CN108687744A - A kind of ectoskeleton based on touch feedback - Google Patents
A kind of ectoskeleton based on touch feedback Download PDFInfo
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- CN108687744A CN108687744A CN201710226263.8A CN201710226263A CN108687744A CN 108687744 A CN108687744 A CN 108687744A CN 201710226263 A CN201710226263 A CN 201710226263A CN 108687744 A CN108687744 A CN 108687744A
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- finger
- hand
- steering engine
- metacarpal
- exoskeleton
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- 210000003811 finger Anatomy 0.000 claims abstract description 129
- 210000000236 metacarpal bone Anatomy 0.000 claims abstract description 33
- 210000003813 thumb Anatomy 0.000 claims abstract description 31
- 210000004932 little finger Anatomy 0.000 claims abstract description 28
- 244000060701 Kaempferia pandurata Species 0.000 claims abstract description 21
- 235000016390 Uvaria chamae Nutrition 0.000 claims abstract description 21
- 238000005452 bending Methods 0.000 claims description 28
- 230000033001 locomotion Effects 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 15
- 210000005224 forefinger Anatomy 0.000 claims description 7
- 210000001142 back Anatomy 0.000 claims 2
- 230000009471 action Effects 0.000 description 10
- 210000004247 hand Anatomy 0.000 description 5
- 230000003190 augmentative effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 210000002435 tendon Anatomy 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 241000282412 Homo Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000010409 thin film Substances 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The present invention relates to a kind of ectoskeletons based on touch feedback, including finger and palm, palm includes the palm of the hand and the back of the hand, finger is by thumb, index finger, middle finger, it is nameless, little finger of toe and six part of the metacarpal bone composition being flexibly connected with the back of the hand, thumb, index finger, middle finger, it is nameless, a fixed ring is movably connected at the finger tip of little finger of toe, index finger, middle finger, it is nameless, it is flexibly connected respectively with the back of the hand by steering engine at the finger root of little finger of toe, steering engine is passed sequentially through at the finger root of thumb, metacarpal bone is connect with the back of the hand, one end of metacarpal bone refers to the steering engine at root with thumb and is fixedly connected, the other end of metacarpal bone is flexibly connected the back of the hand steering engine by output shaft, the back of the hand steering engine is installed on the back of the hand, for driving metacarpal bone to move.The ectoskeleton of the present invention has many advantages, such as simple in structure, small volume and less weight, portable.
Description
Technical Field
The invention belongs to the field of exoskeletons, and particularly relates to an exoskeletons based on tactile feedback.
Background
In the interaction of virtual reality and augmented reality, there is no real grasped object. Virtual contact feedback and force feedback are required to replicate the contact force, surface shape, smoothness, slippage, etc. calculated in real time.
Haptic feedback contact interfaces can be divided into two categories, namely haptic feedback and force feedback, according to the information provided to the user. The tactile feedback provides the user with information on the geometry, texture, slippage, etc. of the surface of the object, and the force feedback provides the user with information on the total contact force, compliance of the surface, weight of the object, etc. In the field of VR games, the existing tactile feedback devices are large in size, inconvenient to move, only can be fixed at a fixed position, and cannot give real tactile feedback feeling to users; in the field of augmented reality, the existing tactile feedback device is not perfect, cannot provide specific information of tactile feedback, can only capture actions, and has a narrow coverage range.
Disclosure of Invention
The invention overcomes the defects that the existing augmented reality equipment can only capture motion and can not provide specific information of tactile feedback.
The invention provides an exoskeleton based on haptic feedback. The technical problem to be solved by the invention is realized by the following technical scheme:
an exoskeleton based on tactile feedback comprises fingers and a palm, wherein the palm comprises a palm center and a palm back, and the fingers are composed of six parts, namely a thumb, an index finger, a middle finger, a ring finger, a little finger and a metacarpal bone movably connected with the palm back;
the finger tip punishment of thumb, forefinger, middle finger, third finger, little finger is a swing joint solid fixed ring respectively, and the finger root department of forefinger, middle finger, third finger, little finger is respectively through steering wheel and back of the hand swing joint, and the finger root department of thumb loops through steering wheel, metacarpal bone and back of the hand and is connected, the one end of metacarpal bone and the steering wheel fixed connection of thumb finger root department, the other end of metacarpal bone passes through an output shaft swing joint back of the hand steering wheel, the back of the hand steering wheel sets firmly on the back of the hand for drive metacarpal bone motion, the steering wheel that is located forefinger, middle finger, third finger, little finger root department and back of the hand fixed connection.
As a preferred embodiment of the invention, the finger roots of the thumb, the index finger, the middle finger, the ring finger and the little finger are respectively provided with a jaw for accommodating the steering engine, and the steering engine drives the five fingers to do bending/stretching motion through the transmission shaft.
As a preferred embodiment of the invention, the thumb, the index finger, the middle finger, the ring finger and the little finger respectively comprise a finger tip section, a middle section and a finger root section, one end of the finger tip section is movably connected with the fixing ring, the other end of the finger tip section is fixedly connected with one end of the middle section, the other end of the middle section is movably connected with one end of the finger root section, and the other end of the finger root section is movably connected with the steering engine through the transmission shaft.
As a preferred embodiment of the present invention, a control panel for controlling the exoskeleton's movements is provided on the back of the hand.
As a preferred embodiment of the invention, the hand back is also provided with a shell, and the control panel is positioned in an inner cavity of the shell.
As a preferred embodiment of the present invention, the palm is fixedly connected with an insulating glove, and five fingers of the insulating glove are fixedly connected with inner walls of five fixing rings.
In a preferred embodiment of the invention, the five fingers of the insulating glove are respectively provided with a bending sensor, and the bending sensors are used for acquiring the motion posture of the hand of the wearer in real time.
As a preferred embodiment of the invention, the back of the hand is provided with a lug with an inner hole, the end surface of the metacarpal bone is oppositely provided with two metacarpal bone lugs, the metacarpal bone lugs are provided with inner holes and movably connected with the metacarpal bone lugs on the left side, and the metacarpal bone lugs on the right side are movably connected with the back of the hand steering engine through a transmission shaft.
As a preferred embodiment of the invention, the steering engine positioned at the root of the index finger, the middle finger, the ring finger and the little finger is fixedly connected with the back of the hand through a back of the hand base, the back of the hand base comprises a bottom plate fixedly connected with the back of the hand, a ribbed plate arranged on the bottom plate and a fixing plate used for fixing the steering engine, the fixing plate is movably connected with the shell of the steering engine, and the fixing plate is also provided with a square groove for the output shaft of the steering engine and the gear shaft to pass through.
As a preferred embodiment of the invention, the steering engine connected with the thumb root is fixedly connected with one end of the metacarpal bone through the hand back base, the bottom plate of the hand back base is fixedly connected with one end of the metacarpal bone, and the fixing plate of the hand back base is fixedly connected with the steering engine shell.
The invention has the beneficial effects that:
1. when a wearer exerts force on the hands, the hand actions are decomposed through the exoskeleton and are mapped onto the rotary sensor, the bending sensor transmits information to the upper computer, the upper computer calculates the rotation angle information among all bones among fingers, the rotation angle information is transmitted to the steering engine through the control chip, the stepping motor arranged in the steering engine drives the transmission shaft to operate, and acting force is fed back to tendons connected with the fingertips. Therefore, the exoskeleton hand display device displays pressure feeling by limiting the movement of the hand through the exoskeleton, and provides more real tactile feeling for a wearer;
2. in the invention, the index finger, the middle finger, the ring finger and the little finger are connected with the back of the hand through the steering engine, and the thumb root is connected with the back of the hand through the steering engine, the metacarpal bone and the steering engine in sequence. Therefore, the exoskeleton has the advantages of simple structure, small size, portability, easy carrying and the like.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
Fig. 1 is a schematic structural view of the present invention.
In the figure: 1. a palm; 11. a hand back steering engine; 12. a hand back base; 13. a metacarpal bone; 21. a thumb; 22. the index finger; 23. middle finger; 24. ring finger; 25. a little finger; 3. a fixing ring; 4. a steering engine; 5. and a control panel.
Detailed Description
To further explain the technical means and effects of the present invention adopted to achieve the intended purpose, the following detailed description of the embodiments, structural features and effects of the present invention will be made with reference to the accompanying drawings and examples.
It is to be expressly understood that the terms "upper," "lower," "left," "right," "top," "bottom," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, the terms "upper," "lower," "left," "right," "top," "bottom," "inner," "outer," and the like are used in the generic and descriptive sense only and not for purposes of limitation, the specific orientation being used for purposes of indicating or implying any particular limitation, such as a particular feature, element, or component.
It should be noted that the movable connection involved in the present invention may be any manner such as a hinge connection, a pin connection, or a rivet connection.
Hand exoskeleton (manipulator) is a way for humans to observe and imitate the movement of human hands to make the machine achieve similar hand functions. Its main purpose is to achieve various grasping, ensuring the accuracy of grasping and the control of output force. This implementation The exoskeleton of the example is composed of sixteen parts including the index finger 22, the middle finger 23, the ring finger 24 and the little finger 25, the two finger segments of the thumb 21, the palm 1 and the metacarpal 13, which are printed out using a 3D printer after modeling. Thus, the thirty-one degrees of freedom of the hand are simplified to the more commonly used sixteen degrees of freedom, and its portability and practicality are increased. In this embodiment, the middle and the tip of the finger can only perform one-dimensional flexion and extension movement, and the root of the finger can perform flexion and extension movement, and the thumb can also perform contraction movement relative to the roots of other fingers.
Referring to fig. 1, the embodiment discloses an exoskeleton based on tactile feedback, which comprises fingers and a back of the hand 1, wherein a palm 1 comprises a palm center and the back of the hand, the fingers comprise a thumb 21, an index finger 22, a middle finger 23, a ring finger 24, a little finger 25 and a metacarpal 13 movably connected with the back of the hand, and the exoskeleton has sixteen degrees of freedom, wherein the fingertips, finger joints and finger roots of the thumb 21, the index finger 22, the middle finger 23, the ring finger 24 and the little finger 25 respectively have one degree of freedom, and the metacarpal 13 has one degree of freedom;
the fingertips of the thumb 21, the index finger 22, the middle finger 23, the ring finger 24 and the little finger 25 are respectively movably connected with a fixing ring 3, so that the fingers have five degrees of freedom; the finger roots of the index finger 22, the middle finger 23, the ring finger 24 and the little finger 25 are respectively movably connected with the back of the hand through the steering engine 4, so that the finger has four degrees of freedom; the root of the thumb 21 is connected with the back of the hand through the steering engine 4 and the metacarpal 13 in sequence, so that the finger has two degrees of freedom; one end of the metacarpal bone 13 is fixedly connected with the steering gear 4 at the root of the thumb 21, the other end of the metacarpal bone 13 is movably connected with a hand back steering gear 11 through an output shaft, the hand back steering gear 11 is fixedly arranged on the hand back and used for driving the metacarpal bone 13 to move, and the steering gear 4 at the root of the index finger 22, the middle finger 23, the ring finger 24 and the little finger 25 is fixedly connected with the hand back.
Wherein, thumb 21, forefinger 22, middle finger 23, third finger 24, little finger 25 can comprise first finger section and second finger section respectively, and the one end of first finger section and solid fixed ring 3 swing joint, the other end of first finger section and the one end swing joint of second finger section, the other end of second finger section passes through transmission shaft and steering wheel 4 swing joint.
Wherein, the thumb 21, forefinger 22, middle finger 23, third finger 24, little finger 25 also can constitute by pointing at the section, interlude and indicating the root section respectively, and the one end of pointing at the section is with solid fixed ring 3 swing joint, and the other end of pointing at the section is fixed connection with the one end of interlude, and the other end of interlude and the one end swing joint of pointing at the root section, the other end of pointing at the root section passes through transmission shaft and steering wheel 4 swing joint for the finger has five degrees of freedom.
In order to make the finger root move more flexibly, in the embodiment, preferably, the finger roots of the thumb 21, the index finger 22, the middle finger 23, the ring finger 24 and the little finger 25 are provided with jaws for accommodating the steering gears 4, the side walls of the jaws are provided with through holes in interference fit with the transmission shaft, the transmission shaft is connected with the steering gears 4, the five steering gears 4 respectively drive the five fingers to do bending/stretching motion through the transmission shaft, and the five steering gears 4 respectively drive the five fingers to do folding/unfolding motion through the transmission shaft. The steering engine 4 located at the root of the index finger 22, the middle finger 23, the ring finger 24 and the little finger 25 is fixedly connected with the back of the hand through a back of the hand base 12, the back of the hand base 12 comprises a bottom plate fixedly connected with the back of the hand, a rib plate arranged on the bottom plate and a fixing plate used for fixing the steering engine, the fixing plate is movably connected with a steering engine shell, and a square groove for the steering engine output shaft and a gear shaft to penetrate is further formed in the fixing plate. The steering engine 4 connected with the root of the thumb 21 is fixedly connected with one end of the metacarpal bone 13 through the back of the hand base 12, the bottom plate of the back of the hand base 12 is fixedly connected with one end of the metacarpal bone 13, and the fixing plate of the back of the hand base 12 is fixedly connected with the shell of the steering engine.
The present embodiment also reserves the place for placing the control panel 5, preferably on the back of the hand, with the control panel 5 for controlling the exoskeleton's movements. In order to prevent the mistaken touching of the wearer, the back of the hand is further provided with a shell, and the control panel 5 is located in the inner cavity of the shell, so that the mistaken touching of the wearer is avoided.
In order to obtain the action posture of the hand in real time so as to truly reproduce the action of the hand in a virtual environment and achieve the purpose of ideal human-computer interaction, the palm of the hand is fixedly provided with an insulating glove, and five fingers of the insulating glove are fixedly connected with the inner walls of the five fixing rings 3.
The insulating gloves are also called data gloves, the first purpose of the data gloves is to transmit a large amount of data of the action gesture of the hands of the wearer, a 3D model of the hands of the wearer is built in an upper computer, in order to master the data of the bending abduction degree and the like of the palm, the fingers and the effective parts of the wrist and the inversion of the gesture on the basis of the data, the bending sensors are arranged at the five fingers of the insulating gloves, and the bending sensors are used for acquiring the action gesture of the hands of the wearer in real time.
The bending Sensor of this embodiment is preferably a Flexpoint Flex Sensor 4.5, which contains a resistor with a resistance that varies with bending. When the metal surface of the sensor is bent outward, the corresponding degree of bending can be obtained based on the function obtained by experiment by detecting the change of the resistance. Due to the bending Sensor Flex Sensor 4.51, the following drawbacks exist: 1. acquiring the sum of the bending degrees of the whole finger; 2. the feedback value is a resistance value and is greatly influenced by the environment (temperature and humidity); 3. the resistance has obvious change disturbance, and data needs to be filtered at the later stage; 4. the bending sensor resistance has obvious individual difference, so the data glove is changed as follows: 1. through experiments, the proportional relation of the bending angles and the conversion relation of the bending angles and the total bending angle are tested under the condition that the front two joints of the human finger are normally bent; after a plurality of tests, all angles of a plurality of testers are obtained, and after data processing is carried out on the experimental data, a basic rule is summarized, and an algorithm for calculating all joint angles according to the total angle obtained by the bending sensor is realized; 2. in this embodiment, after the preliminary data is acquired, 50 times of data averaging is taken as 0 point data during initialization; 3. in the embodiment, the mean value filtering algorithm is added at the computer end, so that the curve of the reading value of the bending angle is smooth, irregular jitter of the virtual finger end is reduced, and the picture is smoother and closer to the real situation.
In order to enable the back of the hand to be better movably connected with the metacarpal bones 13, the back of the hand is provided with a lug with an inner hole, the end surface of the metacarpal bones 13 is relatively provided with two metacarpal bone lugs, the metacarpal bone lugs are provided with inner holes and movably connected with the metacarpal bone lugs on the left side, and the metacarpal bone lugs on the right side are movably connected with the back of the hand steering engine 11 through a transmission shaft.
In the embodiment, all data on the insulating gloves are transmitted to the computer end in a wireless mode, the spatial position of the hand can be tracked in real time through the sensor, and the bending angle of the middle section of the finger can be read in real time through the integrated bending sensor on each finger; in the embodiment, a customized thin-film potentiometer is adopted to read the open arc angle between the fingers, the steering engine is used for judging the bending degree of the third knuckle, and the data are used for constructing a three-dimensional model of the hand in Unity3D in real time.
The insulating glove of the embodiment adopts an advanced optical fiber sensing technology and an air vortex technology, is manufactured by combining elastic mesh fabric, is matched with a touch exoskeleton with independent design, and can accurately measure the gesture of a human hand, such as complex actions of twisting, palm aligning, bending and stretching, folding and unfolding and the like; moreover, the glove can be different from person to person, and helps a wearer to quickly establish a skeleton action model suitable for the wearer.
It should be noted that the insulating glove of the present embodiment handles hand interaction in virtual reality, adds tactile feedback elements, and physically pulls back the fingers to cater for the shape of the virtual object, dynamically changing the applied force to simulate their firmness. Specifically, when a wearer uses the exoskeleton of the embodiment, when a hand exerts force, the hand action is decomposed through the exoskeleton and is mapped onto the bending sensor, the bending sensor transmits information to the upper computer, the upper computer calculates rotation angle information among bones among fingers, the rotation angle information is transmitted to the steering engine through the control chip, the stepping motor arranged in the steering engine drives the transmission shaft to operate, and the acting force is fed back to tendons connected with the fingertips. Therefore, the present embodiment displays the pressure feeling by limiting the movement of the hand through the exoskeleton, and gives the wearer a more real tactile feeling, that is, the reproduction theory of the present embodiment in the virtual environment is to transmit the virtual object generated by the computer to the wearer in a natural manner through the actual calculation, sensing and simulation technology, so that the wearer can obtain various sensory experiences in all directions. The embodiment can accurately convert the actions of the hand and the fingers into digital real-time angle data through unique sensing skills and the additional four abduction sensors, the palm camber sensor and the sensor for measuring the tortuosity and the abduction degree.
When the fingers of a wearer do bending and stretching movements, the external device controlled by the steering engine can play the roles of limiting and detecting in time, so that resistance or friction is generated, a user can experience corresponding constraint feeling, and the feeling is more real. When two fingers move transversely, namely around swinging and the like, the potentiometer between the two fingers detects the tiny potential change between the two fingers, the transverse offset angle can be further reflected through calculation, and the motion state of an object in three dimensions can be obtained by combining a longitudinal bending curve.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. An exoskeleton based on tactile feedback is characterized by comprising fingers and a palm (1), wherein the palm (1) comprises a palm center and a back, and the fingers consist of a thumb (21), an index finger (22), a middle finger (23), a ring finger (24), a little finger (25) and a metacarpal bone (13) movably connected with the back;
the finger tip of thumb (21), forefinger (22), well finger (23), ring finger (24), little finger (25) is a swing joint fixed ring (3) respectively, and the finger root department of forefinger (22), well finger (23), ring finger (24), little finger (25) is installed with one respectively steering wheel (4) swing joint on the back of the hand, the finger root department of thumb (21) loops through steering wheel (4), metacarpal (13) and is connected with the back of the hand, the steering wheel (4) fixed connection of the one end of metacarpal (13) and thumb (21) finger root department, the other end of metacarpal (13) passes through output shaft swing joint dorsum hand (11), dorsum of the hand steering wheel (11) set firmly on the back of the hand for drive metacarpal (13) motion.
2. An exoskeleton as claimed in claim 1 wherein the thumb (21), index finger (22), middle finger (23), ring finger (24) and little finger (25) are provided with jaws at their base for accommodating the steering engine (4), and the steering engine (4) drives the five fingers to do flexion/extension movement through a transmission shaft.
3. The exoskeleton of claim 1, wherein the thumb (21), the index finger (22), the middle finger (23), the ring finger (24) and the little finger (25) are respectively composed of a finger tip section, a middle section and a finger root section, one end of the finger tip section is movably connected with the fixing ring (3), the other end of the finger tip section is fixedly connected with one end of the middle section, the other end of the middle section is movably connected with one end of the finger root section, and the other end of the finger root section is movably connected with the steering engine (4) through a transmission shaft.
4. A tactile feedback based exoskeleton as claimed in claim 1 wherein a control panel (5) is provided on the back of the hand for controlling the exoskeleton's movements.
5. A tactile feedback based exoskeleton as claimed in claim 4 wherein a housing is also provided on the back of the hand, the control panel (5) being located in an internal cavity of the housing.
6. A tactile feedback based exoskeleton according to claim 1 wherein an insulating glove is fixedly connected to the palm of the hand, and five fingers of the insulating glove are fixedly connected to the inner walls of the five fixing rings (3).
7. A haptic feedback based exoskeleton as claimed in claim 6 wherein said insulating glove has bending sensors at each of five fingers for real time sensing of the movement gesture of the wearer's hand.
8. An exoskeleton as claimed in claim 1 wherein a lug with an inner hole is arranged on the back of the hand, two metacarpal lugs are oppositely arranged on the end face of the metacarpal (13), the metacarpal lugs are provided with inner holes and are movably connected with the metacarpal lugs on the left side, and the metacarpal lugs on the right side are movably connected with the back of the hand steering engine (11) through a transmission shaft.
9. The exoskeleton of claim 1, wherein the steering engine at the finger root of the index finger (22), the middle finger (23), the ring finger (24) and the little finger (25) is fixedly connected with the back of the hand through a back of the hand base (12), the back of the hand base (12) comprises a bottom plate fixedly connected with the back of the hand, a ribbed plate arranged on the bottom plate and a fixing plate for fixing the steering engine (4), the fixing plate is movably connected with a steering engine shell, and a square groove for the steering engine output shaft and the gear shaft to pass through is further arranged on the fixing plate.
10. An exoskeleton as claimed in claim 9 wherein the steering engine (4) connected to the thumb finger is fixedly connected to one end of the metacarpal bone (13) through a dorsal base (12), the bottom plate of the dorsal base (12) is fixedly connected to one end of the metacarpal bone (13), and the fixed plate of the dorsal base (12) is fixedly connected to the steering engine housing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710226263.8A CN108687744A (en) | 2017-04-08 | 2017-04-08 | A kind of ectoskeleton based on touch feedback |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710226263.8A CN108687744A (en) | 2017-04-08 | 2017-04-08 | A kind of ectoskeleton based on touch feedback |
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| CN108687744A true CN108687744A (en) | 2018-10-23 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109363686A (en) * | 2018-11-01 | 2019-02-22 | 深圳岱仕科技有限公司 | Hand mechanical exoskeleton equipment |
| CN110039507A (en) * | 2019-04-09 | 2019-07-23 | 华南理工大学 | A kind of remote control system and method based on ectoskeleton data glove and myoelectricity bracelet |
| WO2020088427A1 (en) * | 2018-11-01 | 2020-05-07 | 深圳岱仕科技有限公司 | Robotic exoskeleton of hand and feedback control method therefor |
| CN112621790A (en) * | 2020-12-31 | 2021-04-09 | 东南大学 | Two-degree-of-freedom rope transmission type finger force feedback device |
| CN113350115A (en) * | 2020-03-02 | 2021-09-07 | 北京海益同展信息科技有限公司 | Exoskeleton finger and exoskeleton glove |
| WO2022095692A1 (en) * | 2020-11-03 | 2022-05-12 | 腾讯科技（深圳）有限公司 | Hand exoskeleton, medical equipment, and simulated grabbing system |
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