CN110664583A - Eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand - Google Patents
Eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
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Abstract
The invention relates to an eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand, wherein a free force feedback hand component is arranged on a palmflexion-dorsiflexion joint component, and a ulflexion-flexor joint component is connected with a one-degree-of-freedom forearm convolution component; one end of the one-degree-of-freedom elbow joint component is connected with the one-degree-of-freedom forearm convolution component, the other end of the one-degree-of-freedom shoulder flexion and extension component is connected with one end of the one-degree-of-freedom shoulder convolution component through a shoulder adjusting plate A, the other end of the one-degree-of-freedom shoulder convolution component is connected with one end of the one-degree-of-freedom shoulder abduction and adduction component through a shoulder adjusting plate B, and the other end of the one-degree-of-freedom shoulder abduction and adduction component is installed on the back adjusting; an upper arm bandage component is arranged at the joint of the one-degree-of-freedom elbow joint component and the one-degree-of-freedom shoulder flexion and extension component. The invention has the characteristics of compact structure, light weight, flexibility, strong adaptability and the like.
Description
Technical Field
The invention belongs to the fields of exoskeleton robot technology and master-slave teleoperation, and particularly relates to an eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand.
Background
With the rapid development of industrial technology, the seven-degree-of-freedom series robot has higher flexibility, reliability and adaptability, can avoid the structural singularity problem and the joint limitation problem which often occur in the six-degree-of-freedom series robot, has stronger obstacle avoidance capability, can successfully complete complex tasks under some special requirements and environments, is widely applied to industries such as assembly, welding and the like, and realizes automatic control. However, in the non-structural environment and diversified task work such as nuclear radiation, fire and anti-terrorism battle fields, the automatic work of the robot is still difficult to realize, personnel is still required to participate in the control, and master-slave teleoperation is the most common operation method.
The seven-degree-of-freedom series robot needs control parameters of a plurality of joints in the control process so as to reproduce the operation action of the upper limbs of a main operator at the slave end and realize complex task operation in a non-structural environment. However, in the existing master-slave teleoperation system, on one hand, the master-end manipulator mostly adopts a six-degree-of-freedom force feedback controller which is different from a human arm to realize Cartesian space pose control of a master-slave end tool and a slave-end tool, and can not effectively control and plan paths of joints of a slave-end mechanical arm, so that the flexibility, adaptability and obstacle avoidance capability of the seven-degree-of-freedom series robot are reduced; on one hand, a control button is adopted to trigger a control instruction at the hand part of the master end, so that the real operating force of a tool at the tail end of the slave hand cannot be sensed, and the operation intuitiveness is influenced; on the other hand, the existing global force feedback master hand is provided with a motor, a speed reducer, a torque sensor, an encoder and the like for each joint, most of weight is concentrated on an arm wearing part, the problems of large structural size, large mass, overweight burden of a human body and only fixed use exist, the visual angle of an operator is influenced during operation, and even blind spots exist.
Disclosure of Invention
Aiming at the problems of the existing series robot, the invention aims to provide an eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand.
The purpose of the invention is realized by the following technical scheme:
the invention comprises a free force feedback hand component, a two-degree-of-freedom wrist joint component, a one-degree-of-freedom forearm convolution component, a one-degree-of-freedom elbow joint component, a one-degree-of-freedom shoulder flexion and extension component, a one-degree-of-freedom shoulder convolution component, a one-degree-of-freedom shoulder abduction and adduction component, an upper arm bandage component and a back adjusting plate for supporting the whole exoskeleton main hand, wherein the two-degree-of-freedom wrist joint component comprises a palmar flexion and dorsiflexion joint component and a ulflexion joint component which are rotatably connected; one end of the one-degree-of-freedom elbow joint component is connected with the one-degree-of-freedom forearm convolution component, the other end of the one-degree-of-freedom shoulder flexion and extension component is connected with one end of the one-degree-of-freedom shoulder convolution component through a shoulder adjusting plate A, the other end of the one-degree-of-freedom shoulder convolution component is connected with one end of the one-degree-of-freedom shoulder abduction and adduction component through a shoulder adjusting plate B, and the other end of the one-degree-of-freedom shoulder abduction and adduction component is installed on the back adjusting plate; an upper arm bandage component is arranged at the joint of the one-degree-of-freedom elbow joint component and the one-degree-of-freedom shoulder flexion and extension component;
wherein: the free force feedback hand component comprises a hand gear box, a force feedback pressure plate A, a hand limiting plate, a force feedback pressure plate B, a direct current servo motor, a hand control box, a magnet, a magnetic rotary encoder, a hand controller and a hand driver, wherein the upper end of the DC servo motor is connected with the hand gear box, the lower end is connected with the hand control box, one end of the force feedback pressing plate A and one end of the force feedback pressing plate B are inserted in the hand gear box and are respectively provided with a gear A and a gear B, the gear B is connected with an output shaft at the upper end of the direct current servo motor, the gear A is arranged in the hand gear box in a way of relative rotation through a shaft system, and is meshed with the gear B, the other ends of the force feedback pressing plate A and the force feedback pressing plate B are clamping ends, a hand limiting plate arranged on the hand gear box is arranged between the other ends of the force feedback pressing plate A and the force feedback pressing plate B; the hand control box is internally provided with a magnetic rotary encoder, a hand controller and a hand driver respectively, and an output shaft at the lower end of the direct current servo motor is connected with a magnet arranged corresponding to the magnetic rotary encoder; the direct current servo motor drives the force feedback pressing plate A and the force feedback pressing plate B to open and close through the meshing of the gear A and the gear B, the magnet rotates along with an output shaft at the lower end of the direct current servo motor, and the opening and closing angles of the force feedback pressing plate A and the force feedback pressing plate B are collected through the magnetic rotary encoder;
the upper end of the hand control box is connected with the lower end of the direct current servo motor, the lower end of the hand control box is connected with a lower hand mounting plate, a copper column is mounted on the upper surface of the lower hand mounting plate, and the magnetic rotary encoder, the hand controller and the hand driver are respectively mounted on the copper column from top to bottom;
the upper end of the hand gear box is provided with an upper hand mounting plate, and the upper hand mounting plate and the lower hand mounting plate are respectively connected with the palmar flexor and dorsiflex joint component;
the palm flexion and dorsiflexion joint component comprises a palm flexion and dorsiflexion upper mounting plate, a palm flexion and dorsiflexion vertical plate and a palm flexion and dorsiflexion lower mounting plate, wherein the upper end and the lower end of the palm flexion and dorsiflexion vertical plate are respectively connected with the palm flexion and dorsiflexion upper mounting plate and the palm flexion and dorsiflexion lower mounting plate, and the free force feedback hand component is mounted between the palm flexion and dorsiflexion upper mounting plate and the palm flexion and dorsiflexion lower mounting plate; the upper end and the lower end of the chi flexion and flexion vertical plate are respectively connected with one end of the chi flexion and flexion upper mounting plate and one end of the chi flexion and flexion lower mounting plate, the other end of the chi flexion and flexion upper mounting plate is rotatably connected with the palmflexion and dorsiflexion upper mounting plate, the other end of the chi flexion and flexion lower mounting plate is rotatably connected with the palmflexion and dorsiflexion lower mounting plate, and the wrist joint mounting plate is rotatably mounted on the chi flexion and flexion vertical plate;
a wrist control box for detecting the motion angle of the palm flexion joint component relative to the ulflexion joint component is arranged at the rotary connection position of the palm flexion upper mounting plate and the ulflexion upper mounting plate, and a wrist control box for detecting the motion angle of the ulflexion joint component relative to the wrist joint mounting plate is arranged at the rotary connection position of the wrist joint mounting plate and the ulflexion vertical plate; the rotation center of the palmar flexion and dorsiflexion joint component axis is coincided with the palmar flexion and dorsiflexion joint axis of the hand of the human body in the motion range, and the rotation center of the ulnar flexion and dorsiflexion joint component axis is coincided with the ulnar flexion and dorsiflexion joint axis of the hand of the human body in the motion range;
the one-degree-of-freedom forearm convolution component comprises a forearm convolution supporting rod, a forearm convolution rod A, a forearm convolution rod B, a forearm convolution rod C, a forearm convolution rod D, a forearm convolution rod E and a forearm convolution rod F, one end of the forearm convolution supporting rod is connected with the one-degree-of-freedom elbow joint component, the other end of the forearm convolution supporting rod is provided with the forearm convolution rod A, the upper end of the forearm convolution rod A is rotatably connected with one end of the forearm convolution rod B, and the lower end of the forearm convolution rod A is rotatably connected with one end of the forearm convolution rod C; two ends of one side of the forearm rotary rod E are respectively and rotatably connected with the other end of the forearm rotary rod B and the other end of the forearm rotary rod C, and the other side of the forearm rotary rod E is rotatably connected to the forearm rotary rod F; two ends of one side of the forearm revolving rod D are respectively and rotatably connected to the forearm revolving rod B and the forearm revolving rod C, the other side of the forearm revolving rod D is rotatably connected with one side of the forearm revolving rod F, and two ends of the other side of the forearm revolving rod F are connected with the ruler flexion joint assembly to form a plurality of groups of parallelogram mechanisms;
the center line of a rotating connecting shaft of the forearm revolving rod E and the forearm revolving rod B is A, the center line of a rotating connecting shaft of the forearm revolving rod D and the forearm revolving rod B is B, the center line of a rotating connecting shaft of the forearm revolving rod A and the forearm revolving rod B is C, the center line of a rotating connecting shaft of the forearm revolving rod E and the forearm revolving rod C is D, the center line of a rotating connecting shaft of the forearm revolving rod D and the forearm revolving rod C is E, the center line of a rotating connecting shaft of the forearm revolving rod A and the forearm revolving rod C is F, the center line of a rotating connecting shaft of the forearm revolving rod E and the forearm revolving rod F is G, the center line of a rotating connecting shaft of the forearm revolving rod D and the forearm revolving rod F is H, and the center lines ACFD, BCFE, ABHG or ACFD, BCFE and DEHG are combined into a multi-parallelogram mechanism; the forearm revolving rod F rotates around a forearm outward-rotation inward-rotation axis system revolving center line of the forearm revolving component with one degree of freedom, the forearm outward-rotation inward-rotation axis system revolving center line is superposed with a human forearm outward-rotation inner-rotation axis center line in a motion range, and the forearm outward-rotation inward-rotation axis system revolving center line is vertically intersected with the palmflexion dorsiflexion joint component axis system revolving center line and the ulflexion joint component axis system revolving center line at a point O1; a forearm convolution control box for detecting the motion angle of the forearm convolution component relative to the forearm convolution supporting rod is arranged on the forearm convolution supporting rod;
the elbow joint component with one degree of freedom, the shoulder flexion and extension component with one degree of freedom, the shoulder rotation component with one degree of freedom and the shoulder abduction and adduction component with one degree of freedom are the same in structure and respectively comprise a support rod, a crossed roller bearing, a motion rod and a control box, wherein the support rod is fixedly connected with the outer ring of the crossed roller bearing in a positioning way, the motion rod is fixedly connected with the inner ring of the crossed roller bearing in a positioning way, the control box is fixedly connected to the support rod in a positioning way, and the relative motion angle between the support rod and the motion rod is detected in real time;
the shoulder flexion-extension component forward flexion-extension rotation center line of the one-degree-of-freedom shoulder flexion-extension component, the shoulder convolution component outward rotation inward rotation center line of the one-degree-of-freedom shoulder convolution component and the shoulder abduction-adduction component rotation center line of the one-degree-of-freedom shoulder abduction-adduction component are mutually perpendicular and intersect at a point O3, the point O3 is coincided with the motion center of the shoulder glenoid joint of the human body in a motion range, and the shoulder flexion-extension component forward flexion-extension rotation center line, the shoulder convolution component outward rotation inward rotation center line and the shoulder abduction-adduction component rotation center line are coincided with the motion axes of the shoulder flexion-extension, outward rotation inward rotation and outward abduction equivalent functions of the human body in the motion range.
The invention has the advantages and positive effects that:
1. the wearable eight-degree-of-freedom exoskeleton master hand is innovatively designed based on anatomy and bionics of the upper limbs of a human body, and is formed by connecting eight unpowered joints in series, wherein three axes of a one-degree-of-freedom shoulder flexion and extension component, a one-degree-of-freedom shoulder convolution component and a one-degree-of-freedom shoulder abduction and adduction component intersect at a point O3 and coincide with the rotation center of a glenohumeral joint of the human body, so that functional motions of abduction and adduction, external rotation and internal rotation and forward flexion and backward extension of the shoulder of the human body are; the two-degree-of-freedom wrist joint component is connected with the one-degree-of-freedom forearm backspin component, and the three axes are vertically intersected at a point O1, so that the wrist dorsiflexion, ulnar flexion and radial flexion and forearm supination and pronation functional movement of the human body can be realized; the one-degree-of-freedom elbow joint component can reproduce the forward flexion and backward extension functional movement of the elbow joint of the human body; the invention can accurately acquire the motion parameters such as the displacement and the rotation angle of each motion joint of the master hand of an operator, is used for controlling the motion of the slave end mechanical arm to reproduce in real time, and greatly improves the flexibility, the adaptability, the intuition and the obstacle avoidance capability of remote operation in a non-structural environment by the aid of information such as vision and the like.
2. The invention innovatively designs a one-degree-of-freedom force feedback hand component, adopts a symmetrical double-gear structure to acquire an operator finger meshing action instruction for controlling the action of a slave hand end tool, simultaneously detects the operation force of the end tool by using a slave hand end torque sensor, and realizes the master hand end force feedback by using current loop control; the one-degree-of-freedom force feedback hand component effectively overcomes the defect that a traditional handle adopts a button to trigger a control instruction, so that an operator can control a tail end tool more intuitively, the operator can sense the operation force of the tail end tool, the true force reproduction of the tail end tool is realized, and the reliability and the stability of the master-slave teleoperation are improved.
3. The invention adopts a multi-parallelogram mechanism to realize the external rotation and internal rotation movement of the forearm, thereby avoiding the phenomenon of discontinuous bidirectional movement existing in the transmission mode of a parallelogram and a synchronous belt and improving the detection precision of the external rotation and internal rotation movement of the forearm; simultaneously, compare the motion mode of traditional circular arc guide rail, simplify joint structure by a wide margin, reduce joint volume and weight, do benefit to and realize lightweight design, promote and dress the convenience.
4. The eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand configuration can be applied to the upper limb daily life action assistance and rehabilitation training of patients with upper limb movement dysfunction such as stroke and hemiplegia by introducing a power source (a motor), a torque sensor (man-machine interaction force sensing) and the like into the joints, can also be used for carrying out daily action assistance and rehabilitation training on single joints and combined joints, and has wide application prospects in the field of medical rehabilitation.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a perspective view of a one degree of freedom force feedback hand assembly of the present invention;
FIG. 3 is a cross-sectional view of the internal structure of a one degree-of-freedom force feedback hand assembly in accordance with the present invention;
FIG. 4 is a schematic perspective view of a two-degree-of-freedom wrist joint assembly according to the present invention;
FIG. 5 is a schematic perspective view of a one-degree-of-freedom forearm rotator assembly in accordance with the present invention;
FIG. 6 is a schematic diagram of a multi-parallelogram mechanism in a one-degree-of-freedom forearm rotator assembly in accordance with the invention;
FIG. 7 is a perspective view of a one degree of freedom elbow joint assembly of the present invention;
FIG. 8 is a schematic view of a composite structure of a one-degree-of-freedom shoulder flexion-extension assembly, a one-degree-of-freedom shoulder convolution assembly, and a one-degree-of-freedom shoulder abduction-adduction assembly in accordance with the present invention;
wherein: 1000 is a one-degree-of-freedom force feedback hand component, 1001 is an upper hand mounting plate, 1002 is a force feedback pressing plate a, 1003 is a hand limiting plate, 1004 is a force feedback pressing plate B, 1005 is a hand gear box, 1006 is a direct current servo motor, 1007 is a hand control box, 1008 is a lower hand mounting plate, 1009 is a shaft system, 1010 is a magnet transfer shaft, 1011 is a magnet, 1012 is a magnetic rotary encoder, 1013 is a hand controller, 1014 is a hand driver, 1015 is a gear a, 1016 is a gear B, 1017 is a copper column;
2000 is a two-degree-of-freedom wrist joint component, 2010 is a palmar flexion and dorsiflexion joint component, 2011 is a wrist control box, 2012 is a palmar flexion and dorsiflexion upper mounting plate, 2013 is a palmar flexion and dorsiflexion vertical plate, 2014 is a palmar flexion and dorsiflexion lower mounting plate, 2020 is a chi flexion and flexion joint component, 2021 is a chi flexion and flexion upper mounting plate, 2022 is a chi flexion and flexion vertical plate, 2023 is a wrist joint mounting plate, and 2024 is a chi flexion and flexion lower mounting plate;
3000 is a one-degree-of-freedom forearm rotation component, 3001 is a forearm rotation support rod, 3002 is a forearm rotation rod a, 3003 is a forearm rotation rod B, 3004 is a forearm rotation rod D, 3005 is a forearm rotation rod E, 3006 is a forearm rotation rod F, 3007 is a forearm rotation rod C, 3008 is a forearm rotation control box;
4000 is a one-degree-of-freedom elbow joint component, 4001 is an elbow flexion and extension supporting rod, 4002 is an elbow control box, 4003 is a cross roller bearing, and 4004 is an elbow flexion and extension moving rod;
5000 is a one-degree-of-freedom shoulder flexion and extension component, 6000 is a one-degree-of-freedom shoulder rotation component, 7000 is a one-degree-of-freedom shoulder abduction and adduction component, 8000 is a shoulder adjusting plate A, 9000 is a shoulder adjusting plate B, and 10000 is a back adjusting plate;
j1 is the axis rotation center line of the palmar flexor joint component, J2 is the axis rotation center line of the ulnar flexor joint component, J3 is the axis rotation center line of the forearm outward rotation and inward rotation, J4 is the axis rotation center line of the elbow joint component, J5 is the axis rotation center line of the shoulder flexion and extension component forward and backward extension, J6 is the axis rotation center line of the shoulder rotation component outward rotation and inward rotation, and J7 is the axis rotation center line of the shoulder abduction and adduction component.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the present invention comprises a free force feedback hand assembly 1000, a two-degree-of-freedom wrist joint assembly 2000, a one-degree-of-freedom forearm supination assembly 3000, a one-degree-of-freedom elbow joint assembly 4000, a one-degree-of-freedom shoulder flexion and extension assembly 5000, a one-degree-of-freedom shoulder supination assembly 6000, a one-degree-of-freedom shoulder abduction and adduction assembly 7000, a shoulder adjustment plate a8000, a shoulder adjustment plate B9000, a back adjustment plate 10000 and an upper arm strap assembly 11000, wherein the two-degree-of-freedom wrist joint assembly 2000 comprises a palmar flexion and dorsiflexion joint assembly 2010 and a ulflexion and flexion joint assembly 2020, a free force feedback hand assembly 1000 is mounted on the palmar flexion and dorsiflexion joint assembly 2010, and the; one end of a freedom degree elbow joint component 4000 is connected with a freedom degree forearm convolution component 3000, the other end is connected with one end of a freedom degree shoulder flexion and extension component 5000, the other end of the freedom degree shoulder flexion and extension component 5000 is connected with one end of a freedom degree shoulder convolution component 6000 through a shoulder adjusting plate A8000, the other end of the freedom degree shoulder convolution component 6000 is connected with one end of a freedom degree shoulder abduction and adduction component 7000 through a shoulder adjusting plate B9000, and the other end of the freedom degree shoulder abduction and adduction component 7000 is installed on a back adjusting plate 10000. The back adjusting plate 10000 is used for supporting the whole eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand. The upper arm strap assembly 11000 is fixedly installed at the middle position of the one-degree-of-freedom elbow joint assembly 4000 and the one-degree-of-freedom shoulder flexion and extension assembly 5000 (namely, the joint of the one-degree-of-freedom elbow joint assembly 4000 and the one-degree-of-freedom shoulder flexion and extension assembly 5000), and the upper arm strap assembly 11000 is the prior art and is not described herein again. The palmar flexor joint assembly axis of rotation center line J1 of the palmar flexor joint assembly 2010, the ulnar flexor joint assembly axis of rotation center line J2 of the ulnar flexor joint assembly 2020, and the forearm supination axis of rotation center line J3 of the one-degree-of-freedom forearm rotation assembly 3000 perpendicularly intersect at point O1, the shoulder flexion and extension assembly anterior flexion rotation center line J5 of the one-degree-of-freedom shoulder flexion and extension assembly 5000 and the shoulder convolution assembly supination rotation center line J6 of the one-degree-of-freedom shoulder rotation assembly 6000 perpendicularly intersect at point O2, and the shoulder flexion and extension assembly anterior flexion and posterior extension rotation center line J5 of the one-degree-of-freedom shoulder flexion and extension assembly 5000, the shoulder convolution assembly supination axis of rotation center line J6 of the one-degree-of freedom shoulder flexion and extension assembly rotation center line J7 of the one-degree-of freedom shoulder extension assembly are perpendicularly intersected at point O3.
As shown in fig. 2 and 3, a free force feedback hand assembly 1000 may be used as an independent force feedback operation module, and includes an upper hand mounting plate 1001, a force feedback pressing plate a1002, a hand limiting plate 1003, a force feedback pressing plate B1004, a hand gear box 1005, a dc servo motor 1006, a hand control box 1007, a lower hand mounting plate 1008, a shaft system 1009, a magnet adapter shaft 1010, a magnet 1011, a magnetic rotary encoder 1012, a hand controller 1013, and a hand driver 1014, wherein the upper hand mounting plate 1011 and the upper end of the hand gear box 1015 are fixedly connected by a bolt, the upper end of the dc servo motor 1006 and the lower end of the hand gear box 1005 are fixedly connected by a bolt, a flange at the lower end of the dc servo motor 1006 and the upper end of the hand control box 1007 are fixedly connected by a bolt, and the lower end of the hand control box 1007 and the lower hand mounting plate 1008 are.
The force feedback pressing plate A1002 and the force feedback pressing plate B1004 are both L-shaped, one end of each of the force feedback pressing plate A1002 and the force feedback pressing plate B1004 is inserted into the hand gear box 1005 and is respectively processed with a gear A1015 and a gear B1016, the other ends of the force feedback pressing plate A1002 and the force feedback pressing plate B1004 are clamping ends, and a hand limiting plate 1003 fixed on the hand gear box 1005 is arranged between the other ends of the force feedback pressing plate A1002 and the force feedback pressing plate B1004 and is used for limiting the opening and closing angle of the force feedback pressing plate. The gear B1016 is fixedly connected to an output shaft at the upper end of the dc servo motor 1006 by a set screw, and is installed inside the hand gear box 1005. Gear a1015 is relatively rotatably mounted in hand gearbox 1005 via shafting 1009 (including rotating shaft and bearings) and meshes with gear B1016; two ends of a shaft 1009 are respectively mounted on the hand mounting plate 1001 and the bottom plate of the hand gear box 1005, and the gear a1015 is rotatably mounted on the shaft 1009. Gear A1015 and gear B1016 are symmetrically arranged, and the power feedback pressure plate A1002 and the force feedback pressure plate B1004 are engaged to move in an opening and closing mode. The magnet 1011 is fixedly connected with the lower end of the magnet adapter shaft 1010 through a set screw, and the upper end of the magnet adapter shaft 1010 is fixedly connected with an output shaft at the lower end of the direct current servo motor 1006 through a set screw.
The hand control box 1007 contains a magnetic rotary encoder 1012, a hand controller 1013 and a hand driver 1014, respectively, the upper surface of the lower hand mounting plate 1008 is provided with a copper column 1017, the magnetic rotary encoder 1012, the hand controller 1013 and the hand driver 1014 are mounted on the copper column 1017 from top to bottom, respectively, and the hand controller 1013, the hand driver 1014 and the dc servo motor 1006 are connected in sequence.
A degree of freedom force feedback hand assembly 1000 may be bolted to the dorsiflexion joint assembly 2010 through an upper hand mounting plate 1001 and a lower hand mounting plate 1008.
A freedom force feedback hand assembly 1000 utilizes motor stalling characteristics to enable a force feedback pressing plate A1002 and a force feedback pressing plate B1004 to be in an opening state, utilizes a structure of a gear A1015 and a gear B1016 which are symmetrically arranged to reproduce finger engagement actions of an operator, utilizes a magnetic rotary encoder 1012 to collect finger engagement instructions for controlling the actions of a slave hand end tool, simultaneously utilizes a torque sensor of the slave hand end tool to detect the operation force of the slave hand end tool, and utilizes current loop control to realize real-time force feedback of a master hand end hand.
As shown in fig. 4, a two degree of freedom wrist joint assembly 2000 is formed by connecting in series a metacarpophalangeal dorsiflexion joint assembly 2010 and an ulnar flexor joint assembly 2020. The dorsiflexion joint assembly 2010 includes an upper dorsiflexion mounting plate 2012, a lower dorsiflexion mounting plate 2013, a lower dorsiflexion mounting plate 2014 and a wrist control box 2011, and the flexor joint assembly 2020 includes an upper flexor mounting plate 2021, a lower flexor mounting plate 2022, a wrist mounting plate 2023, a lower flexor mounting plate 2024 and a wrist control box 2011. The upper and lower ends of the palmflexion and dorsiflexion vertical plate 2013 are respectively fixedly connected with the palmflexion and dorsiflexion upper mounting plate 2012 and the palmflexion and dorsiflexion lower mounting plate 2014 through bolts, the palmflexion and dorsiflexion upper mounting plate 2012 and the ruler flexion and dorsiflexion upper mounting plate 2021 are rotatably connected through a shaft system (comprising a rotating shaft and a bearing), and the shaft system and the palmflexion and dorsiflexion upper mounting plate 2012 are fixed through a set screw and synchronously rotate. The palm flexion and dorsiflexion lower mounting plate 2014 and the ruler flexion and dorsiflexion lower mounting plate 2024 are rotationally connected through a shaft system, a palm flexion and dorsiflexion joint assembly shaft system rotation center line J1 of the palm flexion and dorsiflexion joint assembly 2010 is coincided with the palm flexion and dorsiflexion joint axis of a human hand in a motion range, the wrist control box 2011 is fixedly mounted on the upper surface of the ruler flexion and dorsiflexion upper mounting plate 2021, the motion angle of the palm flexion and dorsiflexion joint assembly 2010 relative to the ruler flexion and dorsiflexion joint assembly 2020 can be detected through shaft system transmission, and a magnetic rotation absolute value encoder and a PCB circuit board are integrated in the wrist control. The dorsiflexion assembly 2010 may be fixedly connected to a free force feedback hand assembly 1000 by bolts, a free force feedback hand assembly 1000 being mounted between the dorsiflexion upper mounting plate 2012 and the dorsiflexion lower mounting plate 2014. The dorsiflexion and palmflexion assembly 2010 realizes the safe limiting of the dorsiflexion and palmflexion movement joint angle through a limiting screw fixed on the dorsiflexion and palmflexion upper mounting plate 2012 and a limiting hole arranged on the ruler flexion upper mounting plate 2021. The upper end and the lower end of the ruler flexion vertical plate 2022 are respectively fixedly connected with one end of the ruler flexion upper mounting plate 2021 and one end of the ruler flexion lower mounting plate 2024 through bolts, the other end of the ruler flexion upper mounting plate 2021 is rotatably connected with the palmflexion dorsiflexion upper mounting plate 2012, and the other end of the ruler flexion lower mounting plate 2024 is rotatably connected with the palmflexion dorsiflexion lower mounting plate 2014; the ulnar flexion vertical plate 2022 is rotatably connected with the wrist joint mounting plate 2023 through a shaft system, the ulnar flexion joint assembly shaft system rotation center line J2 of the ulnar flexion joint assembly 2020 coincides with the human hand ulnar flexion joint axis in a movement range, the wrist control box 2011 is fixedly mounted on the upper surface of the wrist joint mounting plate 2023 through bolts, and the movement angle of the ulnar flexion joint assembly 2020 relative to the wrist joint mounting plate 2023 can be detected through shaft system transmission. The wrist joint mounting plate 2023 may be fixedly connected to the one-degree-of-freedom forearm rotator member 3000 by bolts. The ruler flexion assembly 2020 realizes safe limitation of the joint angle of the ruler flexion movement through a limit screw fixed on the wrist joint mounting plate 2023 and a limit hole formed on the ruler flexion vertical plate 2022.
As shown in fig. 5 and 6, the one-degree-of-freedom forearm rotation assembly 3000 includes a forearm rotation support rod 3001, a forearm rotation rod a3002, a forearm rotation rod B3003, a forearm rotation rod C3007, a forearm rotation rod D3004, a forearm rotation rod E3005, a forearm rotation rod F3006, and a forearm rotation control box 3008, wherein one end of the forearm rotation support rod 3001 is connected to the one-degree-of-freedom elbow joint assembly 4000, the other end thereof is fixedly connected to the forearm rotation rod a3002 by a screw, the upper end of the forearm rotation rod a3002 is rotatably connected to one end of the forearm rotation rod B3003, and the lower end thereof is rotatably connected to one end of the forearm rotation rod C3007. One side of the forearm revolving rod E3005 is arc-shaped, and the other side is a straight rod; the two ends of the arc-shaped side of the forearm revolving bar E3005 are respectively connected with the other end of the forearm revolving bar B3003 and the other end of the forearm revolving bar C3007 in a rotating way, and the other side of the forearm revolving bar E3005 is connected with the forearm revolving bar F3006 in a rotating way. One side of the forearm revolving rod D3004 is arc-shaped, and the other side is a straight rod; the two ends of the arc-shaped side of the forearm revolving bar D3004 are respectively connected with the forearm revolving bar B3003 and the forearm revolving bar C3007 in a rotating way, the other side is connected with one side of the forearm revolving bar F3006 in a rotating way, and the two ends of the other side of the forearm revolving bar F3006 are connected with the wrist joint mounting plate 2023 in the ruler flexion-flexion joint assembly 2020, thereby forming a plurality of groups of parallelogram mechanisms. The rotary connection between the front arm rotary rods is realized through a shaft system (comprising a rotating shaft and a bearing). The center line of the rotation connecting shaft of the forearm revolving bar E3005 and the forearm revolving bar B3003 is A, the center line of the rotation connecting shaft of the forearm revolving bar D3004 and the forearm revolving bar B3003 is B, the center line of the rotation connecting shaft of the forearm revolving bar A3002 and the forearm revolving bar B3003 is C, the center line of the rotation connecting shaft of the forearm revolving bar E3005 and the forearm revolving bar C3007 is D, the center line of the rotation connecting shaft of the forearm revolving bar D3004 and the forearm revolving bar C3007 is E, the center line of the rotation connecting shaft of the forearm revolving bar A3002 and the forearm revolving bar C3007 is F, the center line of the rotation connecting shaft of the forearm revolving bar E3005 and the forearm revolving bar F3006 is G, the center line of the rotation connecting shaft of the forearm revolving bar D3004 and the forearm revolving bar F3006 is H, the center lines ACFD, BCFE, ABHG or ACFD, BCFE, DEHG are combined into a multi-parallelogram mechanism, which ensures that the forearm revolving bar F3006 rotates synchronously around the inner revolving shaft system 3 of the forearm, the rotation center line J3 of the forearm external rotation and internal rotation axis coincides with the center line of the forearm external rotation and internal rotation axis of the human body within the movement range; meanwhile, the forearm supination and pronation axis rotation center line J3 perpendicularly intersects the metacarpal flexion and dorsiflexion joint assembly axis rotation center J1 and the ulnar flexion joint assembly axis rotation center line J2 at the point O1. The forearm swiveling control box 3008 is fixedly mounted on the forearm swiveling support rod 3001 by bolts, and the movement angle of the forearm swiveling assembly 3000 relative to the forearm swiveling support rod 3001 can be detected by shafting transmission. The forearm rotation control box 3008 has integrated therein a magnetic rotation absolute value encoder and a PCB circuit board. The forearm convolution rod member six 3006 is connected with the wrist joint mounting plate 2023 through an adjusting bolt, and the relative distance can be adjusted and locked; namely, a plurality of bolt holes are respectively arranged on the forearm convolution rod member six 3006 and the wrist joint mounting plate 2023, and after the relative distance is adjusted, the bolt holes are used for locking and fixing.
As shown in fig. 7, a one-degree-of-freedom elbow joint component 4000 is a modular joint, and the technical features of the modular structure of the joint will be applicable to the one-degree-of-freedom elbow joint component 4000, the one-degree-of-freedom shoulder flexion and extension component 5000, the one-degree-of-freedom shoulder rotation component 6000, and the one-degree-of-freedom shoulder abduction and adduction component 7000; namely, the one-degree-of-freedom elbow joint component 4000, the one-degree-of-freedom shoulder flexion and extension component 5000, the one-degree-of-freedom shoulder convolution component 6000 and the one-degree-of-freedom shoulder abduction and adduction component 7000 are identical in structure and respectively comprise a support rod, a cross roller bearing, a motion rod and a control box, wherein the support rod is fixedly connected with an outer ring of the cross roller bearing in a positioning manner, the motion rod is fixedly connected with an inner ring of the cross roller bearing in a positioning manner, the control box is fixedly connected with an outer ring of the cross roller bearing in a positioning manner and fixedly connected onto the support rod, and the relative motion angle between.
Taking a one-degree-of-freedom elbow joint assembly 4000 as an example, the one-degree-of-freedom elbow joint assembly 4000 comprises an elbow flexion and extension supporting rod 4001, an elbow control box 4002, a cross roller bearing 4003 and an elbow flexion and extension movement rod 4004, wherein the elbow flexion and extension supporting rod 4001 and the outer ring of the cross roller bearing 4003 are positioned and fixedly installed through bolts; the elbow flexion and extension motion rod 4004 and the inner ring of the cross roller bearing 4003 are positioned and fixedly installed through bolts, and the relative motion between the elbow flexion and extension support rod 4001 and the elbow flexion and extension motion rod 4004 is guaranteed to be stable and reliable through the axial and radial keeping characteristics of the cross roller bearing. The elbow control box 4002 and the outer ring of the cross roller bearing 4003 are positioned and fixedly installed on the elbow flexion and extension supporting rod 4001 through bolts, a magnetic rotation absolute value encoder and a PCB circuit board are integrated inside the elbow control box 4002, and the relative motion angle between the elbow flexion and extension supporting rod 4001 and the elbow flexion and extension motion rod 4004 can be detected in real time. The elbow joint component flexion-extension rotation central line J4 of the one-degree-of-freedom elbow joint component 4000 is coincident with the motion axis of the human elbow joint in the motion range. The elbow flexion and extension assembly 4000 realizes safe limitation of the elbow flexion and extension movement joint angle through a limiting screw fixed on the elbow flexion and extension movement rod 4004 and a limiting hole arranged on the elbow flexion and extension support rod 4001. The elbow bending and stretching motion rod 4004 can be connected with the forearm rotary supporting rod 4001 through an adjusting bolt, and the relative distance can be adjusted and locked. The elbow flexion-extension support lever 4001 can be fixedly connected with the one-degree-of-freedom shoulder flexion-extension component 5000.
The motion rod of the one-degree-of-freedom shoulder flexion and extension component 5000 is fixedly connected with the elbow flexion and extension support rod 4001 of the one-degree-of-freedom elbow joint component 4000, the support rod of the one-degree-of-freedom shoulder flexion and extension component 5000 is fixedly connected with the motion rod of the one-degree-of-freedom shoulder convolution component 6000 through a shoulder adjusting plate A8000, the support rod of the one-degree-of-freedom shoulder convolution component 6000 is fixedly connected with the motion rod of the one-degree-of-freedom shoulder abduction and adduction component 7000 through a shoulder adjusting plate B9000, and the support rod of the one-degree. A plurality of bolt holes are formed in each support rod, each moving rod, the shoulder adjusting plate a, the shoulder adjusting plate B and the back adjusting plate 10000, so that adjustment is facilitated, and the support rods are locked and fixed through bolts after the relative distances are adjusted. The back adjusting plate 10000 is used for supporting and fixing the whole eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand, and the back adjusting plate 10000 can be fixed on a back plate to be borne on the back of a human body or fixed on a moving platform base.
As shown in fig. 8, the shoulder flexion-extension assembly forward flexion-backward extension rotation center line J5 of the one-degree-of-freedom shoulder flexion-extension assembly 5000, the shoulder convolution assembly outward rotation inward rotation center line J6 of the one-degree-of-freedom shoulder convolution assembly 6000, and the shoulder abduction-adduction assembly rotation center line J7 of the one-degree-of-freedom shoulder abduction assembly 7000 are perpendicular to each other and intersect at the point O3, the point O3 coincides with the motion center of the shoulder glenohumeral joint of the human body within the motion range, and the shoulder flexion-extension assembly forward flexion-backward extension rotation center line J5, the shoulder convolution assembly outward rotation inward rotation center line J6, and the shoulder abduction-adduction assembly rotation center line J7 coincide with the functional motion axes of the shoulder flexion-backward extension, outward rotation inward rotation, and outward abduction equivalent of the human body within the.
The invention can carry out high-precision data acquisition on the motion angle of the upper limb joint of an operator, can accurately acquire the pose of each motion joint and the tail end through kinematics positive solution, and can feed back the clamping force of the slave hand tail end tool in real time through the one-degree-of-freedom force feedback hand component, thereby realizing the precise control on each motion joint and the tail end tool of the slave hand end mechanical arm and ensuring that the slave hand end has stronger obstacle avoidance capability. The invention has compact structure, light weight, high flexibility and adaptability, and is mainly used in the teleoperation fields of telediagnosis and treatment first aid, telemotion reproduction and the like.
Claims (10)
1. An eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand is characterized in that: the exoskeleton hand rehabilitation device comprises a free force feedback hand component (1000), a two-degree-of-freedom wrist joint component (2000), a one-degree-of-freedom forearm convolution component (3000), a one-degree-of-freedom elbow joint component (4000), a one-degree-of-freedom shoulder flexion and extension component (5000), a one-degree-of-freedom shoulder convolution component (6000), a one-degree-of-freedom shoulder abduction and adduction component (7000), an upper arm bandage component (11000) and a back adjusting plate (10000) for supporting the whole exoskeleton main hand, wherein the two-degree-of-freedom wrist joint component (2000) comprises a palmflexion and dorsiflexion joint component (2010) and an ulflexion and flexion joint component (2020) which are rotatably connected, the one-degree-of freedom wrist joint component (1000) is installed on the palmflexion and dorsiflexion joint component (2010), and the ulflexion joint component (2020; one end of the one-degree-of-freedom elbow joint component (4000) is connected with the one-degree-of-freedom forearm convolution component (3000), the other end of the one-degree-of-freedom shoulder flexion and extension component (5000) is connected with one end of the one-degree-of-freedom shoulder convolution component (6000) through a shoulder adjusting plate A (8000), the other end of the one-degree-of-freedom shoulder convolution component (6000) is connected with one end of the one-degree-of-freedom shoulder abduction and adduction component (7000) through a shoulder adjusting plate B (9000), and the other end of the one-degree-of-freedom shoulder abduction and adduction component (7000) is installed on the back adjusting plate (10000); an upper arm bandage component (11000) is arranged at the joint of the one-degree-of-freedom elbow joint component (4000) and the one-degree-of-freedom shoulder flexion and extension component (5000).
2. The eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand of claim 1, wherein: the free force feedback hand component (1000) comprises a hand gear box (1005), a force feedback pressing plate A (7), a hand limiting plate (1003), a force feedback pressing plate B (1004), a direct current servo motor (1006), a hand control box (1007), a magnet (1011), a magnetic rotary encoder (1012), a hand controller (1013) and a hand driver (1014), wherein the upper end of the direct current servo motor (1006) is connected with the hand gear box (1005), the lower end of the direct current servo motor is connected with the hand control box (1007), one ends of the force feedback pressing plate A (1002) and the force feedback pressing plate B (1004) are inserted into the hand gear box (1005) and are respectively provided with a gear A (1015) and a gear B (1016), the gear B (1016) is connected with an output shaft at the upper end of the direct current servo motor (1006), the gear A (1015) is relatively rotatably installed in the hand gear box (1005) through a shaft system (1009), the other ends of the force feedback pressing plate A (1002) and the force feedback pressing plate B (1004) are clamping ends, and a hand limiting plate (1003) installed on the hand gear box (1005) is arranged between the other ends of the force feedback pressing plate A (1002) and the force feedback pressing plate B (1004); the hand control box (1007) is internally provided with a magnetic rotary encoder (1012), a hand controller (1013) and a hand driver (1014), and an output shaft at the lower end of the direct current servo motor (1006) is connected with a magnet (11011) which is arranged corresponding to the magnetic rotary encoder (1012); the direct current servo motor (1006) is opened and closed through the meshing driving force feedback pressing plate A (1002) and the force feedback pressing plate B (1004) of the gear A (1015) and the gear B (1016), the magnet (1011) rotates along with an output shaft at the lower end of the direct current servo motor (1006), and the opening and closing angles of the force feedback pressing plate A (1002) and the force feedback pressing plate B (1004) are collected through the magnetic rotary encoder (1012).
3. The eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand of claim 1, wherein: the upper end of hand control box (1007) links to each other with the lower extreme of DC servo motor (1006), and the lower extreme of hand control box (1007) is connected with under hand mounting panel (1008), and the last surface mounting of this under hand mounting panel (1008) has copper post (1017), magnetism rotary encoder (1012), hand controller (1013) and hand driver (1014) from top to bottom install respectively on this copper post (1017).
4. The eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand of claim 3, wherein: an upper hand mounting plate (1001) is mounted at the upper end of the hand gear box (1005), and the upper hand mounting plate (1001) and the lower hand mounting plate (1008) are respectively connected with the palmar flexor and dorsiflex joint assembly (2010).
5. The eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand of claim 1, wherein: the palmar flexion and dorsiflexion joint component (2010) comprises a palmar flexion and dorsiflexion upper mounting plate (2012), a palmar flexion and dorsiflexion vertical plate (2013) and a palmar flexion and dorsiflexion lower mounting plate (2014), the upper end and the lower end of the palmar flexion and dorsiflexion vertical plate (2013) are respectively connected with the palmar flexion and dorsiflexion upper mounting plate (2012) and the palmar flexion and dorsiflexion lower mounting plate (2014), and the free force feedback hand component (1000) is mounted between the palmar flexion and dorsiflexion upper mounting plate (2012) and the palmar flexion and dorsiflexion lower mounting plate (2014; the chi flexion and flexion joint component (2020) comprises a chi flexion and flexion upper mounting plate (2021), a chi flexion and flexion vertical plate (2022), a wrist joint mounting plate (2023) and a chi flexion and flexion lower mounting plate (2024), wherein the upper end and the lower end of the chi flexion and flexion vertical plate (2022) are respectively connected with one end of the chi flexion and flexion upper mounting plate (2021) and one end of the chi flexion and flexion lower mounting plate (2024), the other end of the chi flexion and flexion upper mounting plate (2021) is rotatably connected with the palm flexion upper mounting plate (2012), the other end of the chi flexion lower mounting plate (2024) is rotatably connected with the palm flexion lower mounting plate (2014), and the wrist joint mounting plate (2023) is rotatably mounted on the chi flexion and flexion vertical plate (2022).
6. The eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand of claim 5, wherein: a wrist control box (2011) for detecting the motion angle of the dorsiflexion palm joint component (2010) relative to the flexion joint component (2020) is installed at the rotary connection position of the dorsiflexion palm mounting plate (2012) and the flexion upper mounting plate (2021), and a wrist control box (2011) for detecting the motion angle of the flexion joint component (2020) relative to the wrist joint mounting plate (2023) is installed at the rotary connection position of the wrist joint mounting plate (2023) and the flexion vertical plate (2022); the rotation center (J1) of the palmar flexor and dorsiflexion joint component axis is coincident with the axis of the palmar flexor and dorsiflexion joint of the hand in the motion range, and the rotation center (J2) of the ulnar flexor and dorsiflexion joint component axis is coincident with the axis of the ulnar flexor and dorsiflexion joint of the hand in the motion range.
7. The eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand of claim 1, wherein: the one-degree-of-freedom forearm rotation assembly (3000) comprises a forearm rotation support rod (3001), a forearm rotation rod A (3002), a forearm rotation rod B (3003), a forearm rotation rod C (3007), a forearm rotation rod D (3004), a forearm rotation rod E (3005) and a forearm rotation rod F (3006), one end of the forearm rotation support rod (3001) is connected with the one-degree-of-freedom elbow joint assembly (4000), the other end of the forearm rotation support rod is provided with the forearm rotation rod A (3002), the upper end of the forearm rotation rod A (3002) is rotatably connected with one end of the forearm rotation rod B (3003), and the lower end of the forearm rotation rod A (3002) is rotatably connected with one end of the forearm rotation rod C (3007); two ends of one side of the forearm rotating rod E (3005) are respectively and rotatably connected with the other end of the forearm rotating rod B (3003) and the other end of the forearm rotating rod C (3007), and the other side of the forearm rotating rod E (3005) is rotatably connected with the forearm rotating rod F (3006); the two ends of one side of the forearm rotating rod D (3004) are respectively connected to the forearm rotating rod B (3003) and the forearm rotating rod C (3007) in a rotating mode, the other side of the forearm rotating rod D (3004) is connected with one side of the forearm rotating rod F (3006) in a rotating mode, and the two ends of the other side of the forearm rotating rod F (3006) are connected with the ruler flexion joint component (2020), so that a plurality of groups of parallelogram mechanisms are formed.
8. The eight-degree-of-freedom local force feedback biomimetic upper extremity exoskeleton master hand of claim 7, wherein: the rotation connecting axis center line of forearm gyration pole E (3005) and forearm gyration pole B (3003) is A, the rotation connecting axis center line of forearm gyration pole D (3004) and forearm gyration pole B (3003) is B, the rotation connecting axis center line of forearm gyration pole A (3002) and forearm gyration pole B (3003) is C, the rotation connecting axis center line of forearm gyration pole E (3005) and forearm gyration pole C (3007) is D, the rotation connecting axis center line of forearm gyration pole D (3004) and forearm gyration pole C (3007) is E, the rotation connecting axis center line of forearm gyration pole A (3002) and forearm gyration pole C (3007) is F, the rotation center line of forearm gyration pole E (3005) and forearm gyration pole F (3006) is G, the rotation connecting axis of forearm gyration pole D (3004) and forearm gyration pole F (3006) is H, the center lines ACFD, BCFE and ABHG or ACFD, BCFE and DEHG are combined into a multi-parallelogram mechanism; the forearm revolving rod F (3006) rotates around a forearm outward-rotation inward-rotation axis system revolving center line (J3) of a one-degree-of-freedom forearm revolving assembly (3000), the forearm outward-rotation inward-rotation axis system revolving center line (J3) is coincident with a human forearm outward-rotation inward-rotation axis center line in a movement range, and the forearm outward-rotation inward-rotation axis system revolving center line (J3) is vertically intersected with the palmflexion dorsiflexion joint assembly axis system revolving center line (J1) and the ulflexion dorsiflexion joint assembly axis system revolving center line (J2) at a point O1; the forearm rotary supporting rod (3001) is provided with a forearm rotary control box (3008) for detecting the motion angle of the one-degree-of-freedom forearm rotary assembly (3000) relative to the forearm rotary supporting rod (3001).
9. The eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand of claim 1, wherein: the mechanism comprises a one-degree-of-freedom elbow joint assembly (4000), a one-degree-of-freedom shoulder flexion and extension assembly (5000), a one-degree-of-freedom shoulder convolution assembly (6000) and a one-degree-of-freedom shoulder abduction and adduction assembly (7000), which are identical in structure and respectively comprise a support rod, a cross roller bearing, a motion rod and a control box, wherein the support rod is fixedly connected with an outer ring of the cross roller bearing in a positioning mode, the motion rod is fixedly connected with an inner ring of the cross roller bearing in a positioning mode, the control box is fixedly connected with an outer ring of the cross roller bearing in a positioning mode, and relative motion angles between the support rod and the motion rod are detected.
10. The eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand of claim 1, wherein: the shoulder flexion and extension assembly forward flexion and backward extension rotation center line (J5) of the one-degree-of-freedom shoulder flexion and extension assembly (5000), the shoulder convolution assembly outward rotation and inward rotation center line (J6) of the one-degree-of-freedom shoulder convolution assembly (6000) and the shoulder abduction and adduction assembly rotation center line (J7) of the one-degree-of-freedom shoulder abduction and adduction assembly (7000) are mutually perpendicular and intersect at a point O3, the point O3 is coincident with the motion center of the shoulder glenohumeral joint of the human body in a motion range, and the shoulder flexion and extension assembly forward flexion and backward extension rotation center line (J5), the shoulder convolution assembly outward rotation and inward rotation center line (J6) and the shoulder abduction and adduction assembly rotation center line (J7) are coincident with the functional motion axes of forward flexion, backward extension, extension and inward rotation and extension of the shoulder abduction of the human body in the motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810715687.5A CN110664583A (en) | 2018-07-03 | 2018-07-03 | Eight-degree-of-freedom local force feedback bionic upper limb exoskeleton master hand |
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| CN111956453A (en) * | 2020-08-31 | 2020-11-20 | 重庆理工大学 | Multi-degree-of-freedom upper limb flexible power assisting exoskeleton |
| CN112621790A (en) * | 2020-12-31 | 2021-04-09 | 东南大学 | Two-degree-of-freedom rope transmission type finger force feedback device |
| US20210275379A1 (en) * | 2020-03-09 | 2021-09-09 | Hyundai Motor Company | Wearable muscular strength assisting apparatus |
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