Hand Exoskeleton Motor-Controlled Rod Assembly Simulated Grabbing
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Solution Overview
Problem
Traditional hand exoskeletons lack effective man-machine interaction performance in simulated grabbing scenarios, as they do not provide feedback to the user when a remote manipulator grabs an object, leading to a poor simulation experience.
Innovation Solution
A hand exoskeleton with a motor-controlled rod assembly that constrains finger motion, allowing for simulated grabbing by limiting motion based on control signals, enhancing user interaction through improved feedback mechanisms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a traditional hand exoskeleton is used in simulated grabbing scenario, then the structure is simple, but the man-machine interaction performance is poor due to lack of feedback
Solution Approach 1:
The patent implements feedback by having the slave end manipulator transmit grabbing state information back to the master end hand exoskeleton. When the manipulator successfully grabs an object, the hand exoskeleton receives this feedback and generates corresponding haptic feedback forces, allowing the user to sense the grabbing state without visual feedback, thus improving man-machine interaction performance
Solution Approach 2:
The patent introduces a control system as an intermediary between the hand exoskeleton and the manipulator. This control system processes the grabbing state information from the manipulator and generates appropriate feedback commands to the hand exoskeleton, enabling complex interaction behaviors while keeping the physical exoskeleton structure relatively simple
2Reliability
If the hand exoskeleton provides feedback during grabbing, then the interaction performance improves, but the device complexity increases due to additional control mechanisms
Solution Approach 1:
The control system is designed to handle multiple functions: it receives control signals from the user, transmits them to the manipulator, receives grabbing state feedback from the manipulator, and generates haptic feedback forces. This multi-functionality reduces the need for separate dedicated components for each function, thereby limiting the increase in device complexity while improving interaction performance
3Reliability
If the rod assembly constrains finger motion, then the simulated grabbing realism improves, but the ease of operation decreases due to motion limitations
Solution Approach 1:
The rod assembly's constraint on finger motion is not fixed but dynamic. The constraint force is actively adjusted based on the grabbing state feedback received from the manipulator. During normal movement, the constraint is minimal allowing easy operation, but when grabbing is detected, the constraint force increases to prevent further motion and simulate the realistic feeling of holding an object, thus balancing simulation realism with ease of operation
Data Source
AI summary
A hand exoskeleton includes at least one mechanical finger and a mechanical palm; and the mechanical finger includes a finger section, a rod assembly and a motor, the finger section includes a first finger section and a second finger section, and the rod assembly includes a first rod assembly and a second rod assembly. The motor capable of controlling the hand exoskeleton is arranged in the hand exoskeleton, and motion constraint on the finger section is realized by constraining a rod through the motor in the movement process of the hand exoskeleton, so that motion limitation on the hand exoskeleton is realized.