200, and therefore will not be described in detail here.

[0050] Preferably, such as Figure 1 As shown, the hand exoskeleton device of the present invention also incorporates a back-of-hand kit 400. The upper surface of the back-of-hand kit 400 is designed to connect with the MCP joint drive mechanism 100 of the thumb and the other four fingers, serving as a stable mounting base. The back-of-hand kit 400 features a downward-sloping bend design near the thumb, designed to accommodate the different movement trajectories and angles of the thumb and the other four fingers during natural bending. Furthermore, to ensure a tight and stable fit of the hand exoskeleton device to the user's hand, the back-of-hand kit 400 is equipped with a dedicated back-of-hand strap 401. This design not only increases the wearing comfort of the device but also improves the convenience and stability of the hand exoskeleton device during hand assembly.

[0051] It should be noted that the specific embodiments described above are exemplary. Those skilled in the art can devise various solutions inspired by the disclosure of this invention, and these solutions all fall within the scope of this invention and its protection. Those skilled in the art should understand that this specification and its accompanying drawings are illustrative and do not constitute a limitation on the claims. The scope of protection of this invention is defined by the claims and their equivalents. This specification contains multiple inventive concepts; phrases such as "preferredly" or "according to a preferred embodiment" indicate that the corresponding paragraph discloses an independent concept. The applicant reserves the right to file divisional applications based on each inventive concept. Throughout the text, the feature introduced by "preferredly" is only an optional mode and should not be construed as mandatory. Therefore, the applicant reserves the right to abandon or delete relevant preferred features at any time.

Claims

1. A hand exoskeleton device, characterized in that, It includes the MCP joint drive mechanism (100), the PIP-DIP joint drive mechanism (200), the IP joint drive mechanism (300), and the back of the hand kit (400). One end of the MCP joint drive mechanism (100) is movably connected to the IP joint drive mechanism (300) and worn together on the thumb, or movably connected to the PIP-DIP joint drive mechanism (200) and worn together on the other four fingers. The MCP joint drive mechanism (100) is connected to the back of the hand kit (400). The MCP joint drive mechanism (100) includes a first slide rail component (101) and a second slide rail component (107) that are arranged opposite to each other and can be interlocked. The second slide rail component (107) forms an arc-shaped slide rail by partially removing itself, holding the arc-shaped intermediate slide rod (106) between the two slide rail components. One end of the intermediate slide rod (106) is provided with a guide pulley (105) for adjusting the direction of the first steel cable (104). The first steel cable (104) is connected to the groove on the back of the intermediate slide rod (106) via the guide pulley (105) to drive the intermediate slide rod (106) to move bidirectionally in the slide rail. The distal end of the intermediate slide bar (106) can extend from the arc-shaped groove to the outside of the first groove component (101) and the second groove component (107), and the distal end is clamped and fixed by the first connector (109) and the second connector (108) of the proximal phalanx of the four fingers. When the intermediate slide bar (106) moves, the two connectors also move to the same extent. The proximal end of the intermediate slide bar (106) can always remain inside the arc-shaped groove and move in a restricted manner inside the arc-shaped groove without moving out of the area enclosed by the first groove component (101) and the second groove component (107) after they are engaged. The center of the intermediate slide bar (106) coincides with the rotation center of the finger MCP joint.

2. The apparatus according to claim 1, characterized in that, The first connector (109) of the proximal phalanx of the four fingers includes a semi-circular ring component that matches the contour of the back of the finger and an upright component that is perpendicular to the top of the semi-circular ring component. The semi-circular ring component is provided with an MCP joint finger strap (110) that can wrap around the finger pad. The upright component is provided with a notch that matches the shape of the distal end of the intermediate slide bar (106), so that the intermediate slide bar (106) can be fitted with it and held between the two connectors under the pressing action of the second connector (108) of the proximal phalanx of the four fingers.

3. The apparatus according to claim 1, characterized in that, The bidirectional movement of the intermediate slide bar (106) is powered by a first steel cable (104) for stretching and bending the proximal phalanx of the finger. Both ends of the first steel cable (104) are located inside the rope traction device. The first steel cable (104) forms a closed loop of fixed length outside the rope traction device, and one section of it is fixedly connected to the intermediate slide bar (106).

4. The apparatus according to claim 1, characterized in that, The second chute component (107) is partially hollowed out at the junction of the inner and outer spaces to accommodate the MCP joint cable sheath connector (102) used to define the position of the first steel cable (104) entering and exiting the second chute component (107). The distal end of the MCP joint cable sheath connector (102) is provided with an MCP cable sheath (103) wrapped around the surface of the first steel cable (104).

5. The apparatus according to claim 1, characterized in that, The PIP-DIP joint drive mechanism (200) and the MCP joint drive mechanism (100) are arranged adjacent to each other and are connected by a rotating shaft. The rotating shaft passes through the first connector (109) of the proximal phalanx of the four fingers and the second connector (108) of the proximal phalanx of the four fingers, and is connected to the four-finger drive rod (207).

6. The apparatus according to claim 5, characterized in that, Bearings (209) are installed at both ends of the rotating shaft. One end of the rotating shaft is connected to a cable winch (206) with a second steel cable (213) wound around it. The cable winch (206) can rotate under the drive of the second steel cable (213) and transmit the generated torque to the four-finger drive rod (207). An encoder is installed at the other end of the rotating shaft to measure the position of the fingers in real time and provide feedback data.

7. The apparatus according to claim 6, characterized in that, The second connector (108) of the proximal phalanx of the four fingers is provided with at least two cylindrical holes with a diameter larger than that of the second steel cable (213) to accommodate the PIP-DIP joint steel cable sheath connector (211). The PIP-DIP joint steel cable sheath connector (211) is used to define the specific position of the second steel cable (213) when entering and exiting the second connector (108) of the proximal phalanx of the four fingers. A PIP-DIP steel cable sheath (212) is provided between it and the second steel cable (213) and is attached to the surface of the second steel cable (213).

8. The apparatus according to claim 1, characterized in that, The PIP-DIP joint drive mechanism (200) includes a PIP joint finger strap (205) located in the middle phalanx and a DIP joint finger strap (208) located in the distal phalanx. The PIP joint finger strap (205) can be connected to the middle phalanx connector (202) of the four fingers to form a ring structure fitted on the middle phalanx, and the DIP joint finger strap (208) can be connected to the distal phalanx connector (204) of the four fingers to form a ring structure fitted on the distal phalanx.

9. The apparatus according to claim 1, characterized in that, The IP joint drive mechanism (300) is equipped with a distal phalanx connector (303) of the thumb. The distal phalanx connector (303) of the thumb can be designed as a pair of parallel vertical plate-shaped components with a gap between the two plate-shaped structures. The gap can be inserted into one end of the thumb IP joint follower rod (302) that drives the distal phalanx connector (303) of the thumb to rotate.

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