Finger exoskeleton end member, finger exoskeleton, and set

Abstract

The invention relates to a finger exoskeleton end member (4). The finger exoskeleton end member (4) has a support structure (11) and a sensing structure (12), which are preferably detachably assembled together. The sensing structure (12) has a fingertip portion (26) which is supported, in the proximal direction, on a front end region (20) of a nailbed portion (13) of the support structure (11).

Description

[0001] REHBERG HÜPPE + PARTNER - 1 - Originally submitted version 22013PCT 11.09.2025

[0002] RHP Ref.: 22013PCT ZLP7

[0003] Patent application: File number not yet assigned

[0004] Title: Finger exoskeleton terminal limb, finger exoskeleton and set

[0005] Applicant: Digity GmbH

[0006] FINGER EXOSKELETAL END LINK, FINGER EXOSKELETAL AND SET

[0007] TECHNICAL AREA OF INVENTION

[0008] The invention relates to the technical field of finger exoskeletons, which are mechanical external support structures worn on a finger that can be applied and removed as needed. The finger exoskeleton can be an active finger exoskeleton with an actuator (especially an electric one), a passive finger exoskeleton without an actuator, or, in some cases, a spring and / or an integral elastic element can define an equilibrium operating position of the finger exoskeleton. From this position, the finger exoskeleton can be moved by forces applied by the finger, acting upon the spring or the integral elastic element. A return movement towards the equilibrium operating position can then be initiated or assisted by the spring or the integral elastic element.

[0009] The finger exoskeleton can serve medical or therapeutic purposes and can also be designed as a finger orthosis. It is also possible that the finger exoskeleton can support, guide, and / or enhance finger movements, and / or relieve stress on the finger joints and / or fingers, and / or protect against injuries or irritation.

[0010] Another possible application area for a finger exoskeleton is to support a fitter during assembly work.

[0011] The finger exoskeleton can be used for any finger, including the thumb. REHBERG HÜPPE + PARTNER - 2 - Originally submitted version 22013 PCT 11.09.2025

[0012] The present invention relates to a finger exoskeleton end element for a finger exoskeleton as previously described, a finger exoskeleton formed with such a finger exoskeleton end element, and a set with such a finger exoskeleton end element.

[0013] STATE OF THE ART

[0014] The company Otto Bock SE & Co. KGaA sells a thumb exoskeleton under the brand name "paexo thumb", see: https: / / ottobockexoskeletons.com / paexo-thumb-new

[0015] (Date of inspection: 03.09.2024).

[0016] The thumb exoskeleton has a terminal segment that houses the distal phalanx. The proximal phalanx is housed in a second segment. These two segments are connected by connecting struts positioned on either side of the thumb and angled. The elasticity and shape of these struts are designed to maintain full mobility of the thumb's distal joint, forming a hinge-like joint. To protect the tip of the distal phalanx from mechanical stress, the terminal segment covers the tip on both the frontal and underside. The way the distal phalanx and its tip are held within the terminal segment is similar to a thimble. The terminal segment also features a support ring on its underside.The thumb exoskeleton is designed to relieve stress on the thumb, particularly the distal interphalangeal joint and the carpometacarpal joint, by distributing forces throughout the hand. The thumb exoskeleton can be clipped, inserted, or plugged into place during assembly. It can also be worn under gloves. Available in various sizes, the thumb exoskeleton's elastic openings allow for quick and easy application and removal.

[0017] A fundamentally similar embodiment is known from US 2021 / 0267782 A 1, which additionally addresses the possibility that the cranked connecting struts on both sides of the thumb can also limit the swivel angle of the thumb's distal interphalangeal joint. Furthermore, US 2021 / 0267782 A1 proposes that a tool, such as a cable connector, a screwdriver, a wrench, a clamping aid, etc., can be mounted or formed on the end face of the thumb exoskeleton's terminal segment. According to US 2021 / 0267782 A1, the components of the thumb exoskeleton can be manufactured using 3D printing, injection molding, or lamination.

[0018] US 2021 / 022899 A1 discloses a finger orthosis with two or three finger orthosis segments connected by joints. The finger orthosis segments have, on both sides of the finger, outwardly oriented pivot pins that define a pivot axis and are received in correspondingly shaped bearing eyes of the adjacent finger orthosis segment. To prevent hyperextension, each finger orthosis segment has a laterally outwardly oriented extension adjacent to the pivot pin, which, to limit the pivot angle, contacts a stop on the adjacent finger orthosis segment.

[0019] Another thumb exoskeleton, whose degrees of freedom are ensured by the elasticity of the material used, can be found on the website https: / / exo.iturri.com / de / prexer-de

[0020] (Date of inspection 03.09.2024) known.

[0021] The website https: / / www.ruck-produkte.de / produkt-infos

[0022] (Date of inspection 03.09.2024) discloses the connection of two finger orthosis links of a finger orthosis by means of a metallic spiral spring, the spring base points of which are each firmly connected to a finger orthosis link.

[0023] The unpublished patent application of the inventor of the present patent application

[0024] DE 10 2023 124 508.2 addresses the task of improving the haptics or tactile perception of the finger on which the finger exoskeleton is located in known finger orthoses. For this purpose, a finger exoskeleton end phalanx has a thimble-shaped rigid support structure that completely encloses the end phalanx, both in the area of ​​the nail bed and in the area of ​​the fingertip. Inside the support structure, a large base body of a tactile structure is sandwiched between the end phalanx and the support structure. The support structure has openings on the underside in the area of ​​the fingertip, in the lateral side areas, and in the area of ​​the frontal surface.Through these openings, extensions of the tactile structure radiate from its base body, projecting beyond the outer surface of the support structure. The outer faces of these extensions act as sensor elements. When force is applied to these faces, for example, when grasping an object, the extensions move inwards relative to the support structure, pressing the base body of the tactile structure against the fingertip of the fingertip, thus enabling haptic or tactile perception. The tactile structure is secured within the support structure by two lateral extensions located on opposite sides. These extensions can be inserted into lateral recesses in the support structure by elastically deforming the tactile structure.The elastic restoring force of the sensing structure holds the lateral extensions of the sensing structure in the support structure.

[0025] Further state of the art is known from DE 10 2018 009 174 A1 and EP 4 424 390 A1.

[0026] TASK OF INVENTION

[0027] The present invention is based on the objective of proposing a finger exoskeleton end element, a finger exoskeleton and a set with an exoskeleton end element, which is particularly improved with regard to the coupling of a support structure with a tactile structure and / or haptic or tactile perception and / or its suitability for different applications. REHBERG HÜPPE + PARTNER - 5 - Originally filed version 22013 PCT 11.09.2025

[0028] SOLUTION

[0029] The object of the invention is achieved according to the invention by the features of the independent claims. Further preferred embodiments of the invention can be found in the dependent claims.

[0030] DESCRIPTION OF THE INVENTION

[0031] The invention proposes a finger exoskeleton end segment comprising two components: a support structure and a tactile structure. These two components can be manufactured separately and exhibit different materials and mechanical properties, thus being specifically designed according to requirements. The two components can be joined together by a material bond, for example, by adhesive bonding or injection molding. Preferably, however, the two components are manufactured separately and detachably mounted together.

[0032] The supporting structure in the finger exoskeleton end phalanx has two sections: a nail bed section and a ring section. It is possible that only these two sections are present, or that further sections of the supporting structure are also present.

[0033] In the finger exoskeleton end segment according to the invention, the nail bed section is designed such that, when the finger exoskeleton end segment is attached to the fingertip, the nail bed section is arranged above the nail bed of the finger (and thus, normally, above the fingernail), whereby the nail bed section can, for example, extend exclusively here without extending into the area of ​​the fingertip. It is possible that the lateral extension of the nail bed section (at least in the anterior region) has a smaller lateral extension than the nail bed or the fingernail.

[0034] The ring section is designed such that, when the finger exoskeleton end segment is placed against the fingertip, the ring section encloses the fingertip. The ring section can be closed or slotted. In an embodiment where the support structure is reduced to a minimum, it comprises only the nail bed section and the ring section, whereby the ring section can merge into the nail bed section at one end of its upper surface. REHBERG HÜPPE + PARTNER - 6 - Originally submitted version 22013 PCT 11.09.2025

[0035] The cross-sections of the nail bed section and the ring section follow the outer contour of the fingertip. The ring section may have a lower ring subsection and an upper ring subsection. In this case, the lower ring subsection may extend in a vertical longitudinal plane, while the upper ring subsection may be inclined forward at an angle to the vertical longitudinal plane. It is also possible, for example, that bearing sections or bearing cheeks for pivot bearing elements are attached to the ring section, particularly in the area of ​​the transition between the ring subsections, forming a pivot bearing with an adjacent finger exoskeleton segment.

[0036] Preferably, the support structure is made of a material, or manufactured with material thicknesses, or designed as a composite structure such that the spring stiffness, the mechanical stiffness and / or the strength is greater than that of the tactile structure.

[0037] According to the invention, the tactile structure for a first embodiment has a fingertip section. The fingertip section is preferably the most distally arranged end region of the tactile structure and / or the region of the tactile structure that is located in the transition area from the fingernail or nail bed to the fingertip of the fingertip. According to the invention, the fingertip section of the tactile structure is supported in the posterior direction along the longitudinal axis, i.e., in the proximal direction, on a front end region of the nail bed section of the supporting structure.

[0038] Within the scope of the invention, this support can be ensured by the arrangement of contact surfaces oriented transversely to the longitudinal axis, on the one hand of the fingertip section of the sensing structure and on the other hand of the front end region of the nail bed section of the support structure. Alternatively or cumulatively, the fingertip section of the sensing structure can have a coupling section that is coupled (preferably detachably) to a coupling section of the support structure. The coupling section of the support structure can be formed by the front end region of the nail bed section. The coupling sections ensure good mechanical coupling between the sensing structure and the support structure, whereby the coupling can, for example, guarantee one degree of freedom for assembly and disassembly, while ensuring good transmission of coupling forces and, if necessary, also of coupling torques in directions other than the coupling degree of freedom.REHBERG HÜPPE + PARTNER - 7 - Originally submitted version 22013PCT 11.09.2025.

[0039] There are various possibilities for the design of the coupling section of the fingertip section of the stylus structure, including positive locking, frictional locking, a snap-fit ​​connection, a locking connection, or even a connection using an additional coupling element. In a particular embodiment of the invention, the coupling section has a double-T head, which in cross-section comprises a vertical leg and two parallel horizontal legs.

[0040] It is possible that the lateral end regions of the horizontal legs are free. Preferably, the ends of the horizontal legs of the double-T head are connected to each other via side walls, which increases the connection and also the stiffness of the double-T head.

[0041] It is possible that coupling spaces are formed in the area of ​​the double-T head on both sides of the vertical leg of the double-T, which are limited in the cross-section by an associated side wall, the vertical leg and each half of the two horizontal legs.

[0042] The coupling section of the nail bed portion of the support structure can also be configured as desired within the scope of the invention. In one embodiment of the invention, this coupling section has a receiving groove open towards the front, i.e., in the distal direction. This configuration allows the coupling section of the sensory structure to be inserted proximally from the front into the open receiving groove to establish the coupling. If the coupling section of the sensory structure is designed as a double-T head, the vertical leg of the double-T can be inserted proximally into the forward-opening receiving groove.

[0043] For one proposal of the invention (for the double-T head of the sensing structure inserted in a proximal direction into the receiving groove of the support structure), the nail bed section of the support structure is trapped in the surrounding area of ​​the receiving groove between the two horizontal legs of the double-T head of the sensing structure in a direction perpendicular to the extension plane of the front end region of the nail bed section.

[0044] It is possible that the nail bed section of the supporting structure has tongues on both sides of the receiving groove, which, for example, have a lateral REHBERG HÜPPE + PARTNER - 8 - Originally submitted version 22013PCT 11.09.2025

[0045] They can exhibit extension. The tongues can then each be accommodated in the coupling spaces of the tactile structure described above.

[0046] It is possible that the sensing structure is coupled to the support structure solely via the coupling sections of the latter, or that additional couplings are provided. In a particular embodiment of the invention, the sensing structure has a projection. This projection engages a proximal end face of the nail bed section of the support structure, this end face preferably being located in the transition region between the nail bed section and the ring section. As a result of this engagement, the nail bed section is trapped along its longitudinal axis between the coupling section of the sensing structure and the projection of the sensing structure.During assembly, the projection of the sensory structure can engage behind the proximal end face of the nail bed section by elastic deformation of the projection or the adjacent section of the sensory structure. An elastic restoring force then allows the projection to move behind the proximal end face of the nail bed section of the support structure. Alternatively, the projection may be pushed outwards by the fingertip inserted into the finger exoskeleton end segment, or, in the engaged position, it may rest against the inner surface of the fingertip and be secured in this way.

[0047] It is quite possible that the nail bed section of the support structure has such a large lateral extension that, in a top view, it projects beyond the lateral surface of the fingertip, thus protecting these surfaces and also parts of the tactile structure in this area. In a particular embodiment of the invention, the tactile structure projects beyond the support structure at least in one lateral direction in a top view, ensuring that the support structure does not block contact between the tactile structure and the fingertip in the lateral region, but rather that the lateral region of the tactile structure and the fingertip can be used for haptic or tactile perception.

[0048] As previously explained, it is generally possible that the support structure has a ring-shaped section that encloses the fingertip. However, it is also possible that the support structure simply encloses the fingertip in a U-shape, and may then be open at the bottom. In this case, the nail bed section can extend above the nail bed of the fingertip, while bearing sections can be present laterally of the fingertip. These bearing sections are connected to the nail section and (in particular by providing a bearing eye) serve as the articulating connection with an adjacent finger exoskeleton segment.

[0049] In principle, in addition to the connection of the tactile structure to the support structure in the area of ​​the fingertip section or double-T head, any number of additional support points can be present between the support structure and the tactile structure. According to one embodiment of the invention, the tactile structure has lateral support elements. These lateral support elements are then supported on the bearing sections extending laterally from the fingertip.

[0050] Between the lateral support elements and the fingertip section of the tactile structure, the tactile structure can be designed to be flexible and bendable or to be stiffened as desired. Preferably, the fingertip section of the tactile structure and the lateral support elements are connected to each other via a frame section, a thickening, or a reinforcement of the tactile structure, in the area where the tactile structure has greater flexural stiffness or less flexibility than in the areas of the tactile structure that are intended to provide sensitive haptic feedback of the forces acting on the fingertip.

[0051] For an alternative or cumulative second embodiment of the invention, the tactile structure has a double-T head. The double-T head can be inserted (e.g., from the front, the back, or the side) into a receiving groove in the support structure. For this embodiment of the invention, the previously stated principles regarding the double-T head and the receiving groove apply accordingly. However, for this embodiment, the double-T head need not be located in the fingertip section of the tactile structure. Rather, the double-T head can be located at any point along the finger and on the tactile structure, and the connection between the double-T head and the receiving groove can be located at any point on the support structure. For example, the receiving groove can also be located on the nail bed section, the ring section, a partial ring section, or any other section of the support structure.

[0052] Another solution to the problem underlying the invention is a finger exoskeleton which has a finger exoskeleton end element as previously described. In this case, the finger exoskeleton end element is connected to a further REHBERG HÜPPE + PARTNER - 10 - Originally filed version 22013 PCT 11.09.2025

[0053] The finger exoskeleton is connected to a finger exoskeleton segment. The finger exoskeleton can then consist solely of the finger exoskeleton end segment and the next finger exoskeleton segment, meaning the finger exoskeleton could, for example, be designed for a thumb. However, it is also possible for the next finger exoskeleton segment to be connected to an additional finger exoskeleton segment, meaning the finger exoskeleton could then also be designed for a thumb (see also the embodiment described and illustrated here) or for an index finger, middle finger, ring finger, or little finger. It is also possible for several additional finger exoskeleton segments to connect to the finger exoskeleton segment and the next finger exoskeleton segment, so that two, three, four, ... finger exoskeleton segments are arranged one behind the other and articulated together to form a kind of open chain. A fourth finger exoskeleton segment in the proximal direction could, for example,It can be a flexible element that can be connected to a wrist strap or a wrist support. It is also possible that individual finger joints are bridged, so that the number of finger exoskeleton links can be smaller than the number of finger joints arranged within it.

[0054] Another solution to the problem underlying the invention is a set which, on the one hand, has a finger exoskeleton end element as described above. Furthermore, the set has (at least) one additional tactile structure. The tactile structure of the finger exoskeleton end element and the additional tactile structure have identical coupling sections, so that the tactile structure and the additional tactile structure can be selectively coupled to the support structure of the finger exoskeleton end element. The tactile structure and the additional tactile structure can then have different stiffnesses and / or different shapes and / or different sizes. Depending on the desired application, the tactile structure or the additional tactile structure can then be specifically selected with the stiffness and / or shape and / or size that is advantageous for that application.If the tactile structure and the subsequent tactile structure differ in shape, these differences can be microscopic or macroscopic, include the tactile structure being equipped with different recesses, recesses of different sizes or locations, different surfaces and surface roughness, different projections, ribs or grooves in the surfaces, different protrusions, etc. If the tactile structure and the subsequent tactile structure are of different sizes, they can be used for users whose fingers (and, secondly, with the same length of the finger joints) have different cross-sectional areas. Different shapes of the tactile structure and the subsequent tactile structure can, for example, serve different assembly tasks or different medical purposes.

[0055] Preferably, the tactile structure is open in the proximal direction and has an interior space. The opening and the interior space have a cross-section dimensioned such that the fingertip can be inserted into the interior space through the opening. It is possible for the tactile structure to have a closed cross-section.

[0056] Advantageous further developments of the invention result from the patent claims, the description and the drawings.

[0057] The advantages of features and combinations of features mentioned in the description are merely exemplary and can have an effect alternatively or cumulatively, without the advantages necessarily having to be achieved by embodiments according to the invention.

[0058] Regarding the disclosure content—not the scope of protection—of the original application documents and the patent, the following applies: Further features can be derived from the drawings—in particular, the geometries depicted and the relative dimensions of several components to one another, as well as their relative arrangement and functional connection. The combination of features from different embodiments of the invention or from features of different claims is also possible, deviating from the chosen cross-references of the claims, and is hereby encouraged. This also applies to features that are illustrated in separate drawings or mentioned in their description. These features can also be combined with features from different claims.Likewise, features listed in the patent claims may be omitted for further embodiments of the invention, but this does not apply to the independent patent claims of the granted patent.

[0059] The features mentioned in the claims and the description are to be understood, with regard to their number, as meaning that exactly that number or a greater number than the stated number is present, without the need for an explicit use of the adverb "at least". Thus, for example, when an element is mentioned, this is to be understood as meaning that exactly one element, two elements, or more elements are present. The features listed in the claims may be supplemented by further features or may be the only features that the subject matter of the respective claim possesses.

[0060] The reference numerals contained in the patent claims do not constitute a limitation of the scope of the subject matter protected by the patent claims. They serve only the purpose of making the patent claims easier to understand.

[0061] BRIEF DESCRIPTION OF THE FIGURES

[0062] The invention will now be further explained and described with reference to preferred embodiments shown in the figures.

[0063] Fig. 1 shows a spatial view of a finger exoskeleton with a finger exoskeleton end element.

[0064] Fig. 2 shows in a spatial view obliquely from the front right and above the finger exoskeleton end limb from Fig. 1, with a supporting structure and a support structure separated from each other.

[0065] Fig. 3 shows, in a spatial view obliquely from above and rear left, the finger exoskeleton end segment according to Fig. 2.

[0066] Fig. 4 shows a top view of the finger exoskeleton end limb according to Figs. 2 and 3.

[0067] Fig. 5 shows a spatial view obliquely from the front right and above the

[0068] Finger exoskeleton end segment according to Figs. 2 to 4.

[0069] Fig. 6 shows a side view of the finger exoskeleton end limb according to Figs. 2 to 5.

[0070] Fig. 7 shows a top view of the finger exoskeleton end limb according to Figs. 2 to 6, with the supporting structure and the support structure assembled together. REHBERG HÜPPE + PARTNER - 13 - Originally submitted version 2013 PCT 11.09.2025

[0071] Fig. 8 shows in a spatial view obliquely from the front right and above the finger exoskeleton end element according to Figs. 2 to 7 in the assembled operating position.

[0072] Fig. 9 shows in a spatial view, obliquely from the front right and below, the finger exoskeleton end element according to Figs. 2 to 8 in the assembled operating position.

[0073] Fig. 10 shows a side view of the finger exoskeleton end element according to Figs. 2 to 9 in the assembled operating position.

[0074] Fig. 11 shows, with sectioning according to Fig. 10, a section XI-XI of the finger exoskeleton end element according to Figs. 2 to 10 in the assembled operating position.

[0075] Fig. 12 shows a partial section XII-XII of the section according to Fig. 10.

[0076] Finger exoskeleton end element according to Figs. 2 to 11 in the assembled operating position.

[0077] Fig. 13 shows a vertical central longitudinal section of the finger exoskeleton end element according to Figs. 2 to 12 in the assembled operating position.

[0078] Fig. 14 shows in a top view another embodiment of a finger exoskeleton end element with a support structure of the finger exoskeleton end element according to Figs. 2 to 13 and a different tactile structure in the mounted operating position.

[0079] Fig. 15 shows, in a spatial view obliquely from the front right and above, the finger exoskeleton end digit according to Fig. 14.

[0080] Fig. 16 shows, in a spatial view obliquely from the front right and below, the finger exoskeleton end limb according to Figs. 14 and 15.

[0081] Fig. 17 shows a side view of the finger exoskeleton end limb according to Figs. 14 to 16.

[0082] Fig. 18 shows a vertical central longitudinal section of the finger exoskeleton terminal phalanx according to Figs. 14 to 17.

[0083] Fig. 19 shows a further embodiment of a finger exoskeleton end phalanx in a three-dimensional, oblique view from below. REHBERG HÜPPE + PARTNER - 14 - Originally submitted version 22013 PCT 11.09.2025

[0084] FIGURE DESCRIPTION

[0085] In the present application, some components or features that are identical or similar in design or function are identified by the same reference numerals, which may then be distinguished from one another by an additional letter a, b, ... These components or features may also be referred to without the additional letter a, b, ..., in which case one component or feature, several components or features, and all components or features may be meant.

[0086] Fig. 1 shows a finger exoskeleton 1, which is a thumb exoskeleton 2. The finger exoskeleton 1 has finger exoskeleton segments 3a, 3b, 3c. The foremost, i.e., distal, finger exoskeleton segment 3a forms a finger exoskeleton end segment 4. The finger exoskeleton end segment 4 is pivotally connected to the adjacent finger exoskeleton segment 3b about a pivot axis 6 via pivot bearings 5a, 5b. Similarly, finger exoskeleton segment 3b is pivotally connected to finger exoskeleton segment 3c about a pivot axis 8 via pivot bearings 7a, 7b. The finger exoskeleton end 4 is designed to receive the finger end phalanx, while the finger exoskeleton elements 3b, 3c arranged proximal to it are designed to receive or support the other finger phalanges.The finger exoskeleton segment 3c can have a receptacle 9, in particular a recess 10, to which a retaining or tensioning element (not shown here) can be attached, with which the finger exoskeleton 1 can be secured, for example, to a wrist. Regarding further possibilities for the design of the finger exoskeleton 1 and the design of the pivot bearings 5, 7, reference is made to the unpublished patent application DE 10 2023 124 508.2.

[0087] The finger exoskeleton end 4 has or consists of a support structure 11 and a tactile structure 12.

[0088] Figures 2 to 6 show the finger exoskeleton end element 4 for the support structure 11 and the sensor structure 12 disassembled from each other, while Figures 7 to 13 show an assembled operating position of the support structure 11 and the sensor structure 12. REHBERG HÜPPE + PARTNER - 15 - Originally submitted version 2013 PCT 11.09.2025

[0089] The support structure 11 has four sections, namely a nail bed section 13, a ring section 14 and bearing sections 15a, 15b, which can be designed as bearing cheek sections or as bearing eye sections.

[0090] The bearing sections 15 are plate- or rod-shaped and extend proximally on both sides of the finger end segment, which is arranged in the finger exoskeleton end segment 4. The bearing sections 15a, 15b each have a bearing eye 16a, 16b, which is part of the pivot bearings 5a, 5b. In the illustrated embodiment, the bearing eyes 16 each have partially cylindrical sections designed to guide the rotational movement of the pivot bearings 5, and stops 17 that limit the pivot angles of the pivot bearings 5.

[0091] The ring section 14 has an inner surface with an inner contour suitable for the precise and play-free reception of the fingertip, and may also include a gap or space between the fingertip and the ring section 14 to enhance wearing comfort. The ring section 14 has a lower, approximately semi-circular ring subsection 18a, which extends across the underside of the fingertip in the transverse plane and terminates in the area of ​​the bearing sections 15a, 15b. Above the bearing sections 15a, 15b, the ring section 14 has a ring subsection 18b, which is also semi-circular but inclined forward relative to the transverse plane.The angle of inclination 19 of the ring sections 18a, 18b to each other when projected into a vertical longitudinal plane can be in the range of 90° to 170°, preferably in the range of 110° to 160°, in the range of 120° to 150° or in the range of 130° to 140° (see Fig. 6).

[0092] To give just one example that does not limit the invention, an inclination angle 19 of 90° results in the ring section 14 extending parallel to the longitudinal axis. In this case, for example, the ring section 14 can extend to the front end region 20 and around it on the upper side. The ring section 14 can then cover the dorsal side of the distal part of the finger (the fingernail area) and the fingertip.

[0093] On the other hand, if the inclination angle 19 is 170°, a further section extending from the ring section 14 can extend distally on the dorsal side, whereby support can then be provided on this further section, or the point of support of the tactile structure 12 on the support structure 11 can be shifted posteriorly away from the fingertip without such a further section, thus enabling the fingertip and the adjoining distal end of the finger to be not covered by the support structure 11, so that the tactile structure 12 can provide tactile feedback on the palmar side, the dorsal side, and the lateral sides of the distal end of the finger.

[0094] The nail bed section 13 is generally plate-shaped and extends above the nail bed or fingernail of the distal phalanx, whereby the nail bed section 13 may follow the curvature of the fingernail or fingernail bed. The lateral extent of the nail bed section 13 decreases distally, so that, to a first approximation, the nail bed section 13 can be trapezoidal or triangular in a top view.

[0095] The nail bed section 13 and the ring section 14 have a common transition area, which is formed in the proximal end region of the nail bed section 13 and in the upper end region of the ring section 14.

[0096] In a front end region 20, the nail bed section 13 has a coupling section 21, which is formed with an end face 22 and a forward-opening receiving groove 23. In the illustrated embodiment, the receiving groove 23 has an inlet-side constriction 24. The support structure 11 forms tongues 38a, 38b on both sides of the receiving groove 23.

[0097] The tactile structure 12 is roughly shaped like a thimble or sock and is designed to receive the fingertip inside, with the tactile structure 12 accommodating the fingertip, nail bed, and fingernail, and completely surrounding and covering the outer surface and end face of the fingertip. However, in contrast to the illustrated embodiments, the tactile structure 12 can also have openings of any desired shape.

[0098] The tactile structure 12 has a base body 25 whose elasticity is suitable for haptic or tactile perception and which is in particular flexible and elastic and which covers the fingertip. In a fingertip section 26, the REHBERG HÜPPE + PARTNER - 17 - Originally submitted version 22013PCT 11.09.2025

[0099] A coupling section 27 is integrally formed on the base body 25. Furthermore, a projection 28 is integrally formed on the upper surface of the base body 25 in the proximal end region. The projection 28 can extend across the entire width of the upper surface and / or, to simplify assembly, may have longitudinally oriented grooves or through slots 29 extending from the proximal end region. A distally facing end face 30 of the projection 28 is shaped correspondingly to the proximally facing end face 31 of the ring section 14 / nail bed section 13.

[0100] The design of the coupling section 27 can be seen in particular in the sections XI-XI and X11-X12 marked in Fig. 10 (see Fig. 11 and 12):

[0101] The coupling section 27 has a double-T head 32, which has a vertical leg 33 and two parallel and spaced-apart horizontal legs 34a, 34b. The lower horizontal leg 34b is formed by the base body 25 of the sensing structure 12. In the illustrated embodiment, the free end regions of the horizontal legs 34a, 34b are connected to the base body 25 via side walls 35a, 35b. In this way, coupling spaces 36a, 36b are formed on both sides of the vertical leg 33, which are closed at the top by a half-leg of the horizontal leg 34a, at the bottom by the half-leg of the horizontal leg 34b formed by the base body 25, in one lateral direction by the vertical leg 33, and in the other lateral direction by the side walls 35a, 35b.The coupling spaces 36 are closed at the front face by an end wall 37, so that the coupling spaces 36 are open only in the proximal direction. Preferably, the coupling spaces 36 are tapered distally and have a pointed shape.

[0102] The mounting of the tactile structure 12 on the support structure 11 is carried out as follows:

[0103] As the tactile structure 12 approaches the support structure 11 in a proximal direction, the tongues 38 are inserted into the coupling spaces 36. With this insertion, the vertical leg 33 of the coupling section 27 enters the receiving groove 23. Under elastic compression of the vertical leg 33, the vertical leg 33 passes through the constriction 24, so that the coupling section 27 can only exit the receiving groove 23 again with renewed compression of the vertical leg 33, thus providing an initial securing force against disassembly in the distal direction. In the assembled state, the inner surfaces of the end wall 37 rest against the end faces 22 of the tongues 38. Alternatively or cumulatively, the vertical limb 33 can rest against the end boundary of the receiving groove 23. In a lateral direction, the vertical limb 33 is trapped between the tongues 38.As can be seen particularly in Fig. 11, the tongues 38 are trapped in a vertical direction between the two horizontal legs 34a, 34b.

[0104] In the illustrated embodiment, the sensing structure 12 is additionally secured to the support structure 11 by the projection 28 engaging behind the support structure 11 on its proximal side, so that the end face 30 of the projection 28 (with or without clearance) comes into contact with the end face 31 of the ring section 14 of the support structure 11 in the direction of the longitudinal axis. The proximal end region of the sensing structure 12 can be supported by a ring segment section 39, which adjoins the projection 28 in the circumferential direction, on the inside of the ring section 14 of the support structure 11.

[0105] For the embodiment shown in Figs. 1 to 13, the base body 25 of the tactile structure 12 has, in the part not covered by the support structure 11, knob-like projections 40, evenly or unevenly distributed, which can, for example, be cylindrical with a flat end face.

[0106] Figures 14 to 18 show another embodiment of a finger exoskeleton end 4, in which the same support structure 11 is used as in Figures 1 to 13. However, a different tactile structure 12 is used here: Instead of knob-shaped projections 40, the base body 25 has ribs 41 extending along the base body 25 with grooves formed between them. As can be seen in the figures, the ribs 41 can have at least one component in the transverse direction and extend almost completely along the underside of the base body between the support structure 11. As shown, the ribs 41 can also have rib sections 42a, 42b, which are arranged in a V-shape, with the apex of the V preferably oriented away from the fingertip section 26. The ribs 41 or rib sections 42 are each arranged parallel to one another.

[0107] The sensing structure 12 is made of a material that exhibits greater elasticity than the material from which the support structure 11 is made. It is possible that the support structure 11 is formed with reinforcements or a composite material to provide increased stiffness, while the sensing structure 12 has no such reinforcements or composite material. REHBERG HÜPPE + PARTNER - 19 - Originally submitted version 22013 PCT 11.09.2025

[0108] The sensing structure 12 may be made of composite material. Alternatively or cumulatively, greater compliance of the sensing structure 12 can be achieved by having a smaller wall thickness than the support structure 11 and / or by equipping the sensing structure 12 with fewer stiffening ribs, etc., than the support structure 11.

[0109] Preferably, as shown in Figures 13 and 18, a material region 43 of the sensing structure 12 between a tip 44 and the contact area on the front end region 20 and / or the coupling section 21 of the sensing structure 12 has a lower elasticity than at least a partial region of the base body 25 of the sensing structure 12 in the region of a fingertip of the finger joint. This can be ensured, as can be seen particularly in Figure 13, by having a wall thickness 48 of the sensing structure 12 in this material region 43 that is greater than a wall thickness 47 in the region of the base body 25 in the region of the fingertip, wherein preferably the wall thickness 48 in the material region 43 is greater by a factor of at least 2, at least 3 or even at least 4 than the wall thickness 47 of the base body 25 in the region of the fingertip, away from any projections 40.

[0110] Furthermore, as can be seen in Figs. 13 and 18, the material area 43 has a proximal-projecting securing extension 45 which extends beyond the proximal boundary of the receiving groove 23 in the assembled operating state, thus ensuring additional securing of the assembled operating position.

[0111] The stiffened material area 43 enables the finger exoskeleton end element 4 and the finger end element arranged therein to apply longitudinal forces with high stiffness via a tip 44 to an object to be mounted, otherwise actuated, or pressed. It is advantageous that the foremost point of the inner surface of the sensing structure 12 or the end face 22 has a longitudinal distance 46 from the tip 44, which is particularly less than 10 mm, preferably less than 9 mm, less than 8 mm, less than 6 mm, or even less than 5.5 mm.

[0112] In the area of ​​the fingertip, the wall thickness 47 of the base body 25 can be less than 2.5 mm or even less than 1.8 mm, which is preferably the case for the embodiment shown in Figures 1 to 13, whereas for another embodiment according to Figures 14 to 17, the wall thickness 47 in the area of ​​the base body 25 (apart from the ribs 41) can be greater than 5 mm, greater than 6 mm, or even greater than 7 mm. REHBERG HÜPPE + PARTNER - 20 - Originally submitted version 2013 PCT 11.09.2025

[0113] For the assembled finger exoskeleton end element, the outer surface is preferably formed with at least 30%, at least 40%, at least 50%, at least 60%, at least 70%, at least 80% or even at least 85% of the tactile structure.

[0114] It is possible that a support structure 11 with different sensing structures 12 is provided in a set. For example, the set may contain one sensing structure 12 according to Figures 1 to 13 and another sensing structure 12 according to Figures 14 to 18. The sensing structures may, for example, have different wall thicknesses 47 and different projections 40 and / or ribs 41. It is also possible that the different sensing structures 12 are adapted for different thicknesses or diameters of the finger end segments, for example, by using a greater wall thickness for a finger end segment with a smaller diameter or by providing support buffers. In the present embodiments, the wall thickness 47 of the sensing structure 12 according to Figures 1 to 13 is greater (in particular, at least 1.5 times greater, at least 2.0 times greater, or at least 3.0 times greater) than the wall thickness 47 of the other sensing structure 12 according to Figures 14 to 18.

[0115] In the illustrated embodiment, the tactile structure 12 is secured to the support structure 11 in the proximal direction by receiving the vertical leg 33 of the double-T head 32 in the receiving groove 23 and by supporting it on the end face 22 of the front end region 20.

[0116] In the distal direction, the tactile structure 12 is secured to the support structure 11 by the fact that the cross-section of the vertical leg 33 has an excess compared to the constriction 24, so that elastic compression of the vertical leg 33 is required for its exit from the receiving groove 23. Additionally, the engagement of the projection 28 can secure the support structure 12 against movement in the distal direction. Furthermore, as described, a ring segment 39 of the tactile structure 12 is wedged between the ring segment 18a and the finger joint, so that friction acting here also secures the tactile structure 12 against detachment from the support structure 11 in the distal direction.

[0117] Alternatively or cumulatively, the tactile structure 12 can be secured to the support structure 11 in the distal direction by providing an additional double-T head, particularly in the proximal end region of the tactile structure 12, which can be inserted into a further receiving groove in the support structure 11 that is open in the proximal direction. For example, this further receiving groove can be provided in the end face 31 of the support structure 11, while the additional double-T head can then be arranged in the region of the projection 28. Similarly, a double-T head can also engage behind the ring section 18a and engage in a receiving groove of the ring section 18a that is open in the proximal direction.

[0118] Fig. 19 shows an alternative embodiment of a finger exoskeleton end element 4. In contrast to the previously described embodiment, the support structure 11 here does not have a ring section with a ring subsection 18 extending below the finger. Except for the missing ring subsection 18, however, the support structure 11 can otherwise be designed according to the previously described embodiment.

[0119] In the embodiment shown in Fig. 19, the fingertip section 26 of the sensing structure 12 is identical to the embodiment described above. In this case, however, the sensing structure 12 has lateral support elements 49, which are arranged on both sides of the sensing structure 12 and thus of the fingertip. The lateral support elements 49 are supported on the support structure 11 in the area of ​​the bearing sections 15. The bearing sections and the lateral support elements can be connected to each other by positive and / or frictional connection, or by a press fit, any type of snap-fit ​​or locking connection, or by a material-fit connection, or any other type of connection. For example, the lateral support elements 49 can be designed as projections that can be received with an interference fit into recesses of the bearing sections 15.

[0120] The side support elements 49 and the fingertip section 26 of the sensing structure 12 can be connected to each other via a frame section, a thickening, or a reinforcement 50. It is also possible for the frame section, thickening, or reinforcement 50 to abut the support structure 11, thus providing additional support.

[0121] It is possible that the tactile structure 12 is arranged on the underside at a distance from the adjacent components of the neighboring finger exoskeleton segment 3, such that a gap remains between an edge 51 of the tactile structure 12 and the component of the neighboring finger exoskeleton segment 3, through which the fingertip (and in some cases also the neighboring finger segment) is still freely accessible. Preferably, the gap is located below the pivot axis 6.

[0122] If a ring section 18 is present on the support structure 11, such that the ring section 14 is closed in the circumferential direction, this contributes to increasing the stiffness and strength of the support structure 11. Furthermore, this ring section 18 can limit or prevent downward hyperextension of the finger joint located above it. Stiffening the support structure 11 by the closing ring section 18 can also at least reduce any offset of a finger joint axis relative to the pivot axis 8 resulting from any elastic deformations of the support structure.

[0123] On the other hand, without the closing ring section 18, the entire underside of the finger can be used by the user (with the interposition of the flexible key structure 12 or with the aforementioned gap), which is advantageous for fine manipulation tasks and for interaction with objects.

[0124] The gap may necessitate the use of the side support elements 49 and their support on the support structure 11. Supporting the sensing structure 12 on the support structure 11, on the one hand in the area of ​​the fingertip section 26 and on the other hand either via the side support elements 49 at the bearing sections 15 or, if present, at the ring subsection 18, prevents the sensing structure 12 from pivoting about the fingertip section 26 and its support on the support structure 11.

[0125] Preferably, the side support elements 49 are inserted into the support structure 11 from the outside, which reduces the lateral size of the support structure in the bearing areas 15. This, in turn, allows for precise manipulation using the finger exoskeleton end element 4 and also enables the use of multiple finger exoskeleton end elements for adjacent fingers. Furthermore, such an assembly allows elastic lateral deformation of the sensor structure outwards, which may increase the sensitivity of the sensor structure. Finally, external assembly of the side support elements 49 may be simpler than internal assembly. REHBERG HÜPPE + PARTNER - 23 - Originally submitted version 22013 PCT 11.09.2025

[0126] REFERENCE MARK LIST

[0127] 1 Finger exoskeleton

[0128] 2 Thumb exoskeleton

[0129] 3 finger exoskeleton segment

[0130] 4 Finger exoskeleton terminal phalanx

[0131] 5 swivel bearings

[0132] 6 swivel axes

[0133] 7 swivel bearings

[0134] 8 swivel axes

[0135] 9th entry

[0136] 10 Exclusion

[0137] 11 Support structure

[0138] 12 Key structure

[0139] 13 Nail bed section

[0140] 14 Ring section

[0141] 15 storage section

[0142] 16 Bearing eye

[0143] 17 attacks

[0144] 18 Ring section

[0145] 19 tilt angles

[0146] 20 front end area

[0147] 21 Coupling section

[0148] 22 Front

[0149] 23 recordings

[0150] 24 Narrowing

[0151] 25 basic shapes

[0152] 26 Fingertip section

[0153] 27 Coupling section

[0154] 28 lead

[0155] 29 through slots

[0156] 30 Front surface

[0157] 31 Front surface

[0158] 32 Double-T-head REHBERG HÜPPE + PARTNER - 24 - Originally submitted version 22013PCT 11.09.2025

[0159] 33 Vertical legs

[0160] 34 Horizontal leg

[0161] 35 side wall

[0162] 36 Coupling room

[0163] 37 Front wall

[0164] 38 Tongue

[0165] 39 Ring segment section

[0166] 40 lead

[0167] 41st rib

[0168] 42 rib section

[0169] 43 Material area

[0170] 44 peak

[0171] 45 Security extension

[0172] 46 distance

[0173] 47 wall thickness

[0174] 48 wall thickness

[0175] 49 Side support element

[0176] 50 frame section, a thickening or a reinforcement

[0177] 51 Rand

Claims

REHBERG HÜPPE + PARTNER - 25 - Originally submitted version 22013PCT 11.09.2025 PATENT CLAIMS 1. Finger exoskeleton end digit (4) with a) a support structure (11) comprising aa) a nail bed section (13) configured such that the nail bed section (13) is arranged above the nail bed of the finger end digit when the finger exoskeleton end digit (4) is applied to the finger end digit, and ab) a ring section (14) configured such that the ring section (14) surrounds the finger end digit when the finger exoskeleton end digit (4) is applied to the finger end digit, and / or bearing sections (15) extending laterally to the finger end digit, and b) a tactile structure (12), characterized in that c) the tactile structure (12) has ca) a fingertip section (26) which is supported in a proximal direction on a front end region (20) of the nail bed section (13) of the support structure (11), and / or cb) a double-T head (32) which is a receiving groove (23) of the support structure (11) can be inserted or provided.

2. Finger exoskeleton end element (4) according to claim 1, wherein the fingertip section (26) of the tactile structure (12) has a coupling section (27) which is coupled to a coupling section (21) of the support structure (11), wherein the coupling section (21) of the support structure (11) is formed by the front end region (20) of the nail bed section (13) of the support structure (11).

3. Finger exoskeleton end element (4) according to claim 2, wherein the coupling section (27) of the fingertip section (26) of the tactile structure (12) has a double-T head (32), wherein preferably the ends of horizontal legs (34) of the double-T head (32) are connected to each other via side walls (35). REHBERG HÜPPE + PARTNER - 26 - Originally submitted version 22013PCT 11.09.2025 4. Finger exoskeleton end element (4) according to claim 2 or 3, wherein the coupling section (21) of the nail bed section (13) of the support structure (11) has a receiving groove (23) open in a distal direction.

5. Finger exoskeleton end element (4) according to claim 4 in reference to claim 3, wherein the double-T head (32) of the tactile structure (12) can be inserted proximal into the receiving groove (23) of the support structure (11), whereby the nail bed section (13) of the support structure (11) is trapped in the surrounding area of ​​the receiving groove (23) between the two horizontal legs (34) of the double-T head (32) of the tactile structure (12).

6. Finger exoskeleton end element (4) according to claim 5, wherein the nail bed section (13) of the support structure (11) has tongues (38) on both sides of the receiving groove (23), each of which is received in coupling spaces (36) of the tactile structure (12) which are bounded by the two horizontal legs (34) of the double-T head (32), a side wall (35) and a vertical leg (33) of the double-T head (32).

7. Finger exoskeleton end element (4) according to one of claims 2 to 6, wherein the tactile structure (12) has a projection (28) which engages a proximal end face (31) of the nail bed section (13) of the support structure (11), so that the nail bed section (13) is trapped in the direction of the longitudinal axis between the coupling section (27) of the sensing structure (12) and the projection (28) of the sensing structure (12).

8. Finger exoskeleton end element (4) according to one of the preceding claims, wherein in a top view the tactile structure (12) projects at least in a lateral direction relative to the support structure (11).

9. Finger exoskeleton end element (4) according to one of the preceding claims, wherein the support structure (11) is open downwards.

10. Finger exoskeleton end element (4) according to one of the preceding claims, wherein the tactile structure (12) has lateral support elements (49) which are supported on the bearing sections (15) extending laterally to the finger end element, wherein preferably the fingertip section (26) of the tactile structure (12) and the lateral support elements (49) are connected via a REHBERG HÜPPE + PARTNER - 27 - Originally submitted version 22013PCT 11.09.2025 frame section, a thickening or a strengthening (50) of the tactile structure (12) are connected to each other.

11. Finger exoskeleton (1) with a finger exoskeleton end element (4) according to one of the preceding claims, wherein the finger exoskeleton end element (4) is connected to a further finger exoskeleton element via a pivot bearing.

12. Set comprising a finger exoskeleton end element (4) according to any one of claims 2 to 10 and a further tactile structure (12), wherein the tactile structure (12) of the finger exoskeleton end element (4) and the further tactile structure (12) a) have the same coupling sections (27), but b) have different stiffnesses and / or different shapes and / or sizes and are intended for different applications.

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