CN112118938B - 外骨骼手套 - Google Patents

外骨骼手套 Download PDF

Info

Publication number
CN112118938B
CN112118938B CN201980032505.7A CN201980032505A CN112118938B CN 112118938 B CN112118938 B CN 112118938B CN 201980032505 A CN201980032505 A CN 201980032505A CN 112118938 B CN112118938 B CN 112118938B
Authority
CN
China
Prior art keywords
linkage
link
glove
cable
exoskeleton glove
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201980032505.7A
Other languages
English (en)
Other versions
CN112118938A (zh
Inventor
约翰内斯·路易吉坦
海斯·丹布特
马克斯·拉默斯
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Advo Sports Pte Ltd
Original Assignee
Advo Sports Pte Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Advo Sports Pte Ltd filed Critical Advo Sports Pte Ltd
Publication of CN112118938A publication Critical patent/CN112118938A/zh
Application granted granted Critical
Publication of CN112118938B publication Critical patent/CN112118938B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/013—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the arms, hands or fingers
    • 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
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B25J13/025—Hand grip control means comprising haptic means
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5072—Prostheses not implantable in the body having spring elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • A61F2002/587—Thumbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
    • 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
    • A61H2201/1215—Rotary drive
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • 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
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Epidemiology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Pain & Pain Management (AREA)
  • Vascular Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Transplantation (AREA)
  • Nursing (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Prostheses (AREA)
  • Rehabilitation Tools (AREA)

Abstract

外骨骼手套(2)至少设置有用于每个手指的单独的连杆机构(4、5、6、7)，其中，该连杆机构包括通过连接件(10、17、20)连系的一系列连杆(8、11、15、19)，第一连杆附接至手套(2)，并且距手套最远的最末连杆(19)设置有指套(18)，其中，在连杆机构的内部或沿着连杆机构的边所引导的线缆(21)将最末连杆(19)和/或指套(18)连接至第一连杆(8)，以便将力通过线缆(21)传输，从而作用在最末连杆(19)和/或指套(18)上。

Description

外骨骼手套
技术领域
本发明涉及外骨骼手套，该外骨骼手套设置有用于至少手指或拇指的单独的连杆机构，其中，该连杆机构包括通过连接件连系的一系列连杆，第一连杆附接至手套，并且位于距手套最远的端部处的最末连杆设置有指套。
背景技术
WO2018/021909教示了这种外骨骼手套。
EP-A-2 345 951和US2013/0219585两者均公开了一种外骨骼手套，该外骨骼手套设置有用于至少手指或拇指的单独的连杆机构，其中，该连杆机构包括通过连接件连系的一系列连杆，第一连杆附接至手套，并且位于距手套最远的端部处的最末连杆设置有指套，其中，在连杆机构的内部或沿着连杆机构的边所引导的线缆将最末连杆和/或指套连接至第一连杆，以便将力通过该线缆传输，从而作用在最末连杆和/或指套上。
WO99/21478公开了一种用于对有生命的本体的指节位置和关节角度进行测量的外骨骼装置，其中，该本体包括通过中间关节结合的多个指节。该装置固定在所述有生命的本体的第一活动末端和第二固定末端，该装置具有相对于有生命的指节移位的装置指节，其中，装置指节通过装置关节连接，并且该装置具有用于测量所述装置关节的角度的传感器装置。使用来自传感器装置的信号，可以确定终端的装置指节的位置，并且基于对有生命的本体的结构的了解来计算有生命的关节的角度。
发明内容
本发明的目的是对已知的外骨骼手套进行修改，以使使用者能够以类似于现实世界对象的方式与虚拟对象进行交互。
本发明的另一目的是提供一种适合于向手套的使用者的手指提供力和触觉反馈的外骨骼手套。
本发明的又一目的是使外骨骼手套保持较低的重量并使得可以使用不具有需要外部供电的特征的手套。
为了促进一个或更多个上述目的，本发明的外骨骼手套具有所附权利要求中的一个或更多个所附权利要求的特征。
在本发明的第一方面，在第一连杆处或在第一连杆附近设置有弹簧加载的滑轮以用于缠绕或解绕线缆，其中，该滑轮与电磁制动器连接。利用线缆，可以向使用者的手指提供与连杆机构相对应的机械力反馈。弹簧加载的滑轮使得在手指运动期间能够在线缆上提供连续的张力。通过应用滑轮，还实现了将线性平移转换成用于撤回线缆的旋转。电磁制动器使得，在当虚拟对象连接至手指的虚拟表示的时刻，该制动器可以向滑轮提供摩擦力。该摩擦力经由线缆传输至手指的尖端，即传输至最末连杆和/或指套。
优选地，电磁制动器能够通过可变电压来驱动。通过调节该电压，可以将各种效果比如虚拟对象的形状和密度传达给使用者的手指。
通过将手套布置成由电池供电，该手套将非常易于用户使用，而无需连接至外部电源。
本发明的外骨骼手套被适当地实施成使得线缆在连杆机构中的引导轮上被引导，该引导轮定位成远离手套。
在本发明的另一方面，连杆机构设置有振动触觉反馈马达。利用该反馈马达，可以将关于虚拟对象的另外的信息比如硬度、粗糙度或者例如对虚拟对象的进入点的模拟传达至使用者的手指。为了相同的目的，还可以设置作用在线缆上的至少一个致动器。
附图说明
在下文中，将参照根据本发明的外骨骼手套的示例性实施方式的附图及该示例性实施方式的使用来进一步阐明本发明，该示例性实施方式对于所附权利要求不是限制性的。
在附图中：
-图1A和图1B以不同的角度示出了根据现有技术的设置在使用者的手上的外骨骼手套的手套；
-图2A和图2B以不同的角度示出了现有技术的手套的拇指和手指的各个连杆机构；
-图3示出了本发明的用于外骨骼手套的手指的连杆机构；
-图4示出了图3中所示的连杆机构的截面图。
每当在附图中应用相同的附图标记时，这些附图标记指代相同的部件。
具体实施方式
图1A和图1B以不同的角度示出了使用者的手1，该使用者的手1设置有作为现有技术的外骨骼手套的手套2，该现有技术的外骨骼手套在图2A和图2B中更详细地示出。
图2A和图2B中示出，外骨骼手套设置有用于每个手指以及用于拇指的单独的连杆机构。其示出了用于拇指的连杆机构3，并且还具有用于食指的连杆机构4、用于中指的连杆机构5、用于无名指的连杆机构6以及用于小拇指的连杆机构7。用于拇指的连杆机构3比用于手指的连杆机构更复杂一些。然而，用于各手指的连杆机构的构型对于每个手指而言是相同的。因此，连杆机构在任何情况下都包括通过连接件10、17、20连系的一系列连杆8、11、15、19，其中，第一连杆附接至手套2，并且最远离手套的最末连杆19设置有指套18。
图3和图4示出了作为本发明的外骨骼手套的形成部分的用于单个手指的连杆机构。应当指出的是，尽管未示出，但是本发明的外骨骼手套的用于拇指的连杆机构以类似的方式布置，因此对用于拇指的连杆机构进行单独图示是多余的。图3以完整视图示出了连杆机构，而图4以通过机构的纵向轴线的截面图示出了连杆机构。
图3和图4示出，连杆机构包括与连接件互连以使得能够改变连接件的相互角度取向的若干个部分。连杆机构包括：旨在附接至手套2(参见图2A/图2B)的第一连杆8、通过第一连接件9连接至第一连杆8的第二连杆11、通过第二连接件17连接至第二连杆11的第三连杆15、以及通过第三连接件20连接至第三连杆15的第四连杆19，其中，第四连杆19设有指套18。指套18明显地位于距手套2最远的端部处。
图3示出、并且图4进一步更清楚地示出，在连杆机构的内部或沿着连杆机构的边引导有线缆21，该线缆21将远离手套2的最末连杆19和/或指套18连接至第一连杆8，以便将力通过线缆21传输，从而作用在最末连杆19和/或指套18上。
在第一连杆8处或附近设置有弹簧加载的滑轮22以用于缠绕或解绕线缆21。用于滑轮22的弹簧带有附图标记23。
滑轮22与优选的电磁制动器24连接，该电磁制动器24期望地能够通过可变电压、例如通过本领域技术人员本身已知的脉宽调制PWM而被驱动。
优选地，各种部件是由电池供电的。这在附图中未示出，但是对于本领域技术人员而言是清楚的，并且不需要进一步的阐明。
图4还示出，线缆21在连杆机构中的引导轮25上被引导，该引导轮25定位成远离手套2。
最后，图4示出，连杆机构设置有振动触觉反馈马达26。
尽管前面已经参照本发明的外骨骼手套的一部分的示例性实施方式讨论了本发明，但是本发明不限于该特定实施方式，可以在不脱离本发明的情况下以多种方式对该特定实施方式进行改变。因此，所讨论的示例性实施方式不应被用于严格地根据该示例性实施方式来解释所附权利要求。相反，该实施方式仅意在解释所附权利要求的措词，而不意在将权利要求限制于该示例性实施方式。因此，本发明的保护范围应仅根据所附权利要求来解释，其中，权利要求的措词中可能存在的歧义应使用该示例性实施方式解决。

Claims (6)

1.一种外骨骼手套(2)，所述外骨骼手套(2)设置有用于至少手指或拇指的单独的连杆机构(4、5、6、7)，其中，所述连杆机构包括通过连接件(10、17、20)连系的一系列连杆(8、11、15、19)，第一连杆附接至所述外骨骼手套(2)，并且位于距所述外骨骼手套最远的端部处的最末连杆(19)设置有指套(18)，其中，在所述连杆机构的内部或沿着所述连杆机构的边所引导的线缆(21)将所述最末连杆(19)和/或所述指套(18)连接至所述第一连杆(8)，以便将力通过所述线缆(21)传输，从而作用在所述最末连杆(19)和/或所述指套(18)上，其特征在于，在所述第一连杆(8)处或在所述第一连杆(8)附近设置有弹簧加载的滑轮(22)以用于缠绕或解绕所述线缆(21)，并且所述滑轮(22)与电磁制动器(24)连接。
2.根据权利要求1所述的外骨骼手套，其特征在于，所述电磁制动器(24)能够由可变电压驱动。
3.根据权利要求1或2所述的外骨骼手套，其特征在于，所述外骨骼手套(2)是由电池供电的。
4.根据权利要求1或2所述的外骨骼手套，其特征在于，所述线缆(21)在所述连杆机构中的引导轮(25)上被引导，所述引导轮(25)定位成远离所述外骨骼手套(2)。
5.根据权利要求1或2所述的外骨骼手套，其特征在于，所述连杆机构设置有振动触觉反馈马达(26)。
6.根据权利要求1或2所述的外骨骼手套，其特征在于，设置有作用在所述线缆(21)上的至少一个致动器。
CN201980032505.7A 2018-05-16 2019-05-16 外骨骼手套 Active CN112118938B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
NL2020941 2018-05-16
NL2020941A NL2020941B1 (en) 2018-05-16 2018-05-16 Exoskeleton glove
PCT/NL2019/050286 WO2019221604A1 (en) 2018-05-16 2019-05-16 Exoskeleton glove

Publications (2)

Publication Number Publication Date
CN112118938A CN112118938A (zh) 2020-12-22
CN112118938B true CN112118938B (zh) 2024-09-24

Family

ID=62386907

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201980032505.7A Active CN112118938B (zh) 2018-05-16 2019-05-16 外骨骼手套

Country Status (5)

Country Link
US (1) US20210059888A1 (zh)
EP (1) EP3793779B1 (zh)
CN (1) CN112118938B (zh)
NL (1) NL2020941B1 (zh)
WO (1) WO2019221604A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL2017228B1 (en) 2016-07-25 2018-01-31 Univ Delft Tech Exoskeleton glove
DE102019135836A1 (de) * 2019-12-27 2021-07-01 HTWK Leipzig Hochschule für Technik,Wirtschaft und Kultur Leipzig Exoskelett und Verbindungskonstruktion und Bewegungsverfahren

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102773861A (zh) * 2011-05-13 2012-11-14 苏茂 外构架式数据手套
CN106272355A (zh) * 2016-09-13 2017-01-04 张有明 一种减缓工作强度用机械臂

Family Cites Families (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4875469A (en) * 1988-06-13 1989-10-24 Innovative Medical Engineering, Inc. Continuous passive motion devices and methods
US6110130A (en) * 1997-04-21 2000-08-29 Virtual Technologies, Inc. Exoskeleton device for directly measuring fingertip position and inferring finger joint angle
EP0981423B1 (en) * 1997-05-12 2008-11-26 Immersion Corporation Force-feedback interface device for the hand
JP2005039147A (ja) * 2003-07-18 2005-02-10 Smc Corp 低速駆動可能なリニアアクチュエータ
US8216168B2 (en) * 2007-12-05 2012-07-10 Saebo, Inc. Orthotic device spanning elbow
US8523792B2 (en) * 2009-09-22 2013-09-03 Mount Sinai School Of Medicine Rehabilitative training devices for use by stroke patients
WO2011117901A1 (en) * 2010-03-23 2011-09-29 Idrogenet S.R.L. A hand rehabilitation device
US8849453B2 (en) * 2012-02-29 2014-09-30 GM Global Technology Operations LLC Human grasp assist device with exoskeleton
US20150112451A1 (en) * 2013-10-18 2015-04-23 Nikolai DECHEV Ultrasound system for real-time tracking of multiple, in-vivo structures
WO2015163569A1 (ko) * 2014-04-21 2015-10-29 한국기술교육대학교 산학협력단 외골격형 글로브
US10478370B2 (en) * 2014-06-30 2019-11-19 Rehabilitation Institute Of Chicago Actuated glove orthosis and related methods
KR101740310B1 (ko) * 2015-07-09 2017-05-29 울산과학기술원 케이블을 이용한 착용형 손 외골격 장치
US9750290B2 (en) * 2015-09-16 2017-09-05 The Regents Of The University Of California Passive mechanical exoskeleton to reduce hand fatigue
US9983669B2 (en) * 2016-07-07 2018-05-29 Gangming Luo System for transmitting signals between a body of a living being and a virtual reality space
NL2017228B1 (en) 2016-07-25 2018-01-31 Univ Delft Tech Exoskeleton glove
TWI620558B (zh) * 2016-12-20 2018-04-11 富伯生醫科技股份有限公司 穿戴式手部復健輔具系統
CN106618967A (zh) * 2017-01-25 2017-05-10 东北大学 新型便携式手外骨骼康复装置
US20180335842A1 (en) * 2017-05-19 2018-11-22 Axonvr Corporation Haptic feedback glove
CN109172265B (zh) * 2018-08-31 2022-02-25 京东方科技集团股份有限公司 手指外骨骼机器人
KR102470787B1 (ko) * 2020-06-26 2022-11-28 만드로 주식회사 외골격 장갑형 의수
US11325264B1 (en) * 2020-11-12 2022-05-10 Ubtech North America Research And Development Center Corp Tendon-driven robotic hand
KR102570991B1 (ko) * 2021-06-30 2023-08-24 한국로봇융합연구원 수동 능동 복합형 의수

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102773861A (zh) * 2011-05-13 2012-11-14 苏茂 外构架式数据手套
CN106272355A (zh) * 2016-09-13 2017-01-04 张有明 一种减缓工作强度用机械臂

Also Published As

Publication number Publication date
EP3793779A1 (en) 2021-03-24
NL2020941B1 (en) 2019-11-25
US20210059888A1 (en) 2021-03-04
CN112118938A (zh) 2020-12-22
WO2019221604A1 (en) 2019-11-21
EP3793779B1 (en) 2022-04-27

Similar Documents

Publication Publication Date Title
EP2239106B1 (en) Robot hand with human-like fingers
JP6329647B2 (ja) ヒューマノイドロボットに設けられる手部の作動
Controzzi et al. Design of artificial hands: A review
WO2018006722A1 (zh) 仿生假肢手
JP3793785B2 (ja) 多指可動ロボットハンド及びその把持制御方法
CN102363302B (zh) 一种单电机驱动的仿人灵巧手装置
KR20210020895A (ko) 로봇 수술 시스템, 특히 미세수술용 마스터 제어기 조립체
US20130285404A1 (en) Finger-gesticulation hand device
CN112118938B (zh) 外骨骼手套
WO2014027897A1 (en) A gripping device
JP5660364B2 (ja) ロボットハンド及びロボットシステム
CN110053066B (zh) 一种两自由度多模式仿人机械手及机械手的操作方法
ITPI20120049A1 (it) Protesi di mano multifunzionale autocontenuta
CN209954679U (zh) 一种由微型电机驱动控制的欠驱动仿人灵巧手
Cerruti et al. ALPHA: A hybrid self-adaptable hand for a social humanoid robot
CN108261311B (zh) 穿戴式手指复健装置
CN102873691B (zh) 用于潜水手套辅助涂胶的灵巧机械手
CN210061162U (zh) 一种两自由度多模式仿人机械手
JP6936031B2 (ja) 指機構及びこの指機構を組み込んだハンド
KR101034203B1 (ko) 로봇핸드 및 이를 갖춘 인간형 로봇
US11376746B2 (en) Hand intended to equip a humanoid robot
Mühlbauer et al. Demonstrator of a Low-Cost Hand Prosthesis
CN112494186B (zh) 一种面向大拇指缺失人群的机械辅助抓取装置
CN113397906B (zh) 康复辅助手套
KR102389180B1 (ko) 와이어 구동 스포츠용 의수

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant