Self-adaptive exoskeleton robot

Abstract

The invention discloses a self-adaptive exoskeleton robot which comprises a hand exoskeleton device used for capturing the degree of freedom of hand joints of 20 persons at the same time and conducting force feedback. The perception and force feedback system is used for data acquisition and master control driving and is matched with IO resources of a master control chip; the self-adaptive wearing module is used for sewing the finger exoskeleton to a light, thin and elastic fiber glove, the wearing mode is reinforced through a restraint ring, and meanwhile, an exoskeleton palm structure is designed to be a variable structure capable of being attached to the back of the hand in a self-adaptive mode; the man-machine interaction module is used for man-machine interaction; and the master-slave control system realizes master-slave control. According to the invention, the bionic flexible muscle optimization design, the force feedback technology and the touch force sensor integrated with force feedback are adopted, so that the force of a user can be acquired, and a foundation is laid for force closed-loop control.

Description

Technical Field

[0001] The invention relates to the technical field of exoskeleton robots, in particular to an adaptive exoskeleton robot. Background Art

[0002] The existing publication number CN109172265B discloses a finger exoskeleton robot, which includes a support plate, at least one finger mechanism and a temperature control system. The support plate is worn on the back of the user's hand. Each finger mechanism is worn on one of the user's fingers, and each finger mechanism includes multiple finger sleeves and multiple joint drivers. The multiple finger sleeves of each finger mechanism are arranged in sequence and are configured to be worn on multiple knuckles of the user's finger in a one-to-one correspondence. Every two adjacent finger sleeves of each finger mechanism are connected by a joint driver, and the support plate and the finger sleeve closest to it are connected by a joint driver. The joint driver switches between a straight state and a bent state when the temperature is higher or lower than a phase transition temperature value. The temperature control system is electrically connected to each joint driver and controls the temperature of each joint driver respectively.

[0003] Existing exoskeleton robots have limited movement space, complex and bulky structures, and high prices. In order to solve the above technical problems, we propose an adaptive exoskeleton robot. Summary of the invention

[0004] The purpose of the present invention is to provide an adaptive exoskeleton robot to solve the problems in the prior art.

[0005] To achieve the above object, the present invention provides the following technical solution: an adaptive exoskeleton robot, comprising:

[0006] A hand exoskeleton device, which is used to simultaneously capture 20 degrees of freedom of human hand joints and perform force feedback;

[0007] A perception and force feedback system, which is used for data collection and main control driving, as well as matching the IO resources of the main control chip;

[0008] An adaptive wearable module, which is used to sew the finger exoskeleton to a thin and elastic fiber glove, and reinforce the wearing method with a constraint ring, while designing the exoskeleton palm structure as a variable structure that can adaptively fit the back of the hand;

[0009] A human-computer interaction module, wherein the human-computer interaction module is used for human-computer interaction;

[0010] A master-slave control system is used to independently control 20 joint degrees of freedom and realize master-slave control.

[0011] Preferably, the DIP joints, PIP joints and MCP joints of the four fingers of the hand exoskeleton device respectively form a closed kinematic chain with the exoskeleton rods attached to the back thereof;

[0012] That is, the two exoskeleton rods and two human-machine rods (formed by the fixed base and the human finger joints after wearing) of each finger are regarded as a planar four-bar linkage in mechanism, and the degrees of freedom of the closed kinematic chain are:

[0013] F=3n-2P L -P H =3×3-2×4-0=1

[0014] Therefore, when the finger joints rotate, the number of active parts is equal to the degrees of freedom of the kinematic chain, and the four-bar linkage has a certain relative motion; similarly, the IP joint, MCP joint and CMC joint of the thumb can be regarded as a planar four-bar linkage.

[0015] Preferably, the perception and force feedback system comprises:

[0016] Hardware circuit, the hardware circuit is composed of a main control unit, a collection unit, a drive unit, a communication unit and a power supply unit;

[0017] The main control unit is responsible for processing the data of the acquisition unit, controlling the drive unit, and communicating with the host computer;

[0018] The acquisition unit consists of SV01A103A angle sensor, FSS1500NST force sensor, ADS1115 analog-to-digital conversion chip and CD74HC4067 high-speed CMOS multiplexing chip, which is responsible for reading and converting the position of each joint of the exoskeleton and the tension value of the five cables;

[0019] The data acquisition circuit consists of a data acquisition PCB, angle sensors at each joint, force sensors at the fingertips, and an AD conversion chip, which can simultaneously collect 20 angle values ​​and 5 pressure values.

[0020] A human hand motion capture system, wherein the lower computer of the human hand motion capture system sends the sensor voltage value collected by the angle sensor to the upper computer, and then the upper computer is responsible for converting the digital voltage value into the corresponding joint angle value, and at the same time displays these joint angle values ​​in real time through a virtual human hand, and finally outputs and stores the required human hand motion data;

[0021] The force feedback structure is composed of a drive unit, a transmission unit and a detection unit. The drive unit is composed of 5 sets of servos, a winding steering wheel and an edge guard. When the servo drives the winding steering wheel to rotate, the length of the cable is changed, thereby restricting the movement of the exoskeleton structure and indirectly feeding back the force information to the entire finger.

[0022] Preferably, the host computer is composed of serial port reading, angle conversion, real-time display and data storage modules, and the angle conversion includes calibration and compensation.

[0023] Preferably, the hand exoskeleton device is provided with a constraint hole that cooperates with the constraint ring, and both ends of the constraint ring are connected to the constraint holes of the hand exoskeleton device through rubber bands.

[0024] Preferably, the master-slave control system includes motion mapping:

[0025] Motion mapping: joint mapping, fingertip mapping, and object-based mapping; angle change value Δθ of human hand joints H and the angle change of the robot joint Δθ R Mapping between: Δθ R = kΔθ H

[0026] The effect of the mapped action depends on the setting of the mapping ratio k; when the ratio coefficient is greater than 1, the sensitivity of the master-slave control will be improved, and the robot's rapid grasping effect will be achieved; when the ratio coefficient is less than 1, the control accuracy of the human hand over the robot's action will be improved, and the robot's fine grasping effect will be achieved;

[0027] The master-slave controlled fully driven uncoupled dexterous hand has 20 degrees of freedom, which is the same as the number of degrees of freedom collected by the hand exoskeleton device. Therefore, the mapping formula of the change of 20 degrees of freedom is:

[0028]

[0029] Virtual fingers are multiple fingers with the same function abstracted into one finger; when n human fingers are equivalently treated as one virtual finger, the mapping formula is:

[0030]

[0031] in:

[0032] j represents the jth finger of the hand, Δθ Hij That is, the change in the i-th joint angle of the j-th finger, b ij is the weight it occupies, Δθ Vi is the change in the i-th joint angle of the virtual finger, Δθ Ri is the change in the virtual finger mapped to the i-th joint angle of the manipulator, k i is its mapping coefficient.

[0033] Preferably, the complete four-channel master-slave control system has four complete control channels: the position channel C1 and the force channel C3 of the master end, and the position channel C4 and the force channel C2 of the slave end; when the human hand actively moves, the movement speed V generated by the master end h The force F between the hand and the master end is transmitted to the slave end by channel C1. h It is transmitted to the slave end through channel C3; after receiving the position and force information from the master end, it passes through the slave end impedance Z s , driving the slave end to generate a motion speed V e , and feed it back to the master end through channel C4; at the same time, if the slave end interacts with the environmental object during movement, a contact force F will be generated between the slave end and the environmental object e , and is fed back to the master end through channel C2; after the master end receives the position and force information from the slave end, it passes through the master end's impedance Z m , driving the main end to generate a motion speed V h ; The movement of the main end passes through the human hand impedance Z m Feedback to the operator, generating new human-computer interaction force F h ; Among them, F e* is the contact force generated by the contact environment, F h* is the force applied by the operator, C m* and C s* They are the position controllers at the master and slave ends respectively, constituting their respective position controls.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. Bionic flexible muscle optimization design, force feedback technology, and integrated force feedback touch sensors can collect the user's force and lay the foundation for force closed-loop control.

[0036] 2. Wearable adaptive design: the finger exoskeleton is sewn to a thin and elastic fiber glove, and the wearing method is reinforced with a constraint ring. At the same time, the exoskeleton palm structure is designed to be a variable structure that can adaptively fit the back of the hand.

[0037] 3. The master-slave control mode is adopted to realize motion following and force feedback functions, and the force feedback accuracy is greater than 1N. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0039] Figure 1 This is a diagram of the structure of the human hand skeleton;

[0040] Figure 2It is a structural schematic diagram of a four-finger closed-loop kinematic chain of the present invention;

[0041] Figure 3 It is a schematic diagram of the structure of the planar four-bar linkage corresponding to the interphalangeal joint of the present invention;

[0042] Figure 4 It is a data collection flow chart of the present invention;

[0043] Figure 5 It is a structural schematic diagram of the force feedback structure of the present invention;

[0044] Figure 6 It is a schematic diagram of the structure of the arrangement of the confinement ring of the present invention;

[0045] Figure 7 is a classification diagram of motion mapping of the present invention;

[0046] Figure 8 This is a diagram of a four-channel master-slave control system of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention.

[0048] like Figure 1 The exoskeleton robot is designed based on the anatomical structure of the human hand. The human hand skeleton consists of 14 phalanges, 5 metacarpal bones and 8 carpal bones. According to the definition of the International Society of Biomechanics: the rotation of the joint around the axis to reduce and approach the angle between the two bones is called flexion, and the opposite is called extension; the rotation of the fingers toward the middle axis of the middle finger is called adduction, and the rotation away from the middle axis of the middle finger is called abduction. Therefore, the movement form of the interphalangeal joint with a single degree of freedom is flexion / extension movement, and the movement form of the metacarpophalangeal joint with two degrees of freedom is a combination of flexion / extension movement and adduction / abduction movement.

[0049] See also Figure 1-8 In an embodiment of the present invention, an adaptive exoskeleton robot comprises:

[0050] A hand exoskeleton device, which is used to simultaneously capture 20 degrees of freedom of human hand joints and perform force feedback;

[0051] A perception and force feedback system, which is used for data collection and main control driving, as well as matching the IO resources of the main control chip;

[0052] Adaptive wearable module, which is used to sew the finger exoskeleton to a thin and elastic fiber glove, and use a constraint ring to reinforce the wearing method. At the same time, the exoskeleton palm structure is designed to be a variable structure that can adaptively fit the back of the hand; a closed-chain cascade finger exoskeleton structure is adopted, and by designing a thin and elastic special fiber glove, it can meet the wearing needs of people of different sizes. In order to solve the problem of slippage between the glove and the human hand that is common in data gloves, this project implements an adaptive design, sews the finger exoskeleton to a thin and elastic fiber glove, and uses a constraint ring to reinforce the wearing method. At the same time, the exoskeleton palm structure is designed to be a variable structure that can adaptively fit the back of the hand. Based on the Feix grasping classification method, the grasping test after human-machine wearing is carried out, and the interference rate is less than 1%.

[0053] like Figure 6 .When the fingers are bent, the muscles under the phalanges are concentrated in the middle of the phalanges, and the finger pulps below the interphalangeal joints will wrinkle, forming a groove at the knuckles. This project sews an arc-shaped constraint ring made of a thin iron wire with a diameter of 1mm at this position of the glove. There is a small hole at each end of the constraint ring. With the help of elastic rubber bands, it is flexibly connected to the exoskeleton base on both sides of the joint, and an adaptive human-machine compatible closed-loop motion chain can be realized. The exoskeleton gloves with constraint rings sewn on have solved the slippage problem of such gloves to a certain extent. The exoskeleton base at the fingertips (its position relative to the human hand is fixed after wearing), and the rest of the exoskeleton bases are only sewn on the back of the gloves with loose threads, which does not completely limit their fixed position on the gloves. Therefore, if there are large differences in the size of the knuckles of the wearers, the exoskeleton motion chain can be adjusted to a suitable state before use by adjusting the rubber bands at the small holes of the constraint ring. In summary, the wearing method designed in this project meets the requirements of human-machine compatibility.

[0054] A human-computer interaction module, wherein the human-computer interaction module is used for human-computer interaction;

[0055] A master-slave control system is used to independently control 20 joint degrees of freedom and realize master-slave control.

[0056] Preferably, the DIP joints, PIP joints and MCP joints of the four fingers of the hand exoskeleton device respectively form a closed kinematic chain with the exoskeleton rods attached to the back thereof;

[0057] That is, the two exoskeleton rods and two human-machine rods (formed by the fixed base and the human finger joints after wearing) of each finger are regarded as a planar four-bar linkage in mechanism, and the degrees of freedom of the closed kinematic chain are:

[0058] F=3n-2P L -P H =3×3-2×4-0=1

[0059] Therefore, when the finger joints rotate, the number of active parts is equal to the degrees of freedom of the kinematic chain, and the four-bar linkage has a certain relative motion; similarly, the IP joint, MCP joint and CMC joint of the thumb can be regarded as a planar four-bar linkage.

[0060] Preferably, the perception and force feedback system comprises:

[0061] Hardware circuit, the hardware circuit is composed of a main control unit, a collection unit, a drive unit, a communication unit and a power supply unit;

[0062] The main control unit is responsible for processing the data of the acquisition unit, controlling the drive unit, and communicating with the host computer;

[0063] The acquisition unit consists of SV01A103A angle sensor, FSS1500NST force sensor, ADS1115 analog-to-digital conversion chip and CD74HC4067 high-speed CMOS multiplexing chip, which is responsible for reading and converting the position of each joint of the exoskeleton and the tension value of the five cables;

[0064] The data acquisition circuit consists of a data acquisition PCB, angle sensors at each joint, force sensors at the fingertips, and an AD conversion chip, which can simultaneously collect 20 angle values ​​and 5 pressure values.

[0065] The hardware circuit consists of five parts: main control unit, acquisition unit, drive unit, communication unit and power supply unit. The main control unit consists of STM32F103C8T6 chip and its auxiliary circuits, which is responsible for processing the data of the acquisition unit, controlling the drive unit, communicating with the host computer, etc. The acquisition unit consists of SV01A103A angle sensor, FSS1500NST force sensor, ADS1115 analog-to-digital conversion chip and CD74HC4067 high-speed CMOS multiplexing chip, which is responsible for reading and converting the position of each joint of the exoskeleton and the tension value of 5 cables. The data acquisition circuit consists of the above-mentioned data acquisition PCB, angle sensors at each joint, force sensors at the fingertips and AD conversion chip, and needs to realize the acquisition of 20 angle values ​​and 5 pressure values ​​at the same time. According to the functions of sensors, multiplexing chips and AD conversion chips.

[0066] For each flexion / extension degree of freedom, given that the human-machine wearable has a certain degree of freedom, and the four-bar linkage model of the motion capture structure has been idealized to a certain extent, the angle of the converted flexion / extension joint must have deviations and needs to be compensated. After wearing the exoskeleton, adjust to the appropriate human-machine combination state, let the five fingers clench, and make each bending joint in the maximum bending state as much as possible. Use the converted angle value to proportionally compensate the entire conversion formula to the actual limit bending angle to ensure that the obtained joint data is within the actual range of motion.

[0067] A human hand motion capture system, wherein the lower computer of the human hand motion capture system sends the sensor voltage value collected by the angle sensor to the upper computer, and then the upper computer is responsible for converting the digital voltage value into the corresponding joint angle value, and at the same time displays these joint angle values ​​in real time through a virtual human hand, and finally outputs and stores the required human hand motion data;

[0068] The force feedback structure is composed of a driving unit, a transmission unit and a detection unit. Three independent motion closed loops are connected in series by cable transmission. The driving unit is composed of five groups of servos, a winding steering wheel and an edge guard. When the servo drives the winding steering wheel to rotate, the length of the cable is changed, thereby restricting the movement of the exoskeleton structure and indirectly feeding back the force information to the entire finger.

[0069] Preferably, the host computer is composed of serial port reading, angle conversion, real-time display and data storage modules, and the angle conversion includes calibration and compensation.

[0070] Preferably, the hand exoskeleton device is provided with a constraint hole that cooperates with the constraint ring, and both ends of the constraint ring are connected to the constraint holes of the hand exoskeleton device through rubber bands.

[0071] Preferably, the master-slave control system includes motion mapping:

[0072] Motion mapping: joint mapping, fingertip mapping, and object-based mapping;

[0073] There are two key issues in the application of master-slave control: human hand motion acquisition and motion mapping. The essence of motion mapping is to track the motion of each joint of the human hand fingers, with the goal of enabling the dexterous hand to perform complex and diverse operations similar to human hands. In practical applications, different methods can be selected to achieve motion mapping according to the characteristics and action types of the master and slave hands.

[0074] The angle change of the human hand joint Δθ H and the angle change of the robot joint Δθ R Mapping between: Δθ R = kΔθ H

[0075] The effect of the mapped action depends on the setting of the mapping ratio k; when the ratio coefficient is greater than 1, the sensitivity of the master-slave control will be improved, and the robot's rapid grasping effect will be achieved; when the ratio coefficient is less than 1, the control accuracy of the human hand over the robot's action will be improved, and the robot's fine grasping effect will be achieved;

[0076] The master-slave controlled fully driven uncoupled dexterous hand has 20 degrees of freedom, which is the same as the number of degrees of freedom collected by the hand exoskeleton device. Therefore, the mapping formula of the change of 20 degrees of freedom is:

[0077]

[0078] Virtual fingers are multiple fingers with the same function abstracted into one finger; when n human fingers are equivalently treated as one virtual finger, the mapping formula is:

[0079]

[0080] in:

[0081] j represents the jth finger of the hand, Δθ Hij That is, the change in the i-th joint angle of the j-th finger, b ij is the weight it occupies, Δθ Vi is the change in the i-th joint angle of the virtual finger, Δθ Ri is the change in the virtual finger mapped to the i-th joint angle of the manipulator, k i is its mapping coefficient.

[0082] Preferably, the complete four-channel master-slave control system has four complete control channels: the position channel C1 and the force channel C3 of the master end, and the position channel C4 and the force channel C2 of the slave end; when the human hand actively moves, the movement speed V generated by the master end h The force F between the hand and the master end is transmitted to the slave end by channel C1. h It is transmitted to the slave end through channel C3; after receiving the position and force information from the master end, it passes through the slave end impedance Z s , driving the slave end to generate a motion speed V e , and feed it back to the master end through channel C4; at the same time, if the slave end interacts with the environmental object during movement, a contact force F will be generated between the slave end and the environmental object e , and is fed back to the master end through channel C2; after the master end receives the position and force information from the slave end, it passes through the master end's impedance Z m , driving the main end to generate a motion speed V h ; The movement of the main end passes through the human hand impedance Z m Feedback to the operator, generating new human-computer interaction force F h ; Among them, Fe* is the contact force generated by the contact environment, F h* is the force applied by the operator, C m* and C s* They are the position controllers at the master and slave ends respectively, constituting their respective position controls.

[0083] Exoskeleton robots can combine human experience and wisdom as well as high-level task planning into the control of robots, so that exoskeletons and humans can each play their respective strengths, allowing humans to make decisions and hand exoskeletons to perform tasks, which can well expand the manipulator's ability to operate in unknown environments such as outer space, deep sea, and bomb disposal. Exoskeleton robots also have great commercial value in scenarios such as medical rehabilitation and game social interaction, especially for the rehabilitation of human hand motor function. Continuous hand movements on the affected side of the patient can train and improve the motor function of the hand, while rehabilitation training is mainly based on active and passive training for patients who have had a stroke for a period of time, mainly based on the principle of plasticity of neural compensation. The hand exoskeleton robot, equipped with active and passive control algorithms, automatically collects the patient's consciousness to cooperate with the patient in rehabilitation training, and collects the patient's movement status in real time, feeds back to the doctor, and assists the doctor in intelligent prescription and diagnosis, which is an inevitable trend in hand rehabilitation diagnosis and treatment.

[0084] Performance comparison table of this invention and excellent products at home and abroad

[0085]

[0086] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An adaptive exoskeleton robot, characterized in that: include: A hand exoskeleton device, which is used to simultaneously capture 20 degrees of freedom of human hand joints and perform force feedback; A perception and force feedback system, which is used for data collection and main control driving, as well as matching the IO resources of the main control chip; An adaptive wearable module, which is used to sew the finger exoskeleton to a thin and elastic fiber glove, and reinforce the wearing method with a constraint ring, while designing the exoskeleton palm structure as a variable structure that can adaptively fit to the back of the hand; A human-computer interaction module, wherein the human-computer interaction module is used for human-computer interaction; A master-slave control system is used to independently control 20 joint degrees of freedom and realize master-slave control.

2. The adaptive exoskeleton robot according to claim 1, characterized in that: The DIP joints, PIP joints and MCP joints of the four fingers of the hand exoskeleton device respectively form a closed kinematic chain with the exoskeleton rods attached to the back thereof; That is, the two exoskeleton rods and two human-machine rods (formed by the fixed base and the human finger joints after wearing) of each finger are regarded as a planar four-bar linkage in mechanism, and the degrees of freedom of the closed kinematic chain are: F=3n-2P L -P H =3×3-2×4-0=1 Therefore, when the finger joint rotates, the number of active parts is equal to the degrees of freedom of the kinematic chain, and the four-bar linkage has a definite relative motion; Similarly, the IP joint, MCP joint and CMC joint of the thumb can be regarded as a planar four-bar linkage.

3. The adaptive exoskeleton robot according to claim 1, characterized in that: The perception and force feedback system comprises: Hardware circuit, the hardware circuit is composed of a main control unit, a collection unit, a drive unit, a communication unit and a power supply unit; The main control unit is responsible for processing the data of the acquisition unit, controlling the drive unit, and communicating with the host computer; The acquisition unit consists of SV01A103A angle sensor, FSS1500NST force sensor, ADS1115 analog-to-digital conversion chip and CD74HC4067 high-speed CMOS multiplexing chip, which is responsible for reading and converting the position of each joint of the exoskeleton and the tension value of the five cables; The data acquisition circuit consists of a data acquisition PCB, angle sensors at each joint, force sensors at the fingertips, and an AD conversion chip, which can simultaneously collect 20 angle values ​​and 5 pressure values. A human hand motion capture system, wherein the lower computer of the human hand motion capture system sends the sensor voltage value collected by the angle sensor to the upper computer, and then the upper computer is responsible for converting the digital voltage value into the corresponding joint angle value, and at the same time displays these joint angle values ​​in real time through a virtual human hand, and finally outputs and stores the required human hand motion data; The force feedback structure is composed of a drive unit, a transmission unit and a detection unit. The drive unit is composed of 5 sets of servos, a winding steering wheel and an edge guard. When the servo drives the winding steering wheel to rotate, the length of the cable is changed, thereby restricting the movement of the exoskeleton structure and indirectly feeding back the force information to the entire finger.

4. The adaptive exoskeleton robot according to claim 3, characterized in that: The host computer is composed of serial port reading, angle conversion, real-time display and data storage modules, and the angle conversion includes calibration and compensation.

5. The adaptive exoskeleton robot according to claim 1, characterized in that: The hand exoskeleton device is provided with a constraint hole which cooperates with the constraint ring, and two ends of the constraint ring are connected to the constraint holes of the hand exoskeleton device through rubber bands.

6. The adaptive exoskeleton robot according to claim 1, characterized in that: The master-slave control system includes motion mapping: Motion mapping: joint mapping, fingertip mapping, and object-based mapping; angle change Δθ of human hand joints H and the angle change of the robot joint Δθ R Mapping between: Δθ R = kΔθ H The effect of the mapped action depends on the setting of the mapping ratio k; when the ratio coefficient is greater than 1, the sensitivity of the master-slave control will be improved, and the robot's rapid grasping effect will be achieved; when the ratio coefficient is less than 1, the control accuracy of the human hand over the robot's action will be improved, and the robot's fine grasping effect will be achieved; The master-slave controlled fully driven uncoupled dexterous hand has 20 degrees of freedom, which is the same as the number of degrees of freedom collected by the hand exoskeleton device. Therefore, the mapping formula of the change of 20 degrees of freedom is: Virtual fingers are multiple fingers with the same function abstracted into one finger; when n human fingers are equivalently treated as one virtual finger, the mapping formula is: in: j represents the jth finger of the hand, Δθ Hij That is, the change in the i-th joint angle of the j-th finger, b ij is the weight it occupies, Δθ Vi is the change in the i-th joint angle of the virtual finger, Δθ Ri is the change in the virtual finger mapped to the i-th joint angle of the manipulator, k i is its mapping coefficient.

7. The adaptive exoskeleton robot according to claim 1, characterized in that: The complete four-channel master-slave control system has four complete control channels: the position channel C1 and force channel C3 of the master end, and the position channel C4 and force channel C2 of the slave end. When the human hand moves actively, the movement speed V generated by the master end h The force F between the hand and the master end is transmitted to the slave end by channel C1. h It is transmitted to the slave end through channel C3; after receiving the position and force information from the master end, it passes through the slave end impedance Z s , driving the slave end to generate a motion speed V e , and feed it back to the master end through channel C4; at the same time, if the slave end interacts with the environmental object during movement, a contact force F will be generated between the slave end and the environmental object e , and is fed back to the master end through channel C2; after the master end receives the position and force information from the slave end, it passes through the master end's impedance Z m , driving the main end to generate a motion speed V h ; The movement of the main end passes through the human hand impedance Z m Feedback to the operator, generating new human-computer interaction force F h Among them, F e* is the contact force generated by the contact environment, F h* is the force applied by the operator, C m* and C s* They are the position controllers at the master and slave ends respectively, constituting their respective position controls.

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