Exoskeleton manipulator and wearing method thereof

Abstract

The exoskeleton manipulator comprises an exoskeleton main body, the front end of the exoskeleton main body is connected with a finger four-finger part, the rear end of the exoskeleton main body is connected with a finger thumb part and a wrist wearing part, the exoskeleton main body is connected with a thumb metal rod and a four-finger knuckle rod, and a hand back liner is arranged on a palm part on the inner side of the exoskeleton main body; the four-finger part comprises an index finger stall, a middle finger stall, a ring finger stall and a little finger stall which are arranged on the four-finger knuckle rod in a sleeving manner, and the thumb part comprises a thumb stall arranged on the thumb metal rod in a sleeving manner; the wrist wearing part comprises a wide bandage with one end fixed to the exoskeleton body and a wrist guard arranged on the wide bandage. The invention further relates to a wearing method of the exoskeleton mechanical arm, wearing can be rapidly completed only through two steps after assembly is completed, and the problem that the exoskeleton mechanical arm is simple to wear and good in adaptability cannot be achieved at the same time is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of exoskeletons, and particularly relates to an exoskeleton manipulator and a wearing method thereof. Background Art

[0002] Common wearing methods of exoskeleton manipulators are generally divided into a finger part and a palm part. For the finger part, generally, Velcro or relatively hard finger sleeves are used for wearing: the Velcro method can be adjusted according to fingers of different sizes, with good adaptability. However, due to the narrow space in the finger part, it is not easy to operate and wearing takes a long time; hard finger sleeves can play a good fixing role and the wearing is relatively simple, and the fingers can be directly inserted into the finger sleeves. However, it is very difficult to wear for wearers with thick or even swollen fingers. The palm part wearing generally includes the back of the hand and the palm: for the back of the hand, generally, a soft cushion layer similar to sponge is used to buffer the pressure pain of the hard exoskeleton shell on the hand. Generally, the size of the cushion layer is the same as that of the exoskeleton, and there may still be some pressure pain at the edge part; for the palm, generally, two straps that bypass the thumb web and the wrist are used for fixing at the same time to prevent the exoskeleton manipulator from separating from the wearer's hand. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an exoskeleton manipulator and a wearing method thereof, which can wear the exoskeleton manipulator conveniently and quickly and relieve the pressure feeling of the edge of the exoskeleton on the back of the hand.

[0004] The technical solution adopted by the present invention to solve its technical problems is: to provide an exoskeleton manipulator and a wearing method thereof, including an exoskeleton main body. The front end of the exoskeleton main body is connected to the four-finger part of the finger, the rear end is connected to the thumb part of the finger and the wrist wearing part. The exoskeleton main body is connected to a thumb metal rod and four finger joint rods. One end of the exoskeleton main body facing the four-finger part of the finger is provided with an interface matching the four finger joint rods. A back-of-hand cushion is provided on the inner palm part of the exoskeleton main body. The four-finger part of the finger includes an index finger sleeve, a middle finger sleeve, a ring finger sleeve, and a little finger sleeve. The index finger sleeve, the middle finger sleeve, the ring finger sleeve, and the little finger sleeve are sleeved on the four finger joint rods. The thumb part of the finger includes a thumb sleeve sleeved on the thumb metal rod. The wrist wearing part includes a wide strap with one end fixed to the exoskeleton main body. The free end of the wide strap is detachably connected to the fixed end of the wide strap from the other side. A wrist guard is provided on the wide strap. The thumb sleeve, the index finger sleeve, the middle finger sleeve, the ring finger sleeve, and the little finger sleeve are all soft silicone finger sleeves.

[0005] Preferably, the inner surface of the exoskeleton main body is connected to the back-of-hand cushion through Velcro.

[0006] Preferably, the back surface of the dorsal hand pad is a rough surface, and a hook surface matching the rough surface is provided on the surface of the exoskeleton main body facing the dorsal hand pad.

[0007] Preferably, a hook surface is provided at the free end of the wide strap, and a rough surface matching the hook surface is provided at the fixed end of the wide strap.

[0008] Preferably, the wrist guard is a silica gel wrist guard, and a strap hole for passing through the wide strap is provided on the side of the silica gel wrist guard facing away from the exoskeleton main body.

[0009] Preferably, the area of the dorsal hand pad is larger than that of the exoskeleton main body.

[0010] Preferably, a plurality of segmented grooves are provided on the surface of the four-finger knuckle rod along the length direction, and positioning protrusions matching the segmented grooves are provided at one ends of the index finger sleeve, the middle finger sleeve, the ring finger sleeve and the little finger sleeve.

[0011] Preferably, a plurality of slot holes are formed on the surfaces of the thumb sleeve, the index finger sleeve, the middle finger sleeve, the ring finger sleeve and the little finger sleeve.

[0012] To solve the above problems, the present invention also provides a wearing method of the exoskeleton manipulator described above, including the following steps:

[0013] S1. Align the five fingers with the respective finger sleeves, and at the same time insert all the fingers into the respective finger sleeves;

[0014] S2. Adjust the silica gel wrist guard to an appropriate position on the inner side of the wrist, and wind the free end of the wide strap around the wrist for one week and then fix it to its own fixed end.

[0015] The beneficial effects are as follows: The present invention solves the problem that it is impossible to have both simple wearing and good adaptability of the exoskeleton manipulator. For the palm and dorsal hand parts, the problem of the edge of the manipulator pressing on the dorsal hand is solved; for the palm and palm parts, the use of a strap passing through the tiger's mouth is avoided, so that the palm skin can directly contact the object to be grasped, without affecting the grasping function; for the wrist part, the use of a single strap to generate a large pressing force on the wrist is avoided, reducing the pain sensation. After the assembly of the present invention is completed, it only takes two steps to quickly complete the wearing, and at the same time, it can prevent the exoskeleton manipulator from detaching from the wearer's hand.

[0016] Compared with the prior art, the present invention is simple to wear, has higher comfort, and is also beneficial to the improvement of the object grasping function of the exoskeleton manipulator. The simple design is beneficial to reducing costs and reducing processes, and the improvement of comfort is beneficial to the acceptance of the wearer, so as to better expand the use range of the exoskeleton manipulator. The improvement of the grasping performance is beneficial to improving the enthusiasm of the wearer, so as to better help the wearer improve the hand function. Brief Description of the Drawings

[0017] Figure 1It is a three-dimensional exoskeleton manipulator Figure 1 .

[0018] Figure 2 It is a three-dimensional exoskeleton manipulator Figure 2 .

[0019] Figure 3 It is Figure 1 an enlarged view of the finger thumb part in

[0020] Figure 4 It is Figure 3 an enlarged view of the thumb metal rod in

[0021] Among them, 1 - finger four - finger part; 11 - index finger finger sleeve; 12 - middle finger finger sleeve; 13 - ring finger finger sleeve; 14 - little finger finger sleeve; 15 - four - finger knuckle rod; 2 - finger thumb part; 21 - thumb finger sleeve; 22 - thumb metal rod; 3 - palm part; 301 - back - of - hand pad; 4 - wrist wearing part; 41 - wide strap; 42 - silica gel wrist guard; 5 - exoskeleton main body.

[0022] The same reference numerals in each figure represent the same component. Specific embodiments

[0023] The following will further elaborate on the present invention in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of this application.

[0024] As Figure 1 , 2 shown, the present invention provides an exoskeleton manipulator, including an exoskeleton main body 5. The front end of the exoskeleton main body 5 is connected to the finger four - finger part 1, the rear end is connected to the finger thumb part 2 and the wrist wearing part 4. It is characterized in that the exoskeleton main body 5 is connected to the thumb metal rod 22 and the four - finger knuckle rod 15. One end of the exoskeleton main body 5 facing the finger four - finger part 1 is provided with an interface matching the four - finger knuckle rod 15. The inner palm part of the exoskeleton main body 5 is provided with a back - of - hand pad 3013. The finger four - finger part 1 includes an index finger finger sleeve 11, a middle finger finger sleeve 12, a ring finger finger sleeve 13, and a little finger finger sleeve 14. The index finger finger sleeve 11, the middle finger finger sleeve 12, the ring finger finger sleeve 13, and the little finger finger sleeve 14 are sleeved on the four - finger knuckle rod 15. As Figure 3 , 4As shown, the finger thumb part 2 includes a thumb sleeve 21 mounted on the thumb metal rod 22, and the wrist wearing part 4 includes a wide strap 41 fixed at one end to the exoskeleton body 5, and the free end of the wide strap 41 is detachably connected to the fixed end of the wide strap 41 from the other side, and a wrist guard is provided on the wide strap 41.

[0025] In a specific embodiment, the thumb sleeve 21, the index finger sleeve 11, the middle finger sleeve 12, the ring finger sleeve 13 and the little finger sleeve 14 are all soft silicone sleeves. A plurality of slots are formed on the surfaces of the thumb sleeve 21, the index finger sleeve 11, the middle finger sleeve 12, the ring finger sleeve 13 and the little finger sleeve 14. The arrangement of the slots and the material of the soft silicone make the sleeves easy to bend the knuckles, can be adapted to fingers of different thicknesses, and can also increase air permeability.

[0026] In a specific embodiment, the thumb part 2 of the finger is made of a soft silicone finger cover wrapped with a metal rod, which is convenient for wearing the finger and can also adjust the position of the thumb at will by utilizing the plasticity of the metal rod.

[0027] In a specific embodiment, the inner surface of the exoskeleton body 5 is connected to the back of the hand pad 3013 via Velcro.

[0028] In a specific embodiment, the back side of the hand back pad 3013 is a fleece surface, and the side of the exoskeleton body 5 facing the hand back pad 3013 is provided with a hook surface matching the fleece surface.

[0029] In a specific embodiment, the free end of the wide binding strap 41 is provided with a hook surface, and the surface of the exoskeleton body 5 is provided with a fur surface matching the hook surface.

[0030] In a specific embodiment, the wrist guard is a silicone wrist guard 42, and a strap hole for passing the wide strap 41 is provided on the side of the silicone wrist guard 42 facing away from the exoskeleton body 5. The wide strap 41 replaces the two combined straps at the base of the thumb and the wrist in the prior art, and the silicone wrist guard 42 is added to the wrist and placed between the strap and the wrist to eliminate the tenderness of the wrist. The single strap is simpler and has a greater binding force. The strap at the palm of the hand is removed, so that the wearer can grasp objects more conveniently and smoothly.

[0031] In a specific embodiment, the area of ​​the back of the hand pad 3013 is larger than the exoskeleton body 5. Compared with the prior art, the back of the hand pad 3013 is thicker, with the front end extending out of the exoskeleton body 5 and the two sides wider than the exoskeleton body 5, so as to better wrap the back of the wearer's hand and eliminate the pain caused by the edge of the manipulator on the wearer's hand.

[0032] In a specific embodiment, a plurality of segmented grooves are provided on the surface of the four-finger knuckle rod 15 along the length direction, and positioning bumps matching the segmented grooves are provided at one end of the index finger sleeve 11, the middle finger sleeve 12, the ring finger sleeve 13 and the little finger sleeve 14, ensuring convenient wearing and positioning of the finger sleeves.

[0033] The present invention also provides an assembly method for the exoskeleton manipulator described above, including the following steps:

[0034] S1. Install the index finger sleeve 11, the middle finger sleeve 12, the ring finger sleeve 13 and the little finger sleeve 14 onto the four-finger knuckle rod 15 in sequence, and adjust the positions of the index finger sleeve 11, the middle finger sleeve 12, the ring finger sleeve 13 and the little finger sleeve 14 on the four-finger knuckle rod 15 according to the finger lengths of specific wearers.

[0035] S2. Wrap the thumb sleeve 21 around the thumb metal rod 22, and adjust the position of the thumb metal rod 22 so that the thumb sleeve 21 corresponds to the position of the wearer's thumb.

[0036] S3. Fix the dorsal hand cushion 301 to the side of the exoskeleton main body 5 facing the dorsal hand.

[0037] After the patient completes the assembly of the exoskeleton manipulator with the help of the healthy hand or others, the following wearing method can be used to complete the rapid wearing, which specifically includes the following steps:

[0038] S1. Align the five fingers with the respective finger sleeves, and at the same time insert all the fingers into the respective finger sleeves.

[0039] S2. Adjust the silicone wrist guard to an appropriate position on the inner side of the wrist, and wind the free end of the wide strap around the wrist once and then fix it to its own fixed end.

Claims

1. An exoskeleton manipulator, comprising an exoskeleton main body, the front end of the exoskeleton main body is connected to the four-finger part of the finger, the rear end is connected to the thumb part of the finger and the wrist wearing part, and is characterized in that, The exoskeleton main body is connected to the thumb metal rod and the four-finger knuckle rods. One end of the exoskeleton main body facing the four-finger part of the finger is provided with an interface matching the four-finger knuckle rods. A dorsal hand pad is provided on the inner palm part of the exoskeleton main body. The four-finger part of the finger includes an index finger sleeve, a middle finger sleeve, a ring finger sleeve, and a little finger sleeve. The index finger sleeve, the middle finger sleeve, the ring finger sleeve, and the little finger sleeve are sleeved on the four-finger knuckle rods. The thumb part of the finger includes a thumb sleeve sleeved on the thumb metal rod. The wrist wearing part includes a wide strap with one end fixed to the exoskeleton main body. The free end of the wide strap is detachably connected to the fixed end of the wide strap from the other side. A wrist guard is provided on the wide strap. The thumb sleeve, the index finger sleeve, the middle finger sleeve, the ring finger sleeve, and the little finger sleeve are all soft silicone finger sleeves.

2. The exoskeleton manipulator according to claim 1, wherein, The inner surface of the exoskeleton main body is connected to the dorsal hand pad through Velcro.

3. The exoskeleton manipulator according to claim 2, characterized in that, The back surface of the dorsal hand pad is a furry surface, and one side of the exoskeleton main body facing the dorsal hand pad is provided with a hook surface matching the furry surface.

4. The exoskeleton manipulator according to claim 1, wherein The free end of the wide strap is provided with a hook surface, and the fixed end of the wide strap is provided with a furry surface matching the hook surface.

5. The exoskeleton manipulator according to claim 4, characterized in that, The wrist guard is a silicone wrist guard, and a strap hole for passing through the wide strap is provided on one side of the silicone wrist guard facing away from the exoskeleton main body.

6. The exoskeleton manipulator according to claim 1, characterized in that, The area of the dorsal hand pad is larger than that of the exoskeleton main body.

7. The exoskeleton manipulator according to claim 1, characterized in that Several sectional grooves are provided on the surface of the four-finger knuckle rods along the length direction, and one end of the index finger sleeve, the middle finger sleeve, the ring finger sleeve, and the little finger sleeve is provided with positioning protrusions matching the sectional grooves.

8. An exoskeleton manipulator according to claim 1, characterized in that, Several slot holes are opened on the surfaces of the thumb sleeve, the index finger sleeve, the middle finger sleeve, the ring finger sleeve, and the little finger sleeve.

9. The wearing method of the exoskeleton manipulator according to any one of claims 1 to 8, characterized in that, It includes the following steps: S1. Align the five fingers with the respective finger sleeves, and at the same time insert all the fingers into the respective finger sleeves. S2. Adjust the silicone wrist guard to an appropriate position on the inner side of the wrist, and wind the free end of the wide strap around the wrist for one week and then fix it to its own fixed end.

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