Exoskeleton hand motion acquisition device

Abstract

The application relates to the technical field of human-computer interaction devices, and discloses an exoskeleton hand action acquisition device, which specifically comprises: a fixing assembly, which is provided with a plurality of fixing parts for fixing hands; a connecting rod mechanism, which is connected with the fixing assembly and forms rotating joints at each finger joint; and angle detection pieces, which are provided opposite to the rotating joints to detect the rotating angles of the rotating joints; wherein the connecting rod mechanism comprises rotating shafts corresponding to the finger joints, and the rotating shafts can rotate coaxially with the corresponding finger joints during finger movement. The exoskeleton hand action acquisition device directly reads the angles of the finger joints by coaxially arranging the rotating joints and the finger joints, does not need complex kinematic calculation, and improves the real-time performance and accuracy of data acquisition.

Description

Technical Field

[0001] This invention relates to the field of human-computer interaction equipment technology, and more specifically, to an exoskeleton hand motion acquisition device. Background Technology

[0002] With the rapid development of robotics technology, especially the application of reinforcement learning in the field of embodied intelligence, the operational capabilities of robot dexterous hands have made significant progress.

[0003] Currently, one of the mainstream methods for training robotic dexterity hands to perform complex tasks is to use human hands wearing data acquisition gloves to collect hand movement information in real time, and then remotely control the robotic hand to learn by imitation. The accuracy and real-time performance of hand movement acquisition directly determine the upper limit of the robot's learning effect. Existing human hand movement data acquisition devices mainly include the following types: one is based on inertial measurement units (IMUs), which uses gyroscopes installed at the palm and fingertips of the glove to calculate the finger posture by measuring the relative position of the fingers and palm; another is based on strain sensors, which uses strain sensors installed inside the glove to calculate the finger posture by detecting the sensor deformation caused by finger bending. In addition, there are acquisition devices using exoskeleton structures, which use finger movements to drive the rotation of linkage mechanisms, install angle sensors at the linkage joints to record the linkage rotation angle, and then calculate the rotation angle of the finger joints through kinematic calculations.

[0004] However, all of the above methods require extensive calculations after measurement to obtain the rotation angle of the finger joints, making it difficult to directly and accurately collect the actual movement angle of each finger joint while maintaining a compact structure. Summary of the Invention

[0005] The purpose of this invention is to provide an exoskeleton hand motion acquisition device to solve the technical problem in the prior art that it is difficult to directly and accurately acquire the real movement angles of each finger joint while maintaining a compact structure.

[0006] The present invention provides an exoskeleton hand motion acquisition device, comprising: a fixing component, a linkage mechanism, and an angle detection component.

[0007] Multiple fixing components are provided for securing the hand. A linkage mechanism connects to the fixing components and forms rotational joints at each finger joint. Multiple angle sensing elements are provided and positioned opposite the multiple rotational joints to detect the rotation angle of the joints.

[0008] The linkage mechanism includes rotating shafts that correspond one-to-one with each finger joint, and the rotating shafts can rotate coaxially with the corresponding finger joints when the fingers move.

[0009] Furthermore, the rotating joint includes: a first turntable, a first slide bar, and a second slide bar.

[0010] The first turntable is located at the junction of the fingers and palm to form the first joint, and the first turntable has a first sliding hole parallel to the back of the hand.

[0011] The first sliding rod passes through the first sliding hole and slides in cooperation with the first sliding hole.

[0012] The second slide bar is hinged to the end of the first slide bar furthest from the palm to form a second joint. The second slide bar moves synchronously with the knuckles of the fingers that are closer to the palm.

[0013] The rotation axis of the first joint is set along the lateral swing direction of the finger, and the rotation axis of the second joint is set along the bending direction of the finger. The rotation axes of the first joint and the second joint are perpendicular to each other.

[0014] Furthermore, the fixing component includes a first fixing member.

[0015] The first fixing member is used to connect with the knuckle of the finger near the palm, and the first fixing member is provided with a second sliding hole.

[0016] The second slide rod passes through the second slide hole and slides in cooperation with the second slide hole.

[0017] Furthermore, the rotational joint also includes: a third joint.

[0018] The third joint is located on one side of the second slide bar and is coaxial with the middle joint of the finger.

[0019] The fixing component also includes a second fixing member for engaging with the middle phalanx of the finger and connecting with the third joint.

[0020] Furthermore, the rotational joint also includes: the fourth joint.

[0021] The fourth joint is located on the side of the third joint away from the palm and is coaxial with the distal joint of the finger.

[0022] The fixing component also includes a third fixing member for engaging with the distal phalanx of the finger and connecting to a fourth joint.

[0023] Furthermore, the linkage mechanism includes a telescopic link. The two ends of the telescopic link are connected to the third joint and the fourth joint, respectively.

[0024] Furthermore, the exoskeleton-style data acquisition device also includes a thumb acquisition unit.

[0025] The thumb acquisition unit includes a thumb root mechanism and a thumb knuckle mechanism. The thumb root mechanism is located in the area of ​​the palm corresponding to the thumb root and has a thumb root joint. The thumb knuckle mechanism is connected to the thumb root mechanism and has a fifth joint and a sixth joint.

[0026] The thumb root joint, fifth joint, and sixth joint are arranged sequentially in a direction away from the palm to be connected to the thumb joint for transmission. The thumb root joint has three rotation axes that are perpendicular to each other. The axes of the fifth joint and the sixth joint are parallel and arranged in the direction of finger bending.

[0027] Furthermore, the thumb root mechanism includes: the first thumb joint, the second thumb joint, and the third thumb joint.

[0028] The first thumb joint, the second thumb joint, and the third thumb joint are hinged in sequence, and the rotation axes of the three are perpendicular to each other.

[0029] The fixing component includes a first thumb fixing block and a second thumb fixing block. The first thumb fixing block is used to connect with the upper surface of the thumb root, and the second thumb fixing block is used to connect with the side of the thumb root.

[0030] Both the first and second thumb fixing blocks are connected to the thumb root mechanism for transmission, so as to drive the first thumb joint, the second thumb joint and the third thumb joint to generate coupled rotation when the thumb root moves.

[0031] Furthermore, the fixing component also includes a third thumb fixing block.

[0032] The third thumb fixing block is used to connect with the first phalanx of the thumb, and the third thumb fixing block is connected with the sixth joint.

[0033] The fifth and sixth joints are connected by a telescopic link.

[0034] Furthermore, the fifth joint is coaxial with the middle joint of the thumb, and the sixth joint is coaxial with the distal joint of the thumb.

[0035] Angle detection devices are installed in both the fifth and sixth joints.

[0036] Beneficial effects: This invention uses multiple fixed components to fix the linkage mechanism relative to each finger joint, ensuring that the rotation axes corresponding to each finger joint in the linkage mechanism rotate coaxially with the corresponding finger joint during finger movement. Angle detection devices are directly installed at each rotation joint. Because the rotation axes of the joints and finger joints are coaxial, the rotation angle detected by the angle detection devices is the actual movement angle of the corresponding finger joint. This eliminates the need for inertial measurement calculations, strain sensor calculations, or complex linkage kinematics calculations to obtain the finger joint angle, thus reducing the computational load during data acquisition and improving the real-time performance of data transmission. Furthermore, since the rotation joints of the linkage mechanism directly correspond to the finger joints coaxially, there is no need to rely on proportional relationships between joint angles for calculation, avoiding measurement errors caused by individual differences or abnormal joint movement proportions due to specific actions, thereby improving the accuracy of angle acquisition. Attached Figure Description

[0037] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 A first-view axial view structural schematic diagram of the exoskeleton hand motion acquisition device provided in an embodiment of the present invention; Figure 2 A second-view axial view structural schematic diagram of the exoskeleton hand motion acquisition device provided in an embodiment of the present invention; Figure 3 A third-view axial view structural diagram of the exoskeleton hand motion acquisition device provided in an embodiment of the present invention; Figure 4 This is a schematic diagram showing the positional relationship of the rotating joints of the exoskeleton hand motion acquisition device provided in an embodiment of the present invention.

[0039] icon: 100-Fixing component; 110-First fixing member; 111-Second sliding hole; 120-Second fixing member; 130-Third fixing member; 140-First thumb fixing block; 150-Second thumb fixing block; 160-Third thumb fixing block; 170-Palm fixing member; 180-Hinge seat; 181-Swing arm; 190-Arc-shaped adapter; 200-Linkage mechanism; 210-Telescopic link; 300-Rotating joint; 301-First joint; 302-Second joint; 303-Third joint; 304-Fourth joint; 305-Fifth joint; 306-Sixth joint; 310-First turntable; 320-First sliding rod; 321-First sliding hole; 330-Second sliding rod; 400-Thumb acquisition unit; 410-Thumb root mechanism; 411-First thumb joint; 412-Second thumb joint; 413-Third thumb joint. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0041] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0042] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0043] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0044] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0045] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0046] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings.

[0047] Combination Figures 1 to 4 The exoskeleton hand motion acquisition device provided in this embodiment includes a fixing component 100, a linkage mechanism 200, and an angle detection component.

[0048] Multiple fixing components 100 are provided for securing the hand. A linkage mechanism 200 is connected to the fixing components 100 and forms a rotary joint 300 at each finger joint. Multiple angle detection elements are provided and positioned opposite the multiple rotary joints 300 to detect the rotation angle of the rotary joints 300.

[0049] The linkage mechanism 200 includes a rotating shaft that corresponds to each finger joint, and the rotating shaft can rotate coaxially with the corresponding finger joint when the finger moves.

[0050] In this embodiment, multiple fixing components 100 are used to fix different parts of the hand. The fixing components 100 can employ flexible connection structures such as Velcro, straps, or elastic buckles to fit snugly against the back of the hand, the knuckles of each finger, and other parts of the hand, allowing the exoskeleton structure to follow hand movements without relative slippage. Specifically, the linkage mechanism 200 includes multiple links and connectors, which are connected by hinges, so that the resulting rotational joints 300 correspond one-to-one with the anatomical joint positions of the fingers.

[0051] In this embodiment, multiple angle detection devices are respectively arranged opposite to multiple rotating joints 300, thereby detecting the rotation angle of the corresponding rotating joint 300 in real time. The angle detection devices can be angular displacement sensors, rotary encoders, or potentiometers, which are capable of measuring rotation angles, and are integrated and installed at each rotating joint 300.

[0052] It should be noted that the linkage mechanism 200 includes rotational shafts corresponding to each finger joint. These rotational shafts can rotate coaxially with the corresponding finger joints during finger movement. Specifically, after the linkage mechanism 200 is fixed relative to each finger joint of the hand by the fixing component 100, the rotation axis of each rotational joint 300 in the linkage mechanism 200 coincides with the rotation axis of the corresponding finger joint of the human hand. When the fingers of the human hand perform movements such as bending or lateral swinging, the finger joints rotate around their own axes. Since the linkage mechanism 200 and each segment of the finger are stably connected by the fixing component 100, the corresponding rotational joint 300 in the linkage mechanism 200 is forcibly driven, and its rotational axis remains coaxial with the finger joint.

[0053] In this structure, the angle detection component is directly installed at the rotation joint 300 of the linkage mechanism 200, and the rotation axis of the rotation joint 300 is coaxially set with the rotation axis of the finger joint. Therefore, the rotation angle detected by the angle detection component is the actual movement angle of the corresponding finger joint, thus avoiding the complex process of obtaining the finger joint angle through linkage kinematic calculation or joint ratio calculation in traditional exoskeleton acquisition devices, and realizing direct reading of the finger joint angle. On the one hand, it eliminates the kinematic calculation step, reduces the amount of calculation in the data acquisition process, and improves the real-time performance of data transmission; on the other hand, since it does not rely on the proportional relationship between joint angles for calculation, it avoids measurement errors caused by individual differences or abnormal joint movement ratios due to specific actions (such as pen-pinching actions), thereby improving the accuracy of angle acquisition.

[0054] In this embodiment, the rotating joint 300 includes: a first turntable 310, a first slide bar 320, and a second slide bar 330.

[0055] A first turntable 310 is located at the junction of the fingers and palm to form a first joint 301. A first sliding hole 321 parallel to the back of the hand is provided on the first turntable 310. A first sliding rod 320 passes through the first sliding hole 321 and slides in cooperation with it. A second sliding rod 330 is hinged to the end of the first sliding rod 320 furthest from the palm to form a second joint 302. The second sliding rod 330 moves synchronously with the knuckles of the fingers as they approach the palm.

[0056] The rotation axis of the first joint 301 is set along the lateral swing direction of the finger, and the rotation axis of the second joint 302 is set along the bending direction of the finger. The rotation axes of the first joint 301 and the second joint 302 are perpendicular to each other.

[0057] In this embodiment, the first turntable 310 is located at the junction of the fingers and palm, specifically corresponding to the metacarpophalangeal joint of the fingers, thus forming a first joint 301 at this location. The first turntable 310 has a first sliding hole 321, the extension direction of which is parallel to the plane of the back of the hand. A first sliding rod 320 passes through the first sliding hole 321 and slides within it, allowing the first sliding rod 320 to slide along the direction of the first sliding hole 321. A second sliding rod 330 is hinged to the end of the first sliding rod 320 furthest from the palm, forming a second joint 302 at this hinge point.

[0058] In this structure, the rotation axis of the first joint 301 is set along the lateral swing direction of the finger, that is, the rotation axis of the first joint 301 is perpendicular to the plane of the back of the hand, so that the first slide rod 320 can drive the entire linkage mechanism 200 to follow the lateral swing movement of the finger. The rotation axis of the second joint 302 is set along the bending direction of the finger, that is, the rotation axis of the second joint 302 is parallel to the plane of the back of the hand and perpendicular to the length direction of the finger, so that the second slide rod 330 can rotate relative to the first slide rod 320 in the bending direction. The rotation axes of the first joint 301 and the rotation axes of the second joint 302 are perpendicular to each other, thus forming two orthogonal degrees of freedom, which correspond to the lateral swing and bending motion degrees of freedom of the metacarpophalangeal joints of the fingers.

[0059] During operation, when the fingers of a person's hand perform a lateral swinging motion, the metacarpophalangeal joints of the fingers rotate around the lateral swinging axis. This rotation is caused by the fixing component 100, which in turn drives the first turntable 310 to move, thereby causing the first slide rod 320 to rotate around the axis of the first joint 301. An angle detection device installed in the first joint 301 directly collects the lateral swinging angle data. When the fingers of a person's hand perform a bending motion, the second slide rod 330 moves synchronously with the phalanx (i.e., the proximal phalanx) of the finger closest to the palm. The second slide rod 330 rotates relative to the first slide rod 320 around the axis of the second joint 302. An angle detection device installed in the second joint 302 directly collects the bending angle data.

[0060] The first joint 301 and the second joint 302 together form a two-degree-of-freedom joint, which corresponds to the proximal metacarpophalangeal joint (i.e., the metacarpophalangeal joint) of the palm.

[0061] The exoskeleton hand motion acquisition device provided in this embodiment achieves decoupled acquisition of complete motion information of the metacarpophalangeal joints by orthogonally arranging the first joint 301 and the second joint 302, respectively corresponding to the lateral swing and flexion degrees of freedom of the metacarpophalangeal joints. The sliding fit design of the first slide rod 320 and the first sliding hole 321 allows the first slide rod 320 to adaptively slide within the first sliding hole 321 when following the lateral swing of the fingers, avoiding motion interference caused by structural constraints, ensuring the positional adaptability of the flexion and rotation joints 300 during the lateral swing, and enabling the device to better fit the hand size and movement habits of different users.

[0062] In this embodiment, the fixing component 100 includes a first fixing member 110.

[0063] The first fixing member 110 is used to connect with the knuckle of the finger near the palm, and the first fixing member 110 is provided with a second sliding hole 111. The second sliding rod 330 passes through the second sliding hole 111 and slides in cooperation with the second sliding hole 111.

[0064] The first fastener 110 is connected to the proximal phalanx of the finger via Velcro.

[0065] During operation, when the finger bends, the proximal phalanx rotates relative to the palm. Since the first fixing member 110 is bound to the proximal phalanx, and the second sliding rod 330 passes through the second sliding hole 111 of the first fixing member 110, when the proximal phalanx moves, the first fixing member 110 drives the second sliding rod 330 to move synchronously, while the second sliding rod 330 slides relative to the second sliding hole 111. This sliding compensation mechanism allows the relative positional relationship between the second sliding rod 330 and the proximal phalanx to be adaptively adjusted, ensuring that the rotation axis of the second joint 302 always remains coaxial with the bending axis of the metacarpophalangeal joint of the finger.

[0066] In this structure, the second slide bar 330 and the first fixing member 110 form a sliding fit, which effectively compensates for the relative displacement between the linkage mechanism 200 and the finger joint during the finger bending process. This ensures the coaxiality of the rotation axis of the second joint 302 and the bending axis of the finger metacarpophalangeal joint, thereby avoiding the motion mismatch problem caused by the rigid connection of the structure. This allows the bending angle data collected by the angle detection device to truly reflect the actual bending angle of the finger metacarpophalangeal joint, while also improving the adaptability of the device to different hand sizes of users.

[0067] It should be noted that in this embodiment, the first fixing member 110 serves as an anchor point for fixing to the proximal phalanx. When the finger bends, the proximal phalanx rotates around the metacarpophalangeal joint, and there is an instantaneous spatial displacement difference between its rotation center and the rotation axis of the second joint 302. The sliding of the second slide rod 330 within the second sliding hole 111 can dynamically compensate for this displacement difference in real time. Combined with the compensation for lateral displacement by the first slide rod 320 and the first sliding hole 321, the exoskeleton hand motion acquisition device provided in this embodiment can always maintain the precise follow-up of the linkage mechanism and the anatomical axis of the finger when the finger performs a compound movement of lateral swing and bending, thereby ensuring that the data collected by the angle detection device is true and reliable throughout the entire range of motion.

[0068] In this embodiment, the rotating joint 300 further includes a third joint 303. The third joint 303 is located on one side of the second slide bar 330 and is coaxial with the middle joint of the finger.

[0069] The fixing component 100 also includes a second fixing member 120, which is used to connect with the middle joint of the finger and is connected to the third joint 303.

[0070] In this embodiment, the third joint 303 is disposed on one side of the second slide bar 330 to correspond to the middle joint of the finger, i.e., the position of the middle joint (proximal interphalangeal joint). The third joint 303 is coaxially disposed with the middle joint of the finger, that is, the rotation axis of the third joint 303 coincides with the bending axis of the middle joint.

[0071] The second fastener 120 is attached to the dorsal surface of the middle knuckle of the finger via Velcro. The second fastener 120 is connected to the third joint 303, allowing the third joint 303 to follow the movement of the middle knuckle of the finger.

[0072] During use, when the middle joint of the finger is bent, since the second fixing member 120 is fixedly connected to the middle finger joint and the third joint 303 is coaxially set with the middle joint, the second fixing member 120 drives the third joint 303 to rotate around its own axis, and the angle detection member set in the third joint 303 directly collects the bending angle data of the joint.

[0073] This structure enables direct acquisition of the bending angle of the intermediate joint, which can accurately reflect the actual movement angle of the intermediate joint and avoid calculation errors caused by individual differences or specific actions. It is particularly suitable for scenarios where the movement ratio between the intermediate joint and the distal joint is abnormal, such as when pinching a pen, thus improving the accuracy and versatility of data acquisition.

[0074] In this embodiment, the rotating joint 300 also includes a fourth joint 304.

[0075] The fourth joint 304 is located on the side of the third joint 303 away from the palm and is coaxial with the distal phalanx of the finger. The fixing assembly 100 also includes a third fixing member 130, which is used to engage with the distal phalanx of the finger and is connected to the fourth joint 304.

[0076] The fourth joint 304 corresponds to the distal interphalangeal joint of the finger. The third fastener 130 is used to connect with the distal phalanx of the finger (i.e., the distal phalanx) and is specifically a Velcro fastener, fitting and fixing to the dorsal surface of the distal phalanx. The connection between the third fastener 130 and the fourth joint 304 allows the fourth joint 304 to follow the movement of the distal phalanx of the finger.

[0077] During operation, when the distal joint of the finger is bent, the third fixing member 130 is fixedly connected to the distal phalanx, and the fourth joint 304 is coaxially set with the distal joint. The third fixing member 130 drives the fourth joint 304 to rotate around its own axis. The angle detection device set in the fourth joint 304 directly collects the bending angle data of the joint.

[0078] The exoskeleton hand motion acquisition device provided in this embodiment achieves direct acquisition of the bending angle of the distal phalanx by coaxially arranging the fourth joint 304 with the distal phalanx and connecting the fourth joint 304 with the distal phalanx using the third fixing member 130. Thus, for a single finger, direct angle acquisition of all degrees of freedom is achieved, from the lateral movement and bending of the metacarpophalangeal joint to the bending of the intermediate joint and then to the bending of the distal phalanx, forming a complete finger motion information acquisition chain. This provides comprehensive and accurate training data for subsequent robotic dexterity hand control.

[0079] In this embodiment, the linkage mechanism 200 includes a telescopic link 210. The two ends of the telescopic link 210 are connected to the third joint 303 and the fourth joint 304, respectively.

[0080] Specifically, the telescopic link 210 in this embodiment is a sleeve-type structure, and its overall length can be adjusted within a preset range. During use, different users have different finger sizes, especially the distance between the intermediate joint and the distal joint varies from person to person. The telescopic link 210 can automatically or manually adjust its length according to the wearer's finger size, so that the distance between the third joint 303 and the fourth joint 304 matches the actual distance between the user's intermediate joint and distal joint.

[0081] When the finger bends, the telescopic link 210 transmits motion while its length can be adaptively and finely adjusted according to the change in the joint spacing during the finger bending process, ensuring that the third joint 303 and the fourth joint 304 always maintain a coaxial correspondence with the corresponding intermediate joint and distal joint.

[0082] With this structure, the exoskeleton hand motion acquisition device provided in this embodiment can adapt to the differences in finger length among different users, improving wearing comfort. At the same time, the telescopic link 210 can dynamically adjust its length during finger movement, effectively compensating for the positional deviation caused by the change in the joint center distance when the finger bends, ensuring the coaxiality of the third joint 303 and the fourth joint 304 with the corresponding finger joints, thereby ensuring that the accuracy of angle acquisition remains stable throughout the entire range of motion.

[0083] In this embodiment, the exoskeleton-type data acquisition device also includes a thumb acquisition unit 400.

[0084] The thumb acquisition unit 400 includes a thumb root mechanism 410 and a thumb knuckle mechanism. The thumb root mechanism 410 is located in the area of ​​the palm corresponding to the root of the thumb. The thumb root mechanism 410 has a thumb root joint. The thumb knuckle mechanism is connected to the thumb root mechanism 410 and has a fifth joint 305 and a sixth joint 306.

[0085] The thumb root joint, the fifth joint 305, and the sixth joint 306 are arranged sequentially in a direction away from the palm to be connected to the thumb joint for transmission. The thumb root joint has three rotation axes that are perpendicular to each other. The axis of the fifth joint 305 and the axis of the sixth joint 306 are parallel and arranged in the direction of finger bending.

[0086] Specifically, in this embodiment, the thumb root mechanism 410 is disposed in the area of ​​the palm corresponding to the base of the thumb, specifically corresponding to the wrist-metacarpal joint (carpal joint) of the thumb. The thumb root mechanism 410 has a thumb root joint, which is used to correspond to the ball joint characteristics of the base of the thumb. The thumb knuckle mechanism is connected to the thumb root mechanism 410 and has a fifth joint 305 and a sixth joint 306.

[0087] The axis of the fifth joint 305 and the axis of the sixth joint 306 are parallel to each other and are both set along the direction of finger bending, respectively corresponding to the bending movement of the metacarpophalangeal joint (metacarpophalangeal joint) and the fingertip joint (fingertip joint) of the thumb.

[0088] In use, when the thumb performs complex three-dimensional spatial movements, the three orthogonal rotation axes of the thumb root joint are coupled and follow the spatial pose changes of the thumb root ball joint, thus achieving complete acquisition of thumb root movement information. When the metacarpophalangeal joint and fingertip joint of the thumb are bent, the fifth joint 305 and the sixth joint 306 rotate synchronously with the corresponding joints, and the angle detection devices set in each joint collect the rotation angle data in real time.

[0089] In this embodiment, the movement of the ball joint at the base of the thumb is described by using three revolute joints with mutually perpendicular axes. This achieves complete tracking of the three-dimensional movement of the thumb base from a structural mechanism perspective, avoiding motion distortion or information loss problems caused by simplified modeling in existing technologies. Simultaneously, the fifth joint 305 and the sixth joint 306 are coaxially corresponding to the thumb metacarpophalangeal joint and fingertip joint, respectively, enabling direct angular acquisition of the thumb's flexion movement. This allows the thumb acquisition unit 400 to completely and accurately acquire all motion information of the thumb in three-dimensional space.

[0090] It is understood that the exoskeleton hand motion acquisition device provided in this embodiment has kinematically decoupled the complex movement of the thumb from its structure.

[0091] Specifically, the three orthogonal axes of the thumb root joints (first thumb joint 411, second thumb joint 412, and third thumb joint 413) closest to the palm are dedicated to describing the orientation of the thumb metacarpal bones in three-dimensional space (i.e., spatial posture). The two parallel axes of the fifth joint 305 and sixth joint 306 furthest from the palm are used only to describe the flexion amplitude of the thumb knuckles (i.e., grasping motion). This forms a hierarchical chain structure separating "posture-flexion," making angle acquisition modular. Root data reflects the spatial placement of the thumb, while knuckle data reflects the force and amplitude of the grasp; the two do not interfere with each other, eliminating the need for complex kinematic hybrid calculations. In practical use, the wearer only needs to perform simple extension and fist-clenching movements to independently calibrate the root posture and knuckle flexion, significantly simplifying the pre-use calibration process and improving the ease of use and real-time response speed of the data acquisition system.

[0092] In this embodiment, the thumb root mechanism 410 includes a first thumb joint 411, a second thumb joint 412, and a third thumb joint 413.

[0093] The first thumb joint 411, the second thumb joint 412, and the third thumb joint 413 are hinged sequentially, and their rotation axes are perpendicular to each other. The fixing assembly 100 includes a first thumb fixing block 140 and a second thumb fixing block 150. The first thumb fixing block 140 is connected to the upper surface of the thumb root, and the second thumb fixing block 150 is used to connect to the side of the thumb root. Both the first thumb fixing block 140 and the second thumb fixing block 150 are drively connected to the thumb root mechanism 410 so as to drive the first thumb joint 411, the second thumb joint 412, and the third thumb joint 413 to generate coupled rotation when the thumb root moves.

[0094] In this embodiment, the first thumb fixing block 140 is fastened to the metacarpal bone at the base of the thumb via Velcro and is located on the dorsal surface of the thumb base. The second thumb fixing block 150 is attached to the side of the thumb base; specifically, the second thumb fixing block 150 is attached to the radial surface of the metacarpal bone at the base of the thumb via Velcro.

[0095] The first thumb fixing block 140 and the second thumb fixing block 150 are set at an angle to form a fixing seat. The fixing seat is fastened to the thumb root mechanism 410 by Velcro to achieve a transmission connection, so that the movement of the thumb root mechanism 410 is related to the movement of the thumb root metacarpal bone.

[0096] In this embodiment, the fixing component 100 further includes a palm fixing member 170 for fitting and fixing to the palm. The first turntable 310 is disposed on the palm fixing member 170 to be fixed relative to the palm. A hinge seat 180 extends from the side of the palm fixing member 170 opposite to the thumb. In order to make the exoskeleton hand motion acquisition device more compatible with the special shape of the thumb, the hinge seat 180 is connected to the first fixing member 110 and the second fixing member 120 through a swing arm 181 and an arc-shaped adapter 190. One end of the swing arm 181 is hinged to the hinge seat 180 to form a first thumb joint 411. The other end of the swing arm 181 is provided with a second turntable. One end of the arc-shaped adapter 190 is hinged to the second turntable to form a second thumb joint 412, and the other end is hinged to the fixing seat to form a third thumb joint 413.

[0097] During use, when the base of the thumb undergoes complex three-dimensional spatial movements, the first thumb fixing block 140 and the second thumb fixing block 150 follow the movement of the metacarpal bone at the base of the thumb from two different directions, respectively, and drive the first thumb joint 411, the second thumb joint 412, and the third thumb joint 413 to generate coupled rotation through transmission connections. The three mutually perpendicular rotation axes, through coordinated movement, jointly describe the pose changes of the base of the thumb in three-dimensional space.

[0098] In this structure, the first thumb fixing block 140 and the second thumb fixing block 150 form two fixing points, constraining and driving the thumb root from different directions. This improves the connection stability between the thumb root mechanism 410 and the thumb metacarpal bone, reducing slippage and relative deviation during movement. Simultaneously, three mutually perpendicular revolute joints are used to kinematically equivalence the ball joint at the thumb root, ensuring complete tracking capability of the three-dimensional movement of the thumb root at the structural level, providing a structural basis for acquiring complex spatial motion information of the thumb.

[0099] Furthermore, the specific curved shape of the arc-shaped adapter 190 plays a crucial role in steering and avoidance. When the thumb performs an antipalmar movement (i.e., the base of the thumb bends inward towards the palm), the arc-shaped adapter 190 can guide the linkage mechanism to naturally bypass the muscle bulge in the web area of ​​the palm, avoiding motion jamming or data acquisition distortion caused by interference with the soft tissue of the hand in traditional straight-bar structures. At the same time, the swing arm 181 works in coordination with the arc-shaped adapter 190 to decompose and transmit the rotational motion of the metacarpal bone at the base of the thumb in three-dimensional space through an arc-shaped path to the first thumb joint 411, the second thumb joint 412, and the third thumb joint 413, so that the three orthogonal axes obtain accurate coupled rotational input, thereby achieving complete tracking of the spatial pose of the base of the thumb in a compact structural layout.

[0100] In this embodiment, the fixing component 100 further includes a third thumb fixing block 160.

[0101] The third thumb fixing block 160 is used to connect with the first phalanx of the thumb, and the third thumb fixing block 160 is connected to the sixth joint 306. The fifth joint 305 and the sixth joint 306 are connected by a telescopic link 210.

[0102] Similarly, in this embodiment, the telescopic link 210 between the fifth joint 305 and the sixth joint 306 is also a sleeve structure. The third thumb fixing block 160 is bound to the distal phalanx of the thumb by Velcro. One end of the telescopic link 210 is hinged to the third thumb fixing block 160 to form the sixth joint 306, and the other end of the telescopic link 210 is hinged to the fixing seat to form the fifth joint 305.

[0103] When the thumb is bent, the third thumb fixing block 160 follows the movement of the distal phalanx of the thumb, causing the sixth joint 306 to rotate. While transmitting motion, the telescopic linkage 210 automatically adjusts its length according to the actual distance between the user's thumb joints, matching the positions of the fifth joint 305 and the sixth joint 306 with the joint position of the user's thumb. This structure adapts to the differences in thumb length among different users, improving the universality and wearing comfort of the device, while ensuring the accuracy of thumb joint angle acquisition.

[0104] In this embodiment, the fifth joint 305 is coaxially arranged with the intermediate joint of the thumb, and the sixth joint 306 is coaxially arranged with the distal joint of the thumb. An angle detection element is provided within both the fifth joint 305 and the sixth joint 306.

[0105] In this embodiment, the angle detection component is specifically an angular displacement sensor. Multiple angular displacement sensors are integrated and installed inside the first joint 301, the second joint 302, the third joint 303, the fourth joint 304, the fifth joint 305, the sixth joint 306, the first thumb joint 411, the second thumb joint 412, and the third thumb joint 413, so as to detect the rotation angle of the corresponding joint in real time.

[0106] When the finger joints are bent, since each finger joint and each rotating joint 300 are coaxially set, the angle detection device can directly collect the bending angle data of each joint of the thumb.

[0107] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An exoskeleton hand motion acquisition device, characterized in that, include: Fixing components (100), multiple of which are used for fixing to the hand; A linkage mechanism (200) is connected to the fixed assembly (100) and forms a rotary joint (300) at each finger joint; Angle detection elements are provided in multiple quantities and are arranged opposite to the multiple rotating joints (300) to detect the rotation angle of the rotating joints (300); The linkage mechanism (200) includes a rotating shaft corresponding to each finger joint, and the rotating shaft can rotate coaxially with the corresponding finger joint when the finger moves.

2. The exoskeleton hand motion acquisition device according to claim 1, characterized in that, The rotating joint (300) includes: a first turntable (310), a first slide bar (320), and a second slide bar (330); The first turntable (310) is located at the junction of the fingers and the palm to form a first joint (301), and the first turntable (310) is provided with a first sliding hole (321) parallel to the back of the hand; The first slide rod (320) passes through the first slide hole (321) and slides in cooperation with the first slide hole (321); The second slide bar (330) is hinged to the end of the first slide bar (320) away from the palm to form a second joint (302), and the second slide bar (330) moves synchronously with the knuckle of the finger that is close to the palm; The rotation axis of the first joint (301) is set along the lateral direction of the finger, and the rotation axis of the second joint (302) is set along the bending direction of the finger. The rotation axes of the first joint (301) and the second joint (302) are perpendicular to each other.

3. The exoskeleton hand motion acquisition device according to claim 2, characterized in that, The fixing component (100) includes a first fixing member (110); The first fixing member (110) is used to connect with the knuckle of the finger near the palm, and the first fixing member (110) is provided with a second sliding hole (111); The second slide rod (330) passes through the second slide hole (111) and slides in cooperation with the second slide hole (111).

4. The exoskeleton hand motion acquisition device according to claim 3, characterized in that, The rotary joint (300) further includes: a third joint (303); The third joint (303) is located on one side of the second slide bar (330) and is coaxial with the middle joint of the finger; The fixing component (100) further includes a second fixing member (120) for engaging with the middle phalanx of the finger and connected to the third joint (303).

5. The exoskeleton hand motion acquisition device according to claim 4, characterized in that, The rotary joint (300) further includes: a fourth joint (304); The fourth joint (304) is located on the side of the third joint (303) away from the palm and is coaxial with the distal joint of the finger. The fixing component (100) further includes a third fixing member (130) for engaging with the distal phalanx of the finger and connected to the fourth joint (304).

6. The exoskeleton hand motion acquisition device according to claim 5, characterized in that, The linkage mechanism (200) includes: The telescopic link (210) is connected at both ends to the third joint (303) and the fourth joint (304) respectively.

7. The exoskeleton hand motion acquisition device according to any one of claims 1-6, characterized in that, The exoskeleton-style data acquisition device also includes: The thumb acquisition unit (400) includes a thumb root mechanism (410) and a thumb knuckle mechanism. The thumb root mechanism (410) is located in the area of ​​the palm corresponding to the root of the thumb. The thumb root mechanism (410) has a thumb root joint. The thumb knuckle mechanism is connected to the thumb root mechanism (410) and has a fifth joint (305) and a sixth joint (306). The thumb root joint, the fifth joint (305), and the sixth joint (306) are arranged sequentially in a direction away from the palm to be connected to the thumb joint for transmission. The thumb root joint has three rotation axes that are perpendicular to each other. The axis of the fifth joint (305) and the axis of the sixth joint (306) are parallel and arranged in the direction of finger bending.

8. The exoskeleton hand motion acquisition device according to claim 7, characterized in that, The thumb root mechanism (410) includes: a first thumb joint (411), a second thumb joint (412), and a third thumb joint (413); The first thumb joint (411), the second thumb joint (412), and the third thumb joint (413) are hinged in sequence, and the rotation axes of the three are perpendicular to each other. The fixing component (100) includes a first thumb fixing block (140) and a second thumb fixing block (150), wherein the first thumb fixing block (140) is used to connect with the upper surface of the thumb root and the second thumb fixing block (150) is used to connect with the side of the thumb root. The first thumb fixing block (140) and the second thumb fixing block (150) are both connected to the thumb root mechanism (410) for transmission, so as to drive the first thumb joint (411), the second thumb joint (412) and the third thumb joint (413) to generate coupled rotation when the thumb root moves.

9. The exoskeleton hand motion acquisition device according to claim 8, characterized in that, The fixing component (100) also includes a third thumb fixing block (160); The third thumb fixing block (160) is used to connect with the first phalanx of the thumb, and the third thumb fixing block (160) is connected with the sixth joint (306); The fifth joint (305) and the sixth joint (306) are connected by a telescopic link (210).

10. The exoskeleton hand motion acquisition device according to claim 9, characterized in that, The fifth joint (305) is coaxially arranged with the middle joint of the thumb, and the sixth joint (306) is coaxially arranged with the distal joint of the thumb. The angle detection element is provided in both the fifth joint (305) and the sixth joint (306).

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