Exoskeleton glove

Abstract

The exoskeleton glove comprises a base and a fingerstall assembly, the fingerstall assembly comprises a connecting base, a first encoder, a second encoder and a fingerstall part, the first encoder and the second encoder are both arranged on the connecting base, the first encoder is provided with a first output shaft capable of rotating, and the second encoder is provided with a second output shaft capable of rotating. The first output shaft is connected to the base and is used for measuring the rotating angle of the fingerstall part around the first axial direction relative to the base; the second encoder is provided with a second output shaft capable of rotating, the second output shaft is connected to the fingerstall component and used for measuring the rotating angle of the fingerstall component around a second axial direction relative to the base, and the second axial direction intersects with the first axial direction, so that the exoskeleton glove can measure various motions of the fingers of the user in the space; therefore, the exoskeleton glove can accurately determine the overall movement condition of the fingers.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to an exoskeleton glove. BACKGROUND

[0002] An exoskeleton glove is a wearable device for sensing or assisting hand movement, widely used in virtual reality, augmented reality, human-computer interaction, remote control, rehabilitation training and force feedback system fields. Its core function is to collect the motion state (such as bending angle, rotation speed, etc.) of each joint of the user's fingers in real time through multiple finger sleeve assemblies integrated on the fingers, or to transmit external force feedback to the fingers, so as to realize high-precision gesture recognition or tactile simulation. However, in the related art, the exoskeleton glove can only collect the motion of the user's fingers in a single rotation axis direction, such as only collecting the flexion and extension motion of the fingers, or only collecting the lateral swing motion, so that the exoskeleton glove cannot accurately determine the overall motion of the fingers. SUMMARY

[0003] The exoskeleton glove provided by the embodiments of the present application can solve at least one of the above technical problems.

[0004] The exoskeleton glove provided by the embodiments of the present application can solve at least one of the above technical problems.

[0005] The exoskeleton glove provided by the embodiments of the present application can solve at least one of the above technical problems.

[0006] The finger sleeve assembly includes a connecting seat, a first encoder, a second encoder and a finger sleeve component. The first encoder and the second encoder are arranged on the connecting seat. The first encoder has a first output shaft capable of rotating, and the first output shaft is connected to the base and is used to measure the angle of rotation of the finger sleeve component relative to the base around a first axis. The second encoder has a second output shaft capable of rotating, and the second output shaft is connected to the finger sleeve component and is used to measure the angle of rotation of the finger sleeve component relative to the base around a second axis. The second axis and the first axis intersect.

[0007] In some embodiments, the base is provided with a base boss, and the base boss is provided with a first mounting hole. The first mounting hole is in plug-in cooperation with the first output shaft.

[0008] In some embodiments, one of the base boss and the connecting seat is provided with a stopper, and the other of the base boss and the connecting seat is provided with a stop groove. The stop groove extends along the rotation path of the connecting seat, and the stopper is located in the stop groove.

[0009] In some embodiments, the outer contour of the cross section of the first mounting hole is adapted to the outer contour of the cross section of the first output shaft located in the first mounting hole. The outer contour of the cross section of the first mounting hole and the outer contour of the cross section of the first output shaft located in the first mounting hole are both non-circular.

[0010] In some embodiments, the finger sleeve component includes a first link structure, a first finger sleeve, a first finger sleeve boss disposed on the first finger sleeve, one end of the first link structure rotatably connected to the first finger sleeve boss, and the other end of the first link structure connected to a second output shaft.

[0011] In some embodiments, the first link structure is provided with a second mounting hole, the second output shaft is disposed through the second mounting hole, and the finger sleeve component further includes a first limiting member disposed at the end of the second output shaft to limit the first link structure from being detached from the end of the second output shaft.

[0012] In some embodiments, the finger sleeve component further includes a second link structure, a second finger sleeve, a second finger sleeve boss disposed on the second finger sleeve, and a third encoder provided with a rotatable third output shaft, one end of the second link structure rotatably connected to the second finger sleeve boss, and the other end of the second link structure connected to the third output shaft.

[0013] In some embodiments, the finger sleeve component further includes a wire fixing structure disposed on the first link structure and used for fixing the wire of the third encoder.

[0014] In some embodiments, the wire fixing structure includes a first wire fixing part and a second wire fixing part, the first wire fixing part connected between the first link structure and the second wire fixing part.

[0015] The first link structure, the first wire fixing part, and the second wire fixing part cooperatively form a wire fixing channel, the second wire fixing part spaced apart from the first link structure to form a wire insertion port, and the wire insertion port communicated with the wire fixing channel.

[0016] In some embodiments, the second link structure is provided with a third mounting hole, the third output shaft is disposed through the third mounting hole, and the finger sleeve component further includes a second limiting member disposed at the end of the third output shaft to limit the second link structure from being detached from the end of the third output shaft.

[0017] The exoskeleton glove provided in this application includes a base and a finger sleeve assembly. The finger sleeve assembly includes a connecting seat, a first encoder, a second encoder, and a finger sleeve component. Both the first and second encoders are disposed on the connecting seat. The first encoder has a rotatable first output shaft connected to the base and used to measure the angle of rotation of the finger sleeve component relative to the base about a first axis. The second encoder has a rotatable second output shaft connected to the finger sleeve component and used to measure the angle of rotation of the finger sleeve component relative to the base about a second axis, which intersects with the first axis. Thus, compared to exoskeleton gloves in related technologies, the exoskeleton glove of this application connects to the base via the first output shaft of the first encoder to measure the angle of rotation of the finger sleeve component relative to the base about a first axis, and connects to the finger sleeve component via the second output shaft of the second encoder to measure the angle of rotation of the finger sleeve component relative to the base about a second axis. This allows the exoskeleton glove to measure various movements of the user's fingers in space, thereby enabling the exoskeleton glove to more accurately determine the overall movement status of the fingers. In addition, the first output shaft is connected to the base and is used to detect the rotation of the finger sleeve component around the first axis (such as the lateral movement of the finger), and the second output shaft is connected to the finger sleeve component and is used to detect the rotation around the second axis (such as the flexion and extension movement of the finger). The two encoders work together to synchronously acquire the complex motion posture of the finger in space, which improves the accuracy and real-time performance of gesture recognition. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of the exoskeleton glove provided in an embodiment of this application.

[0020] Figure 2 This is a schematic diagram of the structure of the finger sleeve assembly provided in an embodiment of this application.

[0021] Figure 3 for Figure 2 A structural schematic diagram of the middle finger sleeve component from another perspective.

[0022] Figure 4 for Figure 1 A schematic diagram of the structure of the central base.

[0023] Figure 5 for Figure 3 A structural diagram showing the disassembled structure of the finger sleeve component.

[0024] BRIEF DESCRIPTION OF DRAWINGS

[0025] 10, exoskeleton glove; 100, base; 110, base boss; 111, first mounting hole; 112, stop groove; 200, finger sleeve assembly; 210, connecting seat; 211, stopper; 212, first connecting part; 212a, first connecting through hole; 213, second connecting part; 213a, second connecting through hole; 220, finger sleeve part; 221, first connecting rod structure; 211a, second mounting hole; 222, first finger sleeve; 223, first finger sleeve boss; 223a, third connecting through hole; 224, second connecting rod structure; 224a, third mounting hole; 225, second finger sleeve; 226, second finger sleeve boss; 227, third encoder; 227a, third output shaft; 227b, third encoding body; 227c, third shell cover; 227d, third card seat; 228, wire fixing structure; 228a, first wire fixing part; 228b, second wire fixing part; 228c, wire fixing slot; 228d, wire insertion port; 230, first encoder; 231, first output shaft; 232, first encoding body; 233, first shell cover; 234, first card seat; 240, second encoder; 241, second output shaft; 242, second encoding body; 243, second shell cover; 244, second card seat; 300, controller.

[0026] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present application more clear, the following will further describe the embodiments of the present application in combination with the accompanying drawings.

[0028] The following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all the embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0029] In the description of the present application, it is understood that the terms "first", "second" and the like are used only for the purpose of description, and cannot be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, "a plurality of" means two or more, unless otherwise specified. The association relationship of the associated objects is described, which means that there can be three kinds of relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after it.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the specification of the present application is only for the purpose of describing specific embodiments and is not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more associated listed items.

[0031] Please refer to Figure 1 , Figure 2 and Figure 3 , the embodiment of the present application proposes an exoskeleton glove 10, which comprises a base 100 and a finger sleeve assembly 200, the finger sleeve assembly 200 comprises a connecting seat 210, a first encoder 230, a second encoder 240 and a finger sleeve component 220, the first encoder 230 and the second encoder 240 are both arranged in the connecting seat 210, the first encoder 230 has a first output shaft 231 capable of rotating, the first output shaft 231 is connected to the base 100 and is used to measure the angle of rotation of the finger sleeve component 220 around the first axis relative to the base 100; the second encoder 240 has a second output shaft 241 capable of rotating, the second output shaft 241 is connected to the finger sleeve component 220 and is used to measure the angle of rotation of the finger sleeve component 220 around the second axis relative to the base 100, the second axis and the first axis intersect.

[0032] In this way, compared with the exoskeleton glove in the related art, the exoskeleton glove 10 of the present application connects the first output shaft 231 of the first encoder 230 to the base 100 to measure the angle of rotation of the finger sleeve component 220 around the first axis relative to the base 100, and connects the second output shaft 241 of the second encoder 240 to the finger sleeve component 220 to measure the angle of rotation of the finger sleeve component 220 around the second axis relative to the base 100, so that the exoskeleton glove 10 can measure various movements of the user's fingers in space, thereby enabling the exoskeleton glove 10 to more accurately determine the overall movement condition of the fingers.

[0033] In addition, the first output shaft 231 is connected to the base 100 for detecting the rotation of the finger sleeve component 220 around the first axial direction (such as the finger side swing motion), and the second output shaft 241 is connected to the finger sleeve component 220 for detecting the rotation around the second axial direction (such as the finger flexion and extension motion). The two encoders work together to synchronously obtain the compound motion posture of the finger in space, thereby improving the accuracy and real-time performance of gesture recognition.

[0034] The number of finger sleeve assemblies 200 can be multiple, and the multiple finger sleeve assemblies 200 are respectively installed on the base 100. Each finger sleeve assembly 200 is independently configured and corresponds to one finger of the user. The number of finger sleeve assemblies 200 is usually five, which respectively correspond to the thumb, index finger, middle finger, ring finger and little finger. The finger sleeve assemblies 200 can also be configured for part of the fingers according to actual application requirements.

[0035] It can be understood that the first encoder 230 can sense the angular displacement change in real time to complete the measurement of the finger adduction and abduction angle. That is, the rotation of the finger sleeve component 220 relative to the base 100 around the first axial direction can be the side swing motion of the finger. The second output shaft 241 generates angular displacement, and the second encoder 240 records the angle data of the flexion direction. The finger sleeve assembly 200 is used to measure the rotation of the finger sleeve component 220 relative to the base 100 around the second axial direction, which can be the flexion and extension motion of the finger.

[0036] In some embodiments, the first axial direction is a reference direction line in space for defining the lateral swing motion of the finger sleeve component 220 relative to the base 100. When the user performs the finger adduction or abduction action, the finger sleeve component 220 rotates around the first axial direction, which corresponds to the spread or close motion of the index finger, middle finger and other fingers in the horizontal plane. The establishment of the first axial direction is based on the palm anatomy, which is close to the natural movement habit of the human body, thereby ensuring the authenticity and consistency of the side swing angle measurement.

[0037] The second axial direction is another space direction line for defining the flexion motion of the finger sleeve component 220 relative to the base 100. When the user performs the finger bending or stretching action, the finger sleeve component 220 rotates around the second axial direction, which corresponds to the main flexion and extension trajectory of the metacarpophalangeal joint and the proximal interphalangeal joint. The second axial direction reflects the core motion dimension of the basic gestures such as finger gripping and releasing, and is a key parameter source for gesture recognition.

[0038] The first axial direction and the second axial direction intersect in space, which can be perpendicular or close to perpendicular. The intersection of the two axial directions is located at or adjacent to the instantaneous rotation center of the metacarpophalangeal joint of the human finger. This intersection structure simulates the real biomechanical motion mechanism of the finger, so that the kinematic model of the exoskeleton glove 10 is highly matched with the physiological joint, effectively reduces the posture reconstruction error, and improves the accuracy of motion perception.

[0039] Please refer to Figure 2、 Figure 3 and Figure 5 In some embodiments, the connecting seat 210 comprises a first connecting part 212, which is in a plate-like structure with a certain thickness and structural rigidity. The first connecting part 212 is made of high-strength engineering plastic or lightweight metal material, and the surface is precisely processed to ensure geometric accuracy and assembly stability.

[0040] The first encoder 230 comprises a first encoding body 232, a first output shaft 231 and a first shell cover 233. The first encoding body 232 is the core unit of the first encoder 230, which internally integrates a sensing module, a signal processing circuit and a mechanical support assembly. The sensing module can adopt photoelectric or magneto-electric principle to realize high-precision angle measurement by detecting the relative position change between the rotor and the stator. The signal processing circuit filters, amplifies and digitizes the original signal, and outputs standard pulse signals or absolute position data. The first output shaft 231 extends from the first encoding body 232 and can rotate relative to the first encoding body 232, which is used to transmit external motion and trigger angle change detection.

[0041] The first shell cover 233 is connected to one side of the first encoding body 232 to form a closed or semi-closed shell structure. The first shell cover 233 is fixed to the first encoding body 232 by buckle, screw or ultrasonic welding, which constitutes the protective shell of the first encoder 230 to prevent dust, moisture or mechanical impact from damaging the internal elements. The first shell cover 233 also plays a structural connection role and participates in forming the external receiving space.

[0042] The first encoding body 232 is provided with a first clamping seat 234, which is an annular boss, a flange edge or a connecting structure with a limiting groove, arranged along the outer periphery of the first encoding body 232. The first clamping seat 234 is used to realize the axial positioning and circumferential fixation between the first encoder 230 and the connecting seat 210. The first connecting part 212 is provided with a first connecting through hole 212a, which penetrates through the two opposite surfaces of the first connecting part 212, and the inner diameter thereof matches the outer contour of the first clamping seat 234, allowing the first clamping seat 234 to pass through it.

[0043] After the first clamping seat 234 is passed through the first connecting through hole 212a, the first shell cover 233 is attached to the surface of the first connecting part 212, and the two form a first receiving space. The first receiving space is a cavity structure for accommodating the first encoding body 232, which stably fixes the first encoding body 232 inside the connecting seat 210.

[0044] The first accommodating space is provided with a first opening at the connecting edge of the first connecting part 212 and the first shell cover 233, for leading out the wires of the first encoder 230. The wires are led out from the terminal of the first encoding body 232, extend to the external wiring channel through the first opening, and are finally connected to the controller 300 of the exoskeleton glove 10.

[0045] In some embodiments, the connecting seat 210 includes a second connecting part 213, which is in a plate-like structure, extends in a certain direction, and has sufficient mechanical strength and dimensional stability. The second connecting part 213 is made of high-strength engineering plastic or light metal material. The second connecting part 213 is connected to the first connecting part 212. The second connecting part 213 and the first connecting part 212 cooperate with each other to form a multidirectional support frame of the connecting seat 210, for integrating multiple encoders and realizing spatial layout optimization.

[0046] The second connecting part 213 is arranged perpendicularly to the first connecting part 212, and the second connecting part 213 and the first connecting part 212 form a right-angle cross structure in space, corresponding to different motion measurement axes respectively. This perpendicular arrangement makes the rotation axes of the first encoder 230 and the second encoder 240 orthogonal to each other, effectively restoring the independent motion state of the fingers in different planes, and improving the accuracy of pose reconstruction.

[0047] The second encoder 240 includes a second encoding body 242, a second output shaft 241, and a second shell cover 243. The second encoding body 242 is the core unit of the second encoder 240, and internally integrates a sensing module, a signal conditioning circuit, and a mechanical support component. The sensing module can adopt photoelectric or magneto-electric principle, and realizes high-resolution angle measurement by detecting the relative angular displacement between the rotor and the stator. The signal conditioning circuit filters, amplifies, and digitizes the original electrical signal, and outputs standard pulse signals (such as A / B phase quadrature signals) or absolute position data, supporting high-speed and low-delay communication.

[0048] The second output shaft 241 extends from the second encoding body 242 and can freely rotate relative to the second encoding body 242, for receiving external mechanical motion and triggering angle change detection. The second output shaft 241 is connected with the connecting rod structure in the finger sleeve component 220, converting the bending action of the finger into measurable angular displacement.

[0049] The second shell cover 243 is connected to one side of the second encoding body 242 and is fixed by clamping, screwing, or ultrasonic welding, forming a complete shell of the second encoder 240. The second shell cover 243 not only provides physical protection to prevent dust, moisture, or external impact from damaging the internal elements, but also participates in forming an external accommodating structure to enhance the overall connection stiffness.

[0050] The second encoding body 242 is provided with a second clamping seat 244, which is an annular boss, a flange edge or a connecting structure with a limiting groove, and is arranged along the outer periphery of the second encoding body 242. The second clamping seat 244 is used to realize the axial positioning and circumferential fixing of the second encoder 240 on the connecting seat 210. The second connecting portion 213 is provided with a second connecting through hole 213a penetrating through two opposite surfaces of the second connecting portion 213, and the inner diameter of the second connecting through hole 213a matches the outer contour of the second clamping seat 244, allowing the second clamping seat 244 to pass through the second connecting through hole 213a.

[0051] After the second clamping seat 244 is passed through the second connecting through hole 213a, the second shell cover 243 is attached to the surface of the second connecting portion 213, and the two cooperate to form a second accommodation space. The second accommodation space is a cavity structure for accommodating the second encoding body 242, and stably fixes the second encoding body 242 inside the connecting seat 210.

[0052] The second accommodation space is provided with a second opening at the connecting edge of the second connecting portion 213 and the second shell cover 243, which is used to lead out the wires of the second encoder 240. The wires are led out from the wiring terminal of the second encoding body 242, enter the preset wiring channel through the second opening, and are finally connected to the controller 300 of the exoskeleton glove 10 to realize signal transmission.

[0053] In some embodiments, the first encoding body 232 of the first encoder 230 is fixed to the connecting seat 210, the first output shaft 231 can rotate relative to the body of the first encoder 230, and the first output shaft 231 is connected to the base 100, so that the connecting seat 210 can rotate relative to the base 100. The second body of the second encoder 240 is fixed to the connecting seat 210, the second output shaft 241 can rotate relative to the second encoding body 242 of the second encoder 240, and the second output shaft 241 is connected to the finger sleeve component 220, so that the finger sleeve component 220 can rotate relative to the connecting seat 210.

[0054] In some embodiments, the first encoder 230 and the second encoder 240 are both high-precision rotary encoders, which can be optoelectronic, magnetoelectric or Hall effect type, have digital signal output capability, and can transmit angle data in real time. The rotation axis of the rotary encoder is designed to be aligned with the physiological axis of the natural flexion and extension of the human finger as much as possible, reducing motion coupling and measurement deviation.

[0055] Please refer to Figure 1 and Figure 2In some embodiments, the exoskeleton glove 10 also includes a controller 300, which is fixedly installed in a designated area of ​​the base 100, typically located in the center of the back of the hand or near the wrist, facilitating centralized wiring and center of gravity balance. The controller 300 is constructed using a printed circuit board and an embedded chip, integrating a microprocessor, signal conditioning circuitry, communication module, and power management unit, and possesses real-time data acquisition, processing, and transmission capabilities. As the control core of the entire exoskeleton glove 10, the controller 300 is responsible for coordinating the sensor signal input and output of each finger sleeve component 200.

[0056] The base 100 has an internal mounting cavity or an external mounting bracket for securing the controller 300. The controller 300 is connected to the base 100 via clips, screws, or adhesive, ensuring stability and preventing loosening during dynamic use. The controller 300 may be covered by a protective housing with dustproof, waterproof, and impact-resistant properties to adapt to complex operating environments. Furthermore, status indicator lights or a wireless communication antenna may be installed on the surface of the controller 300 for easy monitoring of the device's operating status.

[0057] The first encoder 230 and the second encoder 240 in each finger sleeve assembly 200 are electrically connected to the controller 300 via wires. The wires extend from each encoder and lead to the controller 300, forming an orderly wiring network. The ends of the wires are equipped with standardized connectors, enabling quick plug-and-play connections with the input interface of the controller 300, improving assembly efficiency and maintenance convenience.

[0058] The controller 300 receives angle signals from all encoders in real time, including angles measured by the first encoder 230 and the second encoder 240. The controller 300 processes the received encoder signals to map human hand joint angles to the robot's dexterous hand. The controller 300 supports wired or wireless communication, transmitting the processed data to the dexterous hand control terminal via USB, Bluetooth, Wi-Fi, or a proprietary protocol to enable remote operation of the dexterous hand. It should be understood that the controller 300 can also directly send encoder signals (e.g., the first encoder 230, the second encoder 240, or the third encoder 227) to the dexterous hand control terminal, which then processes the encoder signals to achieve remote operation of the robot's dexterous hand.

[0059] The finger movement angle acquired by the first encoder 230 θ For example, the maximum and minimum values ​​of this motion angle are respectively θ max and θ min When a dexterous hand performs the same movements as a human hand, the maximum and minimum values ​​of the corresponding movement angles are... L max andL min Then the human hand joint angle θ The mapping relationship of the dexterous hand joint angle L is:

[0060] (L- L min ) / ( L max - L min )=(L θ-θ min ) / ( θ max - θ min );

[0061] After the controller 300 calculates the dexterous hand motion angle information, the information is sent to the dexterous hand control end, and the dexterous hand control end controls the dexterous hand to move the same angle, realizing the remote operation of the dexterous hand.

[0062] In the force feedback exoskeleton glove 10, the controller 300 can also receive reverse instructions to drive the motor or brake device to realize tactile simulation or motion assistance.

[0063] The base 100 is made of rigid or semi-rigid material, has certain structural strength and anti-deformation ability, and ensures stable shape during finger movement. The shape of the base 100 matches the contour of the back of the human hand, and the inner side is provided with a buffer pad layer or an adjustable binding structure to improve the wearing comfort and fixing reliability. The base 100 serves as the mounting platform of the plurality of finger sleeve assemblies 200, providing a unified mechanical reference and signal transmission channel.

[0064] Please refer to Figure 2 and Figure 4 In some embodiments, the base 100 is provided with a base boss 110 which is formed by extending from the surface of the base 100 in a vertical or inclined direction, has sufficient structural strength and spatial positioning accuracy, and is used to carry the finger sleeve assembly 200.

[0065] The base boss 110 is provided with a first mounting hole 111 which is inserted and matched with the first output shaft 231. In this way, when a certain finger sleeve assembly 200 needs to be repaired or replaced, the first output shaft 231 can be taken out by axial pulling, realizing quick disassembly without the need to disassemble the base 100 or other adjacent components, reducing maintenance cost and time.

[0066] In some embodiments, the outer profile of the cross section of the first mounting hole 111 is adapted to the outer profile of the cross section of the first output shaft 231 located in the first mounting hole 111, and both the outer profile of the cross section of the first mounting hole 111 and the outer profile of the cross section of the first output shaft 231 located in the first mounting hole 111 are non-circular. The outer profile of the cross section of the first mounting hole 111 and the outer profile of the cross section of the first output shaft 231 located in the first mounting hole 111 can be, but are not limited to, polygonal, D-shaped cross section, keyway-shaped, or oval, so as to avoid relative rotation between the base 100 and the first output shaft 231, achieve circumferential fixation, and ensure accurate transmission of angular displacement and torque.

[0067] To further enhance the reliability of the connection, after the first output shaft 231 is inserted into the first mounting hole 111, the connection interface is reinforced by using a gluing method. The gluing process uses a high-strength, fatigue-resistant structural adhesive, such as anaerobic adhesive, epoxy resin adhesive, or ultraviolet curing adhesive, which is filled in the small gap between the first output shaft 231 and the hole wall of the first mounting hole 111 to form a firm chemical bonding layer. The gluing layer not only improves the torsional strength of the connection, but also effectively suppresses loosening caused by vibration, impact, and repeated loads, and prevents mechanical wear or connection failure caused by long-term use.

[0068] Please refer to Figure 1 、 Figure 2 and Figure 4 In some embodiments, one of the base boss 110 and the connecting seat 210 is provided with a stopper 211, and the other of the base boss 110 and the connecting seat 210 is provided with a stop groove 112, the stop groove 112 extends along the rotation path of the connecting seat 210, and the stopper 211 is located in the stop groove 112.

[0069] The stopper 211 can be a protruding structure such as a bump, a pin shaft, or a hook, and the stopper 211 acts as a driving element for movement limiting and moves synchronously with the connecting seat 210 during the rotation of the connecting seat 210, and triggers the limiting action when reaching the limit position. The stop groove 112 is a through groove or groove structure extending along an arc-shaped path, and its extension direction is consistent with the rotation path of the connecting seat 210 relative to the base 100, and is concentric or approximately concentric around the rotation center of the third encoder 227. The stop groove 112 can limit the maximum rotation angle of the connecting seat 210 in the flexion, extension, or lateral swing direction, and ensure that the movement range meets the ergonomic requirements.

[0070] The stopper 211 is embedded in the stop groove 112 and slides along the extension path of the stop groove 112 during the normal rotation of the connecting seat 210. The stop groove 112 provides guidance for the stopper 211, constrains its movement trajectory, and prevents deviation or jamming. Within the normal flexion and extension range of the fingers, the stopper 211 freely slides in the stop groove 112 without generating additional resistance, ensuring smooth movement. When the connecting seat 210 is rotated to the preset limit angle, the stopper 211 abuts against the end wall of the stop groove 112, forming a physical barrier to prevent the connecting seat 210 from continuing to rotate. This mechanical limiting mechanism effectively prevents joint overload, protects the user's fingers, and avoids structural damage to the finger sleeve assembly 200 due to excessive movement.

[0071] The starting end and the ending end of the stop groove 112 correspond to the minimum and maximum rotation positions of the connecting seat 210, respectively, and the groove length and curvature radius accurately control the movement stroke. The contact surface of the stopper 211 and the stop groove 112 uses a rounded transition or is provided with elastic buffer material to reduce impact noise, reduce wear, and improve comfort and durability.

[0072] Please refer to Figure 2 and Figure 3 In some embodiments, the finger sleeve component 220 is used to directly contact the user's fingers and transmit movement or force feedback. The finger sleeve component 220 includes a first linkage structure 221, a first finger sleeve 222, and a first finger sleeve boss 223.

[0073] The first finger sleeve 222 is a sleeve-like member that can be worn on the end of the user's finger or the middle knuckle, made of lightweight material, and the inner surface can be provided with a flexible gasket to improve fit and wearing comfort.

[0074] The first finger sleeve boss 223 can be provided on the first finger sleeve 222, for example, the first finger sleeve boss 223 is provided on the outer surface of the first finger sleeve 222 and extends in a predetermined direction. The first finger sleeve boss 223 is a locally thickened or independently assembled structural member with sufficient structural strength and geometric precision for carrying the connecting end of the first linkage structure 221. The extension direction of the first finger sleeve boss 223 is optimized according to the flexion and extension movement trajectory of the finger to ensure a reasonable force transmission path and reduce movement interference.

[0075] One end of the first linkage structure 221 is rotatably connected to the first finger sleeve boss 223, and the other end of the first linkage structure 221 is connected to the second output shaft 241. The first linkage structure 221 is a multi-link rigid transmission link, and one end of the first linkage structure 221 is rotatably connected to the first finger sleeve boss 223 through a hinge, a rotating shaft or a universal joint structure, so that the first linkage structure 221 swings relative to the first finger sleeve 222 in the finger flexion plane. The other end of the first linkage structure 221 is connected to the second output shaft 241 of the second encoder 240. The second output shaft 241 is a rotating shaft extending from the second encoder 240, used for fixed connection with the distal end of the first linkage structure 221. In the assembled state, the first linkage structure 221 drives the second output shaft 241 to rotate around the second axis, realizing motion input.

[0076] When the user performs a finger bending or stretching action, the first finger sleeve 222 moves with the finger movement, driving the first finger sleeve boss 223 to move synchronously. The first finger sleeve boss 223 pulls one end of the first linkage structure 221 to swing, and the first linkage structure 221 converts linear or arc displacement into rotational motion around the second axis, driving the second output shaft 241 to produce angular displacement relative to the main body of the second encoder 240. The sensing element inside the second encoder 240 detects the relative rotation angle between the second output shaft 241 and the main body of the second encoder 240, and converts the mechanical motion into an electrical signal output.

[0077] In some embodiments, the first linkage structure 221 is provided with a second mounting hole 211a, and the second output shaft 241 is arranged through the second mounting hole 211a. The finger sleeve component 220 further includes a first limiting piece arranged at the end of the second output shaft 241 to limit the first linkage structure 221 from being separated from the end of the second output shaft 241. The first limiting piece is used to prevent the first linkage structure 221 from being separated from the second output shaft 241 in the axial direction. The first limiting piece can adopt glue, a limiting nut, an elastic clamping spring, a retaining ring or an integral boss structure, and is fixed to the end of the second output shaft 241 by bonding, threaded connection, elastic clamping or press fitting. When the second output shaft 241 is arranged through the second mounting hole 211a, the first limiting piece abuts against the end surface of the first linkage structure 221, forming axial constraint and preventing the first linkage structure 221 from being axially displaced or falling off during use.

[0078] To further enhance the reliability of the connection, after the second output shaft 241 is inserted into the second mounting hole 211a, an adhesive method is used to reinforce the connection interface. The adhesive process uses high-strength, fatigue-resistant structural glue, such as anaerobic glue, epoxy resin glue, or ultraviolet curing glue, which is filled into the small gap between the second output shaft 241 and the hole wall of the second mounting hole 211a, forming a firm chemical bonding layer. The adhesive layer not only improves the torsional strength of the connection, but also effectively suppresses loosening caused by vibration, impact, and repeated loading, preventing mechanical wear or connection failure due to long-term use.

[0079] In some embodiments, the finger sleeve component 220 further includes a second linkage structure 224, a second finger sleeve 225, a second finger sleeve boss 226, and a third encoder 227. The third encoder 227 is provided on the first finger sleeve boss 223, and the third encoder 227 has a rotatable third output shaft 227a. The second finger sleeve boss 226 is provided on the second finger sleeve 225, and one end of the second linkage structure 224 is rotatably connected to the second finger sleeve boss 226, and the other end of the second linkage structure 224 is connected to the third output shaft 227a.

[0080] The second finger sleeve 225 is a sleeve-like structure that fits the shape of the user's distal phalangeal joint (e.g., the distal phalanx), worn on the end of the finger, usually made of lightweight polymers or flexible composite materials, with anti-slip texture or breathable padding on the surface to improve wear stability and comfort.

[0081] The second finger sleeve boss 226 is provided on the outer surface of the second finger sleeve 225 and extends in a predetermined direction to form a partial protruding structure. The second finger sleeve boss 226 has sufficient structural strength and spatial positioning accuracy to carry one end of the second linkage structure 224. The extension direction of the second finger sleeve boss 226 is optimized according to the flexion and extension trajectory of the distal phalangeal joint to ensure efficient force transmission path and no motion interference.

[0082] The second linkage structure 224 is a multi-link rigid transmission member, and one end of the second linkage structure 224 is rotatably connected to the second finger sleeve boss 226 through a hinge, a shaft, or a universal joint structure, so that the second linkage structure 224 swings relative to the second finger sleeve 225 in the finger flexion and extension plane, achieving flexible response of the motion input end. The other end of the second linkage structure 224 is connected to the third output shaft 227a of the third encoder 227 for driving the third encoder 227 to perform angle detection.

[0083] The first finger sleeve boss 223 not only serves as the connection base 100 of the first linkage structure 221, but also provides a mounting platform for securing the third encoder 227. The third encoder 227 is firmly mounted on the first finger sleeve boss 223 through screwing, clamping, or gluing, and its spatial orientation is calibrated to ensure that the measurement axis is consistent with the target motion direction.

[0084] Referring to Figure 2 , Figure 3 and Figure 5 In some embodiments, the third encoder 227 includes a third encoding body 227b, a third output shaft 227a, and a third shell cover 227c. The third encoding body 227b is the core component of the third encoder 227, and internally integrates a high-precision sensing module, a signal processing circuit, and a mechanical support structure. The sensing module can adopt an optical or magneto-electric principle to realize non-contact angle measurement by detecting the change of grating or magnetic field during rotation, with high resolution, low delay, and long-term stability. The signal processing circuit filters, amplifies, digitizes, and encodes the original sensing signal, outputs standard incremental pulse signals (such as A / B phase quadrature signals) or absolute position data, and meets the needs of real-time attitude solution.

[0085] The third output shaft 227a extends from the third encoding body 227b and can freely rotate relative to the third encoding body 227b, and is used to connect the second connecting rod structure 224 and transmit angular displacement. The third shell cover 227c is connected to one side of the third encoding body 227b and is fixed by clamping, screwing, or ultrasonic welding to form a closed or semi-closed shell structure. The third shell cover 227c not only provides physical protection to prevent dust, moisture, and mechanical impact from damaging internal electronic components, but also participates in forming an external receiving space to improve the overall structural rigidity.

[0086] The third encoding body 227b is provided with a third card seat 227d, which is an annular boss, a flange, or a connecting structure with a limiting groove, and is arranged along the outer periphery of the third encoding body 227b. The third card seat 227d is used to realize the axial positioning and circumferential fixation of the third encoder 227 in the installation position, and ensures that the third encoder 227 does not loosen or deviate during use.

[0087] The first finger sleeve boss 223, as part of the finger sleeve assembly 200, is provided with a third connecting through hole 223a that penetrates through two opposite surfaces of the first finger sleeve boss 223, and the axis direction thereof is set according to the movement trajectory of the root of the human finger. The inner diameter size of the third connecting through hole 223a matches the outer contour of the third card seat 227d, allowing the third card seat 227d to be inserted therein. When the third card seat 227d is inserted into the third connecting through hole 223a, the third shell cover 227c is attached to the end face of the first finger sleeve boss 223, and the two form a third receiving space in cooperation. The third receiving space is a cavity structure for accommodating the third encoding body 227b, and stably fixes the third encoding body 227b in the third receiving space.

[0088] The third accommodation space is provided with a third opening at the connecting edge of the first finger sleeve boss 223 and the third shell cover 227c, which is used to lead out the lead wire of the third encoder 227. The lead wire is led out from the terminal of the third encoding body 227b, enters the preset wiring channel through the third opening, and is finally connected to the controller 300 of the exoskeleton glove 10 to complete signal transmission.

[0089] When the user performs the flexion and extension action of the distal phalange, the second finger sleeve 225 drives the movement of the second finger sleeve boss 226, which pulls the second connecting rod structure 224 to displace, and the second connecting rod structure 224 transmits the movement to the third output shaft 227a to drive it to rotate relative to the third encoder 227. The third encoding body 227b inside the third encoder 227 detects the relative angular displacement between the third output shaft 227a and the third encoder 227, and converts the mechanical change into an electrical signal output.

[0090] In some embodiments, the finger sleeve component 220 further comprises a wire fixing structure 228 arranged on the first connecting rod structure 221 and used to fix the lead wire of the third encoder 227.

[0091] In some embodiments, the third encoder 227 can be connected to the controller 300 of the exoskeleton glove 10 through the lead wire, and the wire fixing structure 228 is used to constrain and position the lead wire of the third encoder 227. The wire fixing structure 228 adopts a buckle type, a clamping type or a ring-shaped band structure. After the lead wire of the third encoder 227 passes through the wire fixing structure 228, it extends along a preset path and is limited in a safe area to avoid interference with the finger movement component. The inner wall of the wire fixing structure 228 is provided with an elastic gasket or a round corner transition to reduce the extrusion and scratching of the outer skin of the lead wire of the third encoder 227, and protect the integrity of the insulation layer of the wire.

[0092] The wire fixing structure 228 is reasonably distributed along the movement trajectory of the second connecting rod structure 224 to ensure that the lead wire of the third encoder 227 remains moderately relaxed during the flexion and extension of the finger, neither too tight nor too loose. In the maximum bending state, the lead wire of the third encoder 227 still has a proper margin to prevent the solder joint from falling off or the internal copper wire from breaking due to excessive tension.

[0093] In some embodiments, the wire fixing structure 228 comprises a first wire fixing part 228a and a second wire fixing part 228b, and the first wire fixing part 228a is connected between the first connecting rod structure 221 and the second wire fixing part 228b. The first wire fixing part 228a is a connecting bridge section, one end of which is fixed to the side or top of the first connecting rod structure 221, and the other end extends and is connected with the second wire fixing part 228b to form a stable support frame.

[0094] The first connecting rod structure 221, the first wire fixing part 228a and the second wire fixing part 228b cooperatively form a wire fixing channel 228c. The wire fixing channel 228c is a channel extending along the wire running direction of the third encoder 227, used for accommodating and guiding the wire of the third encoder 227, and limiting the radial and lateral displacement of the wire of the third encoder 227. The cross-sectional shape of the wire fixing channel 228c is matched with the outer diameter of the wire, which can be circular, elliptical or polygonal, and the inner wall can be smooth or provided with an elastic buffer layer to reduce the friction damage to the outer skin of the wire of the third encoder 227.

[0095] The second wire fixing part 228b is spaced apart from the first connecting rod structure 221 to form a wire insertion port 228d, and the wire insertion port 228d is communicated with the wire fixing channel 228c. The width of the wire insertion port 228d is smaller than the outer diameter of the wire of the third encoder 227, allowing the wire of the third encoder 227 to be pressed into the wire fixing channel 228c at an angle, achieving quick installation and positioning. After the wire of the third encoder 227 is embedded, the wire insertion port 228d exerts an elastic clamping force or a mechanical limiting action on the wire of the third encoder 227, preventing the wire of the third encoder 227 from accidentally coming out during use.

[0096] In some embodiments, the second connecting rod structure 224 is provided with a third mounting hole 224a, and the third output shaft 227a is arranged through the third mounting hole 224a. The finger sleeve component 220 further includes a second limiting part arranged at the end of the third output shaft 227a to limit the second connecting rod structure 224 from being separated from the end of the third output shaft 227a. The second limiting part is used to prevent the second connecting rod structure 224 from being separated from the second output shaft 241 in the axial direction. The second limiting part can be a glue, a limiting nut, an elastic snap spring, a check ring or an integral boss structure, which is fixed to the end of the third output shaft 227a by bonding, threaded connection, elastic clamping or press fitting. When the third output shaft 227a is arranged through the third mounting hole 224a, the second limiting part abuts against the end surface of the second connecting rod structure 224, forming an axial constraint to prevent the first connecting rod structure 221 from being axially displaced or separated during use.

[0097] To further enhance the reliability of the connection, after the third output shaft 227a is inserted into the third mounting hole 224a, a glue is used to reinforce the connection interface. The glue process uses a high-strength and fatigue-resistant structural glue, such as anaerobic glue, epoxy resin glue or ultraviolet curing glue, which is filled into the small gap between the third output shaft 227a and the hole wall of the third mounting hole 224a to form a firm chemical bonding layer. The glue layer not only improves the torsional strength of the connection, but also effectively suppresses the loosening caused by vibration, impact and repeated loads, preventing mechanical wear or connection failure caused by long-term use.

[0098] The same or similar reference numerals in the drawings of the embodiments correspond to the same or similar components; in the description of the present application, it is understood that if the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right" and the like are based on the orientations or positional relationships shown in the drawings, they are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationships in the drawings are only used for exemplary illustration and cannot be understood as a limitation on the present application, for those skilled in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0099] The above is only a preferred embodiment of the present application, and is not used to limit the present application, any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An exoskeleton glove characterized by, The application relates to a finger sleeve assembly, comprising: a base; and a finger sleeve assembly, comprising a connecting seat, a first encoder, a second encoder and a finger sleeve component, the first encoder and the second encoder are arranged on the connecting seat, the first encoder has a rotatable first output shaft, the first output shaft is connected to the base and is used for measuring the angle of rotation of the finger sleeve component relative to the base around a first axis, the second encoder has a rotatable second output shaft, the second output shaft is connected to the finger sleeve component and is used for measuring the angle of rotation of the finger sleeve component relative to the base around a second axis, and the second axis and the first axis intersect.

2. The exoskeleton glove of claim 1, wherein, The base is provided with a base boss, the base boss is provided with a first mounting hole, and the first mounting hole is in plug-in fit with the first output shaft.

3. The exoskeleton glove of claim 2, wherein, One of the base boss and the connecting seat is provided with a stopper, and the other of the base boss and the connecting seat is provided with a stop groove, the stop groove extends along the rotation path of the connecting seat, and the stopper is located in the stop groove.

4. The exoskeleton glove of claim 2, wherein, The cross-sectional outer contour of the first mounting hole is matched with the cross-sectional outer contour of the first output shaft located in the first mounting hole, and the cross-sectional outer contour of the first mounting hole and the cross-sectional outer contour of the first output shaft located in the first mounting hole are both arranged in a non-circular shape.

5. The exoskeleton glove of claim 1, wherein, The finger sleeve component comprises a first connecting rod structure, a first finger sleeve, a first finger sleeve boss, one end of the first connecting rod structure is rotatably connected to the first finger sleeve boss, and the other end of the first connecting rod structure is connected to the second output shaft.

6. The exoskeleton glove of claim 5, wherein, The first connecting rod structure is provided with a second mounting hole, the second output shaft passes through the second mounting hole, the finger sleeve component further comprises a first limiting piece, and the first limiting piece is arranged at the end of the second output shaft to limit the first connecting rod structure from being separated from the end of the second output shaft.

7. The exoskeleton glove of claim 5, wherein, The finger sleeve component further comprises a second connecting rod structure, a second finger sleeve, a second finger sleeve boss and a third encoder, the third encoder is arranged on the first finger sleeve boss, the third encoder has a rotatable third output shaft, the second finger sleeve boss is arranged on the second finger sleeve, one end of the second connecting rod structure is rotatably connected to the second finger sleeve boss, and the other end of the second connecting rod structure is connected to the third output shaft.

8. The exoskeleton glove of claim 7, wherein, The finger sleeve component further comprises a wire fixing structure, and the wire fixing structure is arranged on the first connecting rod structure and is used for fixing the wire of the third encoder.

9. The exoskeleton glove of claim 8, wherein, The wire fixing structure comprises a first wire fixing part and a second wire fixing part, the first wire fixing part is connected between the first connecting rod structure and the second wire fixing part; The first connecting rod structure, the first wire fixing part and the second wire fixing part cooperatively form a wire fixing channel, the second wire fixing part is spaced apart from the first connecting rod structure to form a wire insertion port, and the wire insertion port is communicated with the wire fixing channel.

10. The exoskeleton glove of claim 7, wherein, The second connecting rod structure is provided with a third mounting hole, the third output shaft is arranged in the third mounting hole, and the finger sleeve component further comprises a second limiting piece, the second limiting piece is arranged at the end of the third output shaft to limit the second connecting rod structure from being separated from the end of the third output shaft.

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