Multi-degree-of-freedom force feedback exoskeleton manipulator for virtual reality

Abstract

The application discloses a multi-degree-of-freedom force feedback exoskeleton manipulator for virtual reality, relates to the technical field of human-computer interaction devices, and comprises a base, five groups of fingers movably installed on the base, a protective shell fixedly installed above the base through bolts, and a rotating piece rotatably installed on the left side of the base, wherein a wrist strap is arranged below the rotating piece, and the base has the advantages that the self-adapting unit makes the gasket closely adhere to the back of the hand, ensures that the flexible strain gauge accurately captures the action signal, and lays a foundation for the response of the motion unit; the adjusting unit monitors the micro environment of the hand in real time, adjusts the temperature and humidity through intelligent lifting and airflow circulation, improves the comfort and guarantees the safety of the equipment; the motion unit drives the multi-link mechanism according to the prediction data, realizes multi-degree-of-freedom action simulation and force feedback, and through the cooperation of the three units, a virtual reality interaction system with sensitive perception, timely response and immersive experience is constructed.

Description

Technical Field

[0001] This invention relates to the field of human-computer interaction equipment technology, and in particular to a multi-degree-of-freedom force feedback exoskeleton manipulator for virtual reality. Background Technology

[0002] Virtual reality (VR) technology, as an important human-computer interaction method, has shown broad application prospects in education, medical care, entertainment, industrial simulation and other fields. In order to achieve a more realistic and immersive virtual interaction experience, force feedback exoskeleton robotic hands, as key human-computer interaction devices, can simulate the user's hand movements and provide realistic tactile and force feedback, allowing users to obtain a more realistic operating experience in the virtual environment. With the continuous expansion of VR application scenarios, users have put forward higher requirements for the flexibility, comfort and response accuracy of force feedback devices.

[0003] Currently, there are some force feedback gloves or exoskeleton hand devices on the market. Most of them use rigid linkage structures or pneumatic drive to simulate finger and wrist movements and provide force feedback. Some devices collect hand movement signals through sensors and use motors or cylinders to drive actuators to track and provide feedback on the user's hand movements. However, existing devices still have certain limitations in terms of long-term wearing comfort, hand microenvironment adjustment, motion prediction accuracy, and multi-degree-of-freedom collaborative control.

[0004] For example, traditional devices struggle to adapt to different users' hand shapes, leading to unstable signal acquisition; prolonged use can cause problems such as stuffiness and sweat buildup, affecting user experience and even device lifespan; furthermore, most devices still need improvement in terms of real-time force feedback and the naturalness of multi-degree-of-freedom motion. Therefore, there is an urgent need to develop a multi-degree-of-freedom force feedback exoskeleton robotic hand for virtual reality to solve these problems. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a multi-degree-of-freedom force feedback exoskeleton robotic hand for virtual reality, solving the problems mentioned in the background section.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A multi-degree-of-freedom force feedback exoskeleton robotic hand for virtual reality includes a base on which five sets of fingers are movably mounted. A protective shell is fixedly mounted on the top of the base by bolts. A rotating component is rotatably mounted on the left side of the base. A wrist strap is provided below the rotating component. A pad is provided below the base. A foldable rubber pad is fixedly mounted between the base and the pad. A strap is provided on the side of the base.

[0008] The multi-degree-of-freedom force feedback exoskeleton robotic hand for virtual reality also includes an adaptive unit, an adjustment unit, and a motion unit. The adaptive unit is used to adjust the padding so that it always fits the back of the user's hand, laying the foundation for the subsequent motion unit's movements. The adjustment unit is used to improve user comfort and avoid problems such as stuffiness and sweat accumulation caused by prolonged wear. The motion unit is used to predict and sense the user's hand movements and make corresponding feedback actions to enhance the user experience.

[0009] The adaptive unit also includes a crossbeam, which is vertically installed at the bottom of the base. The crossbeam has five mounting slots, and two pressure rods are rotatably installed in the mounting slots via a rotating shaft. An elastic rope is fixedly installed in the middle of the pressure rod.

[0010] Furthermore, a connecting base is rotatably mounted on the other end of the pressure rod. The connecting base is fixedly mounted on the pad. The pad is provided with a plurality of vent holes evenly distributed on it. The pad is provided with four sets of flexible strain gauges, each of which includes a sensing electrode, a force sensor, and a wire.

[0011] Furthermore, the adjustment unit includes a miniature cylinder, a humidity sensor, and a temperature sensor. The output rod of the miniature cylinder passes through a liner, and a lifting plate is fixedly installed at the end of the output rod. A circuit board is fixedly installed on the base by bolts. A power supply is provided on the circuit board, and a control element is provided below the power supply. An air pump is provided on the side of the power supply, and an air delivery pipe is fixedly installed at the air outlet of the air pump. The air delivery pipe passes through a condenser, and the outlet of the air delivery pipe is located below the base to connect the cavity between the base and the liner.

[0012] Furthermore, the motion unit includes an electric cylinder one, a connecting rod one rotatably mounted on the output rod end of the electric cylinder one, the connecting rod one being fixedly connected to an electric cylinder two, a connecting rod two rotatably mounted on the output rod end of the electric cylinder two, and the fixed end of the electric cylinder two being rotatably mounted on the base via a rotating seat.

[0013] Furthermore, the second and fourth connecting rods are rotatably connected at the turning point, the end of the fourth connecting rod is rotatably mounted on the third connecting rod, and the other end is fixedly mounted with a finger sleeve. The other end of the third connecting rod is fixedly mounted on the front end of the fixed end of the second electric cylinder.

[0014] Furthermore, a connecting plate is rotatably mounted on the right side of the base via a connector, and an electric telescopic rod is rotatably mounted on the connecting plate via a ball joint. The other end of the electric telescopic rod is rotatably mounted on the base via a ball joint.

[0015] Furthermore, an arc-shaped rotating block is provided on the right side of the connecting plate. The arc-shaped rotating block is rotatably installed inside the rotating component, and the rotating component is provided with an arc-shaped groove that is longer than the length of the arc-shaped rotating block.

[0016] Furthermore, the base is provided with a mounting cavity, in which a motor is fixedly mounted. An adjusting gear is fixedly mounted at the front end of the output shaft of the motor, and a gear segment that cooperates with the adjusting gear is provided below the arc-shaped rotating block.

[0017] Compared with existing technologies, the advantages of this invention are:

[0018] 1. Through the synergistic action of the elastic rope, pressure bar, and connecting base, the padding is kept in close contact with the user's back of hand, ensuring that the flexible strain gauge and sensing electrode are always in an effective signal receiving state. Combined with the preset data model, the system can accurately predict the user's hand movements, laying the foundation for the precise response of the subsequent motion unit and improving the real-time performance and accuracy of motion perception.

[0019] 2: The temperature and humidity sensors monitor the usage environment of the hand contact area in real time. When stuffiness or sweat accumulation is detected, the control element drives the micro cylinder to lift the pad, enhance air circulation, and combine with the air pump and condenser to input cooling airflow, effectively dissipate heat and dehumidify, improve the comfort of wearing for a long time, and protect the internal electronic components from moisture damage.

[0020] 3: Through a combination of multi-link and electric cylinder structure, along with finger sleeves and electric telescopic rods, multi-degree-of-freedom hand movement simulation and force feedback are achieved. The arc-shaped rotating block is controlled by a motor-driven adjustment gear to further expand the range of wrist movement. This unit can respond to user movements in real time and apply corresponding force feedback, enhancing the immersion and realism of virtual reality interaction.

[0021] In summary, this invention uses an adaptive unit to ensure the pad fits tightly to the back of the hand, guaranteeing that the flexible strain gauge accurately captures motion signals and laying the foundation for the motion unit's response. The adjustment unit monitors the hand's microenvironment in real time, regulating temperature and humidity through intelligent lifting and airflow circulation, improving comfort while ensuring device safety. The motion unit drives a multi-link mechanism based on predicted data, achieving multi-degree-of-freedom motion simulation and force feedback. Through the cooperation of these three units, a highly sensitive, responsive, and immersive virtual reality interactive system is constructed. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of a multi-degree-of-freedom force feedback exoskeleton manipulator for virtual reality proposed in this invention;

[0023] Figure 2 This is a bottom view of the present invention;

[0024] Figure 3This is a schematic diagram of the installation of the adaptive unit part of the present invention;

[0025] Figure 4 This is a schematic diagram of the installation of the adaptive unit of the present invention;

[0026] Figure 5 This is a schematic diagram of the internal installation of the present invention;

[0027] Figure 6 Schematic diagram of the installation of the motion unit part of the present invention Figure 1 ;

[0028] Figure 7 Schematic diagram of the installation of the motion unit part of the present invention Figure 2 ;

[0029] Figure 8 This is a cross-sectional view of the motion unit portion of the present invention;

[0030] Figure 9 Schematic diagram of the installation of the motion unit part of the present invention Figure 3 .

[0031] In the diagram: 1. Base, 2. Finger, 3. Protective shell, 4. Rotating component, 5. Wristband, 6. Rubber pad, 7. Liner, 8. Flexible strain gauge, 9. Vent hole, 10. Strap, 11. Lifting plate, 12. Crossbeam, 13. Mounting groove, 14. Rotating shaft, 15. Pressure rod, 16. Miniature cylinder, 17. Elastic rope, 18. Connecting base, 19. Humidity sensor, 20. Temperature sensor, 21. Circuit board, 22. Power supply, 23. Control element, 24. Air pump, 25. Condenser, 26. Air supply pipe, 27. Electric cylinder one, 28. Link one, 29. Rotating seat, 30. Electric cylinder two, 31. Link two, 32. Link four, 33. Link three, 34. Finger sleeve, 35. Connecting plate, 36. Ball joint, 37. Electric telescopic rod, 38. Connector, 39. Mounting cavity, 40. Motor, 41. Adjusting gear, 42. Arc-shaped rotating block, 43. Arc-shaped groove, 44. Pressure sensor. Detailed Implementation

[0032] Reference Figures 1-9 A multi-degree-of-freedom force feedback exoskeleton robotic hand for virtual reality includes a base 1, five sets of fingers 2 movably mounted on the base 1, a protective shell 3 fixedly mounted on the top of the base 1 by bolts, a rotating component 4 rotatably mounted on the left side of the base 1, a wrist strap 5 below the rotating component 4, a pad 7 below the base 1, a foldable rubber pad 6 fixedly mounted between the base 1 and the pad 7, and a strap 10 on the side of the base 1.

[0033] First, the protective shell 3 is fixed to the base 1 with bolts to protect the internal electronic components. A foldable rubber pad 6 is laid under the base 1. The edge of the rubber pad 6 is fixed to the base 1 and the pad 7 by adhesive bonding to ensure that a relatively sealed and deformable cavity is formed between the base 1 and the pad 7. Finally, the strap 10 is installed on the side of the base 1 to help fix the equipment. The pad is made of medical grade silicone or hypoallergenic thermoplastic polyurethane (TPU) with good elasticity and biocompatibility.

[0034] The multi-DOF force feedback exoskeleton robotic hand for virtual reality also includes an adaptive unit, an adjustment unit, and a motion unit. The adaptive unit is used to adjust the pad 7 so that the pad 7 always fits the back of the user's hand, laying the foundation for the subsequent motion unit's movements. The adjustment unit is used to improve user comfort and avoid problems such as stuffiness and sweat accumulation caused by prolonged wear. The motion unit is used to predict and sense the user's hand movements and make corresponding feedback movements to improve the user experience.

[0035] The adaptive unit also includes a crossbeam 12, which is vertically installed at the bottom of the base 1. The crossbeam 12 has five mounting slots 13, and two pressure rods 15 are rotatably installed in the mounting slots 13 via a rotating shaft 14. An elastic rope 17 is fixedly installed in the middle of the pressure rods 15.

[0036] The other end of the pressure rod 15 is rotatably mounted with a connecting base 18, which is fixedly mounted on the pad 7. The pad 7 is evenly provided with multiple vent holes 9, and the pad 7 is provided with four sets of flexible strain gauges 8. The flexible strain gauges 8 include sensing electrodes, force sensors and wires.

[0037] The crossbeam 12 is vertically welded to the inner bottom of the base 1. Two symmetrically arranged pressure rods 15 are installed in the five mounting slots 13 of the crossbeam 12 through the pivot 14. An elastic rope 17 is tied at the middle position of each pressure rod 15. The elastic rope 17 needs to be kept in a pre-tight state to provide continuous elastic force. The connecting base 18 is fixed to the corresponding position of the pad 7 by adhesive. Ventilation holes 9 are opened on the surface of the pad 7. Then, four sets of flexible strain gauges 8 are fixed to the designated area of ​​the pad 7 (corresponding to the back joint of the hand) with medical grade adhesive. Ensure that the wires of the flexible strain gauges 8 run along the edge of the pad to the circuit board 21 inside the base 1.

[0038] The adjustment unit includes a miniature cylinder 16, a humidity sensor 19, and a temperature sensor 20. The output rod of the miniature cylinder 16 passes through the liner 7, and a lifting plate 11 is fixedly installed at the end of the output rod. A circuit board 21 is fixedly installed on the base 1 by bolts. A power supply 22 is provided on the circuit board 21. A control element 23 is provided below the power supply 22. An air pump 24 is provided on the side of the power supply 22. An air supply pipe 26 is fixedly installed at the air outlet of the air pump 24. The air supply pipe 26 passes through the condenser 25. The outlet of the air supply pipe 26 is located below the base 1 to connect the cavity between the base 1 and the liner 7.

[0039] Here, the miniature cylinder 16 is selected as SMCCQ2B12-10D (small single-rod double-acting cylinder), the temperature sensor 20 is selected as TMP102 (single-bus digital temperature sensor), the humidity sensor 19 is selected as SHT35-DIS-F (high-precision digital humidity sensor), and the air pump 24 is selected as FML-100 miniature oil-free vacuum pump (low-noise miniature air pump).

[0040] The motion unit includes an electric cylinder 27, with a connecting rod 28 rotatably mounted on the output rod end of the electric cylinder 27. The connecting rod 28 is fixedly connected to an electric cylinder 30. The connecting rod 31 is rotatably mounted on the output rod end of the electric cylinder 30. The fixed end of the electric cylinder 30 is rotatably mounted on the base via a rotating seat 29. Here, the electric cylinders 27 and 30 are of the same model, both being TOLOMATIC BS2-08-050 (high-precision small electric cylinder).

[0041] The second connecting rod 31 and the fourth connecting rod 33 are rotatably connected at the turning point. The end of the fourth connecting rod 33 is rotatably mounted on the third connecting rod 32, and the other end is fixedly mounted with a finger sleeve 34. The other end of the third connecting rod 32 is fixedly mounted on the front end of the fixed end of the second electric cylinder 30.

[0042] A connecting plate 35 is rotatably mounted on the right side of the base 1 via a connector 38. An electric telescopic rod 37 is rotatably mounted on the connecting plate 35 via a ball joint 36. The other end of the electric telescopic rod 37 is rotatably mounted on the base 1 via a ball joint 36.

[0043] A connecting plate 35 is rotatably mounted on the right side of the base 1 via a connector 38. One end of the electric telescopic rod 37 is connected to the connecting plate 35 via a ball joint 36. The other end of the electric telescopic rod 37 is connected to the base 1 via another set of ball joints 36. The electric telescopic rod 37 is selected as JF-TGA-100 (miniature DC electric telescopic rod).

[0044] An arc-shaped rotating block 42 is provided on the right side of the connecting plate 35. The arc-shaped rotating block 42 is rotatably installed inside the rotating component 4. The rotating component 4 is provided with an arc-shaped groove 43 that is longer than the arc-shaped rotating block 42.

[0045] The base 1 has a mounting cavity 39, in which a motor 40 is fixedly installed. An adjusting gear 41 is fixedly installed at the front end of the output shaft of the motor 40, and a gear segment that cooperates with the adjusting gear 41 is provided below the arc-shaped rotating block 42.

[0046] The arc-shaped rotating block 42 is fixed to the right side of the connecting plate 35, so that it is embedded in the arc-shaped groove 43 inside the rotating part 4. The motor 40 is fixed in the mounting cavity 39 of the base 1. The front end of the output shaft of the motor 40 is connected to the adjusting gear 41 by a key, so that the adjusting gear 41 meshes with the gear segment below the arc-shaped rotating block 42. Finally, the pressure sensor 44 is embedded inside the rotating part 4. The signal wire runs along the connecting rod to the circuit board 21. The pressure sensor 44 is an FSR402 (thin-film pressure sensor).

[0047] The user places their hand through the wristband 5, allowing the back of their hand to fit against the pad 7, and inserts their fingers into the five sets of finger sleeves 34. The device is then tightened by the strap 10 to ensure initial fixation between the device and the hand. Under the pre-tension of the elastic rope 17, the pressure rod 15 applies uniform pressure to the pad 7 through the connecting base 18, making the pad 7 fit tightly against the contour of the back of the hand. The rubber pad 6 folds with the deformation of the pad 7, and the flexible strain gauge 8 fits against the skin of the back of the hand along with the pad 7. The sensing electrode begins to collect deformation signals of the hand joints in real time and transmits them to the control element 23 through wires. The control element combines the preset hand shape database and motion model to complete the initial motion calibration and predict subsequent motions.

[0048] After the device is started, the humidity sensor 19 and temperature sensor 20 continuously monitor the temperature and humidity data between the pad 7 and the back of the hand, and feed the signal back to the control element 23 in real time. When the temperature and humidity are detected to be higher than the preset threshold, the control element 23 triggers the adjustment unit to work: on the one hand, it drives the output rod of the micro cylinder 16 to extend, which drives the lifting plate 11 to lift the pad 7, so that a small gap is formed between the pad 7 and the back of the hand. At the same time, the rubber pad 6 extends to enhance air circulation. On the other hand, it starts the air pump 24 and the condenser 25. The air pump 24 draws in the outside air, sends it to the condenser 25 through the air pipe 26, and cools it to form a low temperature airflow, which is injected into the cavity between the base 1 and the pad 7. The airflow is blown evenly to the back of the hand through the vent holes 9 on the pad 7 to achieve heat dissipation and dehumidification. When the temperature and humidity drop to the preset range, the control element 23 controls the micro cylinder 16 to reset, the pad 7 re-fits the back of the hand, and the air pump 24 and the condenser 25 stop working to ensure wearing comfort.

[0049] During virtual reality interaction, when a user makes movements such as clenching a fist, extending, or bending, the joints on the back of the hand will undergo stretching, compression, or bending deformation. This mechanical deformation is directly transmitted to the flexible strain gauge 8 that is in close contact with the skin. The core of the flexible strain gauge is a "strain-sensitive material". When the joint is stretched, the strain gauge is elongated, the cross-sectional area of ​​the conductive material decreases and the length increases, resulting in an increase in resistance. When the joint is bent and compressed, the strain gauge is compressed, the cross-sectional area of ​​the conductive material increases and the length decreases, resulting in a decrease in resistance. The force sensor built into the strain gauge monitors this change in resistance in real time, and then converts the change in resistance into a weak electrical signal through the sensing electrode. Finally, the electrical signal is transmitted to the control element 23 through the wire to achieve the initial capture of the movement.

[0050] After receiving the electrical signal transmitted by the flexible strain gauge 8, the control element 23 compares the real-time signal with the "standard action signal template" in the database. If the signal change trend is completely consistent with the template, the model directly outputs the intention of "clenching a fist". If there are some differences in the signal, the algorithm will combine historical action data to make corrections to avoid misjudgment. After the control element 23 confirms the action intention, it will immediately send control signals to the motion unit (electric cylinder 1 27, electric cylinder 2 30, motor 40, etc.) to drive the multi-link mechanism to make corresponding actions (such as driving the finger sleeve 34 to bend when clenching a fist).

[0051] The control element 23 drives the electric cylinder 27 and the electric cylinder 30 to work together. The electric cylinder 27 drives the electric cylinder 30 to swing as a whole through the connecting rod 28. The electric cylinder 30 drives the connecting rod 33 to rotate around the connecting rod 32 through the connecting rod 31, thereby driving the finger sleeve 34 to achieve multi-degree-of-freedom movement.

[0052] When the user rotates their wrist, the pressure sensor 44 synchronously collects the force information at the wrist and sends a signal through the control element 23 to drive the motor 40 to run. The motor 40 drives the arc-shaped rotating block 42 to slide in the arc-shaped groove 43 through the adjusting gear 41, thereby driving the rotating part 4 and the connecting plate 35 to rotate synchronously, realizing the pitch or rotation movement of the wrist. At the same time, the electric telescopic rod 37 adjusts the angle of the connecting plate 35 through the ball joint 36 to assist the wrist to achieve more flexible posture adjustment, and provides force feedback when the wrist rotates through the output force of the electric telescopic rod 37, enhancing the realism of the interaction.

[0053] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A multi-degree-of-freedom force feedback exoskeleton manipulator for virtual reality, comprising a base (1), characterized in that, Five sets of fingers (2) are movably installed on the base (1). A protective shell (3) is fixedly installed on the top of the base (1) by bolts. A rotating part (4) is rotatably installed on the left side of the base (1). A wristband (5) is provided below the rotating part (4). A pad (7) is provided below the base (1). A foldable rubber pad (6) is fixedly installed between the base (1) and the pad (7). A strap (10) is provided on the side of the base (1). The multi-degree-of-freedom force feedback exoskeleton robotic hand for virtual reality also includes an adaptive unit, an adjustment unit, and a motion unit. The adaptive unit is used to adjust the pad (7) so that the pad (7) always fits the back of the user's hand, laying the foundation for the subsequent motion unit's movements. The adjustment unit is used to improve the user's comfort and avoid the problems of stuffiness and sweat accumulation caused by wearing it for a long time. The motion unit is used to predict and sense the user's hand movements and make corresponding feedback movements. The adaptive unit also includes a crossbeam (12), which is vertically installed at the bottom of the base (1). The crossbeam (12) has five mounting slots (13), and two pressure rods (15) are rotatably installed in the mounting slots (13) through a rotating shaft (14). An elastic rope (17) is fixedly installed in the middle of the pressure rods (15). The adjustment unit includes a miniature cylinder (16), a humidity sensor (19), and a temperature sensor (20). The output rod of the miniature cylinder (16) passes through the pad (7), and a lifting plate (11) is fixedly installed at the end of the output rod. A circuit board (21) is fixedly installed on the base (1) by bolts. A power supply (22) is provided on the circuit board (21), and a control element (23) is provided below the power supply (22). The motion unit includes an electric cylinder (27), and a connecting rod (28) is rotatably mounted on the output rod end of the electric cylinder (27). The connecting rod (28) is fixedly connected to an electric cylinder (30). The fixed end of the electric cylinder (30) is rotatably mounted on the base (1) via a rotating seat (29). A connecting plate (35) is rotatably mounted on the right side of the base (1) via a connector (38).

2. The multi-degree-of-freedom force feedback exoskeleton robotic hand for virtual reality according to claim 1, characterized in that, The other end of the pressure rod (15) is rotatably mounted with a connecting base (18), which is fixedly mounted on the pad (7). The pad (7) is provided with a plurality of air holes (9) evenly distributed. The pad (7) is provided with four sets of flexible strain gauges (8), which include sensing electrodes, force sensors and wires.

3. The multi-degree-of-freedom force feedback exoskeleton robotic hand for virtual reality according to claim 1, characterized in that, The power supply (22) has an air pump (24) on its side. The air outlet of the air pump (24) is fixedly equipped with an air supply pipe (26). The air supply pipe (26) passes through the condenser (25). The outlet of the air supply pipe (26) is located below the base (1) to connect the cavity between the base (1) and the gasket (7).

4. The multi-degree-of-freedom force feedback exoskeleton robotic hand for virtual reality according to claim 1, characterized in that, The output rod end of the electric cylinder 2 (30) is rotatably mounted with connecting rod 2 (31).

5. A multi-degree-of-freedom force feedback exoskeleton robotic hand for virtual reality according to claim 4, characterized in that, The second link (31) is rotatably connected to the fourth link (33) at the turning point. The end of the fourth link (33) is rotatably mounted on the third link (32), and the other end is fixedly mounted with a finger sleeve (34). The other end of the third link (32) is fixedly mounted on the front end of the fixed end of the second electric cylinder (30).

6. The multi-degree-of-freedom force feedback exoskeleton robotic hand for virtual reality according to claim 1, characterized in that, An electric telescopic rod (37) is rotatably mounted on the connecting plate (35) via a ball joint (36), and the other end of the electric telescopic rod (37) is rotatably mounted on the base (1) via a ball joint (36).

7. A multi-degree-of-freedom force feedback exoskeleton robotic hand for virtual reality according to claim 6, characterized in that, The right side of the connecting plate (35) is provided with an arc-shaped rotating block (42), which is rotatably installed in the rotating component (4). The rotating component (4) is provided with an arc-shaped groove (43) that is longer than the length of the arc-shaped rotating block (42).

8. A multi-degree-of-freedom force feedback exoskeleton robotic hand for virtual reality according to claim 7, characterized in that, The base (1) is provided with an installation cavity (39), and a motor (40) is fixedly installed in the installation cavity (39). An adjusting gear (41) is fixedly installed at the front end of the output shaft of the motor (40), and a gear segment that cooperates with the adjusting gear (41) is provided below the arc-shaped rotating block (42).

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