Lightweight hand exoskeleton force feedback device

Abstract

The present invention provides a lightweight hand exoskeleton force feedback device, comprising a drive, a drive-powered fixing member, a drive fixed rotating shaft fixing member, a drive pull rod fixing member, a first rotating connecting rod, a second rotating connecting rod, a first linkage rod, a second linkage rod, a bearing, a finger sleeve, and a pressure sensor fixing member, wherein the drive is worn on the back of a metacarpal bone of a user by means of a strap; the finger sleeve is fixed to the index finger of a human hand; the pressure sensor fixing member is fixed below the index finger of the human hand by means of the strap; the human hand bends to simulate the condition of grasping an object; the drive drives the first rotating connecting rod to couple, by means of the second rotating connecting rod, the first linkage rod and the second linkage rod to cause the finger sleeve to bend and stretch; force feedback is performed on a finger tip; and a pressure is created on the pressure sensor in the pressure sensor fixing member, such that closed-loop force feedback control is achieved. The device is simple in structure and enables a wearable exoskeleton force feedback device to be lightweight, and discomfort to a user caused by long-time wearing of the device is reduced.

Description

A lightweight hand exoskeleton force feedback device Technical Field

[0001] The present invention belongs to the technical field of exoskeleton robots, and in particular relates to a lightweight hand exoskeleton force feedback device. Background Art

[0002] The global aging population is accelerating, and the elderly's ability to care for themselves is declining, manifesting as functional impairment or loss. This includes difficulty withdrawing from daily activities or being unable to complete basic self-care activities such as eating, washing, dressing, using the toilet, and walking. Force feedback exoskeletons are expected to become a solution to the challenges of an aging society, helping the elderly maintain their physical mobility, slow muscle strength decline, and improve their ability to care for themselves. At the same time, force feedback exoskeletons, combined with technologies such as virtual reality (VR) and augmented reality (AR), can provide a more immersive somatosensory interactive experience. Wearers can interact with the virtual environment through the exoskeleton, enhancing their entertainment experience and training effectiveness.

[0003] Traditional finger force feedback exoskeletons have limitations, including discomfort. Their complex structure makes them heavy, making them uncomfortable to wear and use, potentially causing injury and preventing prolonged wear. They also often rely on open-loop control, lacking closed-loop control of the driver output. Furthermore, traditional finger force feedback exoskeletons have a fixed axis structure, whereas the human index finger bone rotates along multiple axes and applies force in a variable direction. Traditional exoskeleton designs often lack the ability to change the axis.

[0004] Summary of the Invention

[0005] To solve the above problems, the present invention discloses a lightweight hand exoskeleton force feedback device with a simple structure and a pressure sensor, thereby realizing closed-loop controlled index finger force feedback.

[0006] To achieve the above object, the technical solution of the present invention is as follows:

[0007] A lightweight hand exoskeleton force feedback device, comprising a driver, a driver power fixing member, a driver fixed shaft fixing member, a driver pull rod fixing member, a first rotating link, a second rotating link, a first linkage link, a second linkage link, a bearing, a gasket, a finger sleeve, and a pressure sensor fixing member;

[0008] The driver is installed on a driver power fixing member and a driver fixed rotating shaft fixing member, and the driver power fixing member and the driver fixed rotating shaft fixing member are worn on the back of the user's metacarpal bone through a strap, the driver driving rod is rotatably connected to the first section of the first rotating link through the driver rod fixing member, the rear end of the first rotating link is rotatably connected to the front end of the second rotating link, the front end of the first linkage link is rotatably connected to the driver fixed rotating shaft fixing member, the rear end of the first linkage link is rotatably connected to the front end of the second linkage link, the rear end of the second linkage link is rotatably connected to the central rotating bearing hole of the second rotating link, the rear end of the second rotating link is rotatably connected to the finger cuff, and the pressure sensor fixing member is connected to the finger cuff through a strap and fixed under the fingertip; the driver drives the first rotating link to couple the first linkage link and the second linkage link via the second rotating link to drive the finger cuff to flex and extend, implement force feedback on the fingertip, and cause pressure on the pressure sensor in the pressure sensor fixing member, thereby realizing a force feedback closed-loop control module; the device has a simple structure and can realize lightweight wearable exoskeleton force feedback device, which will reduce the discomfort caused by the user wearing the device for a long time.

[0009] Furthermore, the bearings include two types of bearings, namely twelve rotary bearings and one sliding bearing;

[0010] The driver power fixing member and the driver fixed shaft fixing member are fixed to the back of the user's palm and fixed near the index finger through a strap. The driver base is fixed by the driver power fixing member and the driver fixed shaft fixing member. The driver fixed shaft fixing member is located at the proximal end of the metacarpal bone and is provided with a rotating bearing hole A. The rotating bearing A is placed in the rotating bearing hole A.

[0011] The driver is a DC wireless servo motor, which pushes and pulls the driver rod when driven, and the rod is rigidly fixed to the driver rod fixing member;

[0012] The driver rod fixing member is provided with a rotating bearing hole B, in which a rotating bearing B is placed;

[0013] The front and rear ends of the first rotating link are both provided with rotating bearing holes, namely rotating bearing hole C and rotating bearing hole D, and each of the holes is provided with rotating bearings, namely rotating bearing C and rotating bearing D. The front end of the first rotating link is rotatably connected to the rotating bearing B of the driver rod fixing member via the rotating bearing C and the sliding bearing a. In particular, the first rotating link is provided with a slide groove at its center, and the sliding bearing b is placed in the slide groove.

[0014] The front and rear ends of the second rotating link are both provided with rotating bearing holes, namely, rotating bearing hole E and rotating bearing hole F, and rotating bearings are placed in each of the holes, namely, rotating bearing E and rotating bearing F. The front end of the second rotating link is rotatably connected to the rear end rotating bearing C of the first rotating link via the rotating bearing E. In particular, the second rotating link is provided with a rotating bearing hole G at the center of the link, and the rotating bearing G is placed in the rotating bearing hole G.

[0015] The finger sleeve is provided with a rotating bearing hole H, in which a rotating bearing H is placed. The finger sleeve is rotatably connected to the rear end rotating bearing F of the second rotating rod via the rotating bearing H. In particular, the finger sleeve is fixedly connected to the finger and the pressure sensor fixing member via a strap.

[0016] The front and rear ends of the first linkage connecting rod are both provided with rotation bearing holes, namely, rotation bearing hole I and rotation bearing hole J, and rotation bearings are placed in both, namely, rotation bearing I and rotation bearing J;

[0017] The front and rear ends of the second linkage link are both provided with rotation bearing holes, namely, rotation bearing hole K and rotation bearing hole L, and rotation bearings, namely, rotation bearing K and rotation bearing L, are placed in both.

[0018] Furthermore, the front end of the first linkage link is rotationally connected to the rotational bearing B of the driver pull rod fixing member through the rotational bearing I, and the rear end of the first linkage link is rotationally connected to the sliding bearing b and the gasket through the rotational bearing J. At the same time, the gasket is rotationally connected to the front end of the second linkage link through the rotational bearing K.

[0019] Furthermore, the rear end of the second linkage link is rotatably connected to the swivel bearing G at the center position of the second swivel link via a swivel bearing L.

[0020] Furthermore, the pressure sensor fixing piece is fixedly connected to the finger and the finger cuff via a strap.

[0021] Furthermore, the pressure sensor is tightly fixed to the pressure sensor fixing member, and the force feedback closed-loop control module is used to set the expected driving force.

[0022] Furthermore, the driver sets the expected force feedback value F during the current control period when driving. c The driver pull rod drives the first rotating link to couple the first linkage link and the second linkage link via the second rotating link to drive the finger cuff to flex and extend, and implement force feedback on the fingertip. At the same time, the pressure sensor in the pressure sensor fixture collects an actual force feedback value F once in the current control cycle. r , compare the expected force feedback value F c and the actual force feedback value F rThe size of the force feedback value F c and the actual force feedback value F r The difference calculation obtains the DC wireless servo motor force feedback value increment Δd and adds it to the DC wireless servo motor force feedback value of the previous control cycle, and outputs it as the DC wireless servo motor force feedback value increment of the current control cycle, thereby realizing the force feedback closed-loop control module.

[0023] Furthermore, if the force feedback value F is expected c Than the actual force feedback value F r If the force feedback value F is large, the DC wireless servo motor force feedback value increment Δd is positive. c Than the actual force feedback value F r If the value of Δd is small, the force feedback increment of the DC wireless servo motor will be negative.

[0024] The beneficial effects of the present invention are:

[0025] (1) The first rotating link described in the present invention is coupled to the second rotating link through the first linkage link, the second linkage link and the sliding bearing, so that the driver of the lightweight hand exoskeleton force feedback device of the present invention can simultaneously change the rotation axes of the first rotating link and the second rotating link when driving, so that the lightweight hand exoskeleton force feedback device of the present invention conforms to the multi-axis rotation characteristics of the human index finger bone rotation when providing force feedback to the human index finger, thereby avoiding damage to the human body and providing high-efficiency fingertip force feedback;

[0026] (2) The driving rod of the present invention drives the first rotating link to couple the first linkage link and the second linkage link via the second rotating link to drive the finger cuff to flex and extend. The control method is simple and effective, and can provide sufficient force feedback to the fingertips. At the same time, the simplicity of the structure realizes the lightweight wearable exoskeleton force feedback device, reduces the weight of the hand exoskeleton device, and enables the human body to wear it for a long time.

[0027] (3) The force feedback closed-loop control module described in the present invention monitors the actual force feedback value in real time through a pressure sensor and makes output adjustments, so that the force feedback value applied by the hand exoskeleton device to the tip of the human index finger reaches the expected force feedback value, thereby achieving accurate control. At the same time, the lightweight hand exoskeleton force feedback device has a certain robustness, can cope with the interference caused by environmental changes, and reduce the damage that may be caused to the human body due to environmental interference. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] FIG1 is a schematic diagram of the overall structure of the lightweight hand exoskeleton force feedback device of the present invention in an extended state;

[0029] FIG2 is a schematic diagram of the overall structure of the lightweight hand exoskeleton force feedback device according to the present invention in a bent state;

[0030] 3 is a schematic structural diagram of the cooperation between the driver fixed shaft fixing member and the first linkage connecting rod according to the present invention;

[0031] FIG4 is a schematic structural diagram of the cooperation between the driver rod fixing member and the driver rod according to the present invention;

[0032] 5 is a schematic structural diagram of the cooperation between the first rotating link, the first linkage link and the second linkage link according to the present invention;

[0033] 6 is a schematic structural diagram of the cooperation between the second rotating link and the second linkage link according to the present invention;

[0034] FIG7 is a schematic structural diagram of the cooperation between the second rotating connecting rod and the finger sleeve according to the present invention;

[0035] FIG8 is a schematic diagram of the force feedback closed-loop control module according to the present invention.

[0036] List of Figure Symbols:

[0037] 1. Driver rod, 2. Driver, 3. Gasket, 4. Gasket, 5. First rotating link, 6. Second linkage link, 7. Second rotating link, 8. Finger sleeve, 9. Pressure sensor fixing part, 10. First linkage link, 11. Driver rod fixing part, 12. Driver fixed shaft fixing part, 13. Driver power fixing part, 14 to 25 are all rotating bearings, 26. Sliding bearing, 27. Pressure sensor. DETAILED DESCRIPTION

[0038] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments, taking the index finger as an example. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0039] As shown in Figures 1-8, a specific embodiment of the lightweight hand exoskeleton force feedback device of the present invention includes: a driver rod 1, a driver 2, a gasket 3, a gasket 4, a first rotating link 5, a second linkage link 6, a second rotating link 7, a finger cuff 8, a pressure sensor fixture 9, a first linkage link 10, a driver rod fixture 11, a driver fixed shaft fixture 12, a driver power fixture 13, rotating bearings 14-25, a sliding bearing 26, a pressure sensor 27, and a force feedback closed-loop control module. Specifically, the second rotating link 7 is a curved rod, while the first rotating link 5, the second linkage link 6, and the first linkage link 10 are all straight rods.

[0040] As shown in Figure 1, the tip of the index finger of a person's hand is wearing a finger cuff 8, and the finger cuff 8 is fixedly connected to the pressure sensor fixing part 9 and the tip of the index finger through a strap. The finger cuff 8 is fixed above the index finger of the person's hand through a strap, and the pressure sensor fixing part 9 is fixed below the index finger of the person's hand through a strap. The person's hand is bent to simulate the state of grasping an object. The driver 2 pushes and pulls the driver rod 1 to drive the first rotating link 5 to couple the first linkage link 10 and the second linkage link 6 via the second rotating link 7 to drive the finger cuff 8 to flex and extend, and implement force feedback on the fingertip. At this time, the state of the human hand and the lightweight hand exoskeleton force feedback device described in the present invention is as shown in Figure 2. At the same time, the pressure sensor 27 in the pressure sensor fixing part 9 monitors the actual force feedback value and compares it with the expected force feedback value F c and the actual force feedback value F r The size of the force feedback value F c and the actual force feedback value F r The difference calculation obtains the DC wireless servo motor force feedback value increment Δd and adds it to the DC wireless servo motor force feedback value of the previous control cycle. It is output as the DC wireless servo motor force feedback value increment of the current control cycle, thereby realizing the force feedback closed-loop control module, as shown in Figure 8.

[0041] As shown in Figures 1 to 3, the driver fixed shaft fixing member 12 and the driver power fixing member 13 are fixed above the back of the user's palm by straps. In particular, the driver power fixing member 13 is fixed close to the wrist, and the driver fixed shaft fixing member 12 is fixed close to the index finger. Both are fixed close to one side of the index finger. The driver 2 described in the present invention is fixed above the driver power fixing member and the driver fixed shaft fixing member, and the driving direction of the driver 2 is from the wrist to the index finger.

[0042] The driver fixed shaft fixing part 12 and the driver power fixing part 13 are both designed to be curved on the side close to the back of the palm, as shown in Figure 3, which conforms to the curvature of the back of the human palm, thereby avoiding possible damage to the human hand when wearing the present invention.

[0043] The driver fixed shaft fixture 12 has a rotation bearing hole at its bottom, near the middle finger, with a rotation bearing 14 positioned within it. The first end of the first linkage link 10 also has a rotation bearing hole within it, with a rotation bearing 17 positioned within it, as shown in Figure 5. The first linkage link 10 is rotationally connected to the left side of the driver fixed shaft fixture 12 via rotation bearings 20 and 25.

[0044] The driver 2 provided in the embodiment of the present invention has a driver rod 1, and the driver rod 1 can move freely within a certain range, so as not to generate resistance to the free grasping action of the human hand. In this embodiment, when the human hand bends to simulate the state of grasping an object, the driver rod 1 is locked and cannot move freely. The force feedback closed-loop control module calculates the required expected force feedback value and converts it into a driving force value and outputs it to the driver 2. The driver 2 pushes and pulls the driver rod 1 to drive the first rotating link 5 to couple the first linkage link 10 and the second linkage link 6 via the second rotating link 7 to drive the finger cuff 8 to flex and extend. At this time, the state of the human hand and the lightweight hand exoskeleton force feedback device described in the present invention is shown in Figure 2.

[0045] As shown in Figure 4 , driver rod fixture 11 is rigidly fixed to the top of driver rod 1 near the index finger end, locking the rotating shaft. Driver rod fixture 11 is aligned with the right side of driver rod 1 and prevents relative movement. A rotating bearing hole is provided at the top of driver rod fixture 11, and a rotating bearing 16 is placed in the rotating bearing hole.

[0046] Referring to Figure 1, the left side of the driver rod fixing member 11 is rotatably connected to the first end of the first rotating link 5 through a gasket 3, a rotating bearing 16, and a rotating bearing 17. The gasket 3 is located between the driver rod fixing member 11 and the first rotating link 5 to prevent the driver rod fixing member 11 and the first rotating link 5 from deflecting when they rotate.

[0047] In a specific embodiment of the present invention, as shown in Figure 5, a sliding groove is provided at the center of the first rotating link 5, in which a sliding bearing 26 is freely slidably positioned. A rotating bearing hole is provided at the first end of the second linkage link 6, in which a rotating bearing 20 is positioned. A rotating bearing hole is provided at the second end of the first linkage link 10, in which a rotating bearing 18 is positioned. A gasket 4, the first rotating link 5, and the first linkage link 10 are positioned to the left of the first end of the second linkage link 6, in that order. The rotating bearing 20, the gasket 4, the sliding bearing 26, and the rotating bearing 18 form a rotational connection between these components. The sliding sliding bearing 26 allows the rotation axes of the first and second rotating links 5 and 7 to change with hand movement, thereby ensuring that the lightweight hand exoskeleton force feedback device of the present invention conforms to the multi-axis rotation characteristics of the human index finger bone when providing force feedback to the human index finger. A gasket 3 is positioned between the second linkage link 6 and the sliding bearing 26 to prevent deflection of the second linkage link 6 and the sliding bearing 26 during rotation.

[0048] As shown in Figure 6, the first end of the second rotating link 7 is provided with a rotating bearing hole, in which a rotating bearing 24 is placed, the second end is provided with a rotating bearing hole, in which a rotating bearing 22 is placed, the center position of the second rotating link 7 is provided with a rotating bearing hole, in which a rotating bearing 23 is placed, the center position of the second rotating link 7 is rotatably connected to the second linkage link 6 through the rotating bearing 21 and the rotating bearing 23, and the second rotating link 7 is located on the left side of the second linkage link 6.

[0049] Furthermore, the first end of the second rotating link 7 is rotatably connected to the second end of the first rotating link 5 through the rotating bearing 18 and the rotating bearing 24 , as shown in FIG1 , and the second rotating link 7 is located on the right side of the first rotating link 5 .

[0050] Referring to Figures 1 and 7, a rotating bearing hole is provided at the top of the finger cuff 8, in which a rotating bearing 25 is placed. The top of the finger cuff 8 is rotatably connected to the second end of the second rotating link 7 via the rotating bearing 25 and the rotating bearing 22, and the second rotating link 7 is located on the left side of the finger cuff 8. The side of the finger cuff 8 close to the index finger is designed to be curved, as shown in Figure 7, conforming to the curvature of the back of the index finger of the human hand, thereby avoiding possible damage to the human hand when the present invention is worn and improving the comfort of the wearer. The side of the finger cuff 8 close to the index finger is fixedly connected to the pressure sensor fixing part 9 and the tip of the index finger via a strap. The finger cuff 8 is fixed above the index finger of the human hand via a strap, and the pressure sensor fixing part 9 is fixed below the index finger of the human hand via a strap, as shown in Figure 1.

[0051] The strap of the present invention is a Velcro strap, which is used to fix the driver shaft fixing member 12 and the driver power fixing member 13 on the back of the user's palm, and to fix the fingertip 8 and the pressure sensor fixing member 9 on the tip of the index finger, as shown in FIG1 .

[0052] It is worth noting that the side of the pressure sensor fixing part 9 close to the index finger is designed to be arc-shaped, as shown in Figure 1, which conforms to the curvature of the index finger pad of the human hand. The pressure sensor 27 is located between the pressure sensor fixing part 9 and the index finger pad of the human hand, and is fixed to the side of the pressure sensor fixing part 9 close to the index finger of the human hand.

[0053] The lightweight hand exoskeleton force feedback device of an embodiment of the present invention realizes the force feedback movement process of the index finger: the driver 2 pulls the driver rod 1 to move toward the wrist, so that the driver rod 1 drives the first rotating link 5 to couple the first linkage link 10 and the second linkage link 6 via the second rotating link 7, thereby driving the finger cuff 8 to move toward the index finger web toward the back of the index finger, realizing the force feedback action on the index finger.

[0054] In a specific embodiment of the present invention, as shown in FIG8 , the force feedback closed-loop control module of the present invention includes a pressure sensor 27, a lightweight hand exoskeleton force feedback device, a controller, a computer-side virtual environment, and a binocular camera. The computer-side virtual environment communicates with the controller via UART. The sensor group 27 is placed under the index finger and measures the actual force feedback value F r The computer-side virtual environment can send control instructions to the controller, and the controller can send the obtained sensor information to the computer-side virtual environment; the binocular camera sends the detected human hand posture information to the computer-side virtual environment as a basis for determining whether the device implements force feedback action.

[0055] Furthermore, when the computer-side virtual environment determines that the simulated hand in the virtual environment grasps the virtual object based on the human hand posture information, the expected force feedback value F is calculated. c The command is sent to the controller via UART, so that the controller sets the expected force feedback value F in the current control cycle. c At the same time, the pressure sensor 27 in the pressure sensor fixture collects an actual force feedback value F once in the current control cycle. r , compare the expected force feedback value F c and the actual force feedback value F r The size of the force feedback value F c and the actual force feedback value F r The difference calculation obtains the DC wireless servo motor force feedback value increment Δd and adds it to the DC wireless servo motor force feedback value of the previous control cycle, and outputs it as the DC wireless servo motor force feedback value increment of the current control cycle, thereby realizing the force feedback closed-loop control module.

[0056] Furthermore, if the force feedback value F is expected c Than the actual force feedback value F r If the force feedback value F is large, the DC wireless servo motor force feedback value increment Δd is positive. c Than the actual force feedback value F r If the value of Δd is small, the force feedback increment of the DC wireless servo motor will be negative.

[0057] It should be noted that the above content merely illustrates the technical idea of ​​the present invention and cannot be used to limit the scope of protection of the present invention. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications all fall within the scope of protection of the claims of the present invention.

Claims

1. A lightweight hand exoskeleton force feedback device, characterized in that: It includes a driver, a driver power fixing part, a driver fixed shaft fixing part, a driver pull rod fixing part, a first rotating connecting rod, a second rotating connecting rod, a first linkage connecting rod, a second linkage connecting rod, a bearing, a gasket, a finger sleeve, and a pressure sensor fixing part; The driver is installed on a driver power fixing member and a driver fixed shaft fixing member, and the driver power fixing member and the driver fixed shaft fixing member are worn on the back of the user's metacarpal bone through a strap, and a driving pull rod of the driver is rotationally connected to the first section of the first rotating link through the driver pull rod fixing member, a rear end of the first rotating link is rotationally connected to the front end of the second rotating link, a front end of the first linkage link is rotationally connected to the driver fixed shaft fixing member, a rear end of the first linkage link is rotationally connected to the front end of the second linkage link, a rear end of the second linkage link is rotationally connected to the central rotating bearing hole of the second rotating link, a rear end of the second rotating link is rotationally connected to the finger sleeve, and a pressure sensor fixing member is connected to the finger sleeve through a strap and fixed under the fingertip; the driver drives the first rotating link to couple the first linkage link and the second linkage link to drive the finger sleeve to flex and extend, force feedback is implemented on the fingertip, and pressure is caused to the pressure sensor in the pressure sensor fixing member, thereby realizing a force feedback closed-loop control module.

2. A lightweight hand exoskeleton force feedback device according to claim 1, characterized in that: The bearings include two types of bearings, namely twelve rotary bearings and one sliding bearing; The driver power fixing member and the driver fixed shaft fixing member are fixed to the back of the user's palm and fixed near the index finger through a strap, and the driver base is fixed by the driver power fixing member and the driver fixed shaft fixing member. The driver fixed shaft fixing member is located at the proximal end of the metacarpal bone and is provided with a rotating bearing hole A, in which a rotating bearing A is placed; The driver is a DC wireless servo motor, which pushes and pulls the driver pull rod when driven, and the pull rod is rigidly fixed to the driver pull rod fixing piece; The driver rod fixing piece is provided with a rotating bearing hole B, in which a rotating bearing B is placed; The front and rear ends of the first rotating connecting rod are both provided with rotating bearing holes, namely, rotating bearing hole C and rotating bearing hole D, and both are provided with rotating bearings, namely, rotating bearing C and rotating bearing D. The front end of the first rotating connecting rod is rotatably connected with the rotating bearing B of the driver rod fixing member through the rotating bearing C and the sliding bearing a. In particular, the first rotating connecting rod is provided with a slide groove at its center position, and the sliding bearing b is placed in the slide groove; The front and rear ends of the second rotating connecting rod are both provided with rotating bearing holes, namely, rotating bearing hole E and rotating bearing hole F, and rotating bearings are placed in both, namely, rotating bearing E and rotating bearing F. The front end of the second rotating connecting rod is rotatably connected with the rear end rotating bearing C of the first rotating connecting rod through the rotating bearing E. In particular, the second rotating connecting rod is provided with a rotating bearing hole G at the center of the connecting rod, and the rotating bearing G is placed in the rotating bearing hole G. The finger sleeve is provided with a rotating bearing hole H, in which a rotating bearing H is placed, and the finger sleeve is rotatably connected to the rear end rotating bearing F of the second rotating pull rod through the rotating bearing H. In particular, the finger sleeve is connected to the finger and the pressure sensor through a strap. The fixing piece fixes the connection; The front and rear ends of the first linkage connecting rod are both provided with rotation bearing holes, namely, rotation bearing hole I and rotation bearing hole J, and both are provided with rotation bearings, namely, rotation bearing I and rotation bearing J; The front and rear ends of the second linkage connecting rod are both provided with rotation bearing holes, namely, rotation bearing hole K and rotation bearing hole L, and rotation bearings, namely, rotation bearing K and rotation bearing L, are placed on both ends.

3. A lightweight hand exoskeleton force feedback device according to claim 1, characterized in that: The front end of the first linkage link is rotationally connected to the rotating bearing B of the driver pull rod fixing member through a rotating bearing I, and the rear end of the first linkage link is rotationally connected to the sliding bearing b and the gasket through a rotating bearing J. At the same time, the gasket is rotationally connected to the front end of the second linkage link through a rotating bearing K.

4. A lightweight hand exoskeleton force feedback device according to claim 1, characterized in that: The rear end of the second linkage link is rotatably connected to a swivel bearing G at the center position of the second swivel link via a swivel bearing L.

5. The lightweight hand exoskeleton force feedback device according to claim 1, characterized in that: The pressure sensor fixing piece is fixedly connected to the finger and the finger sleeve via a binding strap.

6. A lightweight hand exoskeleton force feedback device according to claim 1, characterized in that: The pressure sensor is tightly fixed to the pressure sensor fixing member, and the force feedback closed-loop control module is used to set the expected driving force.

7. A lightweight hand exoskeleton force feedback device according to claim 1, characterized in that: The driver sets the expected force feedback value F of the current control cycle when driving c The driver rod drives the first rotating link to couple the first linkage link and the second linkage link via the second rotating link to drive the fingertip to flex and extend, and implement force feedback on the fingertip. At the same time, the pressure sensor in the pressure sensor fixture collects an actual force feedback value F once in the current control cycle. r , compare the expected force feedback value F c and the actual force feedback value F r The size of the force feedback value F c and the actual force feedback value F r The difference calculation obtains the DC wireless servo motor force feedback value increment Δd and adds it to the DC wireless servo motor force feedback value of the previous control cycle, and outputs it as the DC wireless servo motor force feedback value increment of the current control cycle, thereby realizing the force feedback closed-loop control module.

8. A lightweight hand exoskeleton force feedback device according to claim 7, characterized in that: If the expected force feedback value F c Ratio to actual force feedback value F r If the force feedback value F is large, the DC wireless servo motor force feedback value increment Δd is positive. c Ratio to actual force feedback value F r If it is small, the DC wireless servo motor force feedback value increment Δd is negative.

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