Hand exoskeleton mechanism and humanoid robot teleoperation system

Abstract

The invention discloses a hand exoskeleton mechanism and a humanoid robot teleoperation system. At least one of an index finger executing mechanism, a middle finger executing mechanism, a ring finger executing mechanism and a little finger executing mechanism of the hand exoskeleton mechanism comprises a knuckle assembly, a shear fork assembly and a connecting rod assembly. The knuckle assembly comprises at least one knuckle unit; the shear fork assembly comprises a first arm and a second arm which are arranged in a shear fork mode, one end of the first arm and one end of the second arm are rotationally connected with the knuckle unit, close to the palm mounting base, of the knuckle assembly, and the other end of the first arm and the other end of the second arm are rotationally connected with the palm mounting base; one end of the connecting rod assembly is rotationally connected with the first arm, and the other end of the connecting rod assembly is rotationally connected with the palm mounting base. According to the hand exoskeleton mechanism, the problem of motion deviation caused by lack of constraint of a single power transmission structure is solved, and the risk of secondary injury of joints of a patient in a rehabilitation scene and the error rate of precise operation in an industrial scene are reduced.

Description

Technical Field

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

[0002] As wearable mechanical devices, hand exoskeletons have been widely used in rehabilitation medicine, industrial assistance, and virtual reality interaction. In rehabilitation medicine, they can assist patients with hand motor dysfunction in rehabilitation training, helping to restore finger bending and extension abilities. In industrial assistance, they can provide workers with hand drive force, reducing labor intensity and the risk of muscle strain. In virtual reality interaction, they can capture hand movements and provide force feedback signals, enhancing the immersive experience.

[0003] As application demands upgrade, the market is placing higher requirements on the precision of the mechanism's movements, operational stability, and lifespan. Existing hand exoskeleton mechanisms for the index, middle, ring, and little fingers rely solely on a single power transmission structure to drive the phalanges, lacking effective constraints on phalangeal joint posture. This leads to the robot fingers easily wobbling and deviating when simulating human movements, compromising the accuracy of teleoperation. This is particularly problematic in rehabilitation training scenarios, where movement deviations may negatively impact rehabilitation outcomes. Summary of the Invention

[0004] The main purpose of this application is to propose a hand exoskeleton mechanism and a humanoid robot teleoperation system, which aims to solve existing technical problems.

[0005] To achieve the above objectives, this application proposes a hand exoskeleton mechanism, including a palm mounting base and index finger actuators, middle finger actuators, ring finger actuators, and little finger actuators respectively hinged to the palm mounting base. At least one of the index finger actuators, middle finger actuators, ring finger actuators, and little finger actuators includes a knuckle assembly, a scissor assembly, and a linkage assembly. The knuckle assembly includes at least one knuckle unit; The scissor assembly includes a first arm and a second arm with scissor forks. One end of the first arm and the second arm are rotatably connected to the knuckle unit of the knuckle assembly near the palm mounting base. The other end of the first arm and the second arm are rotatably connected to the palm mounting base. One end of the linkage assembly is rotatably connected to the first arm, and the other end of the linkage assembly is rotatably connected to the palm mounting base.

[0006] In some embodiments, the palm mount has a first mounting platform protruding on the side facing away from the palm. The end of the first arm away from the knuckle unit and the end of the second arm away from the knuckle unit are both rotatably connected to the first mounting platform. The rotatable connection points between the first arm and the first mounting platform and the rotatable connection points between the second arm and the first mounting platform are distributed vertically at intervals along the height direction of the first mounting platform.

[0007] In some embodiments, the scissor lift assembly further includes a reset member, one end of which is connected to the palm mount and the other end of which is rotatably connected to the first arm.

[0008] In some embodiments, the linkage assembly includes a first link and a second link, one end of the first link is rotatably connected to the palm mount, 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 arm.

[0009] In some embodiments, the palm mount has a second mounting platform protruding on the side facing away from the palm. The second mounting platform and the first mounting platform are arranged at intervals along the length of the palm mount. The end of the first connecting rod away from the second connecting rod is rotatably connected to the second mounting platform.

[0010] In some embodiments, the first arm is provided with a support portion extending away from the first mounting platform, and the end of the second link away from the first link is rotatably connected to the support portion.

[0011] In some embodiments, the hinge point between the first connecting rod and the second mounting platform is the first hinge point, the hinge point between the second connecting rod and the first connecting rod is the second hinge point, the rotational connection point between the second connecting rod and the support is the third hinge point, and the hinge point between the first arm and the first mounting platform is the fourth hinge point. The lines connecting the first hinge point, the second hinge point, the third hinge point, and the fourth hinge point form a quadrilateral structure.

[0012] In some embodiments, the hand exoskeleton mechanism further includes an angle detector located at the rotatable connection between the first link and the second mounting platform.

[0013] In some embodiments, the index finger actuator, middle finger actuator, ring finger actuator, and little finger actuator are arranged side by side on the side of the palm fixing seat facing away from the palm, and the index finger actuator, middle finger actuator, ring finger actuator, and little finger actuator have the same structure.

[0014] This application also provides a humanoid robot teleoperation system, including a humanoid robot, a control system, and a hand exoskeleton mechanism as described above; the control system is communicatively connected to the humanoid robot and the hand exoskeleton mechanism respectively, and the control system receives detection data transmitted by the hand exoskeleton mechanism and generates corresponding control commands to control the movement of the humanoid robot.

[0015] The hand exoskeleton mechanism of this application incorporates a composite structure containing at least a knuckle assembly, a scissor assembly, and a linkage assembly in the actuators corresponding to the index, middle, ring, and little fingers. The scissor assembly utilizes a first and second arm to form a bidirectional posture constraint: one end of each arm is synchronously hinged to the knuckle unit of the knuckle assembly near the palm mounting base, while the other end rotates together to the palm mounting base, constructing a symmetrical trajectory limiting frame. This frame can accurately match the natural motion coupling relationship of multiple joints such as the metacarpophalangeal joints and proximal interphalangeal joints of the fingers, effectively limiting the lateral sway and trajectory deviation of the knuckle unit during movement. Simultaneously, the linkage assembly, through rotational connections at both ends to the first arm and the palm mounting base, combines power transmission and posture correction functions. While driving the knuckle assembly to complete bending and extension movements, the rigid support of the scissor structure and the force feedback adjustment of the linkage assembly enable real-time correction of the knuckle's motion posture, significantly improving the accuracy and smoothness of motion execution. The hand exoskeleton mechanism of this application not only avoids the motion deviation problem caused by the lack of constraints in a single power transmission structure, reducing the risk of secondary joint injury to patients in rehabilitation scenarios and the error rate of precision operation in industrial scenarios, but also disperses the motion load through the scissor assembly, reduces asymmetric wear of components, and extends the service life of the mechanism. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of an embodiment of the hand exoskeleton mechanism of this application; Figure 2 This is a schematic diagram of the structure of another embodiment of the hand exoskeleton mechanism of this application; Figure 3 This is a partial disassembly diagram of an embodiment of the hand exoskeleton mechanism of this application; Figure 4 This is a connection diagram of an embodiment of the humanoid robot teleoperation system of the present applicant. Detailed Implementation

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] Please refer to Figure 1 and Figure 2 One embodiment of this application proposes a hand exoskeleton mechanism 100, including a palm mounting base 10 and index finger actuator 20, middle finger actuator 30, ring finger actuator 40, and little finger actuator 50 respectively hinged to the palm mounting base 10. At least one of the index finger actuator 20, middle finger actuator 30, ring finger actuator 40, and little finger actuator 50 includes a knuckle assembly 60, a scissor assembly 70, and a linkage assembly 80. The knuckle assembly 60 includes at least one knuckle unit 61; The scissor fork assembly 70 includes a first arm 71 and a second arm 72 provided with scissor forks. One end of the first arm 71 and the second arm 72 are rotatably connected to the knuckle unit 61 of the knuckle assembly 60 near the palm mounting base 10, and the other end of the first arm 71 and the second arm 72 are rotatably connected to the palm mounting base 10. One end of the connecting rod assembly 80 is rotatably connected to the first arm 71, and the other end of the connecting rod assembly 80 is rotatably connected to the palm mounting seat 10.

[0022] The palm mount 10 serves as the reference component of the entire hand exoskeleton mechanism 100. The palm mount 10 can be tightly fitted to the human palm via straps, Velcro, or other adaptable structures, achieving stable fixation of the mechanism on the palm and preventing relative displacement between the mechanism and the palm during movement. This provides a stable mounting base for each finger actuator. The index finger actuator 20, middle finger actuator 30, ring finger actuator 40, and little finger actuator 50 are connected to the palm mount 10 via hinges. The initial mounting angle of each finger actuator can be preset according to the position distribution and range of motion of different fingers.

[0023] The knuckle assembly 60 includes at least one knuckle unit 61, each knuckle unit 61 corresponding to the metacarpophalangeal joint, proximal interphalangeal joint, and distal interphalangeal joint of the human finger. Through the rotational connection of adjacent knuckle units 61, it simulates the multi-degree-of-freedom movement of the human finger joint, realizes the replication of complex movements such as finger bending, extension, and lateral swing, and meets the needs for movement flexibility in rehabilitation training, industrial assistance and other scenarios.

[0024] The scissor lift assembly 70 consists of a first arm 71 and a second arm 72 set by the scissor lift. This structure can form a rigid constraint on the movement trajectory of the knuckle assembly 60, limiting the knuckle assembly 60 to move only along a preset arc trajectory. This effectively solves the problem of movement deviation and swaying caused by the lack of constraint in the existing single power structure, and ensures the accuracy of the movement.

[0025] One end of the first arm 71 and the second arm 72 are rotatably connected to the knuckle assembly 60, and the other end is rotatably connected to the palm mounting base 10. When the linkage assembly 80 drives the first arm 71 to move, the first arm 71 drives the second arm 72 to move synchronously, so that the scissor assembly 70 is in a symmetrical extension and retraction state, and the driving force is evenly distributed to the connection point of the knuckle assembly 60, avoiding local overload of the knuckle unit 61 due to force concentration, and extending the service life of the component.

[0026] Furthermore, by adjusting the length ratio and crossing angle of the first arm 71 and the second arm 72, or by adding an adjustable-length linkage structure to the scissor assembly 70, the extension and retraction stroke of the scissor assembly 70 can be flexibly adjusted, thereby adapting to the range of motion of different users' fingers (such as the limited range of motion of rehabilitation patients or specific movement strokes in industrial operations), and improving the versatility of the mechanism.

[0027] The linkage assembly 80 adopts a rigid rod structure. One end of it is rotatably connected to the first arm 71 of the scissor lift assembly 70 via a pin, and the other end is rotatably connected to the hand mounting base 10. This allows for the stable transmission and optimization of the power path of the active force received by the hand from the scissor lift assembly 70. The length of the linkage assembly 80 and the positions of the two rotating connection points can be pre-designed to form a fixed transmission trajectory. When the hand actively drives the scissor lift assembly 70, the linkage assembly 80 can guide the first arm 71 to move along the preset trajectory through its rigid structure, further assisting the scissor lift assembly 70 in constraining the movement path of the knuckle assembly 60 and preventing deviation of the movement trajectory due to unstable hand force.

[0028] When the human hand actively bends or extends, the fingers drive the knuckle assembly 60 to move synchronously. The knuckle assembly 60 is rotatably connected to the scissor assembly 70, transmitting the active force of the hand to the scissor assembly 70. The first arm 71 and the second arm 72 of the scissor assembly 70 are arranged in a scissor-like cross configuration, with their ends rotatably connected to the knuckle assembly 60 and the palm mounting base 10, respectively. Under the action of the active force of the hand, the first arm 71 and the second arm 72 extend and retract synchronously around their respective rotation nodes. At the same time, the power transmission path is further optimized through the transmission cooperation of the linkage assembly 80. The cross structure of the scissor assembly 70 and the rigid transmission of the linkage assembly 80 together form a double constraint on the movement trajectory of the knuckle assembly 60, avoiding deviation or wobbling during the movement and ensuring precise and stable hand movements.

[0029] The hand exoskeleton mechanism 100 of this application embodiment uses a composite structure containing at least a knuckle assembly 60, a scissor assembly 70, and a linkage assembly 80 in the actuators corresponding to the index, middle, ring, and little fingers. The first arm 71 and the second arm 72 of the scissor assembly 70 form a bidirectional posture constraint: one end of each arm is synchronously hinged to the knuckle unit 61 of the knuckle assembly 60 near the palm mounting base 10, and the other end is rotatably connected to the palm mounting base 10, constructing a symmetrical trajectory limiting frame that can accurately match the finger joints of the human fingers and palm. The natural motion coupling relationship of multiple joints such as the knuckle and proximal interphalangeal joints effectively limits the lateral sway and trajectory deviation of the knuckle unit 61 during movement. At the same time, the linkage assembly 80 combines power transmission and posture correction functions through rotational connections at both ends to the first arm 71 and the palm mounting base 10, respectively. While driving the knuckle assembly 60 to complete bending and extension movements, the rigid support of the scissor structure and the force feedback adjustment of the linkage assembly 80 realize real-time correction of the knuckle movement posture, significantly improving the accuracy of movement execution and the smoothness of operation.

[0030] The hand exoskeleton mechanism 100 of this application embodiment not only avoids the motion deviation problem caused by the lack of constraints in a single power transmission structure, reducing the risk of secondary joint injury to patients in rehabilitation scenarios and the error rate of precision operation in industrial scenarios, but also disperses the motion load through the scissor assembly 70, reducing asymmetric wear of components and extending the service life of the mechanism.

[0031] It should be understood that the hand exoskeleton mechanism 100 of this application embodiment can also be configured with an independent thumb actuator as needed. This mechanism is hinged to the area of ​​the palm mounting base 10 corresponding to the human thumb and can adapt to the basic movements of the thumb such as flexion, extension, and opposition. Its core transmission logic is consistent with the four-finger actuator. Only the structural parameters are adjusted for the size and movement characteristics of the thumb. It can work together with the other four fingers to complete hand actions such as grasping and pinching, further expanding the mechanism's coverage of the full hand function.

[0032] In some embodiments, please refer to Figure 2 The palm mounting base 10 has a first mounting platform 11 protruding on the side facing away from the palm. The end of the first arm 71 away from the knuckle unit 61 and the end of the second arm 72 away from the knuckle unit 61 are rotatably connected to the first mounting platform 11. The rotatable connection points of the first arm 71 and the first mounting platform 11 and the rotatable connection points of the second arm 72 and the first mounting platform 11 are distributed vertically at intervals along the height direction of the first mounting platform 11.

[0033] The first mounting platform 11 protrudes from the side of the palm mounting base 10 facing away from the palm, forming a spatial height difference with the main body of the palm mounting base 10. This allows the first arm 71 and the second arm 72 of the scissor assembly 70 to be installed in an area away from the back of the palm, preventing the scissor assembly 70 from rubbing or squeezing against the edge of the main body of the palm mounting base 10 or the skin on the back of the human hand during movement. This also prevents the movement of the scissor assembly 70 from causing deformation of the main body of the mounting base, which would affect hand comfort and movement tracking.

[0034] The first mounting platform 11 can accurately preset the rotation connection points of the first arm 71, the second arm 72 and itself. Through its own height-direction structural design, it ensures that the two rotation connection points form a stable vertical distance along the height direction. This distance can be preset according to the movement stroke requirements of the scissor lift assembly 70 and the movement range of the finger assembly 60, avoiding deviation of the movement trajectory of the scissor lift assembly 70 due to the position deviation of the rotation connection points. At the same time, the fixed distance can ensure that the scissor lift assembly 70 maintains a stable cross-movement state during long-term movement, reducing the problem of decreased movement accuracy caused by the displacement of the connection points.

[0035] In this embodiment, the protruding structure of the first mounting platform 11 provides independent mounting space for the first arm 71 and the second arm 72 of the scissor assembly 70, with a certain distance from the main body of the palm mounting seat 10, to avoid direct contact between the scissor assembly 70 and the main body of the palm mounting seat 10 or the back of the human hand, thus preventing motion interference. The rotation connection points of the first arm 71, the second arm 72 and the first mounting platform 11 are distributed vertically along the height direction, so that the scissor assembly 70 forms a preset cross angle in the initial state. When the active force of the hand is transmitted to the scissor assembly 70, the two arms can synchronously extend and retract around the vertically spaced rotation points, reducing the jamming phenomenon in the initial movement stage. At the same time, the spaced rotation points can guide the scissor assembly 70 to maintain a symmetrical extension and retraction trajectory during the movement, further strengthening the constraint effect on the movement trajectory of the knuckle assembly 60, ensuring that the hand movement is always accurately performed along the preset path, and without the need for additional structural assistance to adjust the initial posture of the scissor assembly 70.

[0036] In some embodiments, the scissor lift assembly 70 further includes a reset member 73, one end of which is connected to the palm mount 10 and the other end of which is rotatably connected to the first arm 71.

[0037] The reset component 73 is made of a component with elastic deformation capability, such as a tension spring, compression spring, or elastic rope. One end of it is fixedly or rotatably connected to the palm mounting seat 10, and the other end is rotatably connected to the first arm 71. It can store potential energy by elastic deformation when the scissor assembly 70 is unfolded (hand is bent), and release the potential energy when the hand is relaxed to drive the first arm 71 to move in the opposite direction. This provides a stable reverse force for the scissor assembly 70 to contract (hand is extended), reducing the force burden on the hand during the extension movement. It is especially suitable for rehabilitation patients with weak hand extension strength.

[0038] When the hand actively applies force to bend the knuckle assembly 60, the knuckle assembly 60 drives the first arm 71 and the second arm 72 of the scissor lift assembly 70 to unfold around the rotational connection point of the first mounting platform 11. At this time, the reset member 73, which is rotatably connected to the first arm 71, is stretched or compressed, storing elastic potential energy. When the hand's active force is removed and it needs to return to the extended state, the reset member 73 releases the stored elastic potential energy, generating a reverse driving force that acts on the first arm 71, causing the first arm 71 to rotate in the opposite direction. This, in turn, pulls the scissor lift assembly 70 to retract as a whole, ultimately driving the knuckle assembly 60 to extend synchronously with the hand. This process does not require the hand to apply additional extension force. The elasticity of the reset member 73 balances the forces on the hand's bending and extension, while ensuring that the scissor lift assembly 70 always moves along a preset trajectory during action switching, avoiding reset lag or trajectory deviation caused by unstable hand force.

[0039] In some embodiments, the linkage assembly 80 includes a first link 81 and a second link 82. One end of the first link 81 is rotatably connected to the palm mount 10, the other end of the first link 81 is connected to one end of the second link 82, and the other end of the second link 82 is rotatably connected to the first arm 71.

[0040] In this embodiment, one end of the first link 81 is rotatably connected to the palm mounting base 10, and its angle can be flexibly adjusted around the fixed rotation point to cooperate with the power transmitted by the second link 82 and adapt to the angle changes of the scissor assembly 70 in different stages of movement; its other end is connected to the second link 82, which can smoothly transmit the active force of the hand transmitted by the second link 82 to the palm mounting base 10, forming a stable transmission closed loop, avoiding force loss caused by angle deviation during power transmission, and the initial transmission ratio of the scissor assembly 70 can be preset through its own length design.

[0041] One end of the second link 82 is rotatably connected to the first arm 71, and can directly receive the active force of the hand transmitted by the first arm 71 of the scissor fork assembly 70. The power is transmitted through the connection end with the first link 81. The rotatable connection structure at both ends can buffer the angle difference between the first arm 71 and the first link 81, and avoid transmission jamming caused by the asynchronous movement angle of the two. Especially when the scissor fork assembly 70 quickly changes the direction of movement, it can reduce the lag in power transmission.

[0042] The connection node between the first link 81 and the second link 82 adopts a rotatable structure, such as a pin connection or a bearing connection. The included angle between the two links can be adjusted according to the movement requirements of the scissor assembly 70, adapting to the angle changes of the scissor assembly 70 at different stages of unfolding and retracting, avoiding movement interference caused by the fixed angle of the integrated link. At the same time, the movement clearance of the connection node can be preset to ensure the smoothness of the movement of the two links.

[0043] The segmented linkage assembly 80 of this embodiment, through the angle adjustment of the first link 81 and the second link 82, can adapt to the scissor lift assembly 70's movement angle changes from 0-90°, avoiding transmission jamming or structural interference that occurs with a one-piece linkage during large-angle movements. This is particularly suitable for rehabilitation medical scenarios where patients' hands need to complete large-amplitude bending and stretching exercises, as well as for high-frequency, multi-angle hand motion capture in virtual reality interactive scenarios, improving the mechanism's adaptability to complex movements. Furthermore, by replacing the first link 81 or the second link 82 with different lengths, the overall transmission ratio of the linkage assembly 80 can be quickly adjusted to suit the finger movement range requirements of users with different hand sizes.

[0044] In some embodiments, a second mounting platform 12 is provided on the side of the palm mounting base 10 facing away from the palm. The second mounting platform 12 and the first mounting platform 11 are arranged at intervals along the length direction of the palm mounting base 10. The end of the first connecting rod 81 away from the second connecting rod 82 is rotatably connected to the second mounting platform 12.

[0045] In this embodiment, the second mounting platform 12 and the first mounting platform 11 are arranged at intervals along the length of a palm, which spatially separates the mounting position of the first link 81 of the segmented linkage assembly 80 from the mounting position of the scissor fork assembly 70. This avoids collisions or friction between the first link 81 and the first arm 71 and the second arm 72 of the scissor fork assembly 70 when the first link 81 moves. Especially when the scissor fork assembly 70 is fully extended, it can ensure that the first link 81 has enough room to move and prevent movement jamming caused by transmission interference.

[0046] The end of the first link 81 furthest from the second link 82 is rotatably connected to the second mounting platform 12. The fixed position of the second mounting platform 12 ensures that the rotation center position of the first link 81 is accurate and fixed, avoiding transmission path deviation caused by installation position deviation of the first link 81. At the same time, this connection method ensures that the first link 81 always rotates around the fixed point during the movement, forming a stable linkage relationship with the movement of the second link 82, reducing power transmission loss caused by the shaking of the first link 81, and further improving the transmission stability of the segmented link assembly 80.

[0047] Preferably, the second mounting platform 12 can be integrally formed with the palm mounting seat 10, and its protruding part can be designed as a reinforcing rib structure. While providing rotational support for the first connecting rod 81, it can enhance the structural strength of the corresponding area of ​​the palm mounting seat 10, avoid local deformation of the mounting seat when the first connecting rod 81 transmits power, ensure the stability of the rotational connection point of the first connecting rod 81, and ensure that the transmission path is always accurate.

[0048] The spaced arrangement of the second mounting platform 12 and the first mounting platform 11 in this embodiment completely separates the movement areas of the segmented linkage assembly 80 and the scissor assembly 70 in space, avoiding structural interference between the two throughout the entire movement stroke. This is especially suitable for scenarios where the scissor assembly 70 and the linkage assembly 80 need to perform large-amplitude movements simultaneously (such as large-amplitude rehabilitation training of the patient's hand in rehabilitation medicine), ensuring that the mechanism can stably complete various actions and improving the reliability of use.

[0049] In some embodiments, the first arm 71 is provided with a support portion 711 extending away from the first mounting platform 11, and the end of the second link 82 away from the first link 81 is rotatably connected to the support portion 711.

[0050] The support 711 extends away from the first mounting platform 11, providing an independent connection position for the second link 82 away from the first mounting platform 11. This ensures that the connection point between the second link 82 and the first arm 71 avoids the rotational connection area between the first arm 71 and the first mounting platform 11, preventing the second link 82 from colliding or rubbing against the first mounting platform 11 and the second arm 72 of the scissor fork assembly 70 during movement. Especially when the scissor fork assembly 70 retracts to its minimum stroke, it ensures that the second link 82 has sufficient movement space and prevents transmission jamming.

[0051] When the active force of the hand drives the scissor lift assembly 70 to move, the first arm 71 rotates around the first mounting platform 11, and the support part 711 drives the second link 82 to move synchronously. Due to the extended structure of the support part 711, the movement trajectory of the second link 82 forms a preset angle with the rotation trajectory of the first arm 71, which can avoid the second link 82 from interfering with the first mounting platform 11 and the second arm 72 of the scissor lift assembly 70. At the same time, the extended connection point can adjust the lever arm length of the second link 82 to transmit power, so that when the active force of the hand is transmitted to the second link 82 through the support part 711, the stress is more evenly distributed to the link assembly 80 and the scissor lift assembly 70, reducing local stress concentration, ensuring that the movement direction of each component is consistent during the power transmission process, further strengthening the constraint effect on the movement trajectory of the knuckle assembly 60, and eliminating the need for additional structural adjustments to the power transmission arm.

[0052] Preferably, the support 711 and the first arm 71 can be integrated into one unit, and its extension direction is adapted to the rotation trajectory of the first arm 71. When the first arm 71 rotates around the first mounting platform 11, the support 711 can guide the second link 82 to move along a preset trajectory, so that the movement trajectory of the second link 82 and the rotation trajectory of the first arm 71 always maintain an adapted angle, avoiding the transmission phase difference caused by improper connection point position, and ensuring that the segmented link assembly 80 and the scissor assembly 70 move synchronously.

[0053] In some embodiments, please refer to Figure 2 and Figure 3 The hinge point between the first connecting rod 81 and the second mounting platform 12 is the first hinge point 101, the hinge point between the second connecting rod 82 and the first connecting rod 81 is the second hinge point 102, the rotational connection point between the second connecting rod 82 and the support part 711 is the third hinge point 103, and the hinge point between the first arm 71 and the first mounting platform 11 is the fourth hinge point 104. The lines connecting the first hinge point 101, the second hinge point 102, the third hinge point 103 and the fourth hinge point 104 form a quadrilateral structure.

[0054] The first hinge point 101 (the hinge point between the first connecting rod 81 and the second mounting platform 12) serves as one of the fixed fulcrums of the quadrilateral structure, providing a stable rotation reference for the first connecting rod 81 and restricting the first connecting rod 81 to rotate only around this point along a preset plane, thus preventing the first connecting rod 81 from shifting laterally during power transmission. At the same time, this fixed fulcrum provides a geometric positioning reference for the quadrilateral structure, ensuring that the deformation of the quadrilateral structure is always within a preset range, and guaranteeing the correlation of the movement of each component.

[0055] The second hinge point 102 (the hinge point between the second link 82 and the first link 81) serves as the movable fulcrum of the quadrilateral structure, enabling flexible linkage between the first link 81 and the second link 82. This allows the two links to adjust their included angle during quadrilateral deformation, adapting to changes in the movement angle of the scissor lift assembly 70. Simultaneously, this hinge point can transmit the power between the first link 81 and the second link 82, ensuring smooth transmission of the hand's active force along the quadrilateral structure and avoiding power transmission interruptions.

[0056] The third hinge point 103 (the rotatable connection point between the second link 82 and the support 711) serves as another movable fulcrum of the quadrilateral structure, converting the motion of the scissor lift assembly 70 into the deformation force of the quadrilateral structure. The support 711 drives the second link 82 to rotate around this point, thereby pulling the second hinge point 102 to move. At the same time, this hinge point forms a linkage relationship with the fourth hinge point 104, ensuring that the rotation of the first arm 71 and the movement of the second link 82 always conform to the quadrilateral geometric constraints, avoiding deviation from the motion trajectory.

[0057] The fourth hinge point 104 (the hinge point between the first arm 71 and the first mounting platform 11) serves as another fixed fulcrum of the quadrilateral structure, providing a rotation reference for the first arm 71 and restricting the first arm 71 to rotate only around this point. At the same time, it cooperates with the first hinge point 101 to form a fixed side of the quadrilateral structure, ensuring that the deformation of the quadrilateral structure is always based on the two fixed fulcrums, and avoiding overall deviation of the entire mechanism movement.

[0058] Since the first hinge point 101 is fixed in position, the second hinge point 102 moves along a preset trajectory under the traction of the third hinge point 103, thereby constraining the first link 81 to rotate stably around the first hinge point 101. Throughout the movement, the geometric characteristics of the quadrilateral structure ensure that the movement trajectories of each hinge point are interconnected and cannot deviate independently, forming a rigidly constrained power transmission path. This ensures that the movements of the scissor lift assembly 70 and the link assembly 80 remain coordinated, further enhancing the precise control of the movement trajectory of the knuckle assembly 60, without requiring additional structures to correct movement deviations.

[0059] In some embodiments, the hand exoskeleton mechanism 100 further includes an angle detector 90, which is located at the rotatable connection between the first link 81 and the second mounting platform 12.

[0060] In this embodiment, the angle detector 90 adopts high-precision sensing elements, such as potentiometer-type angle sensors and Hall-effect angle sensors, which can capture the relative rotation angle between the first connecting rod 81 and the second mounting platform 12 in real time, ensuring accurate recording of the dynamic changes of the angle during the movement of the mechanism. In particular, it can capture the angle fluctuations corresponding to the subtle hand movements, providing a high-frequency and high-accuracy data foundation for motion state analysis.

[0061] Specifically, the first hinge point 101 serves as a fixed fulcrum for the quadrilateral structure, and its angle change directly reflects the rotation state of the first link 81. Based on the geometric linkage characteristics of the quadrilateral structure, the rotation angle of the first link 81 is mathematically related to the rotation angle of the first arm 71 of the scissor assembly 70 and the movement angle of the knuckle assembly 60. When the hand actively drives the mechanism, the angle detector 90 collects the rotation angle data of the first link 81 around the first hinge point 101 in real time. Through a preset geometric conversion model (combined with the length parameters of each side of the quadrilateral), the movement state of the scissor assembly 70 and the actual movement angle of the knuckle assembly 60 can be deduced in reverse. If the detected angle data exceeds the preset normal range, the movement deviation can be identified in time, providing data support for subsequent interventions (such as movement correction prompts in rehabilitation training). Without the need to add additional detection devices to the knuckle assembly 60 or the scissor assembly 70, comprehensive monitoring of the core moving parts of the mechanism can be achieved.

[0062] In some embodiments, the index finger actuator 20, the middle finger actuator 30, the ring finger actuator 40, and the little finger actuator 50 are arranged side by side on the side of the palm fixing seat facing away from the palm, and the index finger actuator 20, the middle finger actuator 30, the ring finger actuator 40, and the little finger actuator 50 have the same structure.

[0063] In this embodiment, the palm fixing seat has four sets of parallel mounting references (such as positioning pin holes and slots) on the side facing away from the palm. The spacing of each set of references is designed according to the average distribution size of the four fingers of the human hand, ensuring that the actuators 50 of the index, middle, ring, and little fingers can be installed precisely to correspond to the positions of the four fingers, avoiding mismatch between the mechanism and hand movement due to arrangement deviation. At the same time, the mounting references have uniform height and angle parameters to ensure that the initial posture of each finger actuator is consistent, laying the foundation for the coordinated movement of the four fingers.

[0064] The palm mounting base can create slight spatial separation between the installation areas of each finger actuator through structural design (such as raised partition ribs), further avoiding component collisions during the movement of the four finger actuators (such as cross interference of the linkage assembly 80 of adjacent finger actuators). Especially when the four fingers are bent or extended at the same time, it can ensure that each mechanism moves independently without affecting each other, ensuring smooth movement.

[0065] It should be understood that the index finger actuator 20, middle finger actuator 30, ring finger actuator 40, and little finger actuator 50 in the embodiments of this application have the same structure. Specifically, this means that the core transmission architecture, component connection relationship, and motion constraint logic of each finger actuator are consistent. That is, they all include the same components such as the knuckle assembly 60, scissor assembly 70, linkage assembly 80, quadrilateral hinge structure, and angle detector 90. Moreover, the rotational connection method, power transmission path (such as the connection position between the scissor assembly 70 and the knuckle assembly 60, and the cooperation relationship between the linkage assembly 80 and the mounting platform), and motion constraint mechanism (such as...) between the components are consistent. The geometric logic of the quadrilateral hinge structure remains consistent. However, considering the natural differences in the length of the human index, middle, ring, and little fingers (e.g., the middle finger is usually longer than the little finger), the length of each finger actuator (e.g., the length of the knuckle unit 61 of the knuckle assembly 60, the arm length of the scissor assembly 70, and the rod length of the linkage assembly 80) can be adapted to the actual length of the corresponding finger. This ensures that each finger actuator can fit the different lengths of the fingers, guaranteeing the coordination of the four fingers during movement while also taking into account the individual adaptation needs of each finger. This avoids poor fit or restricted movement of some fingers due to uniform length dimensions.

[0066] In some embodiments, the free end of the knuckle unit 61 is provided with a fingertip fixing structure, which includes a finger sleeve 105 and a connecting arm 106. The connecting arm 106 connects the knuckle unit 61 and the finger sleeve 105, and the finger sleeve 105 is constructed with a through hole for the fingertip of the human thumb to pass through.

[0067] In this embodiment, the through hole size of the finger sleeve 105 is adapted to the contour of the human thumb tip, which can achieve precise positioning of the fingertip and prevent the fingertip from wobbling in the through hole during exercise; the inner wall of the through hole can be made of flexible anti-slip material (such as silicone pad), which not only enhances the fit between the finger sleeve 105 and the fingertip and reduces relative slippage, but also cushions the pressure of the mechanism movement on the fingertip, improving wearing comfort, especially suitable for long-term rehabilitation training scenarios.

[0068] When the tip of the thumb is inserted into the through hole of the finger sleeve 105, the finger sleeve 105 and the fingertip form a stable fit, preventing the fingertip from detaching from the mechanism during movement. The connecting arm 106 serves as an intermediate transmission carrier, with one end fixedly connected to the knuckle unit 61 and the other end connected to the finger sleeve 105. It can transmit the motion force of the knuckle unit 61 to the finger sleeve 105, while simultaneously feeding back the motion of the finger sleeve 105 to the knuckle unit 61. This allows the fingertip fixing structure to extend, contract, or rotate synchronously with the movement of the knuckle unit 61 and the finger sleeve 105, preventing the fingertip from shifting due to asynchronous movement of the three components. This ensures that the mechanism and the fingertip always maintain coordinated movement during the bending and extending of the thumb, without the need for additional structures to adjust their relative positions.

[0069] Please refer to Figure 4This application also provides a humanoid robot teleoperation system 200, including a humanoid robot 201, a control system 202, and a hand exoskeleton mechanism 100 as described above. The control system 202 is communicatively connected to both the humanoid robot 201 and the hand exoskeleton mechanism 100. The control system 202 receives detection data transmitted by the hand exoskeleton mechanism 100 and generates corresponding control commands to control the movement of the humanoid robot 201. Since the humanoid robot teleoperation system 200 adopts all the technical solutions of all embodiments of the hand exoskeleton mechanism 100 described above, the humanoid 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.

[0070] 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 mechanism comprising a palm mounting base and a forefinger execution mechanism, a middle finger execution mechanism, a ring finger execution mechanism and a little finger execution mechanism which are hingedly connected to the palm mounting base, characterized in that: at least one of the forefinger execution mechanism, the middle finger execution mechanism, the ring finger execution mechanism and the little finger execution mechanism comprises a knuckle assembly, a scissor assembly and a connecting rod assembly; the knuckle assembly comprises at least one knuckle unit; the scissor assembly comprises a first arm and a second arm arranged in a scissor shape, one end of each of the first arm and the second arm is rotatably connected to the knuckle unit of the knuckle assembly close to the palm mounting base, and the other end of each of the first arm and the second arm is rotatably connected to the palm mounting base; one end of the connecting rod assembly is rotatably connected to the first arm, and the other end of the connecting rod assembly is rotatably connected to the palm mounting base; a first mounting table is protruded from a side of the palm mounting base facing away from the palm, one end of the first arm and one end of the second arm are rotatably connected to the first mounting table, and the rotatable connection points of the first arm and the second arm to the first mounting table are vertically spaced along the height direction of the first mounting table; the scissor assembly further comprises a reset member, one end of the reset member is connected to the palm mounting base, and the other end of the reset member is rotatably connected to the first arm; the connecting rod assembly comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably connected to the palm mounting base, the other end of the first connecting rod is connected to one end of the second connecting rod, and the other end of the second connecting rod is rotatably connected to the first arm; a second mounting table is protruded from the side of the palm mounting base facing away from the palm, the second mounting table is arranged in parallel with the first mounting table along the length direction of the palm mounting base, and one end of the first connecting rod away from the second connecting rod is rotatably connected to the second mounting table; the first arm is provided with a support portion extending away from the first mounting table, and one end of the second connecting rod away from the first connecting rod is rotatably connected to the support portion; the rotatable connection point of the first connecting rod to the second mounting table is a first hinge point, the rotatable connection point of the second connecting rod to the first connecting rod is a second hinge point, the rotatable connection point of the second connecting rod to the support portion is a third hinge point, and the rotatable connection point of the first arm to the first mounting table is a fourth hinge point, and the line connecting the first hinge point, the second hinge point, the third hinge point and the fourth hinge point forms a quadrilateral structure; the hand exoskeleton mechanism further comprises an angle detector arranged at the rotatable connection point of the first connecting rod to the second mounting table; the forefinger execution mechanism, the middle finger execution mechanism, the ring finger execution mechanism and the little finger execution mechanism are arranged side by side on the side of the palm mounting base facing away from the palm, and the forefinger execution mechanism, the middle finger execution mechanism, the ring finger execution mechanism and the little finger execution mechanism have the same structure. ​ ​ ​ ​ 2. The hand exoskeleton mechanism according to claim 1, wherein, ​ 3. The hand exoskeleton mechanism of claim 1, wherein, ​ 4. The hand exoskeleton mechanism of claim 3, wherein, ​ 5. The hand exoskeleton mechanism of claim 4, wherein, ​ 6. The hand exoskeleton mechanism of claim 4, wherein, ​ 7. The hand exoskeleton mechanism of claim 6, wherein, ​ 8. The hand exoskeleton mechanism of claim 5, wherein, ​ 9. The hand exoskeleton mechanism according to any one of claims 1 to 8, characterized by, ​ 10. A humanoid robot teleoperation system, characterized by, The human-shaped robot, a control system and the hand exoskeleton mechanism as claimed in any one of claims 1 to 9; the control system is in communication connection with the human-shaped robot and the hand exoskeleton mechanism respectively, the control system receives detection data transmitted by the hand exoskeleton mechanism and generates corresponding control instructions to control the movement of the human-shaped robot.

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