Hand exoskeleton and robotic teleoperation system

Abstract

The application discloses a hand exoskeleton and a robot teleoperation system, and the hand exoskeleton comprises a palm fixing seat and a thumb mechanism, an index finger mechanism, a middle finger mechanism, a ring finger mechanism and a little finger mechanism arranged on the palm fixing seat; the thumb mechanism comprises a first knuckle and a second knuckle; the first knuckle is rotationally connected to one side of the palm fixing seat adjacent to the index finger mechanism; the second knuckle is rotationally connected to the first knuckle; and the rotation axes of the first knuckle and the second knuckle intersect on the same vertical projection plane. The rotationally connected first knuckle and the second knuckle and the rotation axes intersecting on the same vertical projection plane can accurately match the linkage motion logic of the multi-degree-of-freedom human thumb, realize comprehensive coverage and accurate following of complex actions such as flexion, extension, side swing and rotation of the thumb, and effectively solve the problem of insufficient capture of subtle actions caused by structural simplification of the existing exoskeleton.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a hand exoskeleton and a robotic teleoperation system. Background Technology

[0002] In current technological and industrial development, humanoid robots, as the forefront of technological innovation, are being increasingly applied in manufacturing, healthcare, service industries, and daily life. These applications place higher demands on the behavioral imitation, motion accuracy, and learning capabilities of humanoid robots. With technological advancements, the motion design and training of humanoid robots have become particularly important to ensure that they can better obey instructions, interact with humans, and perform complex tasks.

[0003] Among them, hand exoskeletons, as core bionic interactive components in humanoid robot teleoperation scenarios, are widely used in master-slave collaborative motion simulation tasks. Their core function is to accurately capture and transmit the user's hand movements, building a mapping bridge between the master's human actions and the slave's robot actions. In this scenario, the user wears a hand exoskeleton on the master end and actively performs actions such as finger flexion and extension, wrist rotation, and fingertip pinching. The sensing modules on the exoskeleton collect this motion data in real time. Subsequently, this data is transmitted to a remote slave simulation device via wireless or wired communication links. Based on the received motion data, the slave device drives its joints and structures to move synchronously, thereby achieving remote simulation of the master's hand movements and completing tasks such as precision operations and remote care.

[0004] However, existing exoskeletons mostly adopt simplified mechanical structure designs, which are difficult to match with the multi-degree-of-freedom linkage logic of the human hand, resulting in some subtle movements that cannot be captured and transmitted, making it difficult to meet the requirements of high-precision motion simulation. Summary of the Invention

[0005] The main purpose of this application is to propose a hand exoskeleton and robot teleoperation system, which aims to solve the technical problem that existing hand exoskeletons are difficult to match the multi-degree-of-freedom linkage logic of the human hand, resulting in the inability to capture and transmit some subtle movements, and thus failing to meet the requirements of high-precision motion simulation.

[0006] To achieve the above objectives, this application proposes a hand exoskeleton, including a palm fixation base, a thumb mechanism, an index finger mechanism, a middle finger mechanism, a ring finger mechanism, and a little finger mechanism, wherein the index finger mechanism, middle finger mechanism, ring finger mechanism, and little finger mechanism are disposed in the palm fixation base;

[0007] The thumb mechanism includes a first phalanx and a second phalanx. The first phalanx is rotatably connected to the palm fixing seat on the side adjacent to the index finger mechanism. The second phalanx is rotatably connected to the first phalanx, and the rotation axis of the second phalanx intersects the rotation axis of the first phalanx on the same vertical projection plane.

[0008] In some embodiments, the first knuckle is configured to rotate in a horizontal plane, and the second knuckle is configured to rotate in a vertical plane.

[0009] In some embodiments, the first phalanx includes a trunk segment and two connecting ends located on the trunk segment, at least one end of the two connecting ends being connected to the palm fixing base.

[0010] In some embodiments, the thumb mechanism further includes a first transmission assembly, which includes a first link and a second link. One end of the first link is rotatably connected to the side of the palm fixing seat opposite to the palm, and the other end of the first link is connected to one end of the second link, and the other end of the second link is rotatably connected to the first knuckle.

[0011] In some embodiments, the thumb mechanism further includes a second transmission component, one end of which is connected to the trunk segment and the other end of which is connected to the second knuckle.

[0012] In some embodiments, the second transmission component includes a scissor lift mechanism.

[0013] In some embodiments, a first support arm is provided on the side of the palm fixing seat near the thumb mechanism, and the first support arm is rotatably connected to one end of the two connecting ends.

[0014] In some embodiments, the palm fixing seat is further provided with a second support arm, the second support arm protruding from the palm of the palm fixing seat, and the first support arm, the second support arm and the palm surface forming a fixing cavity for fixing the human palm.

[0015] In some embodiments, the free end of the second phalanx is provided with a fingertip fixing structure, the fingertip fixing structure including a finger sleeve and a connecting arm, the connecting arm connecting the finger sleeve and the second phalanx, the finger sleeve having a through hole for the fingertip of the human thumb to pass through.

[0016] This application also provides a robot teleoperation system, including a humanoid robot, a control system, and a hand exoskeleton as described above; the control system is communicatively connected to the humanoid robot and the hand exoskeleton respectively, and the control system receives detection data transmitted by the hand exoskeleton and generates corresponding control commands to control the movement of the humanoid robot.

[0017] This hand exoskeleton provides a stable mounting base via a hand fixation seat. The index, middle, ring, and little finger mechanisms are assembled with the fixation seat. Simultaneously, a thumb mechanism composed of the first and second phalanges is designed specifically for the unique movement trajectory of the thumb. Through the rotational connection between the first phalanx and the side of the hand fixation seat adjacent to the index finger mechanism, and the rotational connection between the second phalanx and the first phalanx, with the two rotation axes intersecting on the same vertical projection plane, it can accurately match the multi-degree-of-freedom linkage motion logic of the human thumb. This achieves comprehensive coverage and precise tracking of complex movements such as thumb flexion, extension, lateral movement, and rotation, effectively solving the problem of insufficient fine motion capture caused by the simplified structure of existing exoskeletons. Its overall structural design conforms to the physiological structure of the human hand, and the layout of each finger mechanism is highly adaptable to natural human hand gestures. This ensures both the accuracy and real-time nature of motion transmission and improves wearing comfort, avoiding motion interference and instantaneous joint misalignment. Furthermore, the modular design facilitates adaptation and adjustment according to different users' hand sizes, further enhancing the device's versatility and practicality, providing reliable structural support for high-precision motion simulation. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of one embodiment of the hand exoskeleton of this application;

[0019] Figure 2 This is a schematic diagram of the structure of another embodiment of the hand exoskeleton mechanism of this application;

[0020] Figure 3 This is a schematic diagram of the structure of another embodiment of the hand exoskeleton mechanism of this application;

[0021] Figure 4 This is a connection diagram of an embodiment of the robot teleoperation system of this application. Detailed Implementation

[0022] The solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments in this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0023] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0024] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0025] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0026] Please refer to Figure 1 and Figure 2 One embodiment of this application proposes a hand exoskeleton 100, including a palm fixation base 10, a thumb mechanism 20, an index finger mechanism 30, a middle finger mechanism 40, a ring finger mechanism 50, and a little finger mechanism 60, wherein the index finger mechanism 30, the middle finger mechanism 40, the ring finger mechanism 50, and the little finger mechanism 60 are disposed on the palm fixation base 10.

[0027] The thumb mechanism 20 includes a first phalanx 21 and a second phalanx 22. The first phalanx 21 is rotatably connected to the side of the palm fixing seat 10 adjacent to the index finger mechanism 30. The second phalanx 22 is rotatably connected to the first phalanx 21, and the rotation axis of the second phalanx 22 intersects the rotation axis of the first phalanx 21 on the same vertical projection plane.

[0028] In this embodiment, the palm fixing seat 10 serves as the load-bearing and positioning component of the exoskeleton, providing stable support for the entire device. It is adapted to the human palm, ensuring that the exoskeleton remains relatively fixed to the palm during movement, avoiding motion capture deviations caused by slippage. It also provides an installation reference for the index finger mechanism 30, middle finger mechanism 40, ring finger mechanism 50, and little finger mechanism 60, ensuring that the initial position of each finger joint mechanism is precisely aligned with the human finger joint.

[0029] The index finger mechanism 30, middle finger mechanism 40, ring finger mechanism 50, and little finger mechanism 60 are all mounted on the palm fixing base 10, corresponding to the movement needs of the corresponding fingers in the human body. The structural design conforms to the physiological characteristics and movement patterns of each finger. As a coordinated movement unit, they work in conjunction with the thumb mechanism 20 to simultaneously capture the movement trajectory and posture changes of each finger when the wearer performs actions such as grasping, extending, and multi-finger coordination. Through linkage with the thumb's movements, they achieve complete simulation of diverse hand movements such as clenching a fist, holding objects, and fine motor operations.

[0030] The thumb mechanism 20 is a core component for realizing key hand movements such as pinching and grasping. It consists of a first phalanx 21 and a second phalanx 22, and is responsible for simulating the complex movements of the human thumb. Specifically, the first phalanx 21, as the basic rotating unit of the thumb mechanism 20, is rotatably connected to the side of the palm fixing base 10 adjacent to the index finger, driving the entire thumb mechanism 20 to complete basic movements such as flexion, extension, and abduction, providing support and guidance for the movement of the second phalanx 22. The second phalanx 22, as the fine-tuning execution unit, is rotatably connected to the first phalanx 21. Through the design of the rotation axis intersecting with the first phalanx 21, it achieves precise replication of the movement of the human thumb interphalangeal joint. Based on the movement of the first phalanx 21, the second phalanx 22 can further adjust the fingertip posture to complete subtle movements such as fingertip fine-tuning and precise pinching, greatly improving the exoskeleton's ability to capture complex movements.

[0031] The thumb mechanism 20 in this embodiment adopts a design where the rotation axes of the two phalanges intersect in a coplanar manner, simulating the natural linkage between the metacarpophalangeal joint and the interphalangeal joint of the human thumb. When the wearer drives hand movements, each phalange mechanism rotates synchronously with the human joints. The first phalanx 21 and the second phalanx 22 of the thumb mechanism 20, through the rotational cooperation of the intersecting axes, can accurately match the multi-degree-of-freedom linkage motion logic of the human thumb, achieving comprehensive coverage and precise tracking of complex movements such as thumb flexion, extension, lateral swing, and rotation. This effectively solves the problem of insufficient capture of subtle movements caused by the simplification of the structure of existing exoskeletons.

[0032] Furthermore, the thumb mechanism 20 in this embodiment is designed to fit the physiological structure of the human hand, and the layout of each finger mechanism is highly adaptable to the natural hand gestures of the human body. This not only ensures the accuracy and real-time nature of motion transmission, but also improves wearing comfort. It can avoid motion interference and instantaneous misalignment of joints. At the same time, through the modular mechanism design, it is easy to adapt and adjust according to the hand size of different users, further enhancing the versatility and practicality of the device and providing reliable structural support for high-precision motion simulation.

[0033] It should be understood that in the thumb mechanism 20 of the hand exoskeleton 100 of this embodiment, the rotation axis of the second phalanx 22 intersects the rotation axis of the first phalanx 21 on the same vertical projection plane. This means that when the exoskeleton is in a natural wearing state (i.e., the palm is against the palm fixing seat 10 and the fingers are in a naturally relaxed posture), if the direction perpendicular to the plane where the palm is located is taken as the "vertical direction", the axis formed by the rotation of the first phalanx 21 around the palm fixing seat 10 (corresponding to the movement axis of the human thumb metacarpophalangeal joint) and the axis formed by the rotation of the second phalanx 22 around the first phalanx 21 (corresponding to the movement axis of the human thumb interphalangeal joint) will form a clear intersection point in the vertical projection plane. This design simulates the physiological movement structure of the human thumb. The movement axes of the human thumb metacarpophalangeal joint and the interphalangeal joint itself have a spatial intersection relationship. It is this intersection characteristic that gives the thumb the ability to perform complex actions such as palm opposition and precise pinching.

[0034] The exoskeleton in this embodiment intersects the rotation axes of the two phalanges on the same vertical projection plane, ensuring that when the first phalanx 21 moves the second phalanx 22, the rotation trajectories of the two phalanges can form a coordinated arc-shaped coverage area. This avoids the stiff movements and trajectory deviations caused by traditional parallel axis designs, and allows the second phalanx 22 to accurately follow the movement trend of the first phalanx 21, achieving a natural transition of subtle movements such as fingertip fine-tuning and multi-angle gripping. This provides core structural support for the bionic movement of the entire thumb mechanism 20.

[0035] In some embodiments, the first phalanx 21 is configured to rotate in a horizontal plane, and the second phalanx 22 is configured to rotate in a vertical plane.

[0036] In this embodiment, the first phalanx 21 undertakes the core function of horizontal movement of the thumb. Through rotational connection with the palm fixing seat 10, it can flexibly realize the horizontal swing of the thumb away from or close to other fingers, simulating the abduction and adduction movements of the human thumb, laying the foundation for grasping, palm-to-palm and other movements.

[0037] The second phalanx 22 achieves vertical movement. Based on the movement of the first phalanx 21, it completes the flexion and extension of the thumb by rotating in the vertical plane, precisely adjusting the fingertip posture, so that the thumb can achieve fine movements such as precise pinching and subtle touching.

[0038] The human thumb's actions such as opposition and grasping rely on the coordinated movement of different planes. The exoskeleton is specifically designed with the first phalanx 21 rotating in a horizontal plane and the second phalanx 22 rotating in a vertical plane. The two form a complementary movement in space. This design simulates the joint linkage logic of the human thumb in different movement scenarios. When the wearer drives the thumb to move, the two phalanges rotate flexibly and coordinate in their respective planes, naturally restoring the multi-dimensional movement trajectory of the thumb, providing core support for the accurate capture and transmission of movements.

[0039] The differentiated rotational design of the first phalanx 21 and the second phalanx 22 in this embodiment gives the thumb a richer range of motion, allowing it to flexibly adjust its posture in complex operation scenarios. At the same time, this design enhances the coordination of the thumb with the other four fingers, making the entire hand movement more coordinated and coherent, and further expanding the application scenarios of exoskeletons.

[0040] In the thumb mechanism of the hand exoskeleton 100 in this application embodiment, "horizontal plane" refers to a virtual plane parallel to the plane where the wearer's palm is located, and "vertical plane" refers to a virtual plane perpendicular to the plane where the palm is located and extending along the length of the thumb; the horizontal plane rotation of the first phalanx 21 corresponds to the abduction and adduction movements of the human thumb away from or close to the other four fingers, and the vertical plane rotation of the second phalanx 22 corresponds to the flexion and extension movements of the thumb.

[0041] It should be noted that the division between the horizontal and vertical planes mentioned above is not an absolutely rigid constraint. A certain degree of error is allowed in the actual design. The setting of this error range is based on the core principle of adapting to the natural tolerance of human movement. The movement of the human hand itself does not strictly follow a geometric planar trajectory and has a certain degree of flexible movement space. The planar error design of the exoskeleton is just right to match this physiological characteristic. It can accommodate the differences in hand shape and movement habits of different wearers, and avoid excessive constraints on human movement by the mechanical structure. It ensures that when the thumb performs complex movements such as grasping, pinching, and palming, it still maintains the overall coordination and natural smoothness of movement, and the accuracy of motion capture and transmission will not be affected by small planar deviations.

[0042] In some embodiments, the first phalanx 21 includes a main segment 211 and two connecting ends 212 located on the main segment 211, at least one end of the two connecting ends 212 being connected to the palm fixing seat 10.

[0043] Among them, the main section 211, as the core load-bearing component of the first phalanx 21, undertakes the dual functions of mechanical transmission and motion support. Its structural shape conforms to the natural curvature of the human thumb metacarpal bone, which can disperse the force during movement and avoid local stress concentration. At the same time, it provides a stable installation reference for the connecting end 212, ensuring the relative position accuracy of the two connecting ends 212 and ensuring the stability and consistency of the rotation trajectory of the first phalanx 21.

[0044] The two connecting ends 212 serve as motion connection components for the first phalanx 21, respectively achieving precise connection with the palm fixing seat 10 and the second phalanx 22. At least one end forms a rotatable engagement with the palm fixing seat 10, which can flexibly respond to the horizontal rotation command of the human thumb and provide a stable rotation fulcrum for the first phalanx 21. The other end forms a coordinated linkage structure with the second phalanx 22, ensuring that the movement of the first phalanx 21 can be accurately transmitted to the second phalanx 22, realizing coordinated movement of the two phalanges in different planes.

[0045] In this embodiment, the integrated design of the main segment 211 and the two connecting ends 212 can accurately match the physiological structure and movement characteristics of the human thumb, avoiding movement interference problems caused by structural separation. Moreover, the design of the two connecting ends 212 ensures the reliability of the connection between the first phalanx 21 and the palm fixing seat 10 and the second phalanx 22. By optimizing the contact method of the connection structure, loosening and displacement during movement are reduced, effectively avoiding motion capture errors caused by unstable connection.

[0046] In some embodiments, please refer to Figure 2 and Figure 3 The thumb mechanism 20 also includes a first transmission component 23, which includes a first link 231 and a second link 232. One end of the first link 231 is rotatably connected to the side of the palm fixing seat 10 away from the palm. The other end of the first link 231 is connected to one end of the second link 232. The other end of the second link 232 is rotatably connected to the first phalanx 21.

[0047] The first link 231 serves as the power input and directional transmission component of the transmission link. One end of it forms a stable rotatable connection with the side of the palm fixing seat 10 facing away from the palm, providing a reliable fulcrum for the entire assembly. Specifically, the first link 231 adapts its structural shape to the spatial layout of the back of the hand. After receiving the driving force generated by the wearer's thumb movement, it rotates around the fulcrum in a preset direction, while simultaneously transmitting the power directionally to the second link 232. Through optimized design of length and angle, the transmission stroke and the direction of force transmission are limited, ensuring that the power transmission does not deviate from the expected trajectory, laying a stable foundation for subsequent transmission links.

[0048] The second link 232, serving as an intermediate connecting and motion conversion component in the transmission link, forms flexible rotatable connections with the first link 231 and the first finger joint 21 at both ends, undertaking the dual functions of power transition and motion adaptation. Specifically, the second link 232 receives the power transmitted by the first link 231 and swings synchronously with it. On the other hand, through the flexible characteristics of the hinge structure, it converts the arc rotation of the first link 231 into the horizontal rotation of the first finger joint 21. Simultaneously, it adaptively compensates for changes in the relative position between the first finger joint 21 and the fixed seat during the movement, avoiding problems such as jamming and interference during transmission, and ensuring the smooth connection of the entire transmission link.

[0049] When the wearer actively drives the thumb to move horizontally, the force first acts on the first link 231, causing it to rotate flexibly around the fulcrum. Then, the power is smoothly transmitted through the hinge joint between the first link 231 and the second link 232. Finally, the second link 232 drives the first phalanx 21 to rotate horizontally along a preset trajectory. Throughout the transmission process, the double links compensate for minor displacement deviations during the movement through adaptive angle adjustment. This simulates the mechanical transmission characteristics of human thumb movement while avoiding motion stagnation caused by rigid connections, achieving synchronous and precise transmission of force and motion.

[0050] Compared to a single rigid transmission, the double-link articulated transmission structure of this application embodiment can buffer the impact force of movement through the angle change between the links, reduce energy loss and vibration during power transmission, make the rotation of the first phalanx 21 more stable and smooth, avoid the feeling of jerking, and perfectly adapt to the flexible characteristics of the natural movement of the human thumb.

[0051] In some embodiments, the first transmission assembly 23 further includes a reset member 233, one end of which is connected to the palm fixing seat 10, and the other end of which is connected to one of the first connecting rod 231 and the second connecting rod 232.

[0052] In this embodiment, the reset member 233 establishes a dynamic force balance between the palm fixing seat 10 and the first link 231 (or the second link 232) through an elastic preload. When the human thumb drives the first phalanx 21 to move, the first phalanx 21 drives the first link 231 to rotate around the palm fixing seat 10 through the second link 232, simultaneously stretching or compressing the reset member 233 to store elastic potential energy. When the thumb removes the external force (such as releasing after the grasping action), the reset member 233 releases the elastic potential energy, generating a reverse driving force to drive the first link 231 and the second link 232 back to the initial position, thereby pulling the first phalanx 21 back to its natural extended posture. This design combines the rigid linkage of the mechanical structure with the adaptive force adjustment of the elastic element, so that the movement of the thumb mechanism 20 not only conforms to the physiological trajectory, but also simulates the natural characteristics of active movement and passive reset of biological muscles, forming a complete motion closed loop.

[0053] When there is no active driving force input, the elastic potential energy release of the reset component 233 provides reset power to the first transmission component 23, ensuring that the first phalanx 21 can automatically return to its initial assembly position after completing actions such as flexion, extension, and opposition, without the need for an additional drive module to participate in the reset process. In rehabilitation training and other scenarios, after the user completes the grasping action, the reset component 233 can assist the first phalanx 21 to automatically extend, reducing the user's muscle exertion burden.

[0054] Furthermore, the elastic properties of the reset member 233 can buffer the motion impact of the first transmission assembly 23 in real time. When the first phalanx 21 moves rapidly, the reset member 233 absorbs the instantaneous impact force through deformation, avoiding wear caused by rigid collision between the first link 231, the second link 232 and the rotating connection; at the same time, its preload can be dynamically adjusted according to the movement stroke, providing flexible constraint when the first phalanx 21 moves to the limit position, preventing joint damage caused by overtravel of the mechanism.

[0055] Preferably, the reset component 233 is a spring, which can efficiently realize the reset function by virtue of its mature elastic deformation characteristics and stable force output performance: when one end of the spring is connected to the palm fixing seat 10 and the other end is connected to the first link 231 or the second link 232, it can accurately store / release elastic potential energy through stretching or compression, providing a smooth reset power for the first transmission component 23; and the stiffness parameter of the spring can be flexibly selected according to different application scenarios (such as rehabilitation training requires low stiffness to reduce resistance, and industrial operations require high stiffness to improve reset efficiency). At the same time, its structure is small and the cost is controllable. It can be integrated into the first transmission component 23 without additional complex design, further simplifying the overall structure of the exoskeleton and taking into account both functional practicality and economy.

[0056] In some embodiments, the length of the first link 231 is longer than the length of the second link 232.

[0057] The first link 231 is longer than the second link 232. The longer link length forms a longer lever arm. The longer lever arm makes the power transmission more even when the first link 231 drives the second link 232 to move, avoiding the sudden movement phenomenon that is easy to occur with a short lever arm and improving the overall stability of the movement.

[0058] The shorter length of the second link 232 allows it to convert the larger rotational displacement of the first link 231 into a small-amplitude, precise movement of the first phalanx 21 when receiving the motion transmission from the first link 231. This is especially useful when performing fine movements such as small-angle flexion and extension of the thumb interphalangeal joint and fine-tuning the position of the palm, which can reduce motion errors, improve motion accuracy, and solve the problem of motion overshoot that is prone to occur with long links.

[0059] In some embodiments, the thumb mechanism 20 further includes a second transmission component 24, one end of which is connected to the main segment 211 and the other end of which is connected to the second knuckle 22.

[0060] The second transmission component 24 serves as the power transmission carrier between the first knuckle 21 and the second knuckle 22, undertaking the function of connecting and adapting force and motion. Specifically, one end of the second transmission component 24 is firmly connected to the main section 211 to capture the motion trend and power output of the main section 211, while the other end is connected to the second knuckle 22, converting the captured power orientation into the vertical rotation of the second knuckle 22. At the same time, it buffers the motion impact during transmission, compensates for the slight deviation of the motion trajectory of the two knuckles, reduces the probability of jamming or deviation in the transmission link, and achieves precise matching between power transmission and motion posture.

[0061] When the first phalanx 21 rotates in the horizontal plane, the motion force of the main segment 211 is transmitted to the second phalanx 22 through the second transmission component 24. At the same time, the component can adaptively adjust the transmission posture according to the vertical rotation requirements of the second phalanx 22, so as to realize the coordinated linkage of the two phalanxes in different motion planes, which not only ensures the accuracy of power transmission, but also accommodates the flexible characteristics of finger movement.

[0062] The second transmission component 24 can adopt a variety of common mechanical structures, such as a linkage combination structure, which adapts to the angle compensation requirements between two finger joints through multi-bar hinges, and is suitable for high-precision collaborative motion scenarios; or it can be a gear meshing structure, which ensures transmission accuracy through inter-tooth meshing, and is suitable for scenarios with high requirements for motion replication consistency. In addition, flexible hinges, elastic transmission components and other structures can also be selected. The specific choice can be flexibly made according to the overall design requirements of the exoskeleton, and is not limited to these.

[0063] In some embodiments, the second transmission assembly 24 includes a scissor link mechanism.

[0064] In this embodiment, the scissor link mechanism forms a telescopic transmission structure through a series of cross-hinged links, utilizing the change in the cross angle of the links to achieve linear force transmission and stroke amplification. Specifically, when the main segment 211 of the first finger joint 21 moves, the driving force causes the cross angle of the scissor link to open and close, converting the horizontal power into the vertical driving force required by the second finger joint 22. At the same time, the linkage works together to compensate for motion deviations, adapting to the motion coordination requirements of the two finger joints on different planes.

[0065] The scissor linkage mechanism in this embodiment has a stable transmission ratio, precise force transmission with low loss, and is suitable for the subtle flexion and extension movements of the thumb; the cross structure is compact, does not take up too much space, and ensures wearing flexibility; the linkage group works together to distribute force evenly, has high structural strength and strong durability; the transmission process is smooth and stable, conforms to the flexible characteristics of human thumb movement, and improves the naturalness of movement replication and wearing comfort.

[0066] In some embodiments, a first support arm 11 is provided on the side of the palm fixing seat 10 near the thumb mechanism 20, and the first support arm 11 is rotatably connected to one end of the two connecting ends 212.

[0067] One end of the first support arm 11 is fixedly connected to the palm fixing seat 10 to provide rigid support; the other end is rotatably connected to the first finger joint 21 connecting end 212 to provide a stable rotation fulcrum for the first finger joint 21, guide it to move along a preset trajectory, and transmit power to ensure the continuity of motion transmission.

[0068] In this embodiment, the first support arm 11 serves as a support structure extending from the palm fixing seat 10 to the thumb mechanism 20. Through rotational engagement with the connecting end 212 of the first knuckle 21, it establishes a stable fulcrum for movement. Specifically, the first support arm 11 receives and transmits the wearer's movement force in a directional manner, adapting to the horizontal rotation requirements of the first knuckle 21. Simultaneously, through the flexible characteristics of the rotating joint, it accommodates minor deviations in the natural movement of the palm, achieving precise connection between force and movement. In this embodiment, the first support arm 11 provides stable and flexible support for the first knuckle 21. The rotational engagement reduces friction and jamming, and the compact structure does not occupy extra space, optimizing the wearing experience and enhancing the overall structural reliability.

[0069] In some embodiments, the palm fixing seat 10 is further provided with a second support arm 12, which protrudes from the palm of the palm fixing seat 10, and the first support arm 11, the second support arm 12 and the palm surface form a fixing cavity 13 for fixing the human palm.

[0070] The second support arm 12, serving as the enclosure component of the fixed cavity 13, protrudes from the palm and conforms to the inner curvature of the palm. One end of the second support arm 12 is securely connected to the palm fixing seat 10, while the other end extends to the middle or base of the palm. Through its relative arrangement with the first support arm 11, it provides flexible support and restraint to the human hand from the palm side, preventing the hand from sliding forward or backward or shifting left or right during movement. Simultaneously, it provides uniform support to the hand, reducing localized pressure.

[0071] The fixing cavity 13 is an accommodating space formed by the first support arm 11, the second support arm 12, and the palm surface. Its outline is highly adapted to the natural shape of the human hand, undertaking the functions of hand positioning and fixation. When worn, the palm is embedded in the fixing cavity 13, and relative fixation is achieved through the enclosing action of the support arms, ensuring precise alignment between the finger mechanism and the human finger joints. This provides a stable benchmark for motion capture and power transmission of each finger joint mechanism, while also being compatible with the size differences of different hand shapes, improving structural adaptability.

[0072] The coordinated enclosure design of the dual support arms in this embodiment effectively restricts the multi-directional displacement of the palm, avoiding motion capture deviations caused by palm slippage during movement, ensuring synchronous movement between the finger mechanism and the human fingers, and providing structural support for high-precision motion replication. It is especially suitable for dynamic scenarios such as rapid gripping and frequent flexion and extension. In addition, the layout of the first support arm 11 and the second support arm 12 not only independently undertakes the functions of support and limitation, but also forms an organic whole through the fixing cavity 13, forming a structural linkage with the palm fixing seat 10 and the finger mechanism, ensuring the coordination and consistency of the overall movement of the exoskeleton. At the same time, the compact layout design does not occupy extra space and ensures the flexibility of hand movements.

[0073] In some embodiments, the free end of the second phalanx 22 is provided with a fingertip fixing structure 25, which includes a finger sleeve 251 and a connecting arm 252. The connecting arm 252 connects the finger sleeve 251 and the second phalanx 22. The finger sleeve 251 is constructed with a through hole 253 for the fingertip of the human thumb to pass through.

[0074] Among them, the finger sleeve 251 conforms to the contour of the human thumb tip through the pre-set through hole 253 structure, providing a wrap-around positioning for the fingertip. The size and shape of its through hole 253 are adapted to the physiological characteristics of the fingertip, which can not only firmly fix the fingertip and prevent slippage or displacement during movement, but also reduce the pressure on the fingertip, while accurately capturing the subtle movement trends of the fingertip, providing a basis for the transmission of movement.

[0075] One end of the connecting arm 252 is firmly connected to the second knuckle 22, and the other end is rigidly connected to the finger sleeve 251. It can accurately transmit the rotational power of the second knuckle 22 to the fingertip. At the same time, through the optimized design of its own structural shape, it adapts to the rotational trajectory of the second knuckle 22, avoids motion interference with other components, and ensures the smoothness of fingertip movement.

[0076] In this embodiment, the fingertip fixing structure 25, through the coordinated design of the connecting arm 252 and the finger sleeve 251, establishes a stable linkage between the second phalanx 22 and the fingertip of the human thumb. The through-hole 253 structure of the finger sleeve 251 enables precise positioning of the fingertip, and the connecting arm 252 rigidly connects the finger sleeve 251 to the second phalanx 22, ensuring synchronized movement between the fingertip and the rotation of the second phalanx 22. When the wearer flexes or extends the thumb, the fingertip transmits the intention through the finger sleeve 251, while the connecting arm 252 adapts to the vertical rotation trajectory of the second phalanx 22, ensuring that the fingertip movement and the exoskeleton movement are synchronized without deviation. This achieves reliable fixation of the fingertip without restricting its natural range of motion, achieving a dual balance between fixation and adaptation.

[0077] Please refer to Figure 4This application also provides a robot teleoperation system 200, including a humanoid robot 201, a control system 202, and a hand exoskeleton 100 as described above. The control system 202 is communicatively connected to both the humanoid robot 201 and the hand exoskeleton 100. The control system 202 receives detection data transmitted by the hand exoskeleton 100 and generates corresponding control commands to control the movement of the humanoid robot 201. Since the robot teleoperation system 200 adopts all the technical solutions of all the embodiments of the hand exoskeleton 100 described above, the robot teleoperation system 200 of this application also has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated here.

[0078] The above are only some or preferred embodiments of this application. Neither the text nor the drawings should limit the scope of protection of this application. All equivalent structural transformations made using the content of this application's specification and drawings under the overall concept of this application, or direct / indirect applications in other related technical fields, are included within the scope of protection of this application.

Claims

1. A hand exoskeleton, comprising a palm fixation base, a thumb mechanism, an index finger mechanism, a middle finger mechanism, a ring finger mechanism, and a little finger mechanism, wherein the index finger mechanism, middle finger mechanism, ring finger mechanism, and little finger mechanism are disposed on the palm fixation base, characterized in that: The thumb mechanism includes a first phalanx and a second phalanx. The first phalanx is rotatably connected to the palm fixing seat on the side adjacent to the index finger mechanism. The second phalanx is rotatably connected to the first phalanx, and the rotation axis of the second phalanx intersects the rotation axis of the first phalanx on the same vertical projection plane. The first phalanx includes a main segment and two connecting ends located on the main segment, one end of which is connected to the palm fixing base; A first support arm is provided on the side of the palm fixing seat near the thumb mechanism. The first support arm is rotatably connected to the other end of the two connecting ends. The first support arm is used to support the human palm.

2. The hand exoskeleton according to claim 1, characterized in that, The first knuckle is configured to rotate in the horizontal plane, and the second knuckle is configured to rotate in the vertical plane.

3. The hand exoskeleton according to claim 1, characterized in that, The thumb mechanism further includes a first transmission assembly, which includes a first connecting rod and a second connecting rod. One end of the first connecting rod is rotatably connected to the side of the palm fixing seat away from the palm, and the other end of the first connecting rod is connected to one end of the second connecting rod. The other end of the second connecting rod is rotatably connected to the first knuckle.

4. The hand exoskeleton according to claim 1, characterized in that, The thumb mechanism also includes a second transmission component, one end of which is connected to the main trunk segment, and the other end of which is connected to the second knuckle.

5. The hand exoskeleton according to claim 4, characterized in that, The second transmission assembly includes a scissor lift mechanism.

6. The hand exoskeleton according to claim 1, characterized in that, The palm fixing seat is also provided with a second support arm, which protrudes from the palm of the palm fixing seat. The first support arm, the second support arm and the palm surface together form a fixing cavity for fixing the human palm.

7. The hand exoskeleton according to any one of claims 1 to 6, characterized in that, The free end of the second phalanx is provided with a fingertip fixing structure, which includes a finger sleeve and a connecting arm. The connecting arm connects the finger sleeve and the second phalanx. The finger sleeve is constructed with a through hole for the fingertip of the human thumb to pass through.

8. A robot teleoperation system, characterized in that, The system includes a humanoid robot, a control system, and a hand exoskeleton as described in any one of claims 1 to 7; the control system is communicatively connected to both the humanoid robot and the hand exoskeleton, and receives detection data transmitted by the hand exoskeleton and generates corresponding control commands to control the movement of the humanoid robot.

Images