157 results about "Finger joint" patented technology

The invention provides a dexterous hand which comprises a palm structure, a plurality of first joint modules and a second joint module, each first joint module comprises a first side swing assembly and a first finger structure, and each first finger structure comprises a plurality of first finger shells and a plurality of first knuckle steering engines arranged in the first finger shells; the first knuckle steering engines drive the first finger shells to rotate in a one-to-one correspondence mode, the second joint module comprises a second side swing assembly and a second finger structure, and the second finger structure comprises a plurality of thumb knuckle shells and a plurality of thumb knuckle steering engines arranged in the thumb knuckle shells. The thumb knuckle steering engines drive the thumb knuckle shells to rotate in a one-to-one correspondence mode. The dexterous hand provided by the invention has more active degrees of freedom, can more accurately simulate the movement of a human hand, and is longer in service life and lower in control difficulty. In addition, the first joint module and the second joint module are both independent modules, so that maintenance and replacement are convenient.

The invention relates to the technical field of piano teaching and computers, discloses a multi-dimensional scoring auxiliary system and method in piano teaching, and aims to solve the problems that existing piano teaching is single in evaluation dimension, one-sided in data acquisition and lagged in feedback. According to the method, a five-dimensional scoring model covering rhythm, strength, timbre, posture and fingering is constructed by synchronously collecting a key triggering time sequence, an audio frequency spectrum, limb posture and finger joint tracks, and quantitative scores are output through time alignment, feature extraction and neural network fusion calculation. The system comprises a key sensing module, an audio acquisition module, a posture capture module, a score calculation module and an AR visual feedback module, and supports teaching suggestion generation, historical trend analysis, difficulty self-adaption and multi-person comparison functions. Through multi-modal data closed-loop evaluation and intelligent intervention, the teaching accuracy and individuation level are remarkably improved, and scientific quantification and efficient improvement of the piano playing ability are achieved.

The invention discloses a dexterous hand perception control method and device, equipment and a storage medium, and relates to the technical field of artificial intelligence. The method comprises the steps that under the condition that a target multi-fingered dexterous hand grabs a target object is recognized through a pressure sensor array, pressure collection data are obtained from a pressure sensor array, and current joint data of all finger joints of the target multi-fingered dexterous hand are obtained from an encoder; according to the pressure collection data and the current joint data, the current grabbing state of the target multi-fingered dexterous hand is determined; when it is recognized that the current grabbing state does not meet the safe grabbing condition, dexterous hand pose data of the target multi-fingered dexterous hand are obtained from an inertial sensor, and a target grabbing mode of the target multi-fingered dexterous hand is determined according to the current space pose data, the pressure collection data, the current joint data and the dexterous hand pose data; and the target multi-fingered dexterous hand is controlled to grab in a target grabbing mode. According to the scheme, the sensing grabbing efficiency and accuracy of the dexterous hand are improved.

The invention provides a knuckle module and a dexterous hand. The knuckle module comprises a first knuckle section, a motor, a control circuit board, a reversing mechanism and a speed reducer, wherein the motor and the control circuit board are arranged in the first knuckle section, and the reversing mechanism and the speed reducer are arranged in the end portion of one end of the first knuckle section. The direction of an output shaft of the motor is parallel to the length direction of the first knuckle section, the direction of an output shaft of the speed reducer is perpendicular to the direction of the output shaft of the motor, and the reversing mechanism is arranged between the motor and the speed reducer and used for converting rotation of the output shaft of the motor into rotation of an input shaft of the speed reducer. The control circuit board is arranged at the end, away from the reversing mechanism, of the motor and electrically connected with the motor. According to the knuckle module provided by the invention, the use requirements of light weight and miniaturization of finger joints can be met, the motion control precision of the finger joints is greatly improved, meanwhile, modularization is realized, a plurality of knuckle modules can be stacked to be connected into a finger, and the knuckle module is convenient to disassemble and assemble and easy to maintain.

The invention provides a knuckle, a finger, a dexterous hand and a robot, and relates to the field of robotics.The knuckle comprises a bottom wall, a top wall and a side wall, the side wall is connected with the bottom wall and the top wall, a wiring channel is formed in the top wall and penetrates through the two opposite ends of the top wall, and two rows of guide columns are arranged in the wiring channel; a limiting gap for a tendon rope to penetrate through is formed between the two rows of guide columns, and receding notches used for receding the tendon rope are formed in the two opposite ends of the top wall.

This invention discloses a finger joint angle detection mechanism and a method for constructing a 3D model of an object; belonging to the field of exoskeletons for human finger joints, it consists of a fabric substrate, a data storage module, a displacement sensor, and a transmission mechanism, including five sets of three-segment skeletons. The thumb skeleton includes a fingertip joint rod, a root joint rod, a back-of-hand rod, and a wrist rod; the other finger skeletons include a fingertip joint rod, a middle joint rod, a root joint rod, and a back-of-hand rod. Each pair of skeleton segments is connected by a transmission mechanism and a cylindrical pin. The glove does not affect the natural movement of the human hand, and when collecting finger joint data through grasping or other methods, it ensures flexible hand movement, and the range of joint bending angles is unrestricted. When the human hand wears the glove to grasp an object, the bending angles of each finger joint are collected and converted into bending angle images. A convolutional neural network is used to fuse the bending angle images with multi-angle captured object images to achieve accurate 3D reconstruction of the object.

The present invention relates to an RF energy generator for a finger joint, the RF energy generator comprising: a hand-worn unit worn on a hand of a user; an RF electrode unit which is positioned on one of the palm side or the back side of the hand-worn unit and comes into contact with and transmits RF energy to the user's skin; a ground electrode unit positioned on the other of the palm side or the back side of the hand-worn unit; and an electrode operation control unit which is electrically connected to the RF electrode unit and the ground electrode unit and applies electric power to the RF electrode unit, thereby controlling the operation of the RF electrode unit. The RF energy generator transmits RF energy efficiently to the finger joint, thereby shortening the time of treatment of the finger joint using RF energy and increasing the treatment effect.

The utility model relates to the technical field of ornaments, and discloses an ip derivative jewelry with a rotating shaft structure, which comprises a proximal ring connected with an IP helmet part. The middle section finger ring is connected with the face and the head of the ip; the near-section finger ring and the middle-section finger ring are rotationally connected through the shaft nail, the helmet part of the IP is arranged on one side of the outer wall of the near-section finger ring and used for rotating along with movement of the near-section finger ring, and the face part and the head part of the IP are arranged on one side of the outer wall of the middle-section finger ring and used for rotating along with movement of the middle-section finger ring. According to the finger ring, the upper ring body and the lower ring body can turn along with the bending movement of the knuckle, the ip image characteristic of a helmet or a mask with a rotary opening and closing function is combined with the structural characteristic of the knuckle ring, the proximal phalanx ring body is converted into the shape of the helmet or the mask, the middle phalanx ring body is converted into the shape of an ip figure, and the finger ring can more vividly reflect the IP image characteristic.

The present application relates to a kind of mechanical dexterous hand fingers and dexterous hand, which includes: palm base;Finger knuckles, which includes sequentially connected finger root knuckles, middle knuckles and distal knuckles;Finger root component, which includes finger root pivot installed on the palm base, spherical bearing is set on the finger root pivot and matches the installation finger root knuckles;Bending transmission mechanism, which includes driving bevel gear, driven bevel gear, finger root transmission member and finger flexion shaft;Side swing transmission mechanism, which includes side swing drive installed on palm base, and side swing transmission shaft is connected with the side swing drive, and the side swing transmission shaft keeps contact with the finger root knuckles in side swing operation.Compared with prior art, the present application can satisfy the side swing of dexterous hand finger joint, bending, while ensuring that it occupies small volume while providing certain gripping force and durability.

The utility model relates to the technical field of national musical instruments, in particular to an improved Tujia knocking tool which comprises a body, the body is of a longitudinally-arranged straight pipe structure, and a sealing head is arranged at the top end of the body. The main body is provided with an air inlet window corresponding to the lower part of the sealing head; a reed extending downwards is arranged outside the air inlet window; the free end of the reed is of an isosceles triangle structure and is lapped outside the air inlet window through the vertex angle position; and a plurality of fingering holes communicated with the interior are formed in the outer wall of the main body. According to the utility model, the mass of the free end of the reed is reduced, so that the motion inertia is reduced, and the reed looks like the tongue of a person in the tremor sounding process, so that the sound is clearer and more melodious, the air flow rotation is more flexible, the reed is easily kept dry due to the higher vibration frequency, the reed is not easy to seal automatically, and the reed is kept to vibrate powerfully. The fingering hole with the circular hole structure can more accord with the waving of the finger joints of the human body, so that the fingering hole is closed more tightly, the playing effect is not influenced by air leakage, and the simulated sound is more vivid and vivid.

The utility model discloses a portable hand fin relates to hand fin field, the utility model discloses a hand fin board, the surface of hand fin board is equipped with a plurality of mounting holes, the inside mounting of mounting hole has fastening rope or protection mechanism, the protection mechanism is used for protecting the first finger joint and the fingernail of user, the utility model discloses a protection mechanism, and the key position of hand fin and manicure contact or easy to produce the collision adds protection mechanism, adopts the rubber material of soft and wear -resisting to make, has improved the protection performance of hand fin to manicure significantly, and the softness of rubber material makes protection mechanism be able to closely adhere manicure edge, forms effective protection barrier, reduces the possibility that water flow directly impacts manicure, simultaneously, the wear resistance of rubber guarantees that protection mechanism is not easy to wear and tear in the long time use process, thereby avoids the erosion or damage of manicure in the swimming process, strengthens the use applicability of hand fin and the swimming experience of manicure lover.

An integrated light multi-functional tactical glove is composed of a finger part, a palm part and a wrist part in sequence; the palm part is composed of a palm surface part and a backhand part, the palm surface part is stacked by a palm surface inner lining layer, a palm surface protection intermediate layer and a palm surface anti-skid layer from inside to outside in sequence, and the backhand part is stacked by a backhand inner lining layer, a backhand protection intermediate layer and an outer protection layer from inside to outside in sequence; the finger part includes a finger inner lining layer, a finger protection intermediate layer and a finger function layer from inside to outside in sequence; the finger function layer includes a finger anti-skid layer and a touch screen layer, the touch screen layer is arranged on the finger pulp and the finger side outside the finger protection intermediate layer, an anti-extrusion buffer layer is arranged on the finger joint corresponding to the back of the finger except the finger tip, and the finger anti-skid layer is arranged on the rest part; a protection hard shell layer is arranged at the position corresponding to the knuckle peak at the transition between the finger part and the palm part; the palm part and the wrist part are provided with a plurality of interface structures for adding external functional modules; the wrist part is provided with a tightening structure.

The embodiment of the invention provides a mechanical finger joint miniature encoder mounting structure for improving control precision, and belongs to the technical field of medical instrument robot dexterous hands and high-precision sensing. The structure comprises a hollow annular magnetic encoder, a customized mounting base and an error compensation mechanism. The MPT-8-20 series encoder is directly integrated on a rotating shaft of a finger joint through the customized mounting base; the mounting base is provided with a positioning interface which is precisely matched with an encoder shell and a joint part, so that the concentricity and a constant air gap of an encoder sensing unit and a rotating part are ensured; the error compensation mechanism is integrated in the base and is used for passively inhibiting installation errors and environmental interference. According to the invention, the measurement precision of less than 0.01 degree in an extremely limited space is realized based on a commercial encoder, high anti-interference performance and reliability are realized, the integration problem of high-precision and high-reliability pose feedback of the miniature dexterous hand joint is effectively solved, and the miniature dexterous hand joint is suitable for miniature dexterous hands.

1. Name of the designed product: finger joint of robot hand. 2. Use of the designed product: the designed product is used for the finger joint of robot hand, and is used for composing the robot hand. 3. Design points of the designed product: in shape. 4. Picture or photo best indicating the design points: design 1, perspective view 1. 5. Design 1 is specified as the basic design.

The utility model provides a self-centering rapid locking clamp for a bionic robot finger joint piece, and belongs to the technical field of machining. The utility model provides a bionic robot finger joint piece self-centering fast locking clamp which comprises a machining base, locating pieces and locating pins, containing grooves are formed in the machining base, the two sets of containing grooves are the left containing groove and the right containing groove respectively, the two sets of locating pieces are the left locating piece and the right locating piece respectively, and the locating pins are arranged on the left locating piece and the right locating piece respectively. The upper end of the left positioning piece and the upper end of the right positioning piece achieve clamping of the knuckle, and the positioning pin penetrates through the machining base to fix the left positioning piece and the right positioning piece in the containing groove. According to the self-centering rapid locking clamp for the finger joint piece of the bionic robot, the finger joint is placed in the containing space, the positioning piece is inserted into the containing groove, under the action of self gravity, the left positioning piece and the right positioning piece limit the finger joint, the positioning piece is limited in the machining base through the positioning pin, stable fixing of the finger joint is achieved, and the clamping effect is good. And subsequent processing operation is facilitated.

The embodiment of the invention belongs to the technical field of robot hands, and relates to a finger joint of a robot. The first output end of the first linear driving piece is hinged to the first end of the first joint connecting rod through a first cross shaft assembly; the second output end of the second linear driving piece is hinged to the first end of the first joint connecting rod through a second cross shaft assembly; the first joint connecting rod is driven to achieve first-degree-of-freedom movement and / or second-degree-of-freedom movement through synchronous movement and / or asynchronous movement of the first linear driving part and the second linear driving part. The invention further relates to a robot hand and a robot. According to the technical scheme, the degree of freedom of the fingers of the robot can be improved.

The utility model belongs to the technical field of shooting training equipment, and discloses an intelligent shooting auxiliary glove with a sensor array, which comprises a glove and the sensor array, the glove palm side comprises a finger face area and a palm face area, and the finger face area is formed by combining four finger faces except the thumb. The sensor array comprises a finger sensor assembly arranged in the finger face area and a palm sensor assembly arranged in the palm face area. The finger surface area comprises a finger pulp area and a finger joint area, and the finger sensor assembly comprises a finger pulp sensor arranged in the finger pulp area and a finger joint sensor arranged in the finger joint area. According to the utility model, the mechanical distribution characteristics of the palm during shooting are analyzed, and the plurality of pressure sensors are reasonably arranged in the finger surface area and the palm surface area of the glove, so that the pressure values of each finger surface position and each palm surface position are flexibly detected, and the shooting posture can be further analyzed conveniently based on the pressure values so as to achieve the posture training and correcting effect.

The application provides a dexterous manipulator and a target detection system. The dexterous manipulator comprises a mechanical body and a spectrum measurement device arranged on the mechanical body. The spectrum measurement device comprises an optoelectronic interaction module, a backend module and a flexible composite transmission link. The optoelectronic interaction module is arranged on a plurality of fingers. The backend module is arranged on a palm, a wrist or an arm. The flexible composite transmission link is arranged along a finger joint. The backend module comprises a light source and a control and data processing module. The light source is used for emitting light of a specific wave band. The optoelectronic interaction module is used for guiding the light emitted by the light source to a target object and performing optoelectronic conversion on the reflected and / or transmitted light of the target object to output an electric signal. The control and data processing module is used for driving the light source to emit light and receiving the electric signal, and processing and analyzing the signal. The application can effectively improve the multi-mode spectrum sensing capability of the dexterous manipulator.

The invention discloses a method for producing a single-strip veneering drawer plate with a UV (ultraviolet) paint coated surface and a vertical upper edge, which relates to the technical field of drawer plate production, and comprises the following steps: preparing a plurality of crushed birch strips, controlling the thickness within the range of 16-20mm, not grading, and preparing equal-thickness birch strips without knots and white skins and with the length of 2460-2500mm; a finger joint machine is used for conducting finger joint treatment on the birch crushed material strips, the finger joint pressure is controlled within the range of 0.8-1.2 MPa, and finger joint finished products with the width of 10-20 mm are spliced; the whole birch wood strips are embedded into the finger-jointed finished product at intervals, the splicing pressure is controlled within the range of 1.0-1.5 MPa, the splicing width is controlled within the range of 600-1400 mm, and the whole birch wood strips are spliced into a whole board through the pressing and bonding technology. According to the method, the mode of combining the crushed materials and the whole log is adopted, dependence on the complete log is reduced, the raw material purchasing cost is reduced by about 30-40%, the utilization rate of the birch crushed materials is increased, and the production cost is reduced.

The utility model discloses a protective glove for preventing a sensor at a finger end from falling off or poor contact, which belongs to medical auxiliary equipment and comprises a hand-shaped support plate made of a hard plastic plate, the support plate is provided with a palm plate and five finger support plates, the palm plate is the same as a palm in shape, and the five finger support plates are integrally formed at the end of the palm plate and are in a separated state; an upper protective sleeve made of fabric is arranged on the upper face of the supporting plate, a glove allowing a hand to stretch into is defined by the upper protective sleeve and the supporting plate, the front ends, located at fingers, of the upper protective sleeve are in a shortage shape, so that the ends of the fingers are exposed, a first bandage is arranged at the wrist joint of the glove, and a second bandage is arranged at the wrist joint of the glove. Five second bandages are arranged at the first knuckle positions, close to the ends of the fingers, of the upper protective sleeve. The utility model effectively solves the problem that a blood oxygen probe for monitoring the blood oxygen of a patient and other similar sensors sleeved at the end part of a finger are easy to move to cause poor contact or fall off.

The application provides a self-adaptive grasping dexterous hand thumb, which comprises a side swing joint, a bending joint and a fingertip, the side swing joint comprises a fixed base, a side swing driver and a first reversing transmission assembly; the bending joint comprises a connecting base, a finger joint linkage assembly, a bending driver and a second reversing transmission assembly. The application realizes the three-joint structure of the bionic thumb, can realize multi-directional rotation and bending actions, improves the degree of freedom and action accuracy, realizes the double driving function of side swing and bending through the built-in driving structure, thereby expanding the movable range. The self-adaptive assembly can dynamically adjust the relative position and clamping force of each finger joint of the thumb in real time, so as to realize the self-adaptive enveloping of the object, and further significantly improve the grasping stability of the dexterous hand thumb for objects of different shapes and sizes, effectively expand the application scene, and the application has the advantages of high flexibility, strong grasping adaptability, high action accuracy, fast response speed, high degree of freedom, high space utilization and the like.

The invention discloses a finger joint point spatial position estimation method, a finger joint point spatial position estimation device and head-mounted display equipment. The method comprises the following steps: performing hand recognition on an image acquired by a depth camera through a palm region detection model, and if the image has a hand region, marking the hand region from the image to obtain a hand region image; correcting the hand region image to obtain a distortionless hand region image; identifying the pixel coordinates of the articulation points in the distortionless hand region image and the relative distance of each articulation point through an articulation point detection model; and according to the pixel coordinates of the joint points and the relative distance, calculating through a preset objective function to obtain the absolute distance of the joint points. According to the invention, the calculation amount in the 3D hand joint point estimation process can be reduced, and the technical effects of meeting the high real-time requirement in AR / VR application are achieved.

The invention relates to the technical field of rehabilitation training, in particular to a hand function evaluation training method and system based on multi-sensor fusion, and the method comprises the steps: obtaining electromyographic signals of a plurality of motor muscle groups, angles of a plurality of finger joints and grip strength of a patient in last training; fitting the electromyographic signals of each motion muscle group at multiple moments to obtain an electromyographic signal-time curve of each motion muscle group, and calculating the muscle group stability degree; calculating the finger joint stability degree according to the angles of the finger joints at the multiple moments; calculating a hand function evaluation coefficient; and correcting the training intensity of the patient in the last training according to the hand function evaluation coefficient to obtain the training intensity of the patient in the current training. The adjustment amplitude of the training intensity is determined through the evaluation result, the safety of hand function training of the patient is ensured, and the training efficiency is improved.

The utility model discloses a multifunctional picking three-finger manipulator which is characterized in that a motor is arranged on the top of a motor end cover supporting frame, a straight gear at the center of the bottom of the motor end cover supporting frame is meshed with three large straight spur gears which are evenly distributed in the circumferential direction, and the large straight spur gears are connected with pinions on a supporting plate through coaxial bevel gears. The small gear is coaxial with the large stop roller on the back to form a three-stage transmission system; a picking mechanical palm is fixed to the bottom of the motor end cover supporting frame, three picking fingers are evenly distributed below the mechanical palm and comprise far finger joints, middle finger joints, near finger joints and finger roots, damping springs are arranged in the middle finger joints and the near finger joints, and a fruit fixing device is installed in the center of the mechanical palm and connected with the mechanical palm through a fruit size adjusting device. The device is driven by a single motor to realize three-finger collaborative enveloping movement, the mechanical structure is simplified, the control complexity is reduced, the picking adaptability is high, and lossless picking operation of fruits in various forms can be completed.

The application discloses a driving control system of a robot dexterous hand based on Mecanum wheels, which communicates with an upper computer through a data line, the dexterous hand is provided with a rudder that controls the movement and rotation of the finger joints, and a DC motor that controls the rotation of the Mecanum wheels in the finger joints, and the system comprises a single-chip microcomputer, a voltage drop module, a motor driving board and a DC stabilized power supply; one end of the DC stabilized power supply is connected with the voltage drop module in series to supply power to the rudder after voltage reduction, and the other end is connected with the motor driving board to supply power to the DC motor; the single-chip microcomputer and the upper computer use serial communication, the control signals sent by the upper computer are processed and sent to the rudder and the motor driving board, and the motor driving board drives the DC motor according to the signals. The system of the application reduces the complexity and manufacturing cost of the system while maintaining the flexibility of the dexterous hand operation, realizes multi-degree-of-freedom operation on objects, and has potential application fields and expansion prospects.

The present application relates to the field of rubber wood finger joint processing, especially to a high-efficiency comb tooth machine for rubber wood finger joint processing. The traditional comb tooth equipment needs manual assistance to turn the wood, which is low in efficiency and affects the quality. The existing equipment has high requirements for workshop space and poor coordination, which is easy to cause wood deflection or inaccurate positioning. The high-efficiency comb tooth machine for rubber wood finger joint processing comprises a mounting table and the like. Two comb tooth machines and a conveying assembly are arranged on the mounting table. The cutter heads of the two comb tooth machines are male and female and are engaged with each other. An electric sliding table is slidably connected to the mounting table. The rubber wood rod is blocked and limited at one end by the blocking, so that the ends of the rubber wood rod are flush. The rubber wood rod is limited by the limiting pressing plate during the comb tooth process to prevent displacement. The rubber wood rod can be automatically aligned and limited at both ends, and continuous automatic comb tooth processing can be realized to improve the work efficiency.

The utility model belongs to the technical field of devices for flat cable production, and particularly relates to a flat cable terminal crimping mechanism, which comprises a terminal crimping assembly, a transmission assembly and a driving assembly, and is characterized in that the terminal crimping assembly comprises a lower tool apron and an upper tool apron; the transmission assembly comprises a first pressing rod, a second pressing rod and a hollow assembly block, the first pressing rod and the second pressing rod are coaxially connected through the hollow assembly block, a pressure sensor is arranged in the hollow assembly block, the connecting end of the pressure sensor abuts against the first pressing rod, the stress end of the pressure sensor abuts against the second pressing rod, and the pressure sensor is arranged in the hollow assembly block. The end, away from the hollow assembly block, of the first pressing rod is connected with the upper tool apron. When the upper tool apron and the lower tool apron act on the terminal and the core wire, the pressure sensor located between the first pressing rod and the second pressing rod is used for monitoring the stamping force of the current crimping, so that the situation that the terminal or the core wire is damaged due to overlarge stamping force is reduced, and the terminal crimping yield is improved.

This invention belongs to the field of engineered wood products manufacturing, specifically a method for preparing low-formaldehyde finger-jointed boards based on bio-based modified adhesives. The method includes preparing an adhesive composed of modified soybean protein, non-formaldehyde crosslinking agents, micro / nano cellulose, nano-silica, and epoxidized vegetable oil elastomers; pre-treating the wood and cutting the finger joints; applying a sealing liquid via atomization for end-face damping treatment; performing quantitative adhesive application and stepped butt joint molding; and employing a multi-stage hot-pressing process involving preheating penetration, high-temperature curing, and cooling and pressure holding. Through the above technical solution, this application can achieve the formation of a dense adhesive film at the finger joint interface, significantly improving bonding strength and stability while reducing formaldehyde release.

The utility model relates to a machine hand especially a finger module, including first drive motor and second drive motor, still include: finger base, first drive motor with second drive motor all are fixed on finger base, near finger joint, rotationally be equipped with on finger base, middle finger joint, rotationally be equipped with on near finger joint, far finger joint, rotationally be equipped with on middle finger joint, lead screw no. One is connected with first drive motor, nut no. One is equipped with on lead screw no. One, lead screw no. Two is connected with second drive motor nut no. Two, is equipped with on lead screw no. Two, connecting rod transmission device respectively with nut no. One, nut no. Two, near finger joint, middle finger joint with far finger joint is connected for drive near finger joint, middle finger joint, far finger joint and the bending of whole finger. A finger module is higher, and the structure is more stable, realizes multi -freedom degree, high flexibility, high stability's dexterous finger module structure.

The present invention relates to the technical field of finger exoskeletons. Disclosed are an elastic-component-driven finger exoskeleton mechanism and an elastic-component-driven hand exoskeleton mechanism. The finger exoskeleton mechanism comprises: an elastic drive component provided on a side close to the back of the hand and capable of elongating, contracting, bending, and extending; and a plurality of connecting rods, wherein one end of each connecting rod forms a hand fixed pair with a finger knuckle or the palm, and the other end of each connecting rod forms an elastic drive component fixed pair with an end portion of the elastic drive component and forms a compound kinematic pair with a non-end portion of the elastic drive component. The elastic drive component has the following working states: a bending working state, wherein when the elastic drive component elongates, the elastic drive component performs bending movement towards the center of the palm; and an extending movement working state, wherein when the elastic drive component contracts, the elastic drive component performs extending movement away from the center of the palm. By means of the finger exoskeleton mechanism of the present invention, bending of a plurality of finger joints can be independently driven. The finger exoskeleton mechanism has advantages such as good protection performance for fingers, high hand-size compatibility, and many degrees of freedom.