Inactive finger exoskeleton and hand exoskeleton

Abstract

The invention discloses a non-active finger exoskeleton and a non-active hand exoskeleton. The finger exoskeleton comprises a fixed seat, an upper pull rod, a lower pull rod and knuckles. And the far end of the upper pull rod is connected with the middle ends of the knuckles and the near end of the central pull rod. The near end of the lower pull rod is connected with the fixed seat, and the far end is connected with the knuckle near end. A unique ergonomic design is adopted, a user is allowed to control the exoskeleton through simple hand actions without depending on external power, complex holding and operation tasks are completed, and the life self-care ability of a person with finger amputation or insufficiency is remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to a non-active finger exoskeleton, and also relates to a hand exoskeleton comprising the same, and belongs to the technical field of mechanical hands. BACKGROUND

[0002] According to the research results of the International Society for Prosthetics and Orthotics, there are currently about 577 million people worldwide who have life limb amputations due to traumatic reasons. In the United States, about 30,000 people have finger amputations each year due to accidents or diseases, including children and adults. Statistics show that the amputation rate of men is 3 times that of women, and the amputation rate of children under 5 years old is the highest, reaching 18.8 / 100,000. Since the cost of finger replantation surgery is expensive, many disabled people cannot afford it, so the exoskeleton device that replaces the finger becomes an effective solution. These exoskeleton devices not only can imitate the function of human fingers, improve grip and grasping ability, but also can perform grasping actions, which is of great significance to improve the quality of life of disabled people. SUMMARY

[0003] The primary technical problem to be solved by the present application is to provide a non-active finger exoskeleton.

[0004] Another technical problem to be solved by the present application is to provide a hand exoskeleton comprising at least one finger exoskeleton.

[0005] To achieve the above technical purposes, the present application adopts the following technical solutions:

[0006] According to a first aspect of an embodiment of the present application, a non-active finger exoskeleton is provided, comprising a fixed seat, an upper pull rod, a lower pull rod and a finger joint; wherein,

[0007] The fixed seat comprises a fixed seat hole, a fixed upper hole and a fixed lower hole; the fixed seat hole is designed as a connecting structure for fixing the fixed seat; the fixed upper hole and the fixed lower hole are both hole structures extending in the X direction in the depth direction; the fixed upper hole has a positive displacement in the Y direction and the Z direction relative to the fixed lower hole;

[0008] The upper pull rod comprises an upper proximal hole and an upper distal hole, both of which are hole structures extending in the X direction in the depth direction; the upper proximal hole is located at one end of the longitudinal direction of the upper pull rod, and the upper distal hole is located at the other end of the upper pull rod;

[0009] The lower pull rod comprises a lower proximal hole and a lower distal hole; wherein, the lower proximal hole and the lower distal hole are both hole structures extending in the X direction in the depth direction; the lower proximal hole is located at one end of the longitudinal direction of the lower pull rod, and the lower distal hole is located at the other end of the lower pull rod;

[0010] The phalanx includes a phalanx hole, a superior phalanx hole, and a inferior phalanx hole; wherein, the superior phalanx hole and the inferior phalanx hole are both hole structures extending along the X direction in the depth direction; the superior phalanx hole has a negative displacement along the Y direction and a positive displacement along the Z direction relative to the inferior phalanx hole;

[0011] The upper proximal hole of the upper pull rod is located between the fixed upper holes and is rotatably connected to the fixed upper hole of the fixed seat; the lower proximal hole of the lower pull rod is located outside the fixed lower hole of the fixed seat and is rotatably connected; the upper hole of the knuckle and the upper distal hole are rotatably connected together; the lower hole of the knuckle and the lower distal hole are rotatably connected together.

[0012] Preferably, the finger exoskeleton can switch between an extended state, a ring state, and a hook state.

[0013] Preferably, the lower tie rod further includes an upper pressure plate and a lower pressure plate; wherein...

[0014] Both the upper pressure plate and the lower pressure plate are plate-shaped structures extending longitudinally along the X direction; the space between the upper pressure plate and the lower pressure plate is designed to accommodate fingers; pressing the upper pressure plate and the lower pressure plate with fingers drives the lower pull rod to move and rotate.

[0015] Preferably, the lower tie rod further includes a lower tie rod groove and a lower center hole; wherein...

[0016] The lower tie rod groove is a sliding groove structure extending along the longitudinal direction of the lower tie rod, and the lower center hole is a hole structure extending along the X direction in the depth direction; the lower distal hole and the lower center hole are located in the positive Z direction of the lower proximal hole, and there is a positive or negative positional offset in the Y direction of the lower proximal hole; the lower center hole is located in the positive Y direction of the lower distal hole, and there is a positive or negative positional offset in the Z direction of the lower distal hole.

[0017] The phalanx also includes a distal phalanx hole; the distal phalanx hole has a positive displacement along the Z direction relative to the lower phalanx hole.

[0018] Preferably, the finger exoskeleton further includes a pull ring, a fingertip, and a central pull rod; wherein...

[0019] The pull ring includes a pull ring slipper that can move along the lower pull rod groove;

[0020] The fingertip includes a fingertip hole, a fingertip center hole, and a fingertip knuckle hole; wherein, the fingertip center hole and the fingertip knuckle hole are both hole structures extending along the X direction in the depth direction; the fingertip center hole has a negative displacement along the Y direction and a positive displacement along the Z direction relative to the fingertip knuckle hole;

[0021] The central tie rod is a rod structure with a longitudinal direction, including a central proximal hole and a central distal hole, both of which are hole structures extending along the X direction in the depth direction; the central proximal hole is located at one end of the central tie rod in the longitudinal direction, and the central distal hole is located at the other end of the central tie rod.

[0022] Preferably, the lower central hole is rotatably connected to the central proximal hole; the pull ring slipper is slidably connected to the lower pull rod groove;

[0023] The fingertip knuckle hole and the distal knuckle hole are rotatably connected; the fingertip center hole and the distal center hole are rotatably connected.

[0024] Preferably, the upper tie rod further includes an upper center hole, which is a hole structure extending along the X direction in the depth direction; the upper center hole has a positive displacement along the Z direction and a negative displacement along the Y direction relative to the upper proximal hole and the upper distal hole.

[0025] Both the knuckles and the fingertips are rod-like structures with a longitudinal direction.

[0026] Preferably, the upper central hole is rotatably connected to the central proximal hole; the fingertip knuckle hole is rotatably connected to the central distal hole; and the fingertip central hole is rotatably connected to the knuckle distal hole.

[0027] The pull ring slipper is slidably connected to the lower pull rod groove.

[0028] According to a second aspect of the present invention, a hand exoskeleton is provided, comprising a back plate and the aforementioned finger exoskeleton; wherein,

[0029] The back plate is a structure that conforms to the curved surface of the back of a human hand, including a back plate hole; the position of the back plate hole corresponds to the position of the finger joints of a human hand; the fixing seat hole is coaxial with the back plate hole and is rotatably connected.

[0030] Preferably, the hand exoskeleton also includes a linkage line; wherein...

[0031] The linkage line includes a connecting rod and a connecting rope, and multiple pull rings are connected in series.

[0032] Compared with existing technologies, the finger and hand exoskeletons provided in this invention, through their innovative four-bar linkage design, simulate the grasping and extending movements of a natural human hand, significantly improving the self-care abilities of individuals with finger amputations or functional impairments. This invention employs a lightweight, hollow structure, offering not only comfortable wear but also high adaptability and versatility. Its unique ergonomic design allows users to control the exoskeleton through simple hand movements without relying on external power, enabling them to complete complex grasping and operational tasks. Furthermore, individual components can be customized to meet specific user needs, ensuring optimal wearing effect and functionality. Overall, this invention provides a safe, reliable, and easy-to-operate assistive device for people with disabilities, greatly enhancing their daily living and working abilities. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of a finger exoskeleton provided in the first embodiment of the present invention;

[0034] Figure 2 for Figure 1 A schematic diagram of the X-axis structure of the finger exoskeleton in the image;

[0035] Figure 3 for Figure 1 A schematic diagram of the explosion of the finger exoskeleton;

[0036] Figure 4 for Figure 2 A schematic diagram of the structure of the finger exoskeleton in the image;

[0037] Figure 5 for Figure 1 A schematic diagram of the structure of the finger exoskeleton in a bent state;

[0038] Figure 6 for Figure 5 A schematic diagram of the structure of the finger exoskeleton continuing to bend;

[0039] Figure 7 This is a schematic diagram of another finger exoskeleton provided in the second embodiment of the present invention;

[0040] Figure 8 for Figure 7 A schematic diagram of the X-axis structure of the finger exoskeleton in the image;

[0041] Figure 9 for Figure 7 A schematic diagram of the explosion of the finger exoskeleton;

[0042] Figure 10 for Figure 8 A schematic diagram of the structure of the finger exoskeleton in the image;

[0043] Figure 11 for Figure 7 A schematic diagram of the structure of the finger exoskeleton in a bent state;

[0044] Figure 12 for Figure 11 A schematic diagram of the structure of the finger exoskeleton continuing to bend;

[0045] Figure 13 This is a schematic diagram of another finger exoskeleton provided in the third embodiment of the present invention;

[0046] Figure 14 for Figure 13 A schematic diagram of the X-axis structure of the finger exoskeleton in the image;

[0047] Figure 15 for Figure 13 A schematic diagram of the explosion of the finger exoskeleton;

[0048] Figure 16 for Figure 14 A schematic diagram of the structure of the finger exoskeleton in the image;

[0049] Figure 17 for Figure 13 A schematic diagram of the structure of the finger exoskeleton in a bent state;

[0050] Figure 18 for Figure 17 A schematic diagram of the structure of the finger exoskeleton continuing to bend;

[0051] Figure 19 This is a schematic diagram of a hand exoskeleton provided in the fourth embodiment of the present invention;

[0052] Figure 20 This is a schematic diagram of another hand exoskeleton provided in the fifth embodiment of the present invention;

[0053] Figure 21 for Figure 20 A schematic diagram of the winch structure in the diagram;

[0054] Figure 22 for Figure 21 A bottom-view diagram of the winch. Detailed Implementation

[0055] The technical content of the present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0056] The technical concept in this invention is to use a lightweight hollow structure and a four-bar linkage to achieve the bending and extending movements of the finger exoskeleton, simulating the grasping and extending movements of the human hand. Specifically, the finger exoskeleton is fixed to the user's wrist, palm, or forearm, and is driven by the user's full finger, residual finger, or palm to bend or extend, without the need for any other power source.

[0057] It should be noted that, in this embodiment of the invention, a full finger refers to a finger of a healthy person with complete function. A stray finger refers to a finger missing its distal phalanx, or missing both the distal and middle phalanxes; it is also called a severed finger. The fingers in this embodiment of the invention include both full fingers and stray fingers.

[0058] In addition, taking the state of an able-bodied person with their palm and fingers outstretched as an example, with the palm facing the ground, the axial direction of the fingers is the Z direction (far away, the direction towards the fingertips is the positive direction of the Z direction), the vertical upward direction is the Y direction (above, the direction towards the back of the hand is the positive direction of the Y direction), and the horizontal direction perpendicular to the Z and Y directions is the X direction.

[0059] First Embodiment

[0060] like Figures 1-3 As shown, the finger exoskeleton 100 provided in the first embodiment of the present invention includes a fixing base 1, an upper pull rod 2, a lower pull rod 3, and a finger joint 4. The finger exoskeleton 100 has a symmetrical design about the Z direction, thus the force is evenly distributed and wear is reduced.

[0061] The fixing seat 1 is a one-piece structure, including an annular seat 10 and two symmetrical arms 101. The annular seat is generally annular or rectangular in shape to accommodate fingers or wrists. The arms 101 extend parallel to the annular seat from both sides in the Z-direction. A fixing seat hole 11 is formed in the annular seat 10, and an upper fixing hole 12 and a lower fixing hole 13 are formed in the arms 101. The fixing seat hole 11 is designed to allow residual fingers or wrists to pass through, ensuring the stable positioning of the fixing seat 1. Both the upper fixing hole 12 and the lower fixing hole 13 are holes with the axial direction in the X-direction, and the upper fixing hole 12 has positive displacement relative to the lower fixing hole 13 in the Y and Z directions. In other words, as... Figure 4 As shown, the upper fixing hole 12 is located above the lower fixing hole 13, and the distance from the upper fixing hole 12 to the ring seat in the Z direction is greater than the distance from the lower fixing hole 13 to the ring seat in the Z direction. This allows the upper tie rod 2 and the lower tie rod 3 to have different strokes when they bend simultaneously, which meets the requirements of ergonomics and bionics, and improves the range of motion and strength of the finger joint.

[0062] For ease of description, the definition is as follows: when the finger exoskeleton 100 is in an extended state (e.g. Figure 2As shown, the line connecting the midpoint between the upper hole 12 and the lower hole 13 to the farthest end of the phalanx 4 is the centerline extending in the Z direction. Therefore, in the straightened state, viewed along the X direction, the upper hole 12 and the lower hole 13 are located on opposite sides of the centerline. Furthermore, in the YZ plane, the vertical distance from the upper hole 12 to the centerline is greater than the vertical distance from the lower hole 13 to the centerline (the lower hole 13 is closer to the centerline).

[0063] The upper tie rod 2 is a rod structure with a longitudinal direction, and its structural form includes I-shape, Y-shape, and H-shape. In one embodiment of the present invention, the upper tie rod 2 is Y-shaped (viewed in the XZ plane), including two symmetrical branches 201 (extending in the Z direction) and a drooping branch 202. The proximal end of the drooping branch 202 connects to the intersection of the two branches 201 (forming a shoulder at the intersection), and the distal end of the drooping branch 202 extends in the negative Y direction. Viewed in the YZ plane, the drooping branch 202 is L-shaped, including a portion located above in the Y direction (the upper surface of this portion is arcuate and lies on the same arc surface as the upper surface of the branch 201), and a portion located below in the Y direction (extending vertically downward, forming an upper distal end hole 22 at the lower end). The upper tie rod 2 has two upper proximal end holes 21 at its proximal end and one upper distal end hole 22 at its distal end, both of which are hole structures with the axial direction in the X direction. Two upper proximal holes 21 are located at the proximal end of the upper lever 2 in the longitudinal direction, respectively at the proximal ends of the two branches 201 of the upper lever 2; the upper distal hole 22 is located at the distal end of the upper lever 2, at the distal end of the drooping branch 202. Viewed in the YZ plane, the upper lever 2 is roughly arc-shaped, conforming to the bending state of a finger bone (when the ring seat is on the residual finger) or a palm (when the ring seat is on the wrist).

[0064] Specifically, the arc length and curvature of the upper lever 2 are the same as the length and curvature of a normal person's finger. If it is for children, it is the same as the finger joint length and curvature of children of different ages; if it is for adults, it varies according to the finger joint length and curvature corresponding to each gender and height. In one embodiment of the invention, the length and curvature of the upper lever 2 are the same as the length and curvature of the middle phalanx of an adult male, or the same as the sum of the length and curvature of the root phalanx and the middle phalanx.

[0065] The upper proximal end hole 21 of the upper pull rod 2 is coaxial with the fixed upper end hole 12 of the fixed base 1 and is rotatably connected. The connection method includes a connecting pin passing through the upper proximal end hole 21 and the fixed upper end hole 12. Furthermore, the upper proximal end hole 21 is located between the fixed upper end holes 12 (inside the fixed base 1), so the rotation of the upper pull rod 2 around the fixed upper end hole 12 will not interfere with the upper pull rod 3. The upper distal end hole 22 is coaxial with the knuckle upper end hole 42 of the knuckle 4 and is rotatably connected together by a pivot (not shown). The lower pull rod 3 is a rod structure with a longitudinal direction, including two parallel support arms 311 extending in the Z direction. Each support arm 311 has a lower proximal end hole 31 and a lower distal end hole 32 at both ends. Viewed in the X direction, the lower proximal hole 31 is located below the midline, and the lower distal hole 32 is located above the midline, meaning the lower proximal hole 31 and the lower distal hole 32 are located on either side of the midline (reference). Figure 2 The lower proximal end hole 31 of the lower pull rod 3 is located outside the fixed lower end hole 13 of the fixed base 1 and is rotatably connected. The two lower distal end holes 32 are coaxial with the two lower phalanx holes 43 of the phalanx 4 and are rotatably connected.

[0066] Between the two support arms, there are parallel upper pressure plates 33 and lower pressure plates 34. The lower proximal hole 31 and lower distal hole 32 are both hole structures with the axial direction in the X direction. The lower proximal hole 31 is located at the proximal end of the lower tie rod 3 in the longitudinal direction, and the lower distal hole 32 is located at the distal end of the lower tie rod 3. A leading edge 316 is formed between the lower pressure plate 34 and the lower distal hole 32, facing the phalanx 4. Both the upper pressure plate 33 and the lower pressure plate 34 are plate-like or rod-like structures extending in the X direction in the longitudinal direction. The space between the upper pressure plate 33 and the lower pressure plate 34 is designed to fix a stump (when the annular seat contains a stump) or a severed hand (when the annular seat contains a wrist), and to press the lower pressure plate 34 downwards to drive the lower tie rod 3 to move (move and rotate).

[0067] Furthermore, in the extended state, in the Y direction, the lower distal hole 32 is located above the upper distal hole 22 (connected to the upper phalanx hole 42 of the phalanx 4); in the Z direction, the lower distal hole 32 is closer to the annular seat 10 than the upper distal hole 22.

[0068] The phalanx 4 is a ring-shaped, fingertip-like structure in the YZ plane, including a V-shaped fingertip 401 and a proximal connecting end 402 (connecting the two ends of the V-shape). A phalanx hole 41 is formed above the fingertip 401 (in the positive Y direction); a superior phalanx hole 42 and a inferior phalanx hole 43 are formed on the connecting end 402. Both the superior phalanx hole 42 and the inferior phalanx hole 43 are hole structures extending in the X direction. Furthermore, the superior phalanx hole 42 has a negative displacement in the Y direction (located further below) and a positive displacement in the Z direction (further away from the ring seat 10) relative to the inferior phalanx hole 43. In other words, as... Figure 4 As shown, the upper phalanx hole 42 is located slightly to the right below the lower phalanx hole 43.

[0069] The upper knuckle hole 42 and the upper distal hole 22 are rotatably connected together; the lower knuckle hole 43 and the lower distal hole 32 are rotatably connected together. Since the upper knuckle hole 42 (upper distal hole 22) is located to the lower right of the lower knuckle hole 43 (lower distal hole 32), when the residual finger presses down on the lower pressure plate 34 or pushes up on the pressure plate 33, the two ends of the lower pull rod 3 apply force to the arm 101 at the lower proximal hole 31 and apply force to the knuckle 4 at the lower distal hole 32, thereby changing the state of the finger exoskeleton 100 (extended state, ring state, hook state).

[0070] The knuckle hole 41 is designed to connect to a structure of soft-textured silicone or other materials that simulate the texture of real fingers to aid the finger exoskeleton 100 in gripping and provide a soft tactile feel. Optionally, the knuckle hole 41 is designed to connect to a touchscreen to allow the user to operate a capacitive touchscreen using the finger exoskeleton 100. Optionally, the knuckle hole 41 is designed to connect to a thin, rigid material to simulate the function of an artificial nail. Optionally, the knuckle hole 41 is designed to connect to a pressure sensor and a temperature sensor to provide the finger exoskeleton 100 with pressure and temperature sensing capabilities.

[0071] In one embodiment of the present invention, the length of the fixing base 1 is the same as or approximately equal to the length of the root phalanx; the lengths of the upper pull rod 2 and the lower pull rod 3 are the same as or approximately equal to the length of the middle phalanx; and the length of the phalanx 4 is the same as or approximately equal to the length of the distal phalanx. Furthermore, the curvature of the upper pull rod 2 is the same as or approximately equal to the curvature of the middle phalanx; and the curvature of the phalanx 4 is the same as or approximately equal to the curvature of the distal phalanx.

[0072] The curvature of the upper surface of the upper lever 2 and the curvature of the upper surface of the knuckle 4 are designed as follows: Figure 5In the annular state shown (the state in which a healthy person's index finger forms a ring, such as when pulling a can tab with the index finger, or when the index finger and thumb are in contact to form a ring), the positive surface (back of the hand direction) of the upper pull rod 2 and the knuckle 4 in the Y direction forms a continuous arc (as shown by the dotted circle in the figure). Specifically, in the annular state, viewed in the YZ plane, the lower distal hole 32 moves relative to the arc of the branch 201 (the center of the lower distal hole 32 and the center of the upper proximal hole 21 are located on the same arc, which is the arc formed by the upper surface of the upper pull rod 2). That is, in Figure 5 In the diagram, a dotted line representing the lower proximal hole 31 as the center and the length of the support arm 311 as the radius is drawn. A dotted line representing the upper proximal hole 21 as the center and the length of the branch 201 as the radius is drawn. The lower distal hole 32 is located at the intersection of these two circles. In this state, the "finger" can maintain its bent angle, working together with the thumb to grip the sides of an object with a circular surface (e.g., the position of an able-bodied person holding a mug to rinse their mouth), preventing the "finger" from accidentally opening due to insufficient strength at the residual limb end.

[0073] exist Figure 6 In the hook-shaped state (the gripping state of a healthy person's fingers, such as gripping a long door handle), the knuckle 4 is closer to the fixed base 1 than in the ring-shaped state. In other words, in the ring-shaped state, the area enclosed by the fixed base 1, the lower lever 3, and the knuckle 4 is M1; in the hook-shaped state, the area enclosed by the fixed base 1, the lower lever 3, and the knuckle 4 is M2, where M1 > M2. In the hook-shaped state, the proximal end of the knuckle 4 abuts against the leading edge 316 of the lower lever 3, meaning the lower lever 3 restricts and positions the rotation of the knuckle 4.

[0074] This design allows the non-active finger exoskeleton in its hooked state to grasp smaller objects and lift heavier ones; in its ring state, it can form a ring with the thumb (if the thumb is intact) or grasp larger objects. Therefore, the finger exoskeleton provided in this invention can more accurately mimic the natural straightening, bending, and hooking movements of a real finger. By changing the range of motion and force of the finger joints, it can be adapted to different finger usage scenarios, improving the functionality of the prosthesis.

[0075] like Figure 2 , Figure 5 and Figure 6As shown, the fixing base 1 is positioned in a specific space relative to the wearer's hand. The fingers are placed within the space formed between the upper pressure plate 33 and the lower pressure plate 34. This design allows the fingers to be adjusted to different bending states according to different needs. Bending the finger applies pressure to the lower pressure plate 34, causing the lower lever 3 to rotate clockwise around the lower proximal hole 31. The lower distal hole 32 drives the phalanx 4 downwards, so the upper hole 42 of the phalanx drives the upper lever 2 to rotate clockwise around the upper proximal hole 21. Due to the movement principle of the four-bar linkage, the upper distal hole 22 drives the phalanx 4 to rotate clockwise around the lower hole 43 of the phalanx. Therefore, the finger exoskeleton 100 provided in this embodiment of the invention completes the bending action.

[0076] Conversely, by extending the fingers to apply pressure to the upper pressure plate 33, the lower pull rod 3 rotates counterclockwise around the lower proximal hole 31, driving the finger exoskeleton 100 provided in this embodiment of the invention to complete the extension action.

[0077] Second Embodiment

[0078] like Figures 7-9 As shown, the finger exoskeleton 100 provided in the second embodiment of the present invention includes a fixed base 1, an upper pull rod 2, a lower pull rod 3, a knuckle 4, a pull ring 5, a fingertip 6, and a central pull rod 7.

[0079] Unlike the previous embodiment, the annular seat of the fixing base 1 is an annular shape in the XZ plane (in the first embodiment, the annular seat is an annular shape in the XY plane). The upper hole 12 and the lower hole 13 are both located on one arm of the fixing base 1, and the positional relationship between the upper hole 12 and the lower hole 13 (in the YZ plane, the upper hole 12 is located to the upper right of the lower hole 13) is the same as in the first embodiment.

[0080] In one embodiment of the present invention, the upper pull rod 2 is I-shaped (viewed in the XZ plane) and has only one upper proximal hole 21 and one upper distal hole 22. Similar to the first embodiment, viewed in the YZ plane, the upper distal hole 22 is located to the lower right of the upper proximal hole 21.

[0081] The lower tie rod 3 provided in this embodiment of the invention is a rod-shaped structure extending in the longitudinal direction and is approximately L-shaped in the YZ plane, including a lower proximal end hole 31, a lower distal end hole 32, a lower tie rod groove 35, and a lower center hole 36.

[0082] In the lower tie rod 3 provided in this embodiment of the invention, the lower tie rod groove 35 is a groove structure extending along the longitudinal direction of the lower tie rod 3, and the lower center hole 36 is a hole structure extending along the X direction in the depth direction. The lower distal hole 32 and the lower center hole 36 are located in the positive Z direction of the lower proximal hole 31, and there is a positive or negative positional offset in the Y direction of the lower proximal hole 31. The lower center hole 36 is located in the positive Y direction of the lower distal hole 32, and there is a positive or negative positional offset in the Z direction of the lower distal hole 32. In other words, as Figure 10 As shown, viewed in the YZ plane, the lower center hole 36 is located above the line connecting the lower proximal hole 31 and the lower distal hole 32.

[0083] The phalanx 4 provided in this embodiment of the invention also includes a distal phalanx hole 44. The upper phalanx hole 42, the lower phalanx hole 43, and the distal phalanx hole 44 are all hole structures extending along the X direction in the depth direction. The upper phalanx hole 42, relative to the lower phalanx hole 43, exhibits a negative displacement along the Y direction and a positive displacement along the Z direction. The distal phalanx hole 44, relative to the lower phalanx hole 43, exhibits a positive displacement along the Z direction and a positive or negative displacement along the Y direction. In other words, as... Figure 10 As shown, the distal end hole 44 of the phalanx is located to the right of the line connecting the upper hole 42 and the lower hole 43 of the phalanx.

[0084] The pull ring 5 is shaped to wrap around a finger and includes a pull ring slipper 51. The pull ring slipper 51 is designed to move along the lower pull rod groove 35 without coming off.

[0085] The fingertip 6 is a one-piece molded structure, including a fingertip hole 61, a fingertip center hole 62, and a fingertip knuckle hole 63. Both the fingertip center hole 62 and the fingertip knuckle hole 63 are hole structures extending along the X-direction in the depth direction. The fingertip center hole 62, relative to the fingertip knuckle hole 63, exhibits a negative displacement along the Y-direction and a positive displacement along the Z-direction. In other words, as... Figure 10 As shown, the fingertip center hole 62 is located slightly to the right below the fingertip knuckle hole 63.

[0086] The fingertip hole 61 is designed to connect to a structure of soft-textured silicone or other materials that mimic the texture of real fingers to aid the finger exoskeleton 100 in gripping and provide a soft tactile feel. Optionally, the fingertip hole 61 is designed to connect to a touchscreen structure to allow the user to operate a capacitive touchscreen using the finger exoskeleton 100. Optionally, the fingertip hole 61 is designed to connect to a thin, rigid material structure to mimic the function of an artificial nail. Optionally, the fingertip hole 61 is designed to connect to pressure and temperature sensors to provide the finger exoskeleton 100 with pressure and temperature sensing capabilities.

[0087] The central tie rod 7 is a rod structure with a longitudinal direction, and its structural form includes I-shape, Y-shape, and H-shape (viewed from the XZ plane). In this embodiment, the central tie rod 7 is L-shaped when viewed from the YZ plane. The central tie rod 7 includes a central proximal hole 71 and a central distal hole 72, both of which are hole structures extending along the X direction in the depth direction. The central proximal hole 71 is located at the proximal end of the central tie rod 7 in the longitudinal direction, and the central distal hole 72 is located at the distal end of the central tie rod 7.

[0088] The upper proximal end hole 21 of the upper pull rod 2 is coaxial with the fixed upper end hole 12 of the fixed base 1 and is rotatably connected. The connection method includes a connecting pin passing through the upper proximal end hole 21 and the fixed upper end hole 12. The upper distal end hole 22 is coaxial with the phalanx upper end hole 42 of the phalanx 4 and is rotatably connected.

[0089] The lower proximal end hole 31 of the lower pull rod 3 is coaxial with the fixed lower end hole 13 of the fixed base 1 and is rotatably connected. The lower distal end hole 32 is coaxial with the lower knuckle hole 43 of the knuckle 4 and is rotatably connected. The lower center hole 36 is coaxial with the center proximal end hole 71 of the center pull rod 7 and is rotatably connected. The pull ring slipper 51 of the pull ring 5 is slidably connected to the lower pull rod groove 35.

[0090] The fingertip knuckle hole 63 of fingertip 6 is coaxial with the distal knuckle hole 44 of knuckle 4 and is rotatably connected. The fingertip center hole 62 is coaxial with the distal center hole 72 of center tie rod 7 and is rotatably connected.

[0091] like Figure 8 , Figure 11 and Figure 12 As shown, the fixing base 1 is positioned in a specific space relative to the wearer's hand, with the fingers surrounded by the pull ring 5. Bending the finger applies downward pressure to the pull ring 5, causing the lower pull rod 3 to rotate clockwise around the lower proximal hole 31. Accompanying the rotation of the lower pull rod 3, the pull ring 5 slides along the lower pull rod groove via the pull ring slipper 51, always conforming to the finger and continuously applying pressure to the lower pull rod 3. The lower distal hole 32 drives the knuckle 4 downward, so the upper knuckle hole 42 drives the upper pull rod 2 to rotate clockwise around the upper proximal hole 21. Due to the four-bar linkage's motion principle, the upper distal hole 22 drives the knuckle 4 to rotate clockwise around the lower knuckle hole 43. Simultaneously, the lower central hole 36 drives the central pull rod 7 downward, and the central distal hole 72 drives the fingertip 6. Driven by the distal phalanx hole 44 and the central distal phalanx hole 72, the fingertip 6 rotates clockwise around the distal phalanx hole 44. Therefore, the finger exoskeleton 100 provided in this embodiment of the invention completes the bending action and has an increased range of motion of one joint compared to the finger exoskeleton 100 provided in the first embodiment, namely the joint at the connection between the phalanx 4 and the fingertip 6.

[0092] Conversely, by extending the fingers to apply upward pressure to the pull ring 5, the lower pull rod 3 rotates counterclockwise around the lower proximal hole 31, driving the finger exoskeleton 100 provided in this embodiment of the invention to complete the extension action.

[0093] Third Embodiment

[0094] like Figures 13-15 As shown, unlike the above embodiments, the upper pull rod 2 provided in the third embodiment of the present invention also includes an upper center hole 23, and the finger joint 4 and fingertip 6 are both rod structures with a longitudinal direction.

[0095] In the upper tie rod 2 provided in this embodiment of the invention, the upper central hole 23 is a hole structure extending along the X direction in the depth direction. The upper central hole 23, relative to the upper proximal hole 21 and the upper distal hole 22, exhibits a positive displacement along the Z direction and a negative displacement along the Y direction. In other words, as... Figure 16 As shown, the upper central hole 23 is located below the line connecting the upper proximal hole 21 and the upper distal hole 22.

[0096] The upper proximal hole 21 of the upper pull rod 2 is coaxial with the fixed upper hole 12 of the fixed base 1 and is rotatably connected. The connection method includes a connecting pin passing through the upper proximal hole 21 and the fixed upper hole 12. The upper distal hole 22 is coaxial with the phalanx upper hole 42 of the phalanx 4 and is rotatably connected. The upper central hole 23 is coaxial with the central proximal hole 71 of the central pull rod 7 and is rotatably connected.

[0097] The lower proximal end hole 31 of the lower pull rod 3 is coaxial with the fixed lower end hole 13 of the fixed base 1 and is rotatably connected. The lower distal end hole 32 is coaxial with the lower end hole 43 of the finger joint 4 and is rotatably connected. The pull ring slipper 51 of the pull ring 5 is slidably connected to the lower pull rod groove 35.

[0098] The fingertip knuckle hole 63 of the fingertip 6 is coaxial with the center distal hole 72 of the center pull rod 7 and is rotatably connected. The fingertip center hole 62 is coaxial with the knuckle distal hole 44 of the knuckle 4 and is rotatably connected.

[0099] like Figure 14 , Figure 17 and Figure 18As shown, the fixing base 1 is positioned in a specific space relative to the wearer's hand, with the fingers surrounded by the pull ring 5. Bending the finger applies downward pressure to the pull ring 5, causing the lower pull rod 3 to rotate clockwise around the lower proximal hole 31. Accompanying the rotation of the lower pull rod 3, the pull ring 5 slides along the lower pull rod groove via the pull ring slipper 51, always conforming to the finger and continuously applying pressure to the lower pull rod 3. The lower distal hole 32 drives the knuckle 4 downward, so the upper hole 42 of the knuckle drives the upper pull rod 2 to rotate clockwise around the upper proximal hole 21. Due to the motion principle of the four-bar linkage, the upper distal hole 22 drives the knuckle 4 to rotate clockwise around the lower hole 43 of the knuckle. Simultaneously, the upper central hole 23 drives the central pull rod 7 downward, and the central distal hole 72 drives the fingertip 6. Driven by the distal phalanx hole 44 and the central distal phalanx hole 72, the fingertip 6 rotates clockwise around the distal phalanx hole 44. Therefore, the finger exoskeleton 100 provided in this embodiment of the invention completes the bending action and has an increased range of motion of one joint compared to the finger exoskeleton 100 provided in the first embodiment, namely the joint at the connection between the phalanx 4 and the fingertip 6.

[0100] Conversely, by extending the fingers to apply upward pressure to the pull ring 5, the lower pull rod 3 rotates counterclockwise around the lower proximal hole 31, driving the finger exoskeleton 100 provided in this embodiment of the invention to complete the extension action.

[0101] Fourth embodiment

[0102] like Figure 19 As shown, the hand exoskeleton 200 provided in the fourth embodiment of the present invention includes the aforementioned finger exoskeleton 100, back plate 8, and linkage line 9. The back plate 8 is a structure that conforms to the curved surface of the back of the human hand and includes a back plate hole 81. The position of the back plate hole 81 corresponds to the position of the finger root joint of the human hand.

[0103] The fixing hole 11 of the finger exoskeleton 100 is coaxial with the back plate hole 81 and is rotatably connected. The finger exoskeleton 100 can rotate about the back plate hole 81 in the Y direction to simulate the opening and closing movements of the root joint of a human finger.

[0104] The hand exoskeleton 200 includes one or more backplate holes 81 for connecting one or more finger exoskeletons 100 to simulate the grasping and extending movements of the five fingers of a human hand. In engineering practice, the number of backplate holes 81 ranges from 1 to 99.

[0105] Linkage line 9 is a rigid or flexible connecting rod or rope, and the pull rings 5 ​​of each finger exoskeleton 100 are connected in series by linkage line 9. The structure of linkage line 9 includes metal rods and metal wire braided metal cables, as well as cables or rods braided from polymer materials.

[0106] When one finger exoskeleton 100 bends or extends, the linkage line 9 causes the other finger exoskeletons 100 to bend or extend, performing a grasping action.

[0107] Fifth embodiment

[0108] like Figure 20 As shown, the hand exoskeleton 200 provided in the fifth embodiment of the present invention includes the aforementioned finger exoskeleton 100, back plate 8, winch 300, and cable 310. The winch 300 is a structure for adjusting the extension length of the cable 310. Optionally, the winch 300 is a ratchet structure.

[0109] like Figure 21 and Figure 22 As shown, the winch 300 includes a winch base 320 and a winch disc 330. The winch disc 330 is rotatable about a winch rotation axis 301. The winch rotation axis 301 is an imaginary axis extending in the Y direction and passing through the winch base 320 and the winch disc 330.

[0110] The winch base 320 is a one-piece structure, including a base latch 321 and a base positioning pin 322. The base latch 321 is a boss extending along the winch rotation axis 301, and its cross-sectional shape perpendicular to the winch rotation axis 301 remains unchanged. Optionally, the cross-sectional shape of the base latch 321 perpendicular to the winch rotation axis 301 can be straight, cross-shaped, triangular, quadrilateral, pentagonal, or hexagonal. The base positioning pin 322 is a pin structure extending along the winch rotation axis 301 and coaxial with it. The lower surface of the base positioning pin 322 contacts and connects with the upper surface of the base latch 321.

[0111] The winch turntable 330 is a one-piece structure, including a turntable slot 331, a turntable positioning hole 332, a cable groove 333, and a turntable handle 334. The turntable slot 331 is a groove structure corresponding to the base latch 321, extending from the bottom surface of the winch turntable 330 along the winch rotation axis 301. The turntable slot 331 can be fitted onto the base latch 321, preventing relative rotation between the two. The installation gap between the turntable slot 331 and the base latch 321 ensures that the winch base 320 and the winch turntable 330 cannot rotate.

[0112] The turntable positioning hole 332 is a hole structure corresponding to the base positioning pin 322. It extends from the top surface of the turntable slot 331 along the winch rotation shaft 301 and is coaxial with the winch rotation shaft 301. The turntable positioning hole 332 can be sleeved on the base positioning pin 322, and the two can rotate relative to each other.

[0113] The cable groove 333 is an annular groove structure arranged circumferentially along the winch rotation axis 301. The turntable handle 334 is a handle structure for lifting and rotating the winch turntable 330. The turntable handle 334 can drive the turntable slot 331, the turntable positioning hole 332 and the cable groove 333 to rotate around the winch rotation axis 301.

[0114] Cable 310 is a rigid or flexible connecting rod or rope. The proximal end of cable 310 contacts and connects to cable groove 333, and its length wound in cable groove 333 can be changed as the winch turntable 330 rotates. The distal end of cable 310 contacts and connects to fingertip 6. The structure of cable 310 includes metal rods and metal wire braided cables, as well as cables or connecting rods braided from polymer materials.

[0115] When the winch base 320 contacts and connects to the back plate 8, and the turntable slot 331 is engaged with the base latch 321, the winch turntable 330 cannot rotate due to the interaction of the latch and the base. Holding the turntable handle 334 and lifting the winch turntable 330 separates the turntable slot 331 from the base latch 321. Rotating the turntable handle 334 causes the cable groove 333 to rotate, increasing the length of the cable 310 wound in the cable groove 333 and decreasing the naturally elongated length of the cable 310. This causes the fingertip 6 to pull towards the back plate 8, performing a gripping action. Lowering the winch turntable 330 causes the turntable slot 331 to engage with the base latch 321, preventing rotation between the winch turntable 330 and the winch base 321. Since the elongated length of the cable 310 remains constant, the finger exoskeleton 100 maintains a gripping state. Preferably, after the turntable slot 331 and the base tenon 321 are separated, the turntable positioning hole 332 and the base positioning pin 322 remain inserted and connected, which can prevent the winch turntable 330 and the winch base 320 from shifting and facilitate resetting.

[0116] Sixth Embodiment

[0117] The back plate 8, fixing base 1, upper pull rod 2, lower pull rod 3, finger joint 4, pull ring 5, fingertip 6 and center pull rod 7 provided in the sixth embodiment of the present invention all adopt rod-like structure and hollow structure to achieve lightweight.

[0118] In summary, the finger and hand exoskeletons provided in this invention, through their innovative four-bar linkage design, simulate the grasping and extending movements of a natural human hand, significantly improving the self-care abilities of individuals with finger amputations or functional impairments. This invention employs a lightweight, hollow structure, offering not only comfortable wear but also high adaptability and versatility. Its unique ergonomic design allows users to control the exoskeleton through simple hand movements without relying on external power, enabling them to complete complex grasping and operational tasks. Furthermore, individual components can be customized to meet specific user needs, ensuring optimal wearing effect and functionality. Overall, this invention provides a safe, reliable, and easy-to-use assistive device for people with disabilities, greatly enhancing their daily living and working abilities.

[0119] It should be noted that the above embodiments are merely illustrative examples. The technical solutions or features of each embodiment can be combined, and all combinations are within the protection scope of this invention. Due to the numerous variations, they are not detailed here, but the technical details of each embodiment can be found in the descriptions of other embodiments.

[0120] The terms “upper,” “lower,” “horizontal,” “vertical,” “top,” “bottom,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the present 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. Therefore, they should not be construed as limiting the present invention.

[0121] Furthermore, the shapes of each component in various embodiments of the present invention can be changed; for example, a rod can be changed to a plate, a rectangle to an ellipse, a V-shape to a U-shape, etc. Therefore, while maintaining the connection relationship and working principle unchanged, the shapes of each component in various embodiments of the present invention can be changed, and the descriptions of the shapes, positions, etc. in each embodiment do not constitute a limitation on the present invention.

[0122] The foregoing detailed description of the non-active finger exoskeleton and hand exoskeleton provided by this invention is provided above. Any obvious modifications made by those skilled in the art without departing from the essence of this invention will constitute an infringement of the patent rights of this invention and will incur corresponding legal liability.

Claims

1. A non-active finger exoskeleton, characterized in that... Includes a fixed base, an upper pull rod, a lower pull rod, and a knuckle; among which, The fixing base includes a fixing base hole, a fixing upper hole, and a fixing lower hole; the fixing base hole is designed as a connecting structure for fixing the fixing base; both the fixing upper hole and the fixing lower hole are hole structures that extend along the X direction in the depth direction; the fixing upper hole has positive displacement along the Y and Z directions relative to the fixing lower hole. The upper tie rod includes an upper proximal hole and an upper distal hole, both of which are hole structures extending along the X direction in the depth direction; the upper proximal hole is located at one end of the upper tie rod in the longitudinal direction, and the upper distal hole is located at the other end of the upper tie rod. The lower tie rod includes a lower proximal hole and a lower distal hole; wherein, the lower proximal hole and the lower distal hole are both hole structures extending along the X direction in the depth direction; the lower proximal hole is located at one end of the lower tie rod in the longitudinal direction, and the lower distal hole is located at the other end of the lower tie rod. The phalanx includes a phalanx hole, a superior phalanx hole, and a inferior phalanx hole; wherein, the superior phalanx hole and the inferior phalanx hole are both hole structures extending along the X direction in the depth direction; the superior phalanx hole has a negative displacement along the Y direction and a positive displacement along the Z direction relative to the inferior phalanx hole; The upper proximal hole of the upper pull rod is located between the fixed upper holes and is rotatably connected to the fixed upper hole of the fixed seat; the lower proximal hole of the lower pull rod is located outside the fixed lower hole of the fixed seat and is rotatably connected; the upper hole of the knuckle and the upper distal hole are rotatably connected together; the lower hole of the knuckle and the lower distal hole are rotatably connected together.

2. The finger exoskeleton as described in claim 1, characterized in that: The finger exoskeleton can switch between an extended state, a circular state, and a hook-shaped state.

3. The finger exoskeleton as described in claim 2, characterized in that... The lower tie rod also includes an upper pressure plate and a lower pressure plate; wherein... Both the upper pressure plate and the lower pressure plate are plate-shaped structures extending longitudinally along the X direction; the space between the upper pressure plate and the lower pressure plate is designed to accommodate fingers; pressing the upper pressure plate and the lower pressure plate with fingers drives the lower pull rod to move and rotate.

4. The finger exoskeleton as described in claim 1, characterized in that: The lower tie rod also includes a lower tie rod groove and a lower center hole; wherein... The lower tie rod groove is a sliding groove structure extending along the longitudinal direction of the lower tie rod, and the lower center hole is a hole structure extending along the X direction in the depth direction; the lower distal hole and the lower center hole are located in the positive Z direction of the lower proximal hole, and there is a positive or negative positional offset in the Y direction of the lower proximal hole; the lower center hole is located in the positive Y direction of the lower distal hole, and there is a positive or negative positional offset in the Z direction of the lower distal hole. The phalanx also includes a distal phalanx hole; the distal phalanx hole has a positive displacement along the Z direction relative to the lower phalanx hole.

5. The finger exoskeleton as described in claim 4, characterized in that... It also includes a pull ring, fingertips, and a center lever; among which, The pull ring includes a pull ring slipper that can move along the lower pull rod groove; The fingertip includes a fingertip hole, a fingertip center hole, and a fingertip knuckle hole; wherein, the fingertip center hole and the fingertip knuckle hole are both hole structures extending along the X direction in the depth direction; the fingertip center hole has a negative displacement along the Y direction and a positive displacement along the Z direction relative to the fingertip knuckle hole; The central tie rod is a rod structure with a longitudinal direction, including a central proximal hole and a central distal hole, both of which are hole structures extending along the X direction in the depth direction; the central proximal hole is located at one end of the central tie rod in the longitudinal direction, and the central distal hole is located at the other end of the central tie rod.

6. The finger exoskeleton as described in claim 5, characterized in that: The lower center hole and the center proximal hole are rotatably connected; the pull ring slip shoe and the lower pull rod groove are slidably connected; The fingertip knuckle hole and the distal knuckle hole are rotatably connected; the fingertip center hole and the distal center hole are rotatably connected.

7. The finger exoskeleton as described in claim 5, characterized in that: The upper tie rod also includes an upper center hole, which is a hole structure extending along the X direction in the depth direction; the upper center hole has a positive displacement along the Z direction and a negative displacement along the Y direction relative to the upper proximal hole and the upper distal hole. Both the knuckles and the fingertips are rod-like structures with a longitudinal direction.

8. The finger exoskeleton as described in claim 7, characterized in that: The upper central hole and the central proximal hole are rotatably connected; the fingertip knuckle hole and the central distal hole are rotatably connected; the fingertip central hole and the knuckle distal hole are rotatably connected. The pull ring slipper is slidably connected to the lower pull rod groove.

9. A hand exoskeleton, characterized in that... Includes a backplate and a finger exoskeleton as described in any one of claims 1 to 8; wherein, The back plate is a structure that conforms to the curved surface of the back of a human hand, including a back plate hole; the position of the back plate hole corresponds to the position of the finger joints of a human hand; the fixing seat hole is coaxial with the back plate hole and is rotatably connected.

10. The hand exoskeleton as described in claim 9, characterized in that... It also includes linkage lines; among them, The linkage line includes a connecting rod and a connecting rope, and multiple pull rings are connected in series.

Images