CN108524184B - Hand exoskeleton device based on pre-bending elastic wire tube driving - Google Patents
Hand exoskeleton device based on pre-bending elastic wire tube driving Download PDFInfo
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- CN108524184B CN108524184B CN201710124694.3A CN201710124694A CN108524184B CN 108524184 B CN108524184 B CN 108524184B CN 201710124694 A CN201710124694 A CN 201710124694A CN 108524184 B CN108524184 B CN 108524184B
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- 238000010168 coupling process Methods 0.000 claims description 13
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- 210000003811 finger Anatomy 0.000 abstract description 19
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Classifications
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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
- 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
-
- 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
- A61H1/0288—Fingers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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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
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
Abstract
The invention provides a hand exoskeleton device driven by a pre-bending elastic wire tube, which comprises a thumb motion assembly, a thumb driving assembly, a four-finger motion assembly and a four-finger driving assembly, wherein the thumb driving assembly is rotatably connected to the thumb motion assembly and drives the thumb motion assembly to bend, stretch and swing, the four-finger driving assembly is connected to the four-finger motion assembly and drives the four-finger motion assembly to bend and stretch, the thumb driving assembly is rotatably connected to the four-finger driving assembly, and the thumb motion assembly and the four-finger motion assembly are driven by the pre-bending elastic wire tube. The hand exoskeleton device can rotate in accordance with the flexion and extension and the swing of the fingers of a person and has strong flexibility.
Description
Technical Field
The invention relates to the field of human motion auxiliary instruments, in particular to a hand exoskeleton device driven by a pre-bent elastic wire tube.
Background
The hand is an important component organ of the human body. The hand feeling and the motor function of people are easy to be lost due to stroke and accidental injury, and the daily life of people is seriously influenced. High intensity continuous rehabilitation is an effective treatment. The traditional rehabilitation training mainly depends on the experience of doctors, is lack of scientificity and systematicness, and has great limitation on treatment effect. The hand exoskeleton is a mechanical device fixed on the hand of a person. The rehabilitation training method based on the hand exoskeleton can provide scientific quantitative treatment for patients according to individual differences of the patients through accurate force and position control, accelerate rehabilitation process and reduce work intensity of doctors.
In areas where danger or human activities are difficult to reach, such as deep sea, outer space, etc., and where high precision, high flexibility and large operating force are required, it is often difficult to accomplish a specific action directly by a human hand. The above problems can be solved by using an intelligent device instead of a human hand. A single intelligent device has difficulty independently performing complex tasks due to uncertainty of the operating environment. Therefore, the form of teleoperation is adopted, the intelligence of people is combined with an intelligent device, namely, people are used as a master end to control slave end equipment. The hand exoskeleton is used as a device of an operation end, so that an operator can obtain more real operation feeling, and the hand exoskeleton is widely applied to a teleoperation system.
In the current research, the Chinese invention patent with the publication number of CN102895091B entitled "wearable portable power exoskeleton hand function rehabilitation training device" discloses that the fingers are driven to move by a linear push rod; wege et al, in "Development and control of a hand exoskeletons for rehabilitation of hand injures", disclose that motion of the hand in 20 degrees of freedom is achieved by an exoskeleton controlled by hand muscles; fontana et al, in the document "Mechanical design of a novel hand exoskeletal for access for display", disclose exoskeletons with force feedback function for the recovery of index finger and thumb function.
However, the current research results have the problems of complex mechanism, insufficient flexibility, lack of flexibility and the like, and meanwhile, the rotation center of the mechanism is inconsistent with the movement center of the hand, so that the wearing of a user is not comfortable, and the force sense and the position measurement are also not accurate enough.
Disclosure of Invention
In view of the above, there is a need to provide a novel hand exoskeleton device, which is driven by a pre-bent elastic tube, can rotate in accordance with the flexion and extension and the swing of a human finger, and has high flexibility.
The invention aims to provide a hand exoskeleton device driven by a pre-bent elastic wire tube, which comprises: the four-finger bending and swinging device comprises a thumb motion assembly, a thumb driving assembly, a four-finger motion assembly and a four-finger driving assembly, wherein the thumb driving assembly is rotatably connected to the thumb motion assembly and drives the thumb motion assembly to bend, stretch and swing, the four-finger driving assembly is connected to the four-finger motion assembly and drives the four-finger motion assembly to bend and stretch, the thumb driving assembly is rotatably connected to the four-finger driving assembly, and the thumb motion assembly and the four-finger motion assembly are driven based on a pre-bending elastic wire tube.
In one embodiment, the thumb motion assembly comprises a first joint support, 3 joint connection seats, a wire tube connection seat, a connection wire tube, a third joint support, a thumb joint base connection, a wire tube rotation connection and a thumb rotation connection, wherein: the first joint support is of a U-shaped frame structure and is rotatably connected to the third joint support; the third joint support is of a U-shaped frame structure and is connected to the thumb joint base connecting piece; the thumb joint base connecting piece is of a plate-shaped structure and is rotatably connected to the thumb rotating connecting piece, the thumb joint base connecting piece is rotatably connected with the wire tube rotating connecting piece, and the wire tube rotating connecting piece is of a U-shaped structure with 3 through holes; the joint connecting seats are of a structure which is provided with two through holes and can enable a wire tube to pass through the joint connecting seats, 3 joint connecting seats are respectively and rotatably connected to the first joint support, the third joint support and the wire tube rotating connecting piece, and the joint connecting seats connected to the wire tube rotating connecting piece are connected to the thumb driving assembly through the wire tube; the wire tube connecting seat is of a columnar structure with 3 holes, wherein the two holes are respectively connected to the first joint support and the third joint support through two connecting wire tubes, and the other hole is connected to the thumb driving assembly through a wire tube; the thumb rotating connecting piece is of a sheet structure with 3 through holes and is connected with the thumb moving component and the thumb driving component; thumb drive assembly includes first joint silk pipe, first joint sleeve pipe, first joint screw rod connecting piece, third joint silk pipe, third joint sleeve pipe, third joint screw rod connecting piece, 2 lead screws, 2 fixed connecting rods, square bar, square hole gear, round hole gear, thumb drive support, 3 shaft couplings and 3 motors, wherein: the first joint screw pipe is sleeved inside the first joint sleeve and connected to the first joint screw connecting piece, and the end face of the first joint sleeve is connected to the thumb driving support; the third joint screw pipe sleeve is arranged inside the third joint sleeve and connected to the third joint screw connecting piece; one end of the lead screw is connected to one side of the thumb drive support, which is connected with the end face of the first joint sleeve, and the other end of the lead screw passes through the first joint lead screw connecting piece or the third joint lead screw connecting piece and is connected to the motor through the coupler; two ends of the fixed connecting rod are respectively connected to two sides of the thumb driving support and used for limiting the movement of the first lead screw connecting piece or the third lead screw connecting piece; the thumb drive bracket is a structural member with a plurality of mounting holes and is used for fixing all parts of the thumb drive assembly; one end of the square rod is connected to one side of the thumb driving support, which is connected with the end face of the first joint sleeve, and the other end of the square rod penetrates through the square hole gear and the third joint screw rod connecting piece and is connected with the motor through the coupler; the square hole gear is respectively connected with the square rod and the third joint screw rod connecting piece and is meshed with the round hole gear, and the round hole gear is respectively connected with the third joint screw rod pipe and the third joint screw rod connecting piece.
In one embodiment, the four-finger motion assembly comprises 4 sub-motion assemblies, each sub-motion assembly comprising a first joint support, 3 joint connection seats, a wire tube connection seat, a connection wire tube, a second joint support, a third joint support, and a four-finger joint base connection, wherein: the first joint support is rotatably connected to a second joint support, the second joint support is rotatably connected to a third joint support, and the third joint support is slidably connected to a four-finger joint base connecting piece of the plate-shaped structure; the 3 joint connecting seats are respectively and rotatably connected to the first joint support, the third joint support and the four-finger joint base connecting piece; two holes of the wire tube connecting seat are respectively connected to the first joint support and the third joint support through two connecting wire tubes, and the other hole is connected to the four-finger driving assembly through a wire tube; the joint connecting seat on the four-finger joint base connecting piece is connected to the four-finger driving assembly through a wire pipe; four indicate drive assembly and include 4 first joint silk pipes, 4 first joint sleeve pipes, 8 first joint screw rod connecting pieces, 4 third joint silk pipes, 4 third joint sleeve pipes, 8 lead screws, 8 fixed connecting rods, four indicate drive support, 8 shaft couplings and 8 motors, wherein: the first joint screw pipe is sleeved inside the first joint sleeve and connected to the first joint screw connecting piece; the end face of the first joint sleeve is connected to a four-finger driving bracket; the third joint screw pipe is sleeved in the third joint sleeve and connected to the first joint screw connecting piece; one end of the screw rod is connected to one side of the four-finger driving support, which is connected with the end face of the first joint sleeve, and the other end of the screw rod penetrates through the first joint screw rod connecting piece and is connected to the motor through the coupler; two ends of the fixed connecting rod are respectively connected to two sides of the four-finger driving support; the four-finger driving support is a structural member with a plurality of mounting holes and is used for fixing all parts of the four-finger driving assembly.
In one embodiment, the third joint support is a U-shaped frame structure with a slide rail that is slidably connected to the thumb joint base connector.
The hand exoskeleton device driven by the pre-bending elastic wire tube transmits driving force by the elastic wire tube, so that the mechanism has better flexibility. In addition, the third joint support of the thumb and four-finger motion assembly of the hand exoskeleton device is a U-shaped frame structure with a slide rail that is slidably connected to the thumb joint base link to adjust the length of the motion assembly according to the length of the fingers. By providing the four-finger motion assembly with a center of rotation relative to the distal interphalangeal joint and the proximal interphalangeal joint of the human four fingers, such that the center of motion of the articulation of the device coincides with the center of rotation of the human fingers, the four fingers of the wearer can be flexed and extended; through setting up thumb swivelling joint spare for thumb movement assembly, the thumb of wearing person can realize bending, extension and swing, has obtained the degree of freedom unanimous with people's finger joint, makes the hand motion more nimble and comfortable. In addition, the device has the advantages of compact structure, small volume, convenient operation and easy control.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a hand exoskeleton device based on pre-bending elastic wire tube driving according to an embodiment of the invention;
FIG. 2 is a schematic view of a first joint support of the hand exoskeleton device of FIG. 1;
FIG. 3 is a schematic view of the joint connecting base of the hand exoskeleton device of FIG. 1;
FIG. 4 is a schematic diagram of the configuration of the wire tube attachment socket of the hand exoskeleton device of FIG. 1;
FIG. 5 is a schematic diagram of the thumb motion assembly of the hand exoskeleton device of FIG. 1;
FIG. 6 is a schematic diagram of a third joint support of the hand exoskeleton device of FIG. 1;
FIG. 7 is a schematic diagram of the thumb joint base connection of the hand exoskeleton device of FIG. 1;
FIG. 8 is a schematic structural view of a wire tube swivel connection of the hand exoskeleton device of FIG. 1;
FIG. 9 is a schematic diagram of the thumb swivel connection of the hand exoskeleton device of FIG. 1;
FIG. 10 is a schematic diagram of the thumb drive assembly of the hand exoskeleton device of FIG. 1;
FIG. 11 is a schematic view of a first joint screw connection of the hand exoskeleton device of FIG. 1;
FIG. 12 is a schematic diagram of a third joint screw connection of the hand exoskeleton device of FIG. 1;
FIG. 13 is a schematic diagram of the thumb drive bracket of the hand exoskeleton device of FIG. 1;
FIG. 14 is a schematic diagram of the four-finger motion assembly of the hand exoskeleton device of FIG. 1;
FIG. 15 is a schematic diagram of a second joint support of the hand exoskeleton device of FIG. 1;
FIG. 16 is a schematic diagram of the four finger drive assembly of the hand exoskeleton device of FIG. 1;
FIG. 17 is a schematic diagram of the four finger joint base connections of the hand exoskeleton device of FIG. 1;
fig. 18 is a schematic structural view of a drive bracket of the hand exoskeleton device of fig. 1.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Fig. 1 is a schematic overall structure diagram of a hand exoskeleton device driven by a pre-bending elastic wire tube according to an embodiment of the invention. As shown in fig. 1, the hand exoskeleton device 1 includes a thumb motion assembly 10, a thumb drive assembly 20, a four-finger motion assembly 11, and a four-finger drive assembly 21. The thumb motion assembly 10 is located at the front of the thumb drive assembly 20 and is rotatably connected to the thumb drive assembly 20; the four-finger motion assembly 11 is positioned at the front part of the four-finger driving assembly 21 and is connected to the four-finger driving assembly 21; thumb drive assembly 20 is rotatably connected to a four finger drive assembly 21.
Fig. 2 to 9 are schematic structural views of the components of the thumb movement assembly 10 of the hand exoskeleton device 1. As shown in fig. 1-9, the thumb motion assembly 10 includes a first joint support 111, 3 articulation joints 112a-c, a wire tube attachment base 113, an attachment wire tube 114, a third joint support 115, a thumb joint base attachment 116, a wire tube rotational attachment 117, and a thumb rotational attachment 118. The first joint brackets 111 are U-shaped frame structures, which are rotatably connected to the third joint brackets 115. The third joint support 115 is a U-shaped frame structure with a sliding rail that is slidably connected to the thumb joint base connection 116. The thumb joint base connecting piece 116 is a plate-shaped structure and is rotatably connected to a thumb rotating connecting piece 118, and a wire tube rotating connecting piece 117 is rotatably connected to the thumb joint base connecting piece 116, and the wire tube rotating connecting piece 117 is a U-shaped structure with 3 through holes. The knuckle joint seats 112a-c are structures having two through holes and through which a wire tube can pass, and 3 knuckle joint seats 112a, 112b and 112c are rotatably connected to the first knuckle bracket 111, the third knuckle bracket 115 and the wire tube rotation connector 117, respectively, wherein the knuckle joint seat 112c is connected to the thumb drive assembly 20 through the wire tube. The wire tube connecting base 113 is a cylindrical structure with 3 holes, two of which are connected to the first joint support 111 and the third joint support 115 through two connecting wire tubes 114, respectively, and the other of which is connected to the thumb drive assembly 20 through a wire tube. The thumb turn link 118 is a plate-like structure with 3 through holes for connecting the thumb motion assembly 10 and the thumb drive assembly 20.
Fig. 10 to 13 are schematic structural views of the components of the thumb drive assembly 20 of the hand exoskeleton device 1. As shown in fig. 10 to 13, the thumb driving assembly 20 includes a first joint wire tube 211, a first joint sleeve 212, a first joint screw connector 213, a third joint wire tube 231, a third joint sleeve 232, a third joint screw connector 233, 2 screws 241, 2 fixing links 242, a square bar 243, a square hole gear 251, a round hole gear 252, a thumb driving bracket 260, 3 couplings 270, and 3 motors 280. The first joint wire tube 211 is sleeved inside the first joint sleeve 212 and connected to the first joint screw connector 213, and an end surface of the first joint sleeve 212 is connected to the thumb driving bracket 260. The third joint wire tube 231 is sleeved inside the third joint sleeve 232 and connected to the third joint screw connecting member 233. The first joint wire tube 211 and the third joint wire tube 231 are common elastic wire tubes or steel tubes (simply referred to as wire tubes) commercially available for driving joints of a human hand. The first joint bushing 212 and the third joint bushing 232 are commercially available generally tubular structures for limiting the form and position of the first joint wire tube 211 and the third joint wire tube 231. The first joint screw connector 213 and the third joint screw connector 233 are plate-shaped structures with threaded holes and through holes for controlling the movement of the first joint screw tube 211 and the third joint screw tube 231, respectively. The lead screw 241 is a commercially available common lead screw, one end of which is connected to the side of the thumb-driving bracket 260 connected to the end surface of the first joint sleeve 212, and the other end of which passes through the first joint lead screw connector 213 or the third joint lead screw connector 233 and is connected to the motor 280 via the coupling 270, for transmitting the power of the motor 280 to the first joint lead screw tube 211 or the third joint lead screw tube 231. Each lead screw 241 is used in cooperation with a fixed link 242, and the fixed link 242 is a common rod-shaped structure commercially available, and has both ends connected to both sides of the thumb-driving bracket 260, respectively, for limiting the movement of the first lead screw connector 213 or the third lead screw connector 233. Thumb drive bracket 260 is a structural member with a plurality of mounting holes for securing the components of thumb drive assembly 20. The square bar 243 is a general square bar commercially available, and has one end connected to the side of the thumb drive holder 260 connected to the end surface of the first joint sleeve 212 and the other end connected to the motor 280 via the coupling 270 through the square hole gear 251 and the third joint screw connecting member 233 for driving the square hole gear 251. The square hole gear 251 is respectively connected with the square rod 243 and the third joint screw rod connector 233 and is meshed with the round hole gear 252, and the round hole gear 252 is respectively connected with the third joint screw tube 231 and the third joint screw rod connector 233 and is used for transmitting the power of the square hole gear 251. The square hole gear 251 and the circular hole gear 252 are both common gears available on the market. The coupling 270 is a common coupling available on the market for connecting the lead screw 241 or the square bar 243 to the motor 280. The motor 280 is a commercially available common motor for driving the lead screw 241 and the square bar 243.
Fig. 14 is a schematic structural diagram of the four-finger motion assembly 11 of the hand exoskeleton device 1. As shown in fig. 1, the four finger motion assembly 11 includes 4 substantially identical motion assemblies and a common four finger drive assembly. With reference to fig. 1 to 4, 6, 8, 14 to 15, and 17, a motion assembly corresponding to an index finger among the four-finger motion assemblies 11 will be described as an example. For purposes of clarity, the same terms and reference numbers will be used in reference to the same components as in the thumb motion assembly 10.
The kinematic assembly corresponding to the index finger includes a first knuckle mount 111, 3 knuckle mount seats 112a-c, a wire tube mount seat 113, a connecting wire tube 114, a second knuckle mount 120, a third knuckle mount 115, and a four-finger knuckle mount link 130. The first joint brackets 111 are rotatably connected to the second joint brackets 120, the second joint brackets 120 are rotatably connected to the third joint brackets 115, and the third joint brackets 115 are slidably connected to the four-finger joint base connecting member 130 of the plate-shaped structure. The 3 knuckle connection bases 112a, 112b and 112c are rotatably connected to the first knuckle mount 111, the third knuckle mount 115 and the four knuckle mount connection 130, respectively. Two holes of the wire tube connecting base 113 are connected to the first joint support 111 and the third joint support 115 through two connecting wire tubes 114, respectively, and the other hole is connected to the four-finger driving assembly 21 through a wire tube. The knuckle joint base 112c of the four-finger knuckle base connector 130 is connected to the four-finger drive assembly 21 through a wire tube.
The four-finger drive assembly 21 of the hand exoskeleton device 1 comprises 4 first joint wire tubes 211, 4 first joint sleeves 212, 8 first joint screw connectors 213, 4 third joint wire tubes 231, 4 third joint sleeves 232, 8 screws 241, 8 fixed links 242, a four-finger drive bracket 290, 8 couplings 270, and 8 motors 280. The first joint screw tube 211 is sleeved inside the first joint sleeve 212 and connected to the first joint screw connector 213, and an end surface of the first joint sleeve 212 is connected to the four-finger driving bracket 290. The third joint screw tube 231 is sleeved inside the third joint sleeve 232 and connected to the first joint screw connector 213. One end of the screw 241 is connected to one side of the four-finger drive bracket 290 connected to the end surface of the first joint sleeve 212, and the other end passes through the first joint screw connector 213 and is connected to the motor 280 via the coupling 270. Each lead screw 241 is used in cooperation with a fixed link 242, and both ends of the fixed link 242 are respectively connected to both sides of the four-finger driving bracket 290. The four finger drive bracket 290 is a structural member with a plurality of mounting holes for securing the components of the four finger drive assembly 21.
The operation of the hand exoskeleton device of this embodiment will be described below.
The first joint support 111 and the third joint support 115 of the thumb movement assembly 10 are respectively connected with the back of the thumb of the person, the first joint support 111, the second joint support 120 and the third joint support 115 of the four-finger movement assembly 11 are respectively connected with the back of four fingers of the person except the thumb, and the four-finger drive support 290 is connected with the back of the hand of the person. The finger and hand exoskeleton device is then adjusted to a comfortable position.
And starting the motor 280, which drives the lead screw 241 to rotate, and drives the first joint lead screw connector 213 to move axially along the lead screw 241, so that the first joint lead screw tube 211 and the third joint lead screw tube 231 respectively move axially along the first joint sleeve 212 and the third joint sleeve 232 along with the lead screw 241.
In the case of the thumb movement assembly, under the action of the axial movement of the first joint wire tube 211 and the third joint wire tube 231, the first joint support 111 is driven to perform relative rotational movement around the rotation axis thereof rotatably connected to the third joint support 115, thereby driving the thumb to perform bending and stretching movements. The motor 280 drives the square bar 243 to rotate, and the power is transmitted to the third joint wire tube 231 through the circular hole gear 252, so that the third joint wire tube 231 rotates, and the thumb is driven to swing left and right through the thumb rotating connecting piece 118.
For the four-finger motion assembly, under the action of the axial motion of the first joint wire tube 211 and the third joint wire tube 231, the first joint support 111, the second joint support 120 and the third joint support 115 are driven to perform relative rotation motion around the rotation shafts of the rotation connections, so as to drive the four fingers to perform bending and stretching motions. Specifically, a rotational connection corresponding to the distal interphalangeal joint is formed between the first joint support 111 and the second joint support 120, and a rotational connection corresponding to the proximal interphalangeal joint is formed between the second joint support 120 and the third joint support 115.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (3)
1. A hand exoskeleton device driven by pre-bending elastic wire tubes, comprising a thumb motion assembly, a thumb drive assembly, a four-finger motion assembly and a four-finger drive assembly, wherein the thumb drive assembly is rotatably connected to the thumb motion assembly and drives the thumb motion assembly to bend, stretch and swing, the four-finger drive assembly is connected to the four-finger motion assembly and drives the four-finger motion assembly to bend and stretch, and the thumb drive assembly is rotatably connected to the four-finger drive assembly, and is characterized in that the thumb motion assembly and the four-finger motion assembly are driven by pre-bending elastic wire tubes,
thumb motion subassembly includes first joint support, 3 joint connecting seats, silk union coupling seat, connects the silk pipe, third joint support, thumb joint base connecting piece, silk pipe swivel connected coupler and thumb swivel connected coupler, wherein: the first joint support is of a U-shaped frame structure and is rotatably connected to the third joint support; the third joint support is of a U-shaped frame structure and is connected to the thumb joint base connecting piece; the thumb joint base connecting piece is of a plate-shaped structure and is rotatably connected to the thumb rotating connecting piece, the thumb joint base connecting piece is rotatably connected with the wire tube rotating connecting piece, and the wire tube rotating connecting piece is of a U-shaped structure with 3 through holes; the joint connecting seats are of a structure which is provided with two through holes and can enable a wire tube to pass through the joint connecting seats, 3 joint connecting seats are respectively and rotatably connected to the first joint support, the third joint support and the wire tube rotating connecting piece, and the joint connecting seats connected to the wire tube rotating connecting piece are connected to the thumb driving assembly through the wire tube; the wire tube connecting seat is of a columnar structure with 3 holes, wherein the two holes are respectively connected to the first joint support and the third joint support through two connecting wire tubes, and the other hole is connected to the thumb driving assembly through a wire tube; the thumb rotating connecting piece is of a sheet structure with 3 through holes and is connected with the thumb moving component and the thumb driving component;
thumb drive assembly includes first joint silk pipe, first joint sleeve pipe, first joint screw rod connecting piece, third joint silk pipe, third joint sleeve pipe, third joint screw rod connecting piece, 2 lead screws, 2 fixed connecting rods, square bar, square hole gear, round hole gear, thumb drive support, 3 shaft couplings and 3 motors, wherein: the first joint screw pipe is sleeved inside the first joint sleeve and connected to the first joint screw connecting piece, and the end face of the first joint sleeve is connected to the thumb driving support; the third joint screw pipe sleeve is arranged inside the third joint sleeve and connected to the third joint screw connecting piece; one end of the lead screw is connected to one side of the thumb drive support, which is connected with the end face of the first joint sleeve, and the other end of the lead screw passes through the first joint lead screw connecting piece or the third joint lead screw connecting piece and is connected to the motor through the coupler; two ends of the fixed connecting rod are respectively connected to two sides of the thumb driving support and used for limiting the movement of the first joint screw rod connecting piece or the third joint screw rod connecting piece; the thumb drive bracket is a structural member with a plurality of mounting holes and is used for fixing all parts of the thumb drive assembly; one end of the square rod is connected to one side of the thumb driving support, which is connected with the end face of the first joint sleeve, and the other end of the square rod penetrates through the square hole gear and the third joint screw rod connecting piece and is connected with the motor through the coupler; the square hole gear is respectively connected with the square rod and the third joint screw rod connecting piece and is meshed with the round hole gear, and the round hole gear is respectively connected with the third joint screw rod pipe and the third joint screw rod connecting piece.
2. The hand exoskeleton device driven by pre-curved elastic wire tubes of claim 1,
the four indicate motion assembly includes 4 sub-motion assemblies, and every sub-motion assembly includes first joint support, 3 joint connecting seats, silk union coupling seat, connects the silk pipe, second joint support, third joint support, and four indicate joint base connecting pieces, wherein: the first joint support is rotatably connected to a second joint support, the second joint support is rotatably connected to a third joint support, and the third joint support is slidably connected to a four-finger joint base connecting piece of the plate-shaped structure; the 3 joint connecting seats are respectively and rotatably connected to the first joint support, the third joint support and the four-finger joint base connecting piece; two holes of the wire tube connecting seat are respectively connected to the first joint support and the third joint support through two connecting wire tubes, and the other hole is connected to the four-finger driving assembly through a wire tube; the joint connecting seat on the four-finger joint base connecting piece is connected to the four-finger driving assembly through a wire pipe;
four indicate drive assembly includes 4 first joint silk pipes, 4 first joint sleeve pipes, 8 first joint screw rod connecting pieces, 4 third joint silk pipes, 4 third joint sleeve pipes, 8 lead screws, 8 fixed connecting rods, four indicate drive support, 8 shaft couplings and 8 motors, wherein: the first joint screw pipe is sleeved inside the first joint sleeve and connected to the first joint screw connecting piece; the end face of the first joint sleeve is connected to a four-finger driving bracket; the third joint screw pipe is sleeved in the third joint sleeve and connected to the first joint screw connecting piece; one end of the screw rod is connected to one side of the four-finger driving support, which is connected with the end face of the first joint sleeve, and the other end of the screw rod penetrates through the first joint screw rod connecting piece and is connected to the motor through the coupler; two ends of the fixed connecting rod are respectively connected to two sides of the four-finger driving support; the four-finger driving support is a structural member with a plurality of mounting holes and is used for fixing all parts of the four-finger driving assembly.
3. The pre-curved elastic wire tube drive based hand exoskeleton device of claim 2 wherein the third joint support is a U-shaped frame structure with a slide rail slidably connected to a thumb joint base link.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710124694.3A CN108524184B (en) | 2017-03-03 | 2017-03-03 | Hand exoskeleton device based on pre-bending elastic wire tube driving |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710124694.3A CN108524184B (en) | 2017-03-03 | 2017-03-03 | Hand exoskeleton device based on pre-bending elastic wire tube driving |
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| CN108524184A CN108524184A (en) | 2018-09-14 |
| CN108524184B true CN108524184B (en) | 2022-03-01 |
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| CN201710124694.3A Expired - Fee Related CN108524184B (en) | 2017-03-03 | 2017-03-03 | Hand exoskeleton device based on pre-bending elastic wire tube driving |
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| CN109199790B (en) * | 2018-10-23 | 2019-09-27 | 燕山大学 | A kind of towed finger recovering training device |
| CN109481229B (en) * | 2018-11-01 | 2020-12-04 | 义乌市汇淼科技有限公司 | Medical hand rehabilitation instrument |
| CN109512638B (en) * | 2018-11-13 | 2021-06-11 | 南京邮电大学 | Flexible under-actuated finger rehabilitation device |
| CN109394475B (en) * | 2018-11-15 | 2023-10-03 | 南昌大学 | Five-finger rehabilitation manipulator capable of autonomously adjusting and disassembling finger spacing |
| CN110711110B (en) * | 2019-09-26 | 2022-02-22 | 河海大学常州校区 | Push-down under-actuated finger rehabilitation training device |
| CN112656636A (en) * | 2019-10-15 | 2021-04-16 | 深圳市迈步机器人科技有限公司 | Hand rehabilitation device and control method thereof |
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| US7296835B2 (en) * | 2005-08-11 | 2007-11-20 | Anybots, Inc. | Robotic hand and arm apparatus |
| JP5871898B2 (en) * | 2010-03-23 | 2016-03-01 | イドロジェネット エスアールエルＩＤＲＯＧＥＮＥＴ Ｓ．ｒ．ｌ． | Hand rehabilitation equipment |
| US20120059290A1 (en) * | 2010-09-02 | 2012-03-08 | Yip Joanne Yiu Wan | Wearable device for finger rehabilitation |
| CN102018611B (en) * | 2010-12-31 | 2012-10-10 | 厦门市第二医院 | Rehabilitation training therapeutic instrument for hand of hemiplegic patient |
| CN102579227B (en) * | 2012-02-28 | 2014-01-29 | 浙江大学 | Hand and wrist exoskeleton rehabilitation training device |
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