Finger teleoperation unit and device based on rope drive

Abstract

The invention provides a finger teleoperation unit and device based on rope drive, and belongs to the technical field of teleoperation. The finger teleoperation unit comprises a mounting seat; the knuckle supporting mechanism is movably connected to the mounting base; the knuckle rotation angle measuring mechanism is arranged on the mounting base and comprises a rotating part, a rotation angle measuring part and a transmission assembly, the rotation angle measuring part is used for measuring the rotation angle of the rotating part, and the transmission assembly is used for driving the rotating part to synchronously rotate along with the knuckle supporting mechanism when the knuckle supporting mechanism rotates; the transmission assembly comprises a transmission rope, a transmission part and a reset part, the transmission part is pulled by the transmission rope to move in the first direction when the knuckle supporting mechanism rotates, and the reset part is used for providing reset acting force in the second direction opposite to the first direction for the transmission part. The mechanical structure can be simplified, the problems of large size and heavy weight caused by gear transmission or a connecting rod mechanism are avoided, and therefore the comfort and operability of the device are improved.

Description

Technical Field

[0001] This application relates to the field of teleoperation technology, and in particular to a rope-driven finger teleoperation unit and device. Background Technology

[0002] The application of hand teleoperations is becoming increasingly widespread in many fields such as industrial production, medical surgery, and hazardous environments. These devices enable operators to remotely control robotic arms to complete various complex tasks. Accurate measurement of finger joint movement angles is a crucial step in achieving effective teleoperation, directly affecting the precision and flexibility of the robotic arm's movements.

[0003] In existing technologies, joint angles are typically measured using angle sensors installed at each finger joint. These angle sensors usually rely on gear transmissions or linkage mechanisms to drive their shafts to rotate, thereby achieving joint angle measurement. For example, a bidirectional force feedback data glove with an exoskeleton disclosed in patent CN103158162A achieves finger joint motion detection and force feedback by setting multiple hinged detection and drive mechanisms on the glove. Each hinge is equipped with an angle sensor and a drive component, enabling force feedback control by applying force as needed while detecting the angle and state of finger joint movement.

[0004] While this measurement method achieves motion detection to some extent, the complexity of gear transmission and linkage mechanisms results in a large device size and heavy weight. Operators may experience fatigue after wearing it for a long time, reducing the device's comfort and operability.

[0005] Therefore, there is an urgent need to propose a new hand teleoperation device to solve the above-mentioned problems in the existing technology. Summary of the Invention

[0006] The purpose of this application is to provide a cord-driven finger teleoperation unit and device to solve the above-mentioned problems.

[0007] To achieve the above objectives, in a first aspect, this application proposes a finger teleoperation unit, comprising: Mounting base; The knuckle support mechanism is movably connected to the mounting base; The knuckle rotation angle measuring mechanism disposed on the mounting base includes a rotating component, a rotation angle measuring component, and a transmission assembly. The rotation angle measuring component is used to measure the rotation angle of the rotating component, and the transmission assembly is used to drive the rotating component to rotate synchronously with the knuckle support mechanism when the knuckle support mechanism rotates. The transmission assembly includes a transmission rope, a transmission component, and a reset component. The transmission component is movably mounted on the mounting base and engages with the rotating component. One end of the transmission rope is connected to the transmission component, and the other end is connected to the knuckle support mechanism. When the knuckle support mechanism rotates, the transmission component is pulled by the transmission rope to move along a first direction. The reset component is disposed inside the mounting base and connected to the transmission component, and is used to provide a reset force to the transmission component in a second direction opposite to the first direction.

[0008] In some embodiments, the knuckle support mechanism includes a proximal knuckle support movably connected to the mounting base and a distal knuckle support movably connected to the proximal knuckle support; The knuckle angle measuring mechanism includes at least two sets, wherein the transmission component of the first set of knuckle angle measuring mechanisms is used to drive the rotating component of the first set of knuckle angle measuring mechanisms to rotate synchronously with the proximal knuckle support when the proximal knuckle support rotates, and the transmission component of the second set of knuckle angle measuring mechanisms is used to drive the rotating component of the second set of knuckle angle measuring mechanisms to rotate synchronously with the distal knuckle support when the distal knuckle support rotates.

[0009] In some embodiments, the transmission rope of the first set of knuckle angle measuring mechanisms is connected to the proximal knuckle support, and the transmission component of the first set of knuckle angle measuring mechanisms moves along a first direction under the traction of the transmission rope of the first set of knuckle angle measuring mechanisms when the proximal knuckle support rotates. The reset component of the first set of knuckle angle measuring mechanisms is used to provide a reset force along a second direction to the transmission component of the first set of knuckle angle measuring mechanisms. The transmission rope of the second set of knuckle angle measuring mechanisms is connected to the distal knuckle support. When the distal knuckle support rotates, the transmission component of the second set of knuckle angle measuring mechanisms is pulled along the first direction by the transmission rope of the second set of knuckle angle measuring mechanisms. The reset component of the second set of knuckle angle measuring mechanisms is used to provide a reset force along the second direction to the transmission component of the second set of knuckle angle measuring mechanisms.

[0010] In some embodiments, the knuckle support mechanism further includes a middle knuckle support located between the proximal knuckle support and the distal knuckle support, the rotation angle of which is calculated based on the rotation angle of the rotating component of the first set of knuckle rotation angle measuring mechanisms and the rotation angle of the rotating component of the second set of knuckle rotation angle measuring mechanisms.

[0011] In some embodiments, the finger teleoperation unit further includes a force feedback mechanism, which includes a servo assembly mounted on the knuckle angle measuring mechanism and a drive rope. One end of the drive rope is connected to the servo assembly, and the other end is connected to the knuckle support mechanism. The servo assembly is used to drive the drive rope to generate a pulling force on the knuckle support mechanism under the action of a drive signal.

[0012] In some embodiments, the servo assembly includes a servo body mounted on the mounting base. A winding disc is provided at one end of the servo body facing the knuckle angle measuring mechanism. The drive rope is wound on the winding disc. The servo body is used to drive the winding disc to rotate the drive rope under the action of a drive signal, thereby generating a pulling force on the knuckle support mechanism.

[0013] Secondly, this application proposes a finger teleoperation device, including: a back of hand support, the back of hand support including a main body and a protrusion; Multiple finger teleoperation units as described above are disposed on the main body. The circuit board disposed on the protrusion is used to receive the rotation angle measured by each finger teleoperation unit and send the rotation angle to the slave hand to control the slave hand to perform the corresponding operation. The circuit board is also used to receive the tactile data detected by the slave hand and send a trigger signal or drive signal to the corresponding finger teleoperation unit according to the tactile data to realize tactile feedback or force feedback.

[0014] In some embodiments, the main body includes a through hole with a groove in the inner ring of the through hole. The groove holds a translation angle measuring component. A rotating component protrudes from the mounting base of the finger teleoperation unit toward the main body. The rotating component is used to drive the translation angle measuring component to rotate when the finger teleoperation unit swings. The translation angle measuring component is used to measure the rotation angle of the rotating component.

[0015] In some implementations, one of the finger teleoperation units is defined as the thumb teleoperation unit, and the other finger teleoperation units are defined as other finger teleoperation units. The main body includes a main support and a thumb support. The main support is used to rotatably fix the other finger teleoperation units, and the thumb support is used to rotatably fix the thumb teleoperation units. The thumb support is connected to the main support via a rotating connector. The rotating connector is equipped with a longitudinal rotation angle measuring component, which is used to measure the rotation angle of the thumb support relative to the main support.

[0016] Compared with the prior art, the beneficial effects of this application include: This application achieves precise measurement and reset of the knuckle rotation angle through the combination of a transmission rope, a transmission component, and a reset component. Specifically, one end of the transmission rope is connected to the knuckle support mechanism, and the other end is connected to the transmission component. When the knuckle support mechanism rotates, the transmission rope pulls the transmission component to move in a first direction, thereby causing the rotating component to rotate synchronously, allowing the rotation angle measurement component to obtain the rotation angle. The reset component provides a reset force to the transmission component in the opposite direction, ensuring that the transmission component and the rotating component return to their initial positions after the knuckle support mechanism resets, guaranteeing the accuracy and repeatability of the measurement. Compared with existing technologies, the technical solution of this application simplifies the mechanical structure and avoids the problems of large size and heavy weight caused by gear transmission or linkage mechanisms, thereby improving the comfort and operability of the device. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation on the scope of this application.

[0018] Figure 1 This is a schematic diagram of a cable-driven finger teleoperation unit according to an embodiment of this application being worn on a person's hand; Figure 2 This is a schematic diagram of the overall structure of a finger teleoperation unit according to an embodiment of the present application when the finger teleoperation unit is a thumb teleoperation unit, viewed from a first perspective. Figure 3 This is a perspective structural diagram of a finger teleoperation unit according to an embodiment of the present application, when the finger teleoperation unit is a thumb teleoperation unit, from a first perspective. Figure 4 This is a schematic diagram of the overall structure of the finger teleoperation unit according to an embodiment of the present application when the finger teleoperation unit is another finger teleoperation unit, viewed from a second perspective. Figure 5 This is a schematic diagram of the overall structure from a third-person perspective when the finger teleoperation unit according to an embodiment of this application is another finger teleoperation unit; Figure 6 This is a schematic diagram of the overall structure of a plurality of finger teleoperation units according to an embodiment of the present application from a fourth perspective. Figure 7 This is a partial enlarged schematic diagram of the transmission components of the first group of knuckle angle measuring mechanisms and the second group of knuckle angle measuring mechanisms according to an embodiment of this application; Figure 8 This is an exploded view of a finger teleoperation unit according to an embodiment of this application; Figure 9 This is a schematic diagram of the overall structure of a finger teleoperation device according to an embodiment of this application from a fifth-view perspective. Figure 10 This is a schematic diagram of the back-of-hand support according to an embodiment of this application from a sixth-angle perspective; Figure 11 This is a structural schematic diagram of a back-of-hand support, circuit board and fixing connector according to an embodiment of this application, viewed from a seventh perspective. Figure 12 This is an exploded structural diagram of a circuit board, a fixing connector, and a mounting bracket according to an embodiment of this application; Figure 13 It is based on Figure 10 A partially enlarged schematic diagram of the cross-sectional structure of the back of the hand support along the AA direction; Figure 14 This is a partially enlarged cross-sectional view of a thumb support structure according to an embodiment of this application; Figure 15 This is an exploded structural diagram of a finger teleoperation device according to an embodiment of this application; Figure 16 This is a partial structural schematic diagram of the output shaft of a finger teleoperation device according to an embodiment of this application; Figure 17 This is a partially enlarged cross-sectional view of a rotary connector according to an embodiment of this application.

[0019] The above-mentioned figures include the following reference numerals: 1. Finger remote operation device; 100. Finger remote operation unit; 10. Mounting base; 11. Upper mounting frame; 12. Lower mounting frame; 13. Positioning shaft; 14. Rotating component; 20. Knuckle support mechanism; 21. Proximal knuckle support; 22. Middle knuckle support; 23. Distal knuckle support; 24. Snap-on base; 30. Linkage mechanism; 31. First link; 32. Second link; 33. Tensioning wheel; 41. Rotating component of the first set of knuckle angle measuring mechanisms; 42. Angle measuring component of the first set of knuckle angle measuring mechanisms; 43. Transmission assembly of the first set of knuckle angle measuring mechanisms; 431. Transmission rope of the first set of knuckle angle measuring mechanisms; 432. Transmission component of the first set of knuckle angle measuring mechanisms; 433. Reset component of the first set of knuckle angle measuring mechanisms; 44. Second set of knuckle angle measuring mechanisms. 45. Rotating component of the second group of knuckle angle measuring mechanism; 46. Transmission assembly of the second group of knuckle angle measuring mechanism; 461. Transmission rope of the second group of knuckle angle measuring mechanism; 462. Transmission component of the second group of knuckle angle measuring mechanism; 463. Reset component of the second group of knuckle angle measuring mechanism; 50. Force feedback mechanism; 51. Servo assembly; 511. Servo body; 512. Winding disc; 52. Drive rope; 60. Linear motor; 200. Back of hand support; 201. Main body; 2011. Translation angle measuring component; 2012. Output shaft; 2013. Main body support; 2014. Thumb support; 2015. Rotating connector; 2016. Longitudinal angle measuring component; 202. Protrusion; 300. Circuit board; 400. Fixed connector; 500. Fixing frame; 501. Upper support; 502. Lower support. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0021] All terms used in this application (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the application, not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0024] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0025] In the description of this application, it should be noted that the terms "center," "upper," "lower," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0027] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0028] As mentioned above, in existing technologies, joint angles are mostly measured using angle sensors installed at each finger joint. These angle sensors typically rely on gear transmissions or linkage mechanisms to drive their shafts to rotate, thereby achieving joint angle measurement. For example, a bidirectional force feedback data glove with an exoskeleton disclosed in patent CN103158162A achieves finger joint motion detection and force feedback by setting multiple hinged detection and drive mechanisms on the glove. Each hinge is equipped with an angle sensor and drive component, which can detect the angle and state of finger joint movement and apply force as needed to achieve force feedback control. Although this measurement method achieves motion detection to a certain extent, the complexity of gear transmissions and linkage mechanisms results in a large size and heavy weight of the device, causing fatigue for the operator during prolonged wear and reducing the comfort and operability of the device. Therefore, there is an urgent need to propose a new hand teleoperation device to solve the above-mentioned problems in the existing technology. To this end, this application proposes a rope-driven finger teleoperation unit and device, which simplifies the mechanical structure and avoids the problems of large size and heavy weight caused by gear transmissions or linkage mechanisms, thereby improving the comfort and operability of the device.

[0029] like Figure 1 As shown, one embodiment of this application provides a cord-driven finger teleoperation unit 100. The finger teleoperation unit 100 is worn on a user's finger and used as a remote control. The finger teleoperation unit 100 can detect the user's finger movements and thus control a remote slave hand (not shown in the figure).

[0030] like Figures 2 to 8 As shown, the finger teleoperation unit 100 includes a mounting base 10, a knuckle support mechanism 20, and a knuckle angle measuring mechanism.

[0031] In this embodiment, the mounting base 10 is the basic support structure of the entire finger teleoperation unit 100. It plays the role of bearing and fixing other components, providing a mounting base for the knuckle support mechanism 20, the angle measuring mechanism, etc., and ensuring the stability of the relative positions between the components.

[0032] The knuckle support mechanism 20 in this embodiment is used to be fitted onto each knuckle of the human finger and is movably connected to the mounting base 10. It can move relative to the mounting base 10 to follow the bending and stretching movements of the finger.

[0033] like Figure 2 As shown, a snap-fit ​​base 24 is provided below the knuckle support mechanism 20. The snap-fit ​​base 24 can be firmly snapped into the knuckle support mechanism 20, thereby stably fixing the knuckle support mechanism 20 to each knuckle of the finger. By setting the snap-fit ​​base 24, not only is the stability of the knuckle support mechanism 20 on the finger ensured, but it also facilitates installation and disassembly.

[0034] In some implementations, such as Figure 2 and Figure 4 As shown, the knuckle support mechanism 20 includes a proximal knuckle support 21 and a distal knuckle support 23. The proximal knuckle support 21 is movably connected to the mounting base 10 via a linkage mechanism 30, and the distal knuckle support 23 is movably connected to the proximal knuckle support 21 and is located on the side of the proximal knuckle support 21 away from the mounting base 10.

[0035] Among them, specifically such as Figure 5 As shown, the linkage mechanism 30 includes two parallel linkage assemblies connected by a slide bar. This allows the distance and angle between the proximal phalanx support 21 and the mounting base 10 to be adjusted. Specifically, the linkage assembly includes a first link 31 rotatably connected at one end to the mounting base 10, a second link 32 rotatably connected at one end to the other end of the first link 31, and the other end of the second link 32 rotatably connected to the proximal phalanx support 21. It should be noted that a tensioning wheel 33 can be provided on the slide bar, and both the transmission rope and the drive rope 52 can be wound around the tensioning wheel 33 to achieve tension.

[0036] In some implementations, such as Figure 6 As shown, a linear motor 60 is provided at the bottom of the knuckle support mechanism 20 (such as the distal knuckle support 23). The linear motor 60 is used to generate corresponding degrees of vibration under the action of different trigger signals. Specifically, when the hand comes into contact with an object, tactile data is generated through its built-in sensors. This tactile data can reflect the contact situation between the hand and the object in real time, including information such as the contact force. The circuit board 300 controlling the linear motor 60 can generate corresponding trigger signals according to the strength and nature of the force in the tactile data to control the linear motor 60 to provide vibration feedback. The vibration motor can generate different degrees of vibration according to different trigger signals, so that the user can intuitively perceive the specific situation of the hand contacting the object.

[0037] It should be noted that the finger remote control unit 100 can be divided into, for example... Figure 2 The thumb teleoperation unit shown and as Figure 4 Other teleoperation units are shown. Both the thumb teleoperation unit and other teleoperation units have a proximal phalanx support 21 and a distal phalanx support 23. The proximal phalanx support 21 is worn on the user's proximal phalanx, and the distal phalanx support 23 is worn on the user's distal phalanx. It can be understood that the user's proximal phalanx refers to the phalanx of a finger closest to the palm, and the user's distal phalanx refers to the phalanx of a finger furthest from the palm.

[0038] For the thumb teleoperation unit, it has a proximal phalanx support 21 and a distal phalanx support 23; for other finger teleoperation units, it may also have a middle phalanx support 22 located between the proximal phalanx support 21 and the distal phalanx support 23. The middle phalanx support 22 is used to be worn on the user's middle phalanx, wherein the user's middle phalanx refers to the phalanx located between the proximal phalanx and the distal phalanx on the fingers other than the thumb.

[0039] It should be noted that each proximal phalanx support 21, distal phalanx support 23, and middle phalanx support 22 can move independently, such as by rotating or translating, to accommodate the movement of each finger joint of the user.

[0040] In some embodiments, adjacent knuckle supports of the same finger teleoperation unit 100 are connected by springs, which can maintain the relative positions of each knuckle support on the hand. Furthermore, since the finger may be affected by various external forces during movement, the presence of springs can effectively prevent the knuckle supports from shifting, thereby ensuring the stability and accuracy of the finger teleoperation unit 100 in complex operations.

[0041] The knuckle angle measuring mechanism in this embodiment includes a rotating component, an angle measuring component, and a transmission assembly. The rotating component is associated with the movement of the knuckle support mechanism 20 and is used to transmit the rotation of the knuckle support mechanism 20 to the angle measuring component. The angle measuring component is used to accurately measure the rotation angle of the rotating component, thereby indirectly obtaining the rotation angle of the knuckle support mechanism 20. The transmission assembly is used to drive the rotating component to rotate synchronously with the knuckle support mechanism 20 when the knuckle support mechanism 20 rotates, thereby transmitting the rotation of the knuckle support mechanism 20 to the rotating component.

[0042] Specifically, the transmission assembly includes a transmission rope, a transmission component, and a reset component. The transmission component is movably mounted on the mounting base 10 and engages with a rotating component. One end of the transmission rope is connected to the transmission component, and the other end is connected to the knuckle support mechanism 20. When the knuckle support mechanism 20 rotates, the transmission component is pulled by the transmission rope and moves along a first direction. The first direction refers to the direction in which the transmission component moves along the mounting base under the pull of the transmission rope, which can be described as the direction in which the transmission component moves away from its initial position. The reset component is disposed within the mounting base 10 and connected to the transmission component. It provides a reset force to the transmission component in a second direction opposite to the first direction. This reset force is applied to the transmission component in the second direction when the finger returns to a straightened state, thereby improving the repeatability and accuracy of the measurement.

[0043] The transmission component can be a rack, movably mounted in a guide rail or guide groove on the mounting base 10, meshing with the rotating component and connected to the transmission rope, transmitting the movement of the knuckle support mechanism 20 as its own movement. The rotating component can be a gear or a rotating shaft with a rack, meshing with the transmission component, driving the rotating component to rotate when the transmission component moves. The angle measuring component can be a potentiometer, encoder, or other angle measuring element, fixedly mounted on the mounting base 10, with its shaft connected to the rotating component, used to measure the rotation angle of the rotating component. The transmission rope can be a high-strength and flexible rope such as steel wire rope or nylon rope, one end fixedly connected to the knuckle support mechanism 20 and secured with a self-tapping screw, the other end having a rope locking zinc head, fixedly connected to the transmission component. When the finger is in a horizontally extended state, it is pre-tightened by the self-tapping screw to ensure that the transmission rope maintains appropriate tension. The reset component can be an elastic reset component, such as a spring, a spring sheet, or elastic rubber. One end of the spring abuts against the inner wall of the mounting base 10, and the other end is connected to the transmission component. Taking the reset component as a reset spring as an example, when the transmission component moves along the first direction, the reset spring is compressed. The reset spring generates a reset force due to the elastic deformation during compression.

[0044] By employing a rope-driven mechanism, the rotation of the knuckle support mechanism 20 is transmitted to the rotating component, avoiding the complex structure of traditional gear transmission or linkage mechanism 30. This simplifies and compacts the overall structure of the finger teleoperation unit 100. The use of a transmission rope enables flexible motion transmission within a smaller space, reducing the number and size of components, lowering the weight of the device, and improving operator comfort and ease of operation.

[0045] In addition, in this embodiment, the drive rope 52 and the transmission rope are fitted with a protective tube, such as a Teflon sleeve, between the proximal phalanx bracket 21 and the mounting base 10. The Teflon sleeve has excellent wear resistance and a low coefficient of friction, which can effectively guide the movement of the drive rope 52 and the transmission rope and prevent them from falling off or getting stuck during complex movements.

[0046] In some implementations, such as Figure 3 , Figure 7 and Figure 8As shown, the knuckle angle measuring mechanism includes at least two sets. The transmission component 43 of the first set of knuckle angle measuring mechanisms drives the rotating component 41 of the first set of knuckle angle measuring mechanisms to rotate synchronously with the proximal knuckle support 21 when the proximal knuckle support 21 rotates, thereby measuring the rotation angle of the proximal knuckle support 21. Specifically, the transmission rope 431 of the first set of knuckle angle measuring mechanisms is connected to the proximal knuckle support 21. The transmission component 432 of the first set of knuckle angle measuring mechanisms moves along a first direction under the traction of the transmission rope 431 when the proximal knuckle support 21 rotates. The reset component 433 of the first set of knuckle angle measuring mechanisms provides a reset force along a second direction to the transmission component 432 of the first set of knuckle angle measuring mechanisms.

[0047] The transmission component 46 of the second set of knuckle angle measuring mechanisms is used to drive the rotating component 44 of the second set of knuckle angle measuring mechanisms to rotate synchronously with the distal knuckle support 23 when the distal knuckle support 23 rotates, so as to measure the rotation angle of the distal knuckle support 23. Specifically, the transmission rope 461 of the second set of knuckle angle measuring mechanisms is connected to the distal knuckle support 23, and the transmission component 462 of the second set of knuckle angle measuring mechanisms is pulled along the first direction by the transmission rope 461 of the second set of knuckle angle measuring mechanisms when the distal knuckle support 23 rotates. The reset component 463 of the second set of knuckle angle measuring mechanisms is used to provide a reset force along the second direction to the transmission component 462 of the second set of knuckle angle measuring mechanisms.

[0048] It should be noted that the finger teleoperation unit 100 in this application is worn on the user's finger. By obtaining the rotation angle of the proximal phalanx support 21 through the first set of phalanx angle measuring mechanisms, the rotation angle of the distal phalanx corresponding to the slave hand can be controlled. Similarly, by obtaining the rotation angle of the distal phalanx support 23 through the second set of phalanx angle measuring mechanisms, the rotation angle of the distal phalanx corresponding to the slave hand can be controlled. Thus, for the mechanical finger corresponding to the slave hand controlled by the finger teleoperation unit 100, the control precision of the mechanical finger is higher, and its movements are more flexible.

[0049] When the finger teleoperation unit 100 is in the extended state, the positions of the proximal phalanx support 21, the transmission rope 431 of the first group of phalanx angle measuring mechanisms, the transmission component 432 of the first group of phalanx angle measuring mechanisms, and the rotating component 41 of the first group of phalanx angle measuring mechanisms are in the initial state.

[0050] When the finger teleoperation unit 100 is worn on the user's finger and the user's hand is in a grip position, the proximal knuckle support 21 rotates relative to its initial state. This rotation, via the transmission rope 431 of the first set of knuckle angle measuring mechanisms, drives the transmission component 432 of the first set of knuckle angle measuring mechanisms to move along the first direction, thereby causing the rotating component 41 of the first set of knuckle angle measuring mechanisms to rotate. After the transmission component 432 of the first set of knuckle angle measuring mechanisms moves along the first direction, the transmission component 432 of the first set of knuckle angle measuring mechanisms will press the reset component 433 of the first set of knuckle angle measuring mechanisms. The reset component 433 of the first set of knuckle angle measuring mechanisms is used to provide a reset force to the transmission component 432 of the first set of knuckle angle measuring mechanisms.

[0051] When the finger teleoperation unit 100 returns to the extended state, the reset member 433 of the first set of knuckle angle measuring mechanisms can push the transmission member 432 of the first set of knuckle angle measuring mechanisms to move in the second direction, so that the transmission member 432 of the first set of knuckle angle measuring mechanisms is reset, thereby resetting the rotating member 41 of the first set of knuckle angle measuring mechanisms and the transmission rope 431 of the first set of knuckle angle measuring mechanisms.

[0052] By setting the reset component 433 of the first set of knuckle angle measuring mechanisms, the transmission rope 431, the transmission component 432, and the rotating component 41 of the first set of knuckle angle measuring mechanisms have reset characteristics, which improves the problem of reduced performance and accuracy of the finger teleoperation unit 100 after multiple operations.

[0053] Similarly, when the finger teleoperation unit 100 is in the extended state, the positions of the distal phalanx support 23, the transmission rope 461 of the second group of phalanx angle measuring mechanisms, the transmission component 462 of the second group of phalanx angle measuring mechanisms, and the rotating component 44 of the second group of phalanx angle measuring mechanisms are in the initial state.

[0054] When the finger teleoperation unit 100 is worn on the user's finger and the user's hand is in a grip position, the distal phalanx support 23 rotates relative to its initial state. This rotation, via the transmission rope 461 of the second set of phalanx angle measuring mechanisms, drives the transmission component 462 of the second set of phalanx angle measuring mechanisms to move along the second direction, thereby causing the rotating component 44 of the second set of phalanx angle measuring mechanisms to rotate. After the transmission component 462 of the second set of phalanx angle measuring mechanisms moves along the second direction, the transmission component 462 of the second set of phalanx angle measuring mechanisms will press the reset component 463 of the second set of phalanx angle measuring mechanisms. The reset component 463 of the second set of phalanx angle measuring mechanisms is used to provide a reset force to the transmission component 462 of the second set of phalanx angle measuring mechanisms.

[0055] When the finger teleoperation unit 100 returns to the extended state, the reset member 463 of the second set of knuckle angle measuring mechanism can push the transmission member 462 of the second set of knuckle angle measuring mechanism to move along the second direction, so that the transmission member 462 of the second set of knuckle angle measuring mechanism is reset, thereby resetting the rotating member 44 and the transmission rope 461 of the second set of knuckle angle measuring mechanism.

[0056] By setting the reset component 463 of the second set of knuckle angle measuring mechanisms, the transmission rope 461, the transmission component 462, and the rotating component 44 of the second set of knuckle angle measuring mechanisms have reset characteristics, thus improving the problem of reduced performance and accuracy of the finger teleoperation unit 100 after multiple operations.

[0057] In some embodiments, the transmission components 432 of the first set of knuckle angle measuring mechanisms and the transmission components 462 of the second set of knuckle angle measuring mechanisms are arranged side by side and spaced apart. The rotating components 41 of the first set of knuckle angle measuring mechanisms and the rotating components 44 of the second set of knuckle angle measuring mechanisms are both located in the area between the transmission components 432 of the first set of knuckle angle measuring mechanisms and the transmission components 462 of the second set of knuckle angle measuring mechanisms. In this way, the space occupied can be reduced.

[0058] For example, such as Figure 4 As shown, the transmission components 432 and 462 of the first and second knuckle angle measuring mechanisms are both racks, and the rotating components 41 and 44 of the first and second knuckle angle measuring mechanisms are both gears. The transmission components 432 and 462 of the first and second knuckle angle measuring mechanisms are arranged side by side and opposite to each other. The rotating component 41 of the first knuckle angle measuring mechanism is located between the transmission components 432 and 462 of the first and second knuckle angle measuring mechanisms and meshes with the transmission component 432 of the first knuckle angle measuring mechanism. The rotating component 44 of the second knuckle angle measuring mechanism is located between the transmission components 432 and 462 of the first and second knuckle angle measuring mechanisms and meshes with the transmission component 462 of the second knuckle angle measuring mechanism.

[0059] In some implementations, such as Figure 2 As shown, the mounting base 10 includes an upper mounting frame 11 and a lower mounting frame 12. The upper mounting frame 11 and the lower mounting frame 12 are fixedly connected by a positioning shaft 13. The transmission component 432 and the angle measuring component of the first set of knuckle angle measuring mechanisms are fixed to the lower mounting frame 12, and the transmission component 462 and the angle measuring component of the second set of knuckle angle measuring mechanisms are fixed to the upper mounting frame 11. The transmission component 432 of the first set of knuckle angle measuring mechanisms and the transmission component 462 of the second set of knuckle angle measuring mechanisms are arranged side by side and spaced apart.

[0060] It should be noted that the thumb teleoperation unit has a proximal phalanx support 21 and a distal phalanx support 23, but not a middle phalanx support 22. Therefore, by measuring the rotation angles of the proximal phalanx support 21 and the distal phalanx support 23 through the rotation angle measuring elements 42 of the first set of phalanx rotation measuring mechanisms and the rotation angle measuring elements 45 of the second set of phalanx rotation measuring mechanisms, the angle control of the proximal and distal phalanxes of the thumb can be achieved.

[0061] For other telescopic operation units, there is also a middle joint support 22. Since the angle of the middle joint support 22 has a certain functional relationship with the angles of the proximal joint support 21 and the distal joint support 23 (this functional relationship can be calculated through calibration experiments), the rotation angle of the middle joint support 22 is calculated based on the rotation angle of the rotating component 41 of the first joint rotation angle measuring mechanism and the rotation angle of the rotating component 44 of the second joint rotation angle measuring mechanism. In this way, it is possible to avoid setting up an additional corresponding rotation angle measuring mechanism specifically to measure the rotation angle of the middle joint support 22.

[0062] The rope-driven finger teleoperation unit 100 proposed in this application mainly consists of common components such as potentiometers, linear motors 60, ropes, and springs. It has a simple structure, low cost, is easy to manufacture and maintain, and has a compact structure that does not place too much burden on the operator. It is easy to mass-produce and promote its application. At the same time, its good force feedback function also ensures the safety of operation and avoids damage to the slave hand, the operated object, and the operator due to improper operation.

[0063] Furthermore, this embodiment places the knuckle angle measuring mechanism in a relatively centralized location and connects the various joints of the finger via a transmission rope. This layout makes the device more compact, reducing its overall size and weight. Compared to traditional gear-driven or linkage-driven methods, rope-driven systems do not require complex mechanical structures to transmit power, thus avoiding the problems of large device size and increased weight caused by complex mechanical structures.

[0064] like Figure 8 As shown, in one embodiment, the finger teleoperation unit 100 further includes a force feedback mechanism 50, which includes a servo assembly 51 and a drive rope 52 mounted on the knuckle angle measuring mechanism.

[0065] Specifically, for the same finger teleoperation unit 100, a drive rope 52 (which can be a steel wire rope) is also threaded between adjacent knuckle supports. One end of the drive rope 52 passes through the proximal knuckle support 21 (and the middle knuckle support 22) and connects to the distal knuckle support 23, while the other end passes through the mounting base 10 and connects to the servo assembly 51. The drive rope 52 and the servo assembly 51 constitute the force feedback mechanism 50 of the finger teleoperation unit 100. The servo assembly 51 is used to drive the drive rope 52 to generate a pulling force on the knuckle support mechanism 20 under the action of a drive signal.

[0066] In some implementations, such as Figure 3 and Figure 8 As shown, the servo assembly 51 includes a servo body 511 mounted on the mounting base 10 and a winding disc 512. The winding disc 512 is located at the end of the servo body 511 facing the knuckle angle measuring mechanism. A drive rope 52 is wound on the winding disc 512. The servo body 511 is a motor with a three-loop function that can precisely control angle and torque. It is used to drive the winding disc 512 to rotate the drive rope 52 under the action of a drive signal, thereby generating a pulling force on the knuckle support mechanism 20. The drive signal is an electrical signal generated by the circuit board 300 controlling the servo body 511 based on the tactile data detected from the hand (dexterous hand) and sent to the servo body 511. When the servo body 511 receives this drive signal, it drives the winding disc 512 to rotate the drive rope 52 according to the strength and nature of the drive signal, thereby generating a corresponding pulling force on the knuckle support mechanism 20. This design not only simplifies the control logic but also improves the response speed and reliability of force feedback.

[0067] It should be noted that when the fingers are extended, the springs between adjacent knuckle supports are at their natural length, and the drive rope 52 is locked in place by the self-tapping screws on the distal knuckle support 23. This locking method is not only secure and reliable, but also ensures that the drive rope 52 maintains appropriate tension throughout the finger movement.

[0068] When a finger bends, the springs between adjacent knuckle supports stretch as the finger bends, causing the drive rope 52 to pull the winding disc 512 to rotate. In this situation, the servo assembly 51 can be in a powerless state, requiring no additional force control. This is because the elastic properties of the springs between adjacent knuckle supports naturally adapt to the bending motion of the finger, thus achieving a passive force feedback mechanism.

[0069] When the hand grasps an object and the object's weight reaches a set threshold, the circuit board 300 controlling the servo motor 511 generates a drive signal based on the sensory data (weight of the grasped object) detected by the hand and sends it to the servo motor 511. The servo motor 511 is activated, driving the winding disc 512 to rotate the drive rope 52, thereby generating a corresponding pulling force on the knuckle support mechanism 20. Since the knuckle support mechanism 20 is fitted onto the finger joints, this pulling force causes the fingers to feel a pulling force, leading to a tendency to return to their original position. The greater the weight of the object, the greater the load on the hand, and the stronger the drive signal generated by the circuit board 300. The servo motor 511 then drives the drive rope 52 to generate a greater pulling force, making the fingers feel a stronger return force. This force feedback mechanism allows the operator to clearly perceive the weight of the object and adjust the grasping force in real time based on the magnitude of the feedback force, thus achieving precise control of the hand's grasping action.

[0070] In addition, the force feedback mechanism 50 provides a flexible cushioning function, exhibiting compliance. When the hand contacts or grasps an object, due to the flexible nature of the drive cord 52, even if the hand encounters unexpected collisions or resistance during operation, the drive cord 52 of the finger teleoperation unit 100 can absorb part of the impact force, avoiding direct transmission of rigid impact to the operator's hand. This cushioning effect effectively protects the operator's hand from injury and also reduces the risk of equipment damage caused by rigid impacts.

[0071] In addition, the finger remote control unit 100 can also be equipped with an overload protection mechanism. When the pulling force exceeds the safe range, the finger remote control unit 100 can automatically adjust or cut off the force feedback to avoid damage to the operator or equipment.

[0072] In the rope-driven finger teleoperation unit 100 proposed in this application embodiment, firstly, the safety and reliability of operation are significantly improved through a force feedback mechanism. For example, when grasping fragile items, the operator can adjust the grasping force in a timely manner according to the pulling force felt by the fingers, avoiding damage to the item due to excessive force or dropping the item due to insufficient force. Furthermore, in complex environments (such as medical surgery, hazardous environment operations, etc.), the operator can promptly perceive the interaction between the slave hand and external objects through force feedback, avoiding injury to the slave hand, the object being operated on, and the operator themselves due to improper operation.

[0073] Secondly, the force feedback mechanism 50 provides a flexible buffering function, exhibiting compliance. When the hand contacts or grasps an object, due to the flexible nature of the drive cord 52, even if the hand encounters unexpected collisions or resistance during operation, the pull cord of the finger teleoperation unit 100 can absorb part of the impact force, avoiding direct transmission of rigid impact to the operator's hand. This buffering effect effectively protects the operator's hand from injury and also reduces the risk of equipment damage caused by rigid impacts.

[0074] Thirdly, the unit is mainly composed of common components such as potentiometers, linear motors 60, servo motors, ropes, and springs. It has a simple structure, low cost, is easy to manufacture and maintain, and has a compact structure that does not place too much burden on the operator. It is easy to mass-produce and promote its application. At the same time, its good force feedback function also ensures the safety of operation and avoids damage to the slave, the object being operated, and the operator due to improper operation.

[0075] Fourthly, in this embodiment, the knuckle angle measuring mechanism and force feedback mechanism 50 are placed in a relatively concentrated position, and the various joints of the finger are connected by transmission ropes and drive ropes 52. This layout makes the device structure more compact, reducing the overall size and weight of the device. Compared with traditional gear-driven or linkage-driven methods, rope drive does not require complex mechanical structures to achieve power transmission, thus avoiding the problem of large device size and increased weight caused by complex mechanical structures.

[0076] One embodiment of this application provides a lanyard-driven finger teleoperation device 1. The finger teleoperation device 1 is worn on a user's hand and used as a remote control. It can detect the movements of each of the user's fingers, thereby controlling a distal slave hand (not shown in the figure). Furthermore, a connecting component can be provided at the rear of the device for connecting to a teleoperation exoskeleton arm (the main arm, but not shown in the figure), thus integrating the entire teleoperation system and enabling comprehensive data acquisition from both the arm and hand.

[0077] like Figure 6 and Figure 9 As shown, the finger teleoperation device 1 includes: a back of hand support 200, a plurality of finger teleoperation units 100 as described in any of the foregoing embodiments or implementations, and a circuit board 300.

[0078] In this embodiment, the back-of-hand support 200 is the basic support structure for the entire finger teleoperation device 1, used to install and fix various finger teleoperation units 100 and circuit boards 300, etc. Figure 10As shown, the back-of-hand support 200 includes a main body 201 and a protrusion 202. The main body 201 is square and is used to mount a plurality of finger teleoperation units 100. The protrusion 202 extends from one end of the main body 201 away from the fixed position of the finger teleoperation units 100 and is used to mount a circuit board 300. To improve wearing comfort, a sponge pad can also be provided on the side of the back-of-hand support 200 facing the back of the hand.

[0079] In some embodiments, telescopic joints or adjustable straps may be provided on both sides of the main body 201. By adjusting the length or tightness of the device, the back of hand support 200 can better fit the hand shape of different operators, thereby improving wearing comfort and stability.

[0080] By setting up the back-of-hand support 200, a mounting base is provided for the finger teleoperation unit 100 and the circuit board 300, ensuring that the relative positions and connections between the components are stable and reliable. It not only bears the weight of the entire device, but also, through its reasonable layout and design, enables the individual finger teleoperation units 100 to work in coordination, achieving precise control of the slave hand, while simultaneously providing protection and support for the circuit board 300.

[0081] The finger teleoperation unit 100 in this embodiment is a key component for realizing the finger teleoperation function, and is used to follow the operator's finger movements. Through the coordinated work of multiple finger teleoperation units 100, high-precision control of the slave hand can be achieved, enabling the slave hand to simulate the operator's finger movements and complete various complex operation tasks.

[0082] Each finger teleoperation unit 100 includes components such as a mounting base 10, a knuckle support mechanism 20, and a knuckle angle measuring mechanism. The mounting base 10 is fixed to the main body 201 of the back of the hand support 200, and the knuckle support mechanism 20 is movably connected to the mounting base 10 to simulate the bending and extending movements of the fingers. The knuckle angle measuring mechanism is mounted on the mounting base 10 and is used to measure the rotation angle of the knuckle support mechanism 20, thereby obtaining the operator's finger movement data.

[0083] In this embodiment, the circuit board 300 is the control center of the finger teleoperation device 1, responsible for receiving, processing, and transmitting various electrical signals to realize the communication and control functions between the finger teleoperation device 1 and the slave hand. It integrates various electronic components and chips, such as microcontrollers, signal processors, and communication modules.

[0084] In some implementations, the circuit board 300 can be designed as a multi-layer structure to increase integration and functional complexity. For example, functional modules such as signal processing circuits, power management circuits, and communication circuits can be set on different layers of the circuit board 300 to improve the overall performance and reliability of the circuit board 300.

[0085] The circuit board 300 is disposed on the protrusion 202 of the hand back support 200 and can be connected to the hand back support 200 by plugging, soldering or other fixing methods. The circuit board 300 is provided with multiple interfaces and connectors for connecting to the finger teleoperation unit 100, the slave hand, and other external devices. It receives rotation angle signals from the finger teleoperation unit 100, processes and converts them, and then sends them to the slave hand via wireless or wired communication to control the slave hand to perform corresponding operations. At the same time, the circuit board 300 also receives tactile data detected by the slave hand, such as contact force and object shape, and sends trigger signals or drive signals to the corresponding finger teleoperation unit 100 according to a preset control algorithm to realize tactile feedback or force feedback.

[0086] In some implementations, such as Figure 11 As shown, a sloping fixing connector 400 is provided on the protrusion 202, and a fixing bracket 500 is provided on one side of the sloping fixing connector 400. The circuit board 300 is disposed on the fixing bracket 500. Specifically, as shown... Figure 12 As shown, the mounting bracket 500 also includes an upper bracket 501 and a lower bracket 502. The upper bracket 501 is used to be tightly connected to the circuit board 300, and the lower bracket 502 is used to be securely connected to the fixing connector 400.

[0087] It should be noted that, in order to ensure the comfort of the wearer and minimize its space occupation, most of the parts used in this embodiment can be formed using 3D printing technology, and PLA is selected as the material. This results in a smaller overall size and weight of the device compared to other similar exoskeleton devices.

[0088] In the present application, a rope-driven finger teleoperation device 1 is proposed. Firstly, by setting a back-of-hand support 200 and housing multiple finger teleoperation units 100 on its main body 201, while simultaneously placing a circuit board 300 on its protruding portion, the finger teleoperation units 100 and the circuit board 300 are centrally integrated. This integrated design makes the overall device structure more compact, improves the coordination between components, ensures rapid and stable signal transmission between the finger teleoperation units 100 and the circuit board 300, and improves the overall operating efficiency and reliability of the device.

[0089] Secondly, the device is mainly composed of common components such as potentiometers, linear motors 60, servo motors, ropes, and springs. It has a simple structure, low cost, and is easy to manufacture and maintain. Most parts are 3D printed using PLA material, making the device lightweight and comfortable to wear, without placing too much burden on the operator. This facilitates large-scale production and widespread application. At the same time, its excellent force feedback function ensures operational safety, preventing injury to the slave hand, the object being operated, and the operator due to improper operation.

[0090] Thirdly, the finger teleoperation units 100 in the device place the knuckle angle measuring mechanism and force feedback mechanism 50 in a relatively concentrated position, and connect the various joints of the fingers through transmission ropes and drive ropes 52. This layout makes the device structure more compact, reducing the overall size and weight of the device. Compared with traditional gear-driven or linkage-driven methods, rope-driven methods do not require complex mechanical structures to achieve power transmission, thus avoiding the problem of large device size and increased weight caused by complex mechanical structures.

[0091] like Figure 13 , Figure 14 and Figure 15 As shown, in one embodiment, the main body 201 includes a through hole, which is a through-hole provided on the main body 201 of the hand back support 200. The inner ring of the through hole is provided with a groove for installing and fixing the translation angle measuring component 2011, such as an angle sensor or encoder. The main body 201 also includes a base plate for supporting the translation angle measuring component 2011, which not only ensures the stability of the translation angle measuring component 2011, but also facilitates installation and disassembly.

[0092] A rotating member 14 protrudes from the mounting base 10 of the finger remote control unit 100 toward the main body 201. The rotating member 14 is used to drive the translation angle measuring member 2011 to rotate when the finger remote control unit 100 swings. The translation angle measuring member 2011 is used to measure the rotation angle of the rotating member 14.

[0093] Specifically, when each finger swings horizontally, the power is transmitted to the rotating component 14 via the linkage mechanism 30 of the finger teleoperation unit 100. The rotating component 14 is securely connected to the output shaft 2012 of the translation angle measuring component 2011. Therefore, the rotating component 14 drives the output shaft 2012 of the translation angle measuring component 2011 to rotate, thereby enabling the translation angle measuring component 2011 to measure the rotation angle of the finger's horizontal swing. A partial structural schematic diagram of the output shaft 2012 is shown below. Figure 16 As shown.

[0094] It should be noted that currently, for each finger, there are two sets of angle measuring mechanisms and one translational angle measuring component 2011. Since the rotation angle of the middle phalanx support 22 can be indirectly calculated from the measurement results of the two sets of angle measuring mechanisms, currently, four degrees of freedom (rotation angles) can be measured for each finger: index, middle, ring, and little fingers. The thumb, lacking a middle phalanx, is equipped with two sets of angle measuring mechanisms and one translational angle measuring component 2011, allowing for the measurement of three degrees of freedom.

[0095] This application proposes a rope-driven finger teleoperation device 1. By configuring two sets of angle measurement mechanisms and a translation angle measurement component 2011 for each finger, it can accurately acquire four degrees of freedom angle data for the index, middle, ring, and little fingers, while the thumb can also acquire three degrees of freedom angle data. Compared with devices with lower degrees of freedom in the prior art, this application can more naturally and accurately simulate the complex movements of human fingers, achieving high-degree-of-freedom motion data acquisition. In operational tasks, the slave hand can complete various complex actions based on this precise data, such as grasping irregularly shaped objects and performing fine assembly. In the assembly of precision electronic components, the slave hand can flexibly adjust the angle and position of components like a human hand, significantly improving assembly efficiency and quality; in medical surgical scenarios, the slave hand can accurately simulate the doctor's hand movements, ensuring surgical precision and reducing surgical risks. This high-degree-of-freedom motion data acquisition and precise mapping capability greatly improves the flexibility and accuracy of operation, broadens the application field of the finger teleoperation device 1, and enables it to play a greater role in industrial production, medical surgery, and other scenarios.

[0096] like Figure 13 , Figure 14 , Figure 15 and Figure 17 As shown, in one embodiment, one finger teleoperation unit 100 is defined as a thumb teleoperation unit, and the other finger teleoperation units 100 are defined as other finger teleoperation units. The main body 201 includes a main body support 2013 and a thumb support 2014. The main body support 2013 is provided with multiple mounting positions for mounting and rotatably fixing the other finger teleoperation units, and the thumb support 2014 is used for mounting and rotatably fixing the thumb teleoperation unit.

[0097] The thumb support 2014 is connected to the main support 2013 via a rotating connector 2015, enabling the thumb support 2014 to rotate relative to other finger teleoperation units. This simulates the abduction and adduction movements of the human thumb, enhancing the device's ability to simulate thumb movements. The rotating connector 2015 is equipped with a longitudinal angle measuring component 2016, such as an angle sensor or encoder, which measures the rotation angle of the thumb support 2014 relative to the main support 2013.

[0098] In the finger telemanipulation device 1 based on rope drive proposed in this application embodiment, four degrees of freedom (rotation angles) can be measured for each of the index, middle, ring, and little fingers. Since the thumb lacks a middle phalanx, it is equipped with two sets of angle measurement mechanisms, one translational angle measurement element 2011, and one longitudinal angle measurement element 2016, and can also measure four degrees of freedom. Therefore, the finger telemanipulation device 1 of this embodiment can measure twenty degrees of freedom. Compared with devices with lower degrees of freedom in the prior art, this application can more naturally and accurately simulate the complex movements of human fingers, achieving high-degree-of-freedom motion data acquisition.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application 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 or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

[0100] Furthermore, those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, any of the embodiments or implementations claimed above can be used in any combination. The information disclosed in this background section is intended only to enhance the understanding of the general background of this application and should not be construed as an admission or in any way implying that such information constitutes prior art known to those skilled in the art.

Claims

1. A tethered finger teleoperation unit, characterized in that, The finger teleoperation unit includes: Mounting base; The knuckle support mechanism is movably connected to the mounting base; The knuckle rotation angle measuring mechanism disposed on the mounting base includes a rotating component, a rotation angle measuring component, and a transmission assembly. The rotation angle measuring component is used to measure the rotation angle of the rotating component, and the transmission assembly is used to drive the rotating component to rotate synchronously with the knuckle support mechanism when the knuckle support mechanism rotates. The transmission assembly includes a transmission rope, a transmission component, and a reset component. The transmission component is movably mounted on the mounting base and engages with the rotating component. One end of the transmission rope is connected to the transmission component, and the other end is connected to the knuckle support mechanism. When the knuckle support mechanism rotates, the transmission component is pulled by the transmission rope to move along a first direction. The reset component is disposed inside the mounting base and connected to the transmission component, and is used to provide a reset force to the transmission component in a second direction opposite to the first direction.

2. The cable-driven finger teleoperation unit according to claim 1, characterized in that, The knuckle support mechanism includes a proximal knuckle support movably connected to the mounting base and a distal knuckle support movably connected to the proximal knuckle support; The knuckle angle measuring mechanism includes at least two sets, wherein the transmission component of the first set of knuckle angle measuring mechanisms is used to drive the rotating component of the first set of knuckle angle measuring mechanisms to rotate synchronously with the proximal knuckle support when the proximal knuckle support rotates, and the transmission component of the second set of knuckle angle measuring mechanisms is used to drive the rotating component of the second set of knuckle angle measuring mechanisms to rotate synchronously with the distal knuckle support when the distal knuckle support rotates.

3. The cable-driven finger teleoperation unit according to claim 2, characterized in that, The transmission rope of the first set of knuckle angle measuring mechanisms is connected to the proximal knuckle support. When the proximal knuckle support rotates, the transmission component of the first set of knuckle angle measuring mechanisms is pulled by the transmission rope of the first set of knuckle angle measuring mechanisms to move along the first direction. The reset component of the first set of knuckle angle measuring mechanisms is used to provide a reset force along the second direction to the transmission component of the first set of knuckle angle measuring mechanisms. The transmission rope of the second set of knuckle angle measuring mechanisms is connected to the distal knuckle support. When the distal knuckle support rotates, the transmission component of the second set of knuckle angle measuring mechanisms is pulled along the first direction by the transmission rope of the second set of knuckle angle measuring mechanisms. The reset component of the second set of knuckle angle measuring mechanisms is used to provide a reset force along the second direction to the transmission component of the second set of knuckle angle measuring mechanisms.

4. The cable-driven finger teleoperation unit according to claim 2, characterized in that, The knuckle support mechanism further includes a middle knuckle support located between the proximal knuckle support and the distal knuckle support. The rotation angle of the middle knuckle support is calculated based on the rotation angle of the rotating component of the first set of knuckle rotation angle measuring mechanisms and the rotation angle of the rotating component of the second set of knuckle rotation angle measuring mechanisms.

5. The cable-driven finger teleoperation unit according to claim 1, characterized in that, The finger teleoperation unit further includes a force feedback mechanism, which includes a servo motor assembly and a drive rope mounted on the knuckle angle measuring mechanism. One end of the drive rope is connected to the servo motor assembly, and the other end is connected to the knuckle support mechanism. The servo motor assembly is used to drive the drive rope to generate a pulling force on the knuckle support mechanism under the action of a drive signal.

6. The cable-driven finger teleoperation unit according to claim 5, characterized in that, The servo assembly includes a servo body mounted on the mounting base. A winding disc is provided at one end of the servo body facing the knuckle angle measuring mechanism. The drive rope is wound on the winding disc. The servo body is used to drive the winding disc to rotate the drive rope under the action of a drive signal, thereby generating a pulling force on the knuckle support mechanism.

7. The cable-driven finger teleoperation unit according to claim 1, characterized in that, The bottom of the knuckle support mechanism is equipped with a linear motor, which is used to generate corresponding degrees of vibration under different trigger signals.

8. A cable-driven finger teleoperation device, characterized in that, The aforementioned finger teleoperation device includes: A back-of-the-hand support, comprising a main body and a protruding part; Multiple finger teleoperation units as described in any one of claims 1 to 7, wherein the finger teleoperation unit is disposed in the main body portion; The circuit board disposed on the protrusion is used to receive the rotation angle measured by each finger teleoperation unit and send the rotation angle to the slave hand to control the slave hand to perform the corresponding operation. The circuit board is also used to receive the tactile data detected by the slave hand and send a trigger signal or drive signal to the corresponding finger teleoperation unit according to the tactile data to realize tactile feedback or force feedback.

9. The cable-driven finger teleoperation device according to claim 8, characterized in that, The main body includes a through hole, and a groove is provided in the inner ring of the through hole. A translation angle measuring component is engaged in the groove. A rotating component is protruding from the mounting base of the finger remote operation unit on the side facing the main body. The rotating component is used to drive the translation angle measuring component to rotate when the finger remote operation unit swings. The translation angle measuring component is used to measure the rotation angle of the rotating component.

10. The cable-driven finger teleoperation device according to claim 9, characterized in that, One of the finger teleoperation units is defined as the thumb teleoperation unit, and the other finger teleoperation units are defined as other finger teleoperation units. The main body includes a main support and a thumb support. The main support is used to rotatably fix the other finger teleoperation units, and the thumb support is used to rotatably fix the thumb teleoperation units. The thumb support is connected to the main support via a rotating connector. The rotating connector is equipped with a longitudinal rotation angle measuring component, which is used to measure the rotation angle of the thumb support relative to the main support.

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