Wrist and hand exoskeleton robot capable of sensing orthogonal moment

Abstract

The invention relates to the technical field of robots, and provides an orthogonal moment sensing wrist and hand exoskeleton robot which comprises a first sliding assembly, a first swing rod, a pair of rotating joints, a second swing rod and a second sliding assembly, and the first sliding assembly is used for being bound to fingers of a user; the first swing rod is rotationally connected with the first sliding assembly. One rotating joint is connected with the first oscillating rod; the two ends of the second swing rod are connected with the pair of rotating joints correspondingly. The second sliding assembly is connected with the other rotating joint; each rotating joint comprises a driving assembly and an elastic piece, and the elastic pieces are used for sensing torque applied to fingers of a user by the wrist and hand exoskeleton robot. According to the wrist and hand exoskeleton robot capable of sensing the orthogonal moment, not only are finger bending and stretching and adduction and abduction motions in the rehabilitation training process achieved, but also the orthogonal moment borne by the fingers of the human body can be sensed, the force control performance of rehabilitation training is improved, and the rehabilitation effect is enhanced.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a wrist-hand exoskeleton robot with orthogonal torque sensing. Background Technology

[0002] With the continued evolution of the global population's age structure, motor dysfunction diseases, represented by stroke and degenerative joint diseases, are showing a significant upward trend. These pathological conditions often lead to damage to the central nervous system's conduction pathways and degeneration of peripheral musculoskeletal coordination, leaving patients facing the severe challenge of losing their daily living abilities due to a lack of motor control. Current clinical rehabilitation systems mainly rely on repetitive movement training guided by physical therapists, the core mechanism of which lies in promoting the plasticity reconstruction of damaged neural circuits through proprioceptive stimulation.

[0003] Currently, the limited number of existing rehabilitation physicians cannot meet the rehabilitation needs. Therefore, exoskeleton robots for rehabilitation training have emerged. The force applied by the exoskeleton robot to the user is crucial; excessive force can easily cause injury, while insufficient force will not achieve the desired training effect. Thus, providing a wrist-hand exoskeleton robot capable of force sensing has become a pressing issue for the industry. Summary of the Invention

[0004] This invention provides an orthogonal torque sensing wrist and hand exoskeleton robot to solve the defect in the prior art that the actual force experienced by the user after wearing the exoskeleton robot cannot be sensed.

[0005] This invention provides a wrist-hand exoskeleton robot with orthogonal torque sensing, comprising a first drive mechanism and a first base. The first base is used to be strapped to a human hand. The first drive mechanism includes: a first sliding assembly for strapping to a user's finger; a first swing rod rotatably connected to the first sliding assembly; a pair of rotating joints, the pair of rotating joints being vertically arranged, one of the rotating joints being connected to the first swing rod, one of the rotating joints being used to drive the finger up and down, and the other being used to drive the finger left and right; a second swing rod, the two ends of the second swing rod being respectively connected to the pair of rotating joints; a second sliding assembly connected to the other rotating joint and slidably connected to the first base; each rotating joint includes: a drive assembly and an elastic element, the drive assembly being connected to the outer ring of the elastic element, and the first swing rod or the second swing rod being connected to the inner ring of the elastic element, the elastic element being used to sense the torque applied by the wrist-hand exoskeleton robot to the user's finger.

[0006] According to the present invention, an orthogonal torque sensing wrist and hand exoskeleton robot is provided, wherein the elastic element is an elastic block, the elastic block is spirally provided with a through groove penetrating the thickness of the elastic block, the center of the elastic block is provided with a through hole, and the first swing rod or the second swing rod passes through the through hole.

[0007] According to the present invention, a wrist-hand exoskeleton robot with orthogonal torque sensing is provided, wherein the driving component includes: a motor; a spool connected to the outer ring of the elastic element, wherein two spools of a pair of rotating joints are arranged perpendicularly; and a Bowden wire, wherein the two ends of the Bowden wire are respectively connected to the motor and the spool.

[0008] According to the present invention, a wrist-hand exoskeleton robot with orthogonal torque sensing is provided, wherein the rotating joint further includes a housing, the spool and the elastic element are disposed inside the housing, and the housing has an opening; the two housings of the pair of rotating joints are a first housing and a second housing, the first housing and the second housing are arranged perpendicularly, the first swing rod passes through the first housing, one end of the second swing rod is connected to the first housing, and the other end of the second swing rod passes through the second housing.

[0009] According to the present invention, a wrist-hand exoskeleton robot with orthogonal torque sensing is provided, wherein the first sliding component includes: a fixing block for binding to the user's finger, the fixing block having a first slide rail along the length direction of the finger; a first slider slidably connected to the first slide rail, the first slider being rotatably connected to the first swing rod.

[0010] According to the present invention, a wrist-hand exoskeleton robot with orthogonal torque sensing is provided, wherein the first slider has protrusions on opposite sides, and one end of the first swing rod has a rotating shaft, the rotating shaft being rotatably connected to the protrusions.

[0011] According to the present invention, a wrist-hand exoskeleton robot with orthogonal torque sensing is provided, wherein the second sliding component includes: a second slider, wherein the first base is provided with a second slide rail in a direction perpendicular to the finger, and the second slider is slidably connected to the second slide rail; and a third swing rod, wherein the two ends of the third swing rod are respectively connected to the second slider and a rotary joint.

[0012] According to the present invention, there is a wrist-hand exoskeleton robot with orthogonal torque sensing, wherein the number of the first drive mechanism is multiple, and the number of the second slide rails matches the number of the first drive mechanism.

[0013] According to the present invention, a wrist-hand exoskeleton robot with orthogonal torque sensing further includes: a second base for binding to the user's wrist, the second base having a third slide rail; a second drive mechanism, the first end of the second drive mechanism being slidably connected to the third slide rail, the second end of the second drive mechanism being connected to the first base, the second drive mechanism being used to drive the user's palm to move up and down, swing left and right, and move in a circular motion.

[0014] According to the present invention, a wrist-hand exoskeleton robot with orthogonal torque sensing further includes a rotating wheel connected to the motor, and one end of the Bowden wire is wound around the rotating wheel.

[0015] The orthogonal torque sensing wrist-hand exoskeleton robot provided by this invention, by setting two rotating joints vertically and setting elastic elements in each rotating joint, not only realizes the transmission of force from the wrist-hand exoskeleton robot to the human fingers, realizing finger flexion-extension and adduction-abduction movements during rehabilitation training, but also senses the orthogonal dual torques actually applied to the human fingers, improving the force control performance of rehabilitation training and enhancing the rehabilitation effect. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the wrist and hand exoskeleton robot with orthogonal torque sensing provided by the present invention.

[0018] Figure 2 yes Figure 1 The diagram shows the structure of the first drive mechanism.

[0019] Figure 3 This is a simplified diagram of a wrist-hand exoskeleton robot with orthogonal torque sensing on the human fingers.

[0020] Figure 4 This is a schematic diagram of the structure of the first elastic element.

[0021] Figure 5 yes Figure 2 The diagram shows the structure of the rotating joint.

[0022] Figure label: 1. First drive mechanism; 2. Second drive mechanism; 3. First base; 4. Second base; 11. Fixed block; 12. First slider; 13. First swing rod; 14. First rotary joint; 15. Second swing rod; 16. Second rotary joint; 17. Third swing rod; 18. Second slider; 41. Third slide rail; 101. Second slide rail; 111. Strap; 112. First slide rail; 141. First housing; 142. First pulley; 143. First Bowden line; 144. First elastic element; 161. Second housing; 1411, First opening; 1441, Through groove; 1442, Through hole; 1611, Second opening; 201. First finger joint; 202. Second finger joint. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0024] The following is combined Figures 1-5 This invention describes an orthogonal torque sensing wrist-hand exoskeleton robot.

[0025] like Figure 1 and Figure 2As shown, in an embodiment of the present invention, the orthogonal torque sensing wrist-hand exoskeleton robot includes a first drive mechanism 1 and a first base 3. The first base 3 is used to be strapped to the user's palm. The first drive mechanism 1 is used to be strapped to the user's fingers to drive finger movement. The first drive mechanism 1 includes: a first sliding component, a first swing rod 13, a pair of rotary joints, a second swing rod 15, and a second sliding component. The first sliding component is used to be strapped to the user's fingers, and the first swing rod 13 is rotatably connected to the first sliding component. For ease of description, the pair of rotary joints are named the first rotary joint 14 and the second rotary joint 16. The first rotary joint 14 and the second rotary joint 16 are arranged perpendicularly. The first rotary joint 14 is connected to the first swing rod 13, and the two ends of the second swing rod 15 are respectively connected to the first rotary joint 14 and the second rotary joint 16. The second sliding component is connected to the second rotary joint 16 and slidably connected to the first base 3. When the first rotating joint 14 rotates, it drives the first sliding component to move up and down, thereby driving the human fingers to move up and down. When the second rotating joint 16 rotates, it drives the first rotating joint 14 to swing left and right, thereby driving the human fingers to swing left and right. When the second rotating joint 16 rotates, it drives the second sliding component to slide along the first base 3, thereby improving the comfort after wearing. When the first rotating joint 14 and the second rotating joint 16 move simultaneously, the fingers can move up and down as well as swing left and right, thereby achieving circular motion of the fingers.

[0026] When a human finger is fitted with a wrist-hand exoskeleton robot, in this embodiment, the first sliding component forms a prismatic joint; the first swing rod 13 is rotatably connected to the first sliding component, forming a revolute joint; the first revolute joint 14 and the second revolute joint 16 form two revolute joints; and the second sliding component forms a prismatic joint. Therefore, in this embodiment, the first drive mechanism 1 has a configuration of two prismatic joints and three revolute joints, i.e., a P3RP configuration, where P represents a prismatic joint, R represents a revolute joint, the first revolute joint 14 and the second revolute joint 16 are active revolute joints, and the connection between the first swing rod 13 and the first sliding component is a passive revolute joint.

[0027] like Figure 3 As shown, the human finger is simplified as a joint with a universal joint. The human finger joint includes a first finger joint 201 and a second finger joint 202, which are orthogonally arranged. The first finger joint 201 corresponds to the first rotary joint 14, and the second finger joint 202 corresponds to the second rotary joint 16. The passive rotary joint is located near the end of the human finger, and the first base 3 is bound to the human palm.

[0028] like Figure 3As shown, the simplified structure of the wrist-hand exoskeleton robot with orthogonal torque sensing is called a finger exoskeleton joint. Since the finger exoskeleton joint is fixed to the human finger, we can consider the distance between the rotation center of the second finger joint 202 and the first base 3 to be constant. Therefore, the interaction force of the second finger joint 202 and the interaction force of the first finger joint 201 can be obtained using a Jacobian matrix. The first rotation joint 14 and the second rotation joint 16 are arranged perpendicularly to correspond to the first finger joint 201 and the second finger joint 202 orthogonally arranged in the human finger joint. Thus, the torque sensed by the human finger joint is a matrix. In this embodiment, the rotation axis of the second finger joint 202 and the rotation axis of the second rotation joint 16 may not be collinear. Under this premise, it can also be ensured that, under the condition of human-machine wearable motion compatibility, the force transmitted from the finger exoskeleton joint to the human finger joint is always equal to the force actually borne by the human finger joint during finger movement, thus achieving both motion compatibility and orthogonal sensing.

[0029] Specifically, a reference coordinate system for the first base 3 in the finger exoskeleton joint kinematic chain is established. Based on the DH criterion and this reference coordinate system, a closed-loop chain of the finger exoskeleton joint kinematic chain and a closed-loop chain of the human finger joint kinematic chain are constructed. Based on the closed-loop chain, the quasi-static mechanical relationship of the human finger joint is obtained based on the kinematic matrix relationship of the finger exoskeleton joint, utilizing the fact that the force actually experienced by the human finger joint is equal to the force transmitted by the finger exoskeleton joint, that is, the force actually experienced by the first finger joint 201 is equal to the force transmitted by the first rotational joint 14, and the force actually experienced by the second finger joint 202 is equal to the force transmitted by the second rotational joint 16.

[0030] Specifically, a first transformation matrix of the kinematic chain of the finger exoskeleton joint is established, and a second transformation matrix of the kinematic chain of the human finger joint is established. Based on the first and second transformation matrices, and the principle that the force transmitted by the finger exoskeleton joint is equal to the force borne by the human finger joint, i.e., the first transformation matrix is ​​equal to the second transformation matrix, the quasi-static mechanical relationship matrix between the finger exoskeleton joint and the human finger joint is obtained.

[0031] Furthermore, in this embodiment, the first rotary joint 14 and the second rotary joint 16 have the same structure, only differing in orientation. Each rotary joint includes a drive component and an elastic element. The drive component is connected to the outer ring of the elastic element, and the first swing rod 13 or the second swing rod 15 is connected to the inner ring of the elastic element. When the drive component applies force to drive the finger movement, the rotation angles of the outer and inner rings of the elastic element are different, and the difference between them is the angle change of the finger exoskeleton joint. Based on this angle change and the stiffness coefficient of the elastic element, the first torque of the first rotary joint 14 and the second rotary joint 16 can be calculated. The second torque of the first finger joint 201 and the second finger joint 202 can be obtained according to the quasi-static mechanical relationship matrix between the finger exoskeleton joint and the human finger joint. Thus, the orthogonal dual torques applied by the wrist-hand exoskeleton robot to the human finger joints can be sensed to avoid the problem of insufficient driving force, which fails to achieve the purpose of rehabilitation training, or excessive driving force, which causes secondary injury to the user.

[0032] The orthogonal torque sensing wrist-hand exoskeleton robot provided in this invention, by vertically setting two rotational joints and equipping each rotational joint with an elastic element, not only enables the transmission of force from the wrist-hand exoskeleton robot to the human fingers, realizing finger flexion-extension and adduction-abduction movements during rehabilitation training, but also senses the orthogonal dual torques acting on the human fingers, improving the force control performance of rehabilitation training and enhancing the rehabilitation effect.

[0033] like Figure 4 As shown, in an embodiment of the present invention, the elastic element is an elastic block, and the elastic block is spirally provided with a through groove 1441 penetrating the thickness of the elastic block, and the center of the elastic block is provided with a through hole 1442. Specifically, the first rotating joint 14 includes a first elastic element 144, the second rotating joint 16 includes a second elastic element, the first swing rod 13 passes through the through hole 1442 of the first elastic element 144, and the second swing rod 15 passes through the through hole of the second elastic element, so as to use the difference in rotation angle between the outer and inner rings of the elastic element to sense torque. In this embodiment, the elastic element can also buffer the movement of the first swing rod 13 and the second swing rod 15 to increase the flexibility of the wrist and hand exoskeleton robot during movement.

[0034] like Figure 5 As shown, in an embodiment of the present invention, the drive assembly includes a motor, a cable, and a Bowden wire. The spool is connected to the outer ring of the elastic element, and both ends of the Bowden wire are connected to the motor and the spool, respectively.

[0035] Specifically, for ease of description, the motor, reel, and Bowden line of the first rotating joint 14 are respectively named: first motor, first reel 142, and first Bowden line 143; the motor, reel, and Bowden line of the second rotating joint 16 are respectively named: second motor, second reel, and second Bowden line. In this embodiment, both the first motor and the second motor are rotary motors, which can rotate clockwise or counterclockwise. The first motor and the first wheel 142 are connected by two first Bowden wires 143. For example, when the first motor rotates forward, it pulls the first first Bowden wire 143, which drives the first wheel 142 and the first elastic element 144 to rotate forward. The first elastic element 144 drives the first swing rod 13 to move upward, which in turn drives the first sliding component to move upward, thereby driving the human finger to move upward. When the first motor rotates in reverse, it pulls the second first Bowden wire 143, which drives the first wheel 142 and the first elastic element 144 to rotate in reverse. The first elastic element 144 drives the first swing rod 13 to move downward, which in turn drives the first sliding component to move downward, thereby driving the human finger to move downward, thus realizing the up and down movement of the human finger.

[0036] Correspondingly, the second motor and the second reel are also connected via two second Bowden wires. When the second motor rotates forward, it pulls the first of the two second Bowden wires, which in turn drives the second reel and the second elastic element to rotate forward. The second elastic element drives the second swing rod 15 to swing to the left, which in turn drives the first rotating joint 14 to swing to the left, thereby causing the human finger to swing to the left. When the second motor rotates in reverse, it pulls the second second Bowden wire, which in turn drives the second reel and the second elastic element to rotate in reverse. The second elastic element drives the second swing rod 15 to swing to the right, which in turn drives the first rotating joint 14 to swing to the right, thereby causing the human finger to swing to the right, thus achieving left and right finger swinging. When the first motor and the second motor move simultaneously, circular motion of the finger can be achieved.

[0037] like Figure 2 and Figure 5 As shown, in an embodiment of the present invention, the first rotating joint 14 further includes a first housing 141, a first reel 142 and a first elastic member 144 disposed within the first housing 141, the first housing 141 having a first opening 1411, and the first swing rod 13 passing through the first opening 1411. The second rotating joint 16 further includes a second housing 161, a second reel and a second elastic member disposed within the second housing 161, the second housing 161 having a second opening 1611, and the second swing rod 15 passing through the second opening 1611. In this embodiment, the first housing 141 and the second housing 161 are arranged perpendicularly.

[0038] like Figure 2As shown, in an embodiment of the present invention, the first sliding component includes a fixing block 11 and a first slider 12. A strap 111 is provided on one side of the fixing block 11, and a first slide rail 112 is provided on the opposite side along the length of the finger. The first slider 12 is slidably connected to the first slide rail 112. One end of the first swing rod 13 is rotatably connected to the first slider 12, so that it can drive the finger to move up and down under the action of the first rotating joint 14.

[0039] Furthermore, the first slider 12 has protrusions on its opposite sides, and the first swing rod 13 has a rotating shaft at one end, which is rotatably connected to a pair of protrusions.

[0040] like Figure 2 As shown, the second sliding assembly includes a third swing rod 17 and a second slider 18. The two ends of the third swing rod 17 are respectively connected to the second slider 18 and the second rotating joint 16. A second slide rail 101 is provided on the first base 3 along the direction perpendicular to the finger, and the second slider 18 is slidably connected to the second slide rail 101.

[0041] Specifically, the extension direction of the second slide rail 101 is perpendicular to the finger. The third swing rod 17 is connected to the second housing 161 of the second rotating joint 16. When the second slider 18 slides along the second slide rail 101, it can drive the second housing 161 and the first housing 141 to move as a whole, thereby adjusting the position of the first drive mechanism 1 on the first base 3, improving the comfort of the user after wearing it, and enabling the wrist and hand exoskeleton robot to adapt to the different finger sizes of different subjects and the instantaneous changes of finger joints caused by the soft tissue of the hand, so as to achieve motion compatibility of human fingers, improve the human-machine integration performance, motion assistance capability, safety and practical use performance of the wrist and hand exoskeleton robot.

[0042] In this embodiment, the first base 3 is provided with a plurality of second slide rails 101, the number of which matches the number of first drive mechanisms 1, so as to integrate the plurality of first drive mechanisms 1 onto the first base 3. Figure 1 In the illustrated embodiment, the first base 3 is provided with two second slide rails 101, and correspondingly, there are also two first drive mechanisms 1. The two first drive mechanisms 1 are worn on the thumb and index finger for rehabilitation training. Since hand movements are mainly performed by the thumb and index finger, the rehabilitation training primarily targets these two fingers. When the first drive mechanisms 1 on the thumb and index finger move simultaneously, the thumb and index finger can coordinate their movements to perform actions such as picking up, rotating, and releasing objects, thereby achieving the grasping and releasing functions of the hand.

[0043] like Figure 1As shown, the first base 3 is provided with two second slide rails 101. The first second slide rail 101 is located on the first base 3, and the first drive mechanism 1 connected to the second slide rail 101 is worn on the user's index finger. The second second slide rail 101 is located on the side of the first base 3, and the first drive mechanism 1 connected to the second slide rail 101 is worn on the user's thumb. It can be understood that when the length of the first second slide rail 101 is relatively long, the first drive mechanism 1 worn on the index finger can also be worn on the user's middle finger, ring finger, and little finger. In addition, by enlarging the size of the first base 3 and arranging multiple second slide rails 101 on the first base 3, a first drive mechanism 1 can also be set for each finger to perform rehabilitation training for all fingers. When each finger is wearing a first drive mechanism 1, controlling multiple first drive mechanisms 1 to move simultaneously can realize the coordinated movement of multiple fingers, such as grasping an object in the palm.

[0044] like Figure 1 As shown, in an embodiment of the present invention, the wrist-hand exoskeleton robot further includes: a second base 4 and a second drive mechanism 2. The second base 4 is used to be strapped to the user's wrist, and a third slide rail 41 is provided on the second base 4. The first end of the second drive mechanism 2 is slidably connected to the third slide rail 41, and the second end of the second drive mechanism 2 is connected to the first base 3. The second drive mechanism 2 is used to drive the user's palm to move up and down, swing left and right, and move in a circular motion.

[0045] Specifically, the structure of the second drive mechanism 2 is the same as that of the first drive mechanism 1, so it will not be described again here. The second drive mechanism 2 also includes two vertically arranged rotary joints, each of which includes an elastic element to sense the torque exerted on the human hand. When the second drive mechanism 2 and the first drive mechanism 1 move simultaneously, coordinated movements of the wrist and fingers can be achieved.

[0046] The orthogonal torque sensing wrist and hand exoskeleton robot provided in this embodiment of the invention, by setting a first driving mechanism and a second driving mechanism, enables the user's fingers and palms to perform up-and-down movements, left-and-right swings, circular movements, and coordinated movements, thereby achieving automated rehabilitation training; at the same time, it can sense the torque of the fingers and palms, improving the effectiveness of rehabilitation training.

[0047] Furthermore, in an embodiment of the present invention, each motor is connected to a wheel, and both ends of each Bowden wire are connected to a spool and a wheel, respectively. When the motor rotates forward, it drives the wheel to rotate. When the wheel rotates, it causes a Bowden wire connected to it to be tightened, thereby driving the first spool 142 or the second spool to rotate.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wrist-hand exoskeleton robot with orthogonal torque sensing, characterized in that, It includes a first drive mechanism and a first base, the first base being used to bind to the palm of a human hand, and the first drive mechanism including: The first sliding component is used to attach to the user's finger; The first swing arm is rotatably connected to the first sliding assembly; A pair of rotary joints are arranged vertically, one of the rotary joints is connected to the first swing rod, one of the rotary joints is used to drive the finger to move up and down, and the other is used to drive the finger to move left and right; The second swing arm, with its two ends respectively connected to a pair of the aforementioned rotating joints; The second sliding component is connected to another of the said rotary joints and is slidably connected to the first base; Each of the said rotational joints includes: a drive assembly and an elastic element, the drive assembly being connected to the outer ring of the elastic element, and the first or second swing arm being connected to the inner ring of the elastic element, the elastic element being used to sense the torque applied to the user's fingers by the wrist-hand exoskeleton robot.

2. The wrist-hand exoskeleton robot with orthogonal torque sensing according to claim 1, characterized in that, The elastic element is an elastic block, and the elastic block is spirally provided with a through groove that penetrates the thickness of the elastic block. The center of the elastic block is provided with a through hole, and the first swing rod or the second swing rod passes through the through hole.

3. The wrist-hand exoskeleton robot with orthogonal torque sensing according to claim 1, characterized in that, The driving component includes: Electric motor; A spool is connected to the outer ring of the elastic element, and the two spools of a pair of rotating joints are arranged perpendicularly. Bowden wire, the two ends of which are connected to the motor and the reel, respectively.

4. The wrist-hand exoskeleton robot with orthogonal torque sensing according to claim 3, characterized in that, The rotating joint further includes a housing, the reel and the elastic element are disposed within the housing, and the housing has an opening; The two housings of the pair of rotating joints are a first housing and a second housing. The first housing and the second housing are arranged perpendicularly. The first swing rod passes through the first housing. One end of the second swing rod is connected to the first housing, and the other end of the second swing rod passes through the second housing.

5. The wrist-hand exoskeleton robot with orthogonal torque sensing according to claim 1, characterized in that, The first sliding component includes: A fixing block is used to bind to the user's finger, and the fixing block is provided with a first slide rail along the length of the finger; The first slider is slidably connected to the first slide rail, and the first slider is rotatably connected to the first swing rod.

6. The wrist-hand exoskeleton robot with orthogonal torque sensing according to claim 5, characterized in that, The first slider has protrusions on opposite sides, and one end of the first swing rod has a rotating shaft, which is rotatably connected to the protrusions.

7. The wrist-hand exoskeleton robot with orthogonal torque sensing according to claim 1, characterized in that, The second sliding component includes: The second slider is slidably connected to the second slide rail along the direction perpendicular to the finger of the first base. The third swing arm has its two ends connected to the second slider and a rotating joint, respectively.

8. The wrist-hand exoskeleton robot with orthogonal torque sensing according to claim 7, characterized in that, The number of the first drive mechanism is multiple, and the number of the second slide rails matches the number of the first drive mechanism.

9. The wrist-hand exoskeleton robot with orthogonal torque sensing according to claim 1, characterized in that, Also includes: The second base is used to bind the user's wrist, and the second base is provided with a third slide rail; The second drive mechanism has a first end that is slidably connected to the third slide rail and a second end that is connected to the first base. The second drive mechanism is used to drive the user's palm to move up and down, swing left and right, and move in a circular motion.

10. The wrist-hand exoskeleton robot with orthogonal torque sensing according to claim 3, characterized in that, It also includes a rotating wheel connected to the motor, with one end of the Bowden wire wound around the rotating wheel.

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