Lightweight Hand Exoskeleton Force Feedback via Multi-Axis Links
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Solution Overview
Problem
Traditional finger force feedback exoskeleton devices are heavy, complex, and uncomfortable to wear, often causing harm due to their inability to adapt to the multi-axis rotation of human index finger bones, and lack closed-loop control for effective force feedback.
Innovation Solution
A lightweight hand exoskeleton force feedback apparatus with a simple structure, incorporating a pressure sensor for closed-loop control, which includes a driver, rotating links, linkage links, and bearings to mimic the multi-axis rotation of the human index finger, providing comfortable and effective force feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional finger force feedback exoskeleton devices are used, then force feedback function is provided, but the device becomes heavy and complex, causing discomfort and harm to wearers
Solution Approach 1:
The exoskeleton device is divided into multiple independent modules: a driver module with motor, a transmission module with gear mechanism, and a finger support module with rotating links. Each module performs a specific function, allowing the system to provide force feedback while keeping individual components lightweight and manageable.
Solution Approach 2:
The device employs dynamic rotating links that can change their rotation axes during operation. The first rotating link rotates around a first axis, while the second rotating link rotates around a second axis that differs from the first, enabling the mechanism to adapt to the multi-axis rotation characteristics of human finger bones and reduce mechanical interference.
2Device complexity
If traditional fixed-axis rotation design is used, then structure is simplified, but the device cannot adapt to multi-axis rotation of human index finger bones
Solution Approach 1:
The device employs dynamic rotating links that can change their rotation axes during operation. The first rotating link rotates around a first axis, while the second rotating link rotates around a second axis that differs from the first, enabling the mechanism to adapt to the multi-axis rotation characteristics of human finger bones and reduce mechanical interference.
Solution Approach 2:
The rotation axis parameters of the rotating links are designed to change during operation. The first rotating link has a rotation axis that differs from the second rotating link's axis, allowing the mechanism to accommodate the natural multi-axis rotation of finger bones during grasping and releasing actions.
3Device complexity
If traditional open-loop control is used, then control system is simple, but closed-loop control over driver output is lacking
Solution Approach 1:
The device incorporates a force feedback mechanism where the driver generates rotational force that is transmitted through rotating links to the finger support. The system provides closed-loop control by monitoring the force applied and adjusting the driver output accordingly, ensuring accurate force feedback while maintaining comfort and safety for the wearer.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The apparatus provides high-efficiency fingertip force feedback that conforms to the multi-axis rotation of the human index finger, is comfortable to wear for long periods, and achieves accurate closed-loop control of force feedback, enhancing user experience and safety.
Implementation Method 1
a pressure is accordingly imposed on a pressure sensor of the pressure sensor fixing member
Data Source
AI summary
Disclosed is a lightweight hand exoskeleton force feedback apparatus, including a driver, a first rotating link, a second rotating link, a first linkage link, a second linkage link, a finger sleeve, and a pressure sensor fixing member; the driver is worn on a back of metacarpal bone of a human hand, the finger sleeve is fixed on an index finger, and the pressure sensor fixing member is fixed below the index finger; when the human hand bends to simulate a state of grasping an object, the driver drives the first rotating link to couple with the first linkage link and the second linkage link through the second rotating link to drive the finger sleeve to bend and stretch, force feedback is applied to the fingertip, and a pressure is accordingly imposed on a pressure sensor of the pressure sensor fixing member, so that closed-loop force feedback control is implemented.