Multi-connecting-rod dexterous exoskeleton hand

Abstract

The invention provides a multi-connecting-rod dexterous exoskeleton hand, relates to the technical field of robots and intelligent exoskeletons, and solves the technical problems that in the prior art, robot dexterous hands or mechanical exoskeletons are few in degree of freedom of joints, and complex movement and grabbing action of the hands of the human body are difficult to simulate. The exoskeleton hand comprises a finger part, a thumb part, a palm part, an arm part and a driving part, the degree of freedom of bending and grasping of an index finger, a middle finger, a ring finger and a little finger is achieved, the degree of freedom of opening and closing between finger sides is achieved, and the degree of freedom of palm aligning and bending of the thumb is achieved. The degree of freedom that the palm swings up and down and left and right relative to the arm of a user is achieved. The overall structural strength is improved by applying the combined multi-connecting-rod mechanism, the adaptation degree of the exoskeleton to individuals is improved through parametric design, all the components are flexibly matched, and the exoskeleton assists a human hand in conducting complex operation.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to intelligent exoskeletons and a multi-link dexterous exoskeleton hand. Background Technology

[0002] Exoskeleton robots represent one direction in robotics development. Typically presented as wearable smart devices, they provide protection and actuation for the wearer's limbs, and are widely used in medical rehabilitation, disaster relief, and industrial and military operations. These exoskeletons generally fit snugly on the human body, requiring a high degree of biomimetic multi-degree-of-freedom design that closely approximates the natural degrees of freedom of human joints.

[0003] The human body possesses highly flexible hands, which function like sophisticated machines with numerous degrees of freedom. Early hand exoskeletons relied primarily on flexible components and pneumatic actuation, which, limited by materials and cost, resulted in significant shortcomings in terms of wearing comfort, freedom of movement design, and human-computer interaction. Multi-link dexterous exoskeleton hands, compared to traditional exoskeleton devices, offer clear advantages in structural expandability, wearing comfort, freedom of movement design, and human-computer interaction design. Summary of the Invention

[0004] In view of this, embodiments of this application provide a multi-link dexterous exoskeleton hand, which realizes the freedom of bending and grasping of the index, middle, ring, and little fingers; the freedom of opening and closing the fingers; the freedom of thumb opposition and bending; and the freedom of the hand to swing up and down and left and right relative to the user's arm. This invention utilizes a combined multi-link mechanism to improve the overall structural strength, enhances the exoskeleton's adaptability to the individual through parametric design, and allows for flexible cooperation between various components, enabling the exoskeleton to assist the human hand in performing complex operations.

[0005] To achieve the above objectives, this application provides the following technical solutions.

[0006] Optionally, a multi-link dexterous exoskeleton hand includes a finger section (1), a thumb section (2), a palm section (3), a forearm section (4), and a drive section (5).

[0007] Optionally, the finger portion (1) is fixedly connected to the palm portion (3), the thumb portion (2) is fixedly connected to the palm portion (3), and the palm portion (3) is movably connected to the forearm portion (4).

[0008] Optionally, the number of the fingers (1) is four, each finger (1) can independently perform flexion and extension movements, each finger (1) can grasp relative to the user's palm, and each finger (1) can open and close between adjacent fingers of the user.

[0009] Optionally, the finger part (1) mainly acts on the user's index finger, middle finger, ring finger and little finger respectively. On the one hand, the device on the finger part (1) drives the user's proximal, middle and distal phalanges to bend and extend. On the other hand, the device on the finger part (1) drives the user's fingers to bend and extend relative to the palm.

[0010] Optionally, the finger part (1) includes a single-finger flexion-extension module (11) and a single-finger grasping module (12), wherein the single-finger flexion-extension module (11) and the single-finger grasping module (12) are hinged together; the single-finger flexion-extension module (11) is provided with a set of linkage mechanisms, the fixed end of the mechanism is connected to the proximal phalanx, and the distal phalanx of a single finger is rotated by the drive part (5) connected to the mechanism; similarly, the single-finger grasping module (12) is provided with another set of linkage mechanisms, and the single-finger grasping module (12) is fixed relative to the back of the hand, and the connected single-finger flexion-extension module (11) and the proximal phalanx are rotated relative to the back of the hand by the drive part (5) connected to the mechanism.

[0011] Optionally, the single-finger flexion and extension module (11) includes a middle phalanx exoskeleton (1101), a proximal phalanx exoskeleton (1102), a proximal phalanx lateral support (1103), a finger sleeve (1104), a fingertip plate (1105), a distal phalanx exoskeleton (1106), a middle-distal phalanx link (1107), a middle-distal phalanx rocker arm (1108), a middle phalanx lateral support (1109), a proximal-distal phalanx link (1110), a middle-proximal phalanx link (1111), a proximal phalanx rocker arm (1112), a finger joint axis (1131), and an inter-link connecting axis (1132).

[0012] Optionally, the hinge center axis of the distal phalanx exoskeleton (1106) and the middle phalanx exoskeleton (1101) coincides with the center axis of the user's first finger joint, and the hinge center axis of the middle phalanx exoskeleton (1101) and the proximal phalanx exoskeleton (1102) coincides with the center axis of the user's second finger joint.

[0013] Optionally, the middle phalanx exoskeleton (1101) and the proximal phalanx exoskeleton (1102) are hinged together via the knuckle axis (1131), the proximal phalanx exoskeleton (1102) and the proximal phalanx lateral support (1103) are fixedly connected, the middle phalanx exoskeleton (1101) and the distal phalanx exoskeleton (1106) are hinged together, and the finger sleeve (1104), the fingertip plate (1105), and the distal phalanx exoskeleton (1106) are also hinged together. 06) The three are fixedly connected. There are two of each of the mid-distal phalanx connecting rod (1107), the mid-distal phalanx rocker arm (1108), the mid-proximal phalanx connecting rod (1111), and the proximal phalanx rocker arm (1112). One end of each of the two mid-distal phalanx connecting rods (1107) is hinged to the fingertip plate (1105) and the distal phalanx exoskeleton (1106), respectively. The other end of each of the two mid-distal phalanx connecting rods (1107) is hinged to the mid-distal phalanx rocker arm (1112). The distal end of the middle phalanx rocker arm (108) and the distal end of the proximal phalanx link (1110) are hinged together. Both ends of the middle phalanx side sub-support (1109) are fixedly connected to the middle phalanx exoskeleton (1101). The proximal end of the middle-distal phalanx rocker arm (1108) and the distal end of the middle phalanx side sub-support (1109) are hinged together. The distal ends of the two middle-distal phalanx links (1111) are respectively connected to the proximal end of the middle phalanx side sub-support (1109) and the middle phalanx exoskeleton (1101). The skeleton (1101) is hinged, the distal ends of the two proximal phalanges rockers (1112) are hinged to the proximal ends of the proximal-proximal phalanges connecting rod (1110), the middle ends of the two proximal phalanges rockers (1112) are respectively hinged to the proximal ends of the two intermediate proximal phalanges connecting rods (1111), and the proximal ends of the two proximal phalanges rockers (1112) are respectively hinged to the proximal phalanges exoskeleton (1102) and the proximal phalanges lateral support (1103).

[0014] Optionally, the single-finger gripping module (12) includes a knuckle back plate (1201), a knuckle rocker (1202), and a knuckle connecting rod (1203), each in two units. One end of each of the two knuckle connecting rods (1203) is hinged to the proximal knuckle exoskeleton (1102) and the proximal knuckle side sub-support (1103), respectively. The other end of each of the two knuckle connecting rods (1203) is hinged to the distal end of each of the two knuckle rocker (1202), and the proximal end of each knuckle rocker (1202) is hinged to the knuckle back plate (1201).

[0015] Optionally, the thumb (2) can change the thumb-to-palm angle relative to the user's palm to perform a gripping action.

[0016] Optionally, the thumb part (2) mainly acts on the thumb. On the one hand, the device on the thumb part (2) drives the user's distal and middle finger joints to bend and extend. On the other hand, the device on the thumb part (2) drives the user's thumb root to make curved movements.

[0017] Optionally, the thumb portion (2) includes a thumb flexion and extension module (21) and a thumb gripping module (22), wherein the thumb flexion and extension module (21) and the thumb gripping module (22) are fixedly connected; the thumb flexion and extension module (21) is provided with a set of linkage mechanisms, which are connected to the proximal phalanx and drive the distal phalanx of the thumb to rotate through the drive part (5) connected to the mechanism; on the other hand, the thumb gripping module (22) is provided with a set of linkage slide rail mechanisms, so that the thumb portion (2) rotates relative to the palm as a whole.

[0018] Optionally, the thumb flexion / extension module (21) includes a distal thumb phalanx plate (2101), a middle thumb phalanx plate (2102), a thenar eminence plate (2103), a thenar eminence auxiliary plate (2104), a thumb sleeve (2105), a thumb tip plate (2106), a middle and distal thumb phalanx connecting rod (2107), a middle thumb phalanx rocker arm (2108), a proximal and distal thumb phalanx connecting rod (2109), a middle thumb phalanx lateral support (2110), a proximal thumb phalanx connecting rod (2111), a proximal thumb phalanx rocker arm (2112), and a thenar eminence base (2113). The number of the thumb tip plate (2106), the middle and distal thumb phalanx connecting rod (2107), and the proximal thumb phalanx connecting rod (2111) are all two.

[0019] Optionally, the distal phalanx plate (2101), the thumb sleeve (2105), and the thumb tip plate (2106) are fixedly connected; the thenar plate (2103), the thenar auxiliary plate (2104), and the thenar base (2113) are fixedly connected; the distal end of the distal phalanx connecting rod (2107) is hinged to the thumb tip plate (2106); the proximal end of the distal phalanx connecting rod (2107) is hinged to the distal end of the middle phalanx rocker arm (2108) and the distal end of the proximal phalanx connecting rod (2109); and the proximal end of the middle phalanx rocker arm (2108) is hinged to the distal end of the middle phalanx rocker arm (2108). The distal end of the thumb middle phalanx side sub-support (2110) is hinged to the distal end of the thumb middle proximal phalanx connecting rod (2111), the proximal ends of the two thumb middle proximal phalanx connecting rods (2111) are hinged to the middle end of the thumb proximal phalanx rocker arm (2112), the proximal ends of the thumb proximal phalanx connecting rod (2109) are hinged to the distal ends of the thumb proximal phalanx rocker arm (2112), and the proximal ends of the thumb proximal phalanx rocker arm (2112) are hinged to the thenar plate (2103) and the thenar auxiliary plate (2104) respectively.

[0020] Optionally, the thumb gripping module (22) includes a thumb-mouth plate (2201), a thumb-mouth connecting rod (2202), a thumb-mouth rocker (2203), and a thumb-mouth track (2204). The number of the thumb-mouth plate (2201), the thumb-mouth connecting rod (2202), and the thumb-mouth rocker (2203) are all two. The thenar base (2113) and the two tiger mouth plates (2201) are fixedly connected. A pulley is installed between the two tiger mouth plates (2201) and fixedly connected. The tiger mouth plates (2201) slide on the tiger mouth track (2204) through the pulley. The proximal end of the tiger mouth connecting rod (2202) is hinged to the tiger mouth plate (2201). The distal end of the tiger mouth connecting rod (2202) is hinged to the movable end of the tiger mouth rocker (2203). The fixed end of the tiger mouth rocker (2203) is hinged to the tiger mouth track (2204).

[0021] Optionally, the palm part (3) mainly acts on the palm area formed by the metacarpal bones of the user, and can change the angle between the corresponding finger parts (1) of the index finger, middle finger, ring finger and little finger, so that the user's index finger, middle finger, ring finger and little finger can move laterally along the palm plane.

[0022] Optionally, the palm portion (3) includes a lower metacarpal plate (3001), a higher metacarpal plate (3002), a metacarpal link (3003), an index finger support (3004), a middle finger support (3005), a ring finger support (3006), a little finger support (3007), a thumb support (3008), a carpal bridge (3009), a carpal bridge seat (3010), a thenar eminence (3011), a dorsal palm pad (3012), a palmar palm pad (3013), and a push rod fixing bracket (3014). The number of the higher metacarpal plate (3002) and the thenar eminence (3011) is two, and the number of the push rod fixing bracket (3014) is three.

[0023] Optionally, the lower metacarpal plate (3001), the index finger support (3004), and the palmar pad (3012) are fixedly connected; the thumb support (3008), the carpal bridge (3009), the carpal bridge seat (3010), and the two thumb plates (3011) are fixedly connected; the palm pad (3013) and the carpal bridge seat (3010) are fixedly connected; and the three push rod fixing brackets (3014) and the carpal bridge seat (3010) are fixedly connected.

[0024] Optionally, the lower metacarpal plate (3001) is hinged to the middle finger support (3005), the ring finger support (3006), and the little finger support (3007), respectively. The two upper metacarpal plates (3002), the lower metacarpal plate (3001), and the two connected thenar eminence plates (3011) are hinged to each other. The metacarpal link (3003) is hinged to the two upper metacarpal plates (3002).

[0025] Optionally, the palm part (3) is provided with a set of interfaces that are respectively connected to each of the finger parts (1). The interfaces are connected to a set of linkages. A drive part (5) drives multiple linkages to move at different rotation speeds, thereby realizing the opening and closing of the fingers.

[0026] Optionally, the palm part (3) can swing up and down and left and right relative to the user's arm.

[0027] Optionally, the forearm part (4) and the palm part (3) are hinged by a set of push rods distributed in space, and the palm part (3) allows the palm to rotate relative to the direction parallel to the ulnar and radial planes and relative to the direction perpendicular to the ulnar and radial planes, respectively, with the wrist bone as the center.

[0028] Optionally, the forearm (4) is connected to the palm (3) by a multi-head hinge connection, and there is a geometric relationship between the hinge centers in space.

[0029] Optionally, the forearm part (4) includes a forearm support plate (4001), a push rod rotating frame (4002), a linear push rod (4003), a push rod movable joint (4004), a controller bracket (4005), a controller (4006), and a forearm support (4007); wherein, the number of the forearm support plate (4001) is two, and the number of the push rod rotating frame (4002), the linear push rod (4003), and the push rod movable joint (4004) are all three.

[0030] Optionally, the two forearm support plates (4001) are hinged to the three push rod rotating frames (4002) respectively, the three linear push rods (4003) are hinged to the three push rod rotating frames (4002) respectively, one end of the push rod movable joint (4004) is fixedly connected to the linear push rod (4003), and the other end of the push rod movable joint (4004) is hinged to the push rod fixing frame (3014) as described in claim 5. The hinge center lines of the three push rod fixing frames (3014) and the three push rod movable joints (4004) have a geometric relationship with each other. The two forearm support plates (4001) are fixedly connected to the controller bracket (4005) and the forearm support (4007), and the controller (4006) is fixedly connected to the controller bracket (4005).

[0031] Optionally, the drive unit (5) provides power to other components. The drive unit (5) is an execution unit consisting of a linearly driven actuator, a head connector, and a mounting bracket.

[0032] The drive unit (5) includes a drive auxiliary rod (5001), a drive device seat (5002), and a linear drive device (5003); the linear drive device (5003) has a moving rod, which is fixedly connected to the drive auxiliary rod (5001), and the moving rod moves within a certain range along the axis of the linear drive device (5003); when the drive unit (5) is working, the distance between the hinge center of the drive auxiliary rod (5001) and the hinge center of the drive device seat (5002) varies within a certain range.

[0033] Optionally, in the drive unit (5), the drive auxiliary rod (5001), the drive device seat (5002), and the linear drive device (5003) are of four types.

[0034] The first type of drive auxiliary rod (5001), the first type of drive device seat (5002), and the first type of linear drive device (5003) are respectively hinged to the fixed end and the movable end of the single finger flexion and extension module (11) and the single finger gripping module (12).

[0035] The second type of drive auxiliary rod (5001), the second type of drive device seat (5002), and the second type of linear drive device (5003) are respectively hinged to the fixed end and the movable end of the thumb flexion and extension module (21).

[0036] The third type of drive auxiliary rod (5001), the third type of drive device seat (5002), and the third type of linear drive device (5003) are respectively hinged to the fixed end and the movable end of the thumb grip module (22).

[0037] The fourth type of drive auxiliary rod (5001), the fourth type of drive device seat (5002), and the fourth type of linear drive device (5003) are respectively hinged to the fixed end and the movable end of the palm part (3).

[0038] Optionally, the fixed end and the movable end are the hinge centers of the component.

[0039] Optionally, each component is parametrically designed. Based on the different user's finger shape, palm shape, degree of finger flexibility, and range of motion of the palm relative to the arm, the design dimensions of each component can be easily calculated using mathematical methods, and an ergonomic exoskeleton can be manufactured.

[0040] Optionally, the design dimensions include the center distance of each hinge in each of the components. Attached Figure Description

[0041] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain the application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts.

[0042] Figure 1 This is a schematic diagram of the structure of a multi-link dexterous exoskeleton hand provided by the present invention.

[0043] Figure 2 This is a schematic diagram of the structure of the finger part of a multi-link dexterous exoskeleton provided by the present invention.

[0044] Figure 3 This is a schematic diagram of the structure of the thumb part of a multi-link dexterous exoskeleton provided by the present invention.

[0045] Figure 4 This is a schematic diagram of the hand structure of a multi-link dexterous exoskeleton hand provided by an embodiment of the present invention.

[0046] Figure 5This is a schematic diagram of the structure of the hand and arm part of a multi-link dexterous exoskeleton provided by the present invention.

[0047] Figure 6 This is a schematic diagram of a multi-link dexterous exoskeleton hand provided by an embodiment of the present invention.

[0048] Reference numerals: 1. Finger; 11. Single finger flexion / extension module (11); 1101. Middle phalanx exoskeleton; 1102. Proximal phalanx exoskeleton; 1103. Proximal phalanx lateral support; 1104. Finger sleeve; 1105. Finger tip plate; 1106. Distal phalanx exoskeleton; 1107. Mid-distal phalanx link; 1108. Mid-distal phalanx rocker arm; 1109. Middle phalanx lateral support; 1110. Proximal-distal phalanx link; 1111. Mid-proximal phalanx link; 1112. Proximal phalanx rocker arm ; 1131, knuckle axis; 1132, inter-bar connecting axis; 12, single-finger gripping module; 1201, knuckle back plate; 1202, knuckle rocker; 1203, knuckle connecting rod; 2, thumb; 21, thumb flexion and extension module; 2101, distal phalanx plate of thumb; 2102, middle phalanx plate of thumb; 2103, thenar plate; 2104, thenar auxiliary plate; 2105, thumb sleeve; 2106, thumb tip plate; 2107, middle and distal phalanx plates of thumb 2108. Thumb and middle phalanx rocker arm; 2109. Thumb proximal and distal phalanx link; 2110. Thumb and middle phalanx lateral support; 2111. Thumb middle and proximal phalanx link; 2112. Thumb proximal phalanx rocker arm; 2113. Thenar eminence; 3. Palm; 3001. Inferior metacarpal plate; 3002. Superior metacarpal plate; 3003. Metacarpal link; 3004. Index finger support; 3005. Middle finger support; 3006. Ring finger support; 30 07. Little finger support; 3008. Thumb support; 3009. Wrist bridge; 3010. Wrist bridge seat; 3011. Tiger's mouth plate; 3012. Back of hand pad; 3013. Palm pad; 3014. Push rod fixing bracket; 4. Forearm section; 4001. Forearm support plate; 4002. Push rod rotating bracket; 4003. Linear push rod; 4004. Push rod movable joint; 4005. Controller bracket; 4006. Controller; 4007. Forearm support; 5. Drive section; 5001. Drive auxiliary rod; 5002. Drive device seat; 5003. Linear drive device. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0050] In the description of this invention, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention 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, and therefore should not be construed as a limitation of this invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0051] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0052] In the various embodiments of this application, unless the form of connection is explicitly defined, the connection can be a detachable connection such as a bolt and nut, screw, snap fastener, or magnetic attraction. In some connections where there is no particular requirement for a non-detachable fit, a non-detachable connection can be achieved through welding, bonding, or other methods.

[0053] The terms "an embodiment" or "embodiment" used in this specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Additionally, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0054] In some embodiments, a parametric design of a multi-link exoskeleton hand uses the human index, middle, ring, and little fingers as four rigid rods connected by three-segment hinges. Further, these can be viewed as four sets of three-segment line segments that move on the same plane, which is the flexion and extension plane of a single finger. The line segment corresponding to the proximal phalanx is fixed relative to the flexion and extension plane, while the line segment corresponding to the distal phalanx is on the same plane but separate from the line segment of the proximal phalanx.

[0055] As an optional implementation, the multi-link exoskeleton hand matches the three phalanges of the user's fingers by setting the middle phalanx exoskeleton (1101), proximal phalanx exoskeleton (1102), and distal phalanx exoskeleton (1106) on the sides of the index, middle, ring, and little fingers.

[0056] As an optional implementation, the middle phalanx exoskeleton (1101), the proximal phalanx exoskeleton (1102), and the distal phalanx exoskeleton (1106) are connected in series and hinged together, and the hinge center can be the endpoint of the plane where the line segment corresponding to the phalanx is located.

[0057] As an optional implementation, the hinge side of the finger joint is the finger joint shaft (1131), which is a shaft-like part made of wear-resistant material, and the side is in indirect contact with the finger joint.

[0058] Preferably, the knuckle shaft (1131) is a rotary machined part, and its center should coincide with the center of the knuckle rotation when the finger is bent.

[0059] In some embodiments, the multi-link exoskeleton hand has a flexible structure and a soft cushioning pad is provided in the area that contacts the human body, which increases the exoskeleton's adaptability to the human body.

[0060] As an optional implementation, the knuckle shaft (1131) may have a central hole, which can serve as an interface for mounting additional flexible material parts, further reducing friction on the human body.

[0061] As an optional implementation, the center hole of the knuckle shaft (1131) may not be concentric with the hinge center to accommodate different finger joint shapes.

[0062] Preferably, the knuckle axis (1131) of the four fingers and thumb should be located on the side of the fingers away from the web of the hand, so as to wrap around the palm and fingers.

[0063] As an optional implementation, the finger sleeve (1104), the thumb sleeve (2105), and the palm back pad (3012) are made of flexible materials and are in direct contact with the human body. They are the parts of the multi-link exoskeleton hand that drive the fingers and palm. The movement of the finger sleeve (1104) and the thumb sleeve (2105) relative to the palm back pad (3012) corresponds to the movement trajectory of the fingertips of the human body relative to the palm.

[0064] As an optional implementation, the finger sleeve (1104) is equipped with a pressure sensor or a tactile sensor, which serves as an interface for human-computer interaction.

[0065] As an optional implementation, the bending and extending movements of the human index finger, middle finger, ring finger and little finger rely on a set of mechanisms arranged on the single finger flexion and extension module (11). It is a set of planar five-bar combined with planar four-bar mechanism. The distal bar of the planar five-bar shares the proximal bar of the planar four-bar. The shared bar is the middle and distal phalanges rocker (1108). The lengths of each bar have a mathematical relationship and the parameters can be obtained through computer-aided design.

[0066] As an optional implementation, the grasping action of the human index finger, middle finger, ring finger and little finger relies on another set of mechanisms arranged on the single-finger grasping module (12). The driving part (5) is connected to the mechanism to form a planar three-bar mechanism with variable length. The driving part (5) changes the length of the power rod to change the angle between the proximal knuckle and the palm.

[0067] As an optional implementation, the movable end of the single-finger gripping module (12) is movably connected to the single-finger flexion and extension module (11). The single-finger gripping module (12) floats above the human hand system and does not come into contact with the human body. Setting it to be movably connected makes it convenient for users to put on and take off the exoskeleton.

[0068] As an optional implementation, the single-finger gripping module (12) may be equipped with an arc-shaped track installed between the two knuckle links (1203) to limit the range of motion of the single-finger flexion and extension module (11). The arc-shaped track may be flexible to increase the ease of wearing, or it may be rigid to increase the strength and reliability of the structure.

[0069] As an optional implementation, the thenar eminence near the base of the thumb has a complex range of motion. This application simplifies this complex range of motion by considering the middle and distal phalanges of the thumb as the parts of the thumb that enable grasping, and the thenar eminence at the base of the thumb as a ball-head rod that moves freely around the wrist joint. Functionally, when the thumb performs a grasping action, the main change is the angle of the thumb base against the palm. After analyzing common basic hand movements such as holding a pen, gripping a handle, and making a fist, the movement of the thumb base can be simplified to the curved movement of a ball-head rod, and further, it can be simplified to an arc on a specific plane.

[0070] As an optional implementation, the human thumb bending and extending action relies on a set of mechanisms arranged on the thumb flexion and extension module (21). The mechanism of the thumb flexion and extension module (21) is consistent with the principle of the single finger flexion and extension module (11). The middle and distal phalanges of the thumb are relatively fixed to the thumb flexion and extension module (21).

[0071] As an optional implementation, the change of the palm-to-palm angle of the human thumb is achieved by a set of linkage slide rail mechanisms arranged on the thumb gripping module (22). It should be noted that this mechanism is floating above the base of the thumb. In the linkage slide rail mechanism, the track is a circular arc with a limited range. The center position, radius, and plane of the arc are determined by the thumb's open angle and hand shape of different users. The linkage and track intersect each other to obtain the optimal spatial layout. One end of the crank and one end of the track are respectively connected to a drive unit (5). One end of the slider in the mechanism is connected to the thumb flexion and extension module (21). The change of the palm-to-palm angle of the thumb relative to the wrist is achieved by the slider moving back and forth on the arc track.

[0072] As an optional implementation, the palmar muscles at the base of the index, middle, ring, and little fingers, which are connected to the metacarpal bones, have the function of driving a single finger to move along a direction parallel to the palm plane. Specifically, adjacent fingers can move closer together and open apart. This application simplifies the palm function of this part, fixing the orientation of the index finger, and moving the middle, ring, and little fingers relative to the orientation of the index finger at different rotational speed ratios. Specifically, the driving part (5) drives the upper metacarpal plate (3002) to rotate around the fulcrum at the web of the thumb, and the middle finger support ( 3005), the ring finger support (3006), and the little finger support (3007) are provided with short grooved tracks, which respectively cooperate with the end points on the upper metacarpal plate (3002). The middle finger support (3005), the ring finger support (3006), and the little finger support (3007) are respectively hinged to the lower metacarpal plate (3001). The hinge positions are at the middle sections of the corresponding metacarpal bones of the middle finger, ring finger, and little finger, forming a combination of multiple crank-slider mechanisms, thereby changing the angle between the fingers under the action of the drive unit (5).

[0073] As an optional implementation, the wrist bone is the area where the ulna and radius of the forearm connect with the metacarpal bones of the five fingers. In a simplified view, the wrist can be regarded as a joint with lateral and longitudinal degrees of freedom of rotation. This application provides a multi-push rod scheme. The forearm part (4) of the exoskeleton and the palm part (3) are hinged by a set of push rods distributed in space. Preferably, the number of push rods is three. The palm part (3) allows the palm to rotate relative to the direction parallel to the ulnar and radial planes and relative to the direction perpendicular to the ulnar and radial planes, respectively, with the wrist bone as the center.

[0074] Specifically, a push rod is generally a component used to provide linear pushing and pulling force. Mathematically, it can be likened to a variable line segment. Three fixed points are established on a defined plane parallel to the arm's cross-section, forming a right triangle called the arm triangle. The three line segments are named according to their positions: the supraulnar line segment, the subulnar line segment, and the supraradial line segment. The other endpoints of the three line segments extending from these three points are called movable points. These three movable points form another triangle called the wrist triangle. The wrist triangle is perpendicular to the plane of the back of the hand in space. The three movable lines... The variable line segment moves within a certain range, and the plane containing the wrist triangle also moves within a certain range as the length of the line segment changes. It should be noted that the circumcenter of the arm triangle coincides with the midline of the arm, and the circumcenter of the wrist triangle coincides with the center of the wrist. Preferably, the arm triangle, wrist triangle, and the three line segments form a right triangular prism in space, which facilitates mathematical modeling. The arm triangle and wrist triangle are right-angled triangles. One side of the right angle is closer to the ulna and is called the ulnar side. The other side of the right angle is parallel to the carpal bone and is called the wrist side. The hypotenuse is closer to the arm vein and is called the venous side.

[0075] As an optional implementation, parametric design can be achieved by adjusting the side lengths of the arm triangle and wrist triangle. Specifically, the position of the three push rods is generally small in the lateral swing of the human wrist, while the longitudinal flexion and extension range is large. The specific amplitude varies from person to person. The range of longitudinal flexion and extension can be changed by changing the length of the ulnar side in the wrist triangle, and the range of lateral swing can be changed by changing the length of the wrist side in the wrist triangle. Correspondingly, the length of the vein side will also be determined.

[0076] It should be added that when the number of putters is greater than three, the arm polygon and wrist polygon will be built into a mathematical model based on the number of sides corresponding to the number of putters. The added sides are mainly used to form a topological framework to increase the reliability and functional expandability of the structure. The original functions of the ruler side and wrist side are always present.

[0077] As an alternative implementation, the push rod for wrist freedom can be a linear motor with a driver, which can improve accuracy without too long a stroke and is easier to integrate into the exoskeleton control system; a microcomputer-controlled motor drive can be installed on the forearm support plate (4001), or a circuit interface can be set to bridge to a higher-level exoskeleton control system.

[0078] As an alternative implementation, the push rod for wrist freedom can also be a double-acting pneumatic cylinder or a hydraulic cylinder, which has the advantages of high robustness and low cost.

[0079] As an optional implementation, the composition of the drive unit (5) is mainly related to the type of the linear drive device (5003). Different power units are applied according to different usage scenarios. The linear drive device (5003) can be a cylinder, a pneumatic muscle module, a hydraulic push rod, a linear push rod motor, an electromagnetic spring, etc.

[0080] As an optional implementation, when the linear drive device (5003) is a cylinder, it can be a single-acting cylinder or a double-acting cylinder. Preferably, the cylinders of the first type of linear drive device (5003), the second type of linear drive device (5003), and the third type of linear drive device (5003) are single-acting needle cylinders, and the cylinder of the fourth type of linear drive device (5003) is a double-acting needle cylinder. The cylinders are connected to multiple corresponding high-precision proportional solenoid valves, which are connected to air pumps through connecting pipes. The exoskeleton is controlled to achieve movement through precise pressure division and flow restriction.

[0081] Preferably, in the pneumatic solution, the wrist bridge (3009) can be used to fix the pneumatic pipeline, which is connected to the controller (4006). The controller consists of an electromagnetic valve island and a control circuit board, which performs the above-mentioned precise control of the exoskeleton.

[0082] As an optional implementation, the exoskeleton structure provided in this application can also be used to design wearable human-computer interaction devices. By replacing part of the existing drive unit (5) with a data acquisition unit, changing the position of the drive device to be connected using a linear position sensor, and collecting the output signal with a computer, the solution described in this application can be used for more precise data acquisition of bionic robots.

[0083] Preferably, the aforementioned parts used for bending and extending the five fingers of the human body appear in pairs, forming a frame in structure. Overall, it is equivalent to partially wrapping the five fingers in an L-shape, which has better structural load-bearing capacity.

[0084] As an optional implementation, the hinged connection of the above mechanisms can be achieved by opening through holes in the parts, arranging individual parts between pairs of parts, and then connecting them with rivets, pins, screws, etc. This solution can reduce the off-center load of the rotating joint and enhance the structural stability.

[0085] As an optional implementation, the wear-resistant material can be stainless steel, copper alloy, aluminum alloy, ceramic or other composite materials, and the flexible material can be silicone, polyurethane or other composite materials.

[0086] Preferably, the main structural parts of the multi-link exoskeleton hand are made of rolled stainless steel or aluminum alloy sheets, which has the advantages of low cost and high performance.

[0087] As an optional implementation, the main structural parts of the multi-link exoskeleton hand can be improved through processes such as heat treatment, carburizing and nitriding, shot peening, sandblasting and oxidation, polishing, and reaming to improve mechanical properties, and the process can be adjusted according to different usage requirements, such as civilian, medical and military applications.

[0088] It should be understood that “on,” “above,” and “on top of” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on top of something” but also “on top of something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0089] Furthermore, for ease of explanation, spatial relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of a component or feature relative to other components or features as shown in the figures. Spatial relative terms are intended to encompass different orientations of components in use or operation other than those shown in the figures. Devices may have other orientations (rotated 90 degrees or in other orientations), and the spatial relative descriptive terms used herein may be interpreted accordingly.

[0090] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0091] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A multi-link exoskeleton hand, characterized in that, It includes a finger part (1), a thumb part (2), a palm part (3), a forearm part (4) and a drive part (5). The finger part (1) acts on the user's fingers except the thumb. Each finger part (1) can independently perform flexion and extension movements. Each finger part (1) can perform a grasping movement relative to the user's palm. Each finger part (1) can open and close between adjacent fingers of the user. The thumb part (2) can change the thumb-palm angle relative to the user's palm to perform a grasping movement. The palm part (3) can swing up and down and left and right relative to the user's arm. The drive part (5) provides power to other components.

2. The multi-link exoskeleton hand according to claim 1, characterized in that: The finger part (1) is fixedly connected to the palm part (3), the thumb part (2) is fixedly connected to the palm part (3), and the palm part (3) is movably connected to the forearm part (4); the finger part (1) mainly acts on the user's index finger, middle finger, ring finger, and little finger respectively. On the one hand, the device on the finger part (1) drives the user's proximal, middle, and distal phalanges to bend and extend. On the other hand, the device on the finger part (1) drives the user's fingers to bend and extend relative to the palm. The thumb part (2) mainly acts on the thumb. On the one hand, the device on the thumb part (2) drives the user's distal and middle phalanges to bend and extend. On the other hand, the device on the thumb part (2) drives the user's thumb root to make a curved movement. The palm part (3) mainly acts on the palm area formed by the user's metacarpal bones and can change the angle between the corresponding finger parts (1) of the index finger, middle finger, ring finger, and little finger, so that the user's index finger, middle finger, ring finger, and little finger can move laterally along the palm plane. The forearm part (4) and the palm part (3) are hinged together by a set of push rods distributed in space. The palm part (3) allows the palm to rotate relative to the direction parallel to the ulnar and radial planes and relative to the direction perpendicular to the ulnar and radial planes, respectively, with the wrist bone as the center.

3. The multi-link exoskeleton hand according to claim 2, characterized in that: The features of each component are directional. The side of the component closer to the human body is the proximal end, and the side of the component farther from the human body is the distal end. When the above conditions cannot be distinguished, with the human body wearing the exoskeleton in a standard anatomical posture, the side of the component closer to the human heart is the proximal end, and the side of the component farther from the human heart is the distal end. Each finger part (1) and thumb part (2) fits the user's fingers properly for flexion, extension, and grasping. The palm part (3) fits the shape of the user's palm properly. The forearm part (4) fits the user's arm properly. The joint axes of each joint of the exoskeleton structure coincide with the corresponding joint axes of the user's human body.

4. A multi-link exoskeleton hand according to claim 3, characterized in that: The finger section (1) includes a single-finger flexion-extension module (11) and a single-finger grasping module (12), wherein the single-finger flexion-extension module (11) and the single-finger grasping module (12) are hinged together; the single-finger flexion-extension module (11) is provided with a set of linkage mechanisms, the fixed end of the mechanism is connected to the proximal phalanx, and the distal phalanx of a single finger is rotated by the drive part (5) connected to the mechanism; similarly, the single-finger grasping module (12) is provided with another set of linkage mechanisms, and the single-finger grasping module (12) is fixed relative to the back of the hand, and the connected single-finger flexion-extension module (11) and the proximal phalanx are rotated relative to the back of the hand by the drive part (5) connected to the mechanism.

5. A multi-link exoskeleton hand according to claim 3, characterized in that: The thumb part (2) includes a thumb flexion and extension module (21) and a thumb gripping module (22), wherein the thumb flexion and extension module (21) and the thumb gripping module (22) are fixedly connected; the thumb flexion and extension module (21) is provided with a set of linkage mechanisms, which are connected to the proximal phalanx and drive the distal phalanx of the thumb to rotate through the drive part (5) connected to the mechanism; on the other hand, the thumb gripping module (22) is provided with a set of linkage slide rail mechanisms, so that the thumb part (2) rotates relative to the palm as a whole.

6. A multi-link exoskeleton hand according to claim 3, characterized in that: The palm part (3) is provided with a set of interfaces that are connected to each of the finger parts (1). The interfaces are connected to a set of linkages. A drive part (5) drives multiple linkages to move at different rotation speeds, thereby realizing the opening and closing of the fingers.

7. A multi-link exoskeleton hand according to claim 3, characterized in that: The forearm (4) is connected to the palm (3) by a multi-head hinge connection, and there is a geometric relationship between the hinge centers in space.

8. A multi-link exoskeleton hand according to claim 3, characterized in that: The drive unit (5) is an execution unit consisting of a linearly driven actuator, a head connector, and a mounting bracket.

9. A multi-link exoskeleton hand according to claim 3, characterized in that: Each component is parametrically designed. Based on the different user's finger shape, palm shape, knuckle flexibility, and the range of motion of the palm relative to the arm, the design dimensions of each component can be easily calculated using mathematical methods, and an ergonomic exoskeleton can be manufactured.

10. A multi-link exoskeleton hand according to claim 9, characterized in that: The aforementioned multi-link exoskeleton hand has a flexible structure, and soft cushioning pads are provided in the areas that come into contact with the human body.

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