CN112247956B - Hand exoskeleton system and control method - Google Patents
Hand exoskeleton system and control method Download PDFInfo
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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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/224—Measuring muscular strength
- A61B5/225—Measuring muscular strength of the fingers, e.g. by monitoring hand-grip force
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/086—Gripping heads and other end effectors having finger members with means for synchronizing the movements of the fingers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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Abstract
The invention discloses a hand exoskeleton system which comprises gloves, a winding wheel set, a plurality of pre-tightening devices, a plurality of clamping devices, a plurality of ropes and a driving device. The driving device uses a motor to drive the movement of a plurality of fingers, so that the volume and the manufacturing cost of the system are reduced, the complexity of the system is reduced, and the control process is simplified on the premise of ensuring the grabbing function. The designed force transmission path can ensure that each joint of the finger obtains enough tension, and can also improve the use experience of a user. The invention also provides a control method of the hand exoskeleton system.
Description
Technical Field
The invention belongs to the technical field of exoskeleton robots.
Background
Modern society is facing increasingly serious social problems such as aging of social population, stroke onset and youth, frequent traffic accidents and the like, and the movement dysfunction of the old and the physically disabled people is caused, so that the hand rehabilitation robot becomes a research focus and a hot spot in the field of medical rehabilitation. The hand ectoskeleton can assist old person and movement dysfunction patient to carry out snatching of daily article, also can carry out rehabilitation training, prevents muscle atrophy, resumes the limb motion ability that suffers from. The hand exoskeleton is an intelligent mechanical system which can be connected in parallel to the upper limbs of a person through gloves, provides additional power for the motion of the hands, assists a patient to complete a grabbing action and recovers the motion function.
The traditional hand exoskeleton has a plurality of defects, such as the mechanical structure is not flexible enough, the height of the mechanical structure needs to be matched with the hand joints, the injury to patients is easy to occur, and the body feeling is not good; the system transmission is not accurate enough; a variety of sensors that lack measurement of hand information; the control strategy is simple, and the user cannot move according to the intention or the movement delay is high.
In the invention patent with publication number CN103315880B, a hand exoskeleton rehabilitation system based on memory alloy drive is disclosed. The four-bar mechanism is used as a transmission mechanism of the exoskeleton, and all degrees of freedom of the exoskeleton and all degrees of freedom of joints of a hand are required to be highly matched, otherwise safety accidents are easily caused, the body feeling is poor, and secondary injuries are easily caused.
In the patent application of the invention with the publication number CN109276408A, an exoskeleton rehabilitation robot for an upper limb hand is disclosed, in which a patient is allowed to watch a virtual reality image, the movement intention of the user is acquired based on electroencephalogram, and then the exoskeleton is used to drive the hand to complete a virtual reality task. The exoskeleton glove is simple in arrangement, and does not have a sensor for measuring the human-computer contact force and the joint angle of the hand in a fusion manner; the five steering engines are used for winding ropes, fingers of five fingers are pulled to move, and the control process is complicated; in addition, the motor intention of the user is obtained through electroencephalogram, so that the delay is large, and the real-time performance of control is poor.
In utility model patent publication No. CN209092054U, a hand exoskeleton capable of autonomous rehabilitation training based on pull-wire drive and mirror image synchronous simulation is disclosed. The system consists of an active hand exoskeleton and a mirror hand exoskeleton, and the whole structure consists of a cartilage type elastic material, a small motor set, a control circuit, a measuring circuit, a bending deformation sensor and a wireless module. The palm side uses a motor group consisting of five motors to pull the rope so as to bend the hand; the dorsal side passively pulls the cord using five springs, causing the hand to stretch; the control process is more complicated; secondly, the winding mode of the rope on the hand is simple, and force distribution is easy to be unbalanced; and finally, the movement intention of the user is acquired by using the sensor information of the mirror image hand, so that the process is complex, and the whole operation process can be completely finished on the same arm.
Therefore, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a hand exoskeleton system which has a compact structure, is light and soft, comfortable and safe, can accurately and simply identify a movement intention and control flexibility, and also provides a specific control method.
The technical scheme is as follows: the hand exoskeleton system can adopt the following technical scheme:
a hand exoskeleton system comprises gloves, a winding wheel set, a plurality of pre-tightening devices, a plurality of clamping devices, a plurality of ropes and a driving device;
the glove comprises a front side and a back side, wherein a plurality of front finger fixing points arranged along the outline of the front side of fingers are arranged on the front side of the finger part of the glove, a palm fixing point is arranged at the bottom of a palm of the glove, and a rope passes through the palm fixing points, sequentially passes through the front finger fixing points, then passes through the palm fixing points downwards, then is gathered into a strand, passes through a pre-tightening device and a clamping device and then is wound on a winding wheel set;
the back of the finger part of the glove is provided with a plurality of back finger fixing points arranged along the outline of the back of the finger, the bottom of the back of the hand of the glove is provided with a back of the hand fixing point, and the other rope passes through the back finger fixing points, sequentially passes through the back finger fixing points, then passes through the back finger fixing points downwards, then is converged into one strand, and then is wound on a winding wheel set through a pre-tightening device and a clamping device; the front finger fixing point and the back finger fixing point are both sleeves;
the winding wheel set comprises a rotating shaft, a round wheel and a cam, wherein the round wheel and the cam are arranged on the rotating shaft and are coaxial; the driving device is connected with the rotating shaft and drives the rotating shaft to rotate.
Further, the ropes comprise a first front rope and a first back rope for driving the thumb, and the ropes further comprise a second front rope for driving the front sides of the index finger and the middle finger and a second back rope for driving the back sides of the index finger and the middle finger; a first front rope is fixed on the front side of the thumb part of the glove, and a first back rope is fixed on the back side of the thumb part of the glove; the front sides of the forefinger and the middle finger are fixed with a second front rope, namely the second front rope passes through a palm fixing point and is fixed along the front outer contour of the whole forefinger and the middle finger, and then the second front rope downwards passes through another palm fixing point to be converged into a second front rope, and the second back rope passes through a back fixing point and is fixed along the back outer contour of the whole forefinger and the middle finger, and then the second back rope downwards passes through another back fixing point to be converged into a second back rope; the rotating shaft is provided with a first round wheel for winding the first front rope, a first cam for winding the first back rope, a second cam for winding the second front rope and a second round wheel for winding the second back rope.
Furthermore, the clamping device is configured corresponding to a strand of rope one by one, the clamping device comprises a one-way bearing and a rubber wheel, and the rope is clamped between the one-way bearing and the rubber wheel.
Further, the pre-tightening device comprises a threaded pipe and a hollow screw rod; the hollow screw is screwed into or out of the threaded tube to adjust the position of the sleeve so that the cable is in a moderate tension state.
Further, the driving device comprises a servo motor, a worm and a turbine; the motor shaft is connected with the worm, and the worm uses with the turbine is supporting, and the turbine is fixed on same root pivot with the wire winding wheelset, and the rotation of turbine drives the rotation of pivot, and then drives the rotation of wire winding wheelset.
Further, the device also comprises a controller; an angle sensor is arranged at the joint of the finger part; a thin film pressure sensor is arranged at the fingertip of the finger part; the angle sensor measures the angle signal of the finger or the fingertip force signal of the finger is measured by using the film pressure sensor as the feedback of the controller.
The control method of the hand exoskeleton system adopts the following technical scheme: providing a Myo wrist strap, and wearing the Myo wrist strap on the forearm of a user to collect myoelectric signals of extensor and flexor digitorum; a second-order Butterworth band-pass filter of 10-500Hz is adopted to filter out useless signals above 500Hz and low-frequency motion interference signals below 10 Hz; then, a 50Hz notch filter is used for filtering power frequency interference caused by alternating current; finally, the envelope of the original electromyographic signal, namely the muscle activation degree, is obtained through full-wave rectification and a first-order Butterworth low-pass filter of 1 Hz; judging the exercise intention of the user by comparing the relationship of the activation degrees of the extensors and flexors; when the value of the activation degree of the extensor is greater than T1 and greater than the activation degree of the flexor, the intention is judged to be that the hand is opened, and the driver outputs a signal that Vc is 1 to the servo motor; when the value of the activation degree of the flexors is greater than T2 and greater than the activation degree of the extensors, the intention is judged to be that the hand is closed, and the driver outputs a signal Vc-1 to the servo motor in three states; when the two conditions are not met, the hand holding is judged to be the intention, and the driver outputs a signal that Vc is 0 to the servo motor; the servo motor drives the winding wheel set to rotate, and then the fingers are driven to move to an expected state.
Has the advantages that: compared with the prior art, the invention has the following advantages:
(1) the motor is used for driving the three fingers to move, so that the volume and the manufacturing cost of the system are reduced, the complexity of the system is reduced, and the control process is simplified on the premise of ensuring the existing grabbing function. The designed force transmission path can ensure that each joint of the finger obtains enough tension, and can also improve the use experience of a user.
(2) In order to ensure that the rope is always kept in a tensioning state in the movement process, the movement rule of the hand in bending is measured through experiments, and a winding wheel set consisting of a cam and a round wheel is designed.
(3) A pre-tightening device based on a threaded pipe and a hollow screw is designed. Before the exoskeleton is used, the hollow screw is screwed into or out of the threaded pipe to adjust the position of the sleeve pipe, so that the rope is ensured to be in a proper tensioning state.
(4) In order to prevent the rope wound on the wire wheel from falling off, a clamping device based on a one-way bearing-rubber wheel is designed. The installation of the one-way bearing meets the following requirements: in the process of finger movement, the rope is subjected to rolling friction force given by the one-way bearing and the rubber wheel in the rope winding direction and is subjected to sliding friction force given by the one-way bearing and the rubber wheel in the opposite direction, so that the rope cannot fall off from the wire wheel group at any time and is kept tensioned.
(5) The grabbing control scheme based on human body movement intention recognition is provided, namely, myoelectric signals on extensors and flexors on the forearm are measured, and logic judgment is carried out to obtain the movement intention of a user, so that a driver outputs corresponding control signals to drive a motor to drive fingers to move to an expected state.
Drawings
Fig. 1 is a schematic view of the hand soft exoskeleton system as a whole.
FIG. 2 is a schematic view of a soft glove module, wherein (A) is the palm side and (B) is the dorsal side.
FIG. 3 is a schematic diagram of the dorsal side of a glove.
Fig. 4 a schematic view of the clamping device.
FIG. 5 is a schematic view of a winding wheel set.
Fig. 6 shows the change in dorsal and palmar cable lengths when the thumb is flexed.
FIG. 7 dorsal and palmar cable lengths change as the index and middle fingers bend.
FIG. 8 is a schematic view of a pretensioning device.
Fig. 9 control strategy overview.
FIG. 10 finger joint angle measurement method.
Fig. 11 electromyogram signal processing.
FIG. 12 is a flow chart of assist grab control logic.
Fig. 13 is a graph of the results of an assisted grabbing experiment.
Wherein elements corresponding to each reference number are: 1-a servo motor; 2-a worm; 3-a winding wheel set; 4-a first sleeve support; 5-soft gloves; 6-a sleeve; 7-a pre-tightening device; 8-a rope; 9-a clamping device; 10-a turbine; 11-a rotating shaft; 12-a membrane pressure sensor; 13-an angle sensor; 14-optical axis; 15-deep groove ball bearing; 16-a rubber wheel; 17-one-way bearings; 18-thumb cam (for winding a cord arranged on the back side of the thumb); 19-thumb wheel (for winding the rope arranged on the palm side of the thumb); 20-index and middle circular wheels (for winding the cord arranged on the dorsal side of the index and middle fingers); 21-index and middle finger cams (for winding the cord arranged on the palmar side of the index and middle fingers); 22-a hollow bolt; 23-a second sleeve support; 24-a pressure spring; 25-a threaded pipe; 26-back finger anchor point; 27-dorsal fixation point.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
The invention provides a hand exoskeleton robot system, which comprises a soft glove module, a driving module and a detection and control module, and the overall view is shown in fig. 1.
(1) Soft glove module
In order to improve the body feeling of a user, the soft glove is used as a basis, and the shape of a human hand is well adapted. As shown in fig. 2 and 3. Related research has shown that most tasks in life can be performed by the thumb, index finger and middle finger, while the ring finger and little finger assist these three fingers in performing work. In this embodiment, the thumb, index and middle finger portions of the glove are actively controlled. In other embodiments, different fingers may be selected for operation, which is not described herein. In order to record the movement information of the hand during movement, the glove incorporates a membrane pressure sensor 12 and an angle sensor 13. In this system, the thumb, index finger and middle finger are actuated, while the ring finger and little finger are free, assisting the user in grasping. The bending and stretching of the thumb are respectively driven by a rope, the index finger and the middle finger are taken as a whole, and the bending and stretching are respectively also taken charge of by a rope. Thus, a total of four ropes are wound around the winding wheel set 3. The system is in an under-actuated state, and the hand can better adapt to various planes and curved surfaces under the assistance of the exoskeleton. In order to improve the stress condition of each joint of the fingers, sleeves 6 with proper length are respectively arranged on the front side and the back side of each finger (thumb, index finger and middle finger) to be used as fixing points, and the transmission path of the rope is fixed. Compared with other hard anchor points, the casing pipe can reduce the volume and the manufacturing cost of the system as the anchor point, and the user experience can be improved due to the characteristic of flexibility.
As shown in fig. 1 to 3, the glove includes a front surface and a back surface. The back of the finger part of the glove is provided with a plurality of back finger fixing points 26 arranged along the outline of the back of the finger, the bottom of the back of the hand of the glove is provided with a back fixing point 27, a rope 8 passes through the back fixing point 27, sequentially passes through the back finger fixing points 26, then passes through the other back fixing point 27, and then is gathered into a strand and then is wound on the winding wheel set through the pre-tightening device 7 and the clamping device 9.
The front of the finger part of the same glove is provided with a plurality of front finger fixing points arranged along the outline of the front of the finger, the bottom of the palm of the glove is provided with a palm fixing point, and a rope passes through the palm fixing point, sequentially passes through the front finger fixing points, then passes through the palm fixing points downwards, then converges into a strand, passes through the pre-tightening device and the clamping device and then is wound on the winding wheel set. The palm fixing point, the hand back fixing point, the front finger fixing point and the back finger fixing point are all sleeves.
(2) Drive module
As shown in fig. 1, the whole system is driven by a servo motor 1, the motor shaft is connected with a worm 2, and the worm 2 is matched with a turbine 10 for use, so that the necessary torque is increased. The turbine 10 is fixed on same rotation axis with the wire winding wheelset 3, and the rotation of turbine drives the rotation of rotation axis, and then drives the rotation of wire winding wheelset 3, stimulates rope 8, and the final motion of pulling finger. In order to prevent the wound rope from falling off from the winding wheel set, a clamping device based on a one-way bearing-rubber wheel is designed. As shown in fig. 4. The rope is clamped between the one-way bearing and the rubber wheel and is free to move in one direction (the rope is subjected to rolling friction, the value is small and is ignored) and to move in the opposite direction, the friction generated by extrusion is overcome (the rope is subjected to sliding friction, the value is large and is not ignored). Therefore, when the motor does not rotate any more, the rope can not fall off from the winding wheel set. In addition, in order to ensure that the rope can be always in a tight state during movement, the following two measures are taken. Firstly, a wire wheel group consisting of four wire wheels is designed. As shown in fig. 5. Through the flexible volume and the corresponding proportion of the hand of experimenting to survey the hand and arranging the rope on the hand positive and negative in bending process, final definite winding wheelset 3 comprises two round wheels and two cams, and the winding of the rope of palm side and back of the hand side is opposite, and when making winding wheelset 3 rotate, the rope of palm part shortens, and the rope extension of back of the hand part reaches the effect of finger part incurving. In the present embodiment, a first cam 18 is included for winding the rope arranged on the back side of the thumb, a first round wheel 19 is included for winding the rope arranged on the palm side of the thumb; the second round wheel 20 is used for winding the ropes arranged on the back sides of the index finger and the middle finger; the second cam 21 is used to wind the rope arranged on the palm side of the index and middle fingers. As shown in fig. 6, the dorsal and palmar cable lengths change when the thumb is flexed. As shown in fig. 7, the dorsal and palmar cable lengths change when the index and middle fingers are flexed.
The part also comprises a pre-tightening device based on a threaded pipe-hollow screw, which comprises a hollow bolt 22, a second sleeve support 23, a pressure spring 24 and a threaded pipe 25, as shown in figure 8. The position of the sleeve can be adjusted by screwing the hollow screw into or out of the threaded tube, thereby ensuring that the rope is in a proper tension state. The whole driving mechanism is installed in a 3D printed shell, and the weight is reduced while the strength is ensured.
The present part also comprises clamping means 9. One end of each of four ropes 8 is wound around the winding wheel set 3, and the other end of each rope passes through a clamping device 9. The clamping device is based on a one-way bearing 17 and a rubber wheel 16, which are mounted on the drive mechanism by means of an optical axis 14 and a deep groove ball bearing 15. The rope 8 is clamped between the one-way bearing 17 and the rubber pulley 16 and is free to move in one direction (the rope is subjected to rolling friction, a small value, and is negligible) and to move in the opposite direction to overcome the friction caused by the squeezing (the rope is subjected to sliding friction, a large value, and is not negligible). Therefore, when the hand is kept loose, the rope 8 is not moved due to the sliding friction force, and the rope 8 is not separated from the winding wheel set 3.
(3) Detection and control module
Aiming at different abilities of the patient in the autonomous activities in different stages of rehabilitation, passive training and auxiliary grabbing training are designed. The overall strategy is shown in figure 9. The passive training mainly includes trajectory tracking training and force tracking training. Both are based on PID controllers with preset angle and fingertip force inputs, respectively, and the controller feedback is measured angle (measured as PIP, DIP, MIP joint resultant angle of the fingers as shown in fig. 10) and measured fingertip force (sum of three finger fingertip forces). The auxiliary capture control strategy mainly comprises three stages, namely intention identification, logic judgment and output control. The logic flow diagram is shown in fig. 12.
Firstly, a user wears the hand exoskeleton and wears the Myo wrist strap on the corresponding position of the forearm so as to collect the myoelectric signals of the extensor and flexor digitorum muscles, and the myoelectric signals are subjected to a series of processing such as filtering. The process is shown in fig. 11. A second-order Butterworth band-pass filter of 10-500Hz is adopted to filter out useless signals above 500Hz and low-frequency movement interference signals below 10Hz, and the low-frequency interference generated by electrode and muscle movement mainly comprises. Then, a 50Hz notch filter is used for filtering the power frequency interference caused by the alternating current. Finally, the envelope of the original electromyographic signal, i.e. the degree of muscle activation, is obtained by full-wave rectification and a first-order butterworth low-pass filter of 1 Hz. And judging the movement intention of the user by comparing the relation of the activation degrees of the extensors and the flexors. When the value of the activation degree of the extensor is greater than T1 and greater than the activation degree of the flexor, the intention is judged to be that the hand is opened, and the driver outputs a signal that Vc is 1 to the motor; when the value of the activation degree of the flexors is greater than T2 and greater than the activation degree of the extensors, the intention is judged to be that the hand is closed, and the driver outputs a signal Vc-1 to the motor in three states; when the above two conditions are not satisfied, the intention is to determine that the hand is held, and the driver outputs a signal that Vc is 0 to the motor. The motor drives the exoskeleton to drive the fingers to move to a desired state. The results of the experiment are shown in FIG. 13. The experimental result proves that under the assistance of the exoskeleton, the user can realize the auxiliary grabbing task according to the self movement intention.
In addition, the present invention has many specific implementations and ways, and the above description is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be construed as the protection scope of the present invention.
Claims (6)
1. A hand exoskeleton system, comprising: comprises gloves, a winding wheel set, a plurality of pre-tightening devices, a plurality of clamping devices, a plurality of ropes and a driving device;
the glove comprises a front side and a back side, wherein a plurality of front finger fixing points arranged along the outline of the front side of fingers are arranged on the front side of the finger part of the glove, a palm fixing point is arranged at the bottom of a palm of the glove, and a rope passes through the palm fixing points, sequentially passes through the front finger fixing points, then passes through the palm fixing points downwards, then is gathered into a strand, passes through a pre-tightening device and a clamping device and then is wound on a winding wheel set;
the back of the finger part of the glove is provided with a plurality of back finger fixing points arranged along the outline of the back of the finger, the bottom of the back of the hand of the glove is provided with a back of the hand fixing point, and the other rope passes through the back finger fixing points, sequentially passes through the back finger fixing points, then passes through the back finger fixing points downwards, then is converged into one strand, and then is wound on a winding wheel set through a pre-tightening device and a clamping device; the palm fixing point, the hand back fixing point, the front finger fixing point and the back finger fixing point are all sleeves;
the winding wheel set comprises a rotating shaft, a round wheel and a cam, wherein the round wheel and the cam are arranged on the rotating shaft and are coaxial; the driving device is connected with the rotating shaft and drives the rotating shaft to rotate;
the rope comprises a first front rope and a first back rope for driving the thumb, and further comprises a second front rope for driving the front sides of the index finger and the middle finger and a second back rope for driving the back sides of the index finger and the middle finger; a first front rope is fixed on the front side of the thumb part of the glove, and a first back rope is fixed on the back side of the thumb part of the glove; the front sides of the forefinger and the middle finger are fixed with a second front rope, namely the second front rope passes through a palm fixing point and is fixed along the front outer contour of the whole forefinger and the middle finger, and then the second front rope downwards passes through another palm fixing point to be converged into a second front rope, and the second back rope passes through a back fixing point and is fixed along the back outer contour of the whole forefinger and the middle finger, and then the second back rope downwards passes through another back fixing point to be converged into a second back rope; the rotating shaft is provided with a first round wheel for winding the first front rope, a first cam for winding the first back rope, a second cam for winding the second front rope and a second round wheel for winding the second back rope.
2. The hand exoskeleton system of claim 1, wherein: the clamping devices are arranged corresponding to a strand of rope one by one, each clamping device comprises a one-way bearing and a rubber wheel, and the rope is clamped between the one-way bearing and the rubber wheel.
3. The hand exoskeleton system of claim 2, wherein: the pre-tightening device comprises a threaded pipe and a hollow screw rod; the hollow screw is screwed into or out of the threaded tube to adjust the position of the sleeve so that the cable is in a moderate tension state.
4. The hand exoskeleton system of claim 3, wherein: the driving device comprises a servo motor, a worm and a turbine; the motor shaft is connected with the worm, and the worm uses with the turbine is supporting, and the turbine is fixed on same root pivot with the wire winding wheelset, and the rotation of turbine drives the rotation of pivot, and then drives the rotation of wire winding wheelset.
5. The hand exoskeleton system of claim 4, wherein: the device also comprises a controller; an angle sensor is arranged at the joint of the finger part; a thin film pressure sensor is arranged at the fingertip of the finger part; the angle sensor measures the angle signal of the finger or the fingertip force signal of the finger is measured by using the film pressure sensor as the feedback of the controller.
6. A control method using the hand exoskeleton system of claim 5, wherein: providing a Myo wrist strap, and wearing the Myo wrist strap on the forearm of a user to collect myoelectric signals of extensor and flexor digitorum; a second-order Butterworth band-pass filter of 10-500Hz is adopted to filter out useless signals above 500Hz and low-frequency motion interference signals below 10 Hz; then, a 50Hz notch filter is used for filtering power frequency interference caused by alternating current; finally, the envelope of the original electromyographic signal, namely the muscle activation degree, is obtained through full-wave rectification and a first-order Butterworth low-pass filter of 1 Hz; judging the exercise intention of the user by comparing the relationship of the activation degrees of the extensors and flexors; when the value of the activation degree of the extensor is greater than T1 and greater than the activation degree of the flexor, the intention is judged that the hand is open, and the driver outputs a signal Vc =1 to the servo motor; when the value of the activation degree of the flexors is greater than T2 and greater than the activation degree of the extensors, the intention is judged to be that the hand is closed, and the driver outputs a signal Vc = -1 to the servo motor in three states; when the two conditions are not met, the intention is judged to be hand holding, and the driver outputs a signal Vc =0 to the servo motor; the servo motor drives the winding wheel set to rotate, and then the fingers are driven to move to an expected state.
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| CN110063870B (en) * | 2018-01-24 | 2024-01-23 | 中国科学院沈阳自动化研究所 | Flexible exoskeleton glove device |
| CN108354782A (en) * | 2018-04-11 | 2018-08-03 | 刘春龙 | A kind of flexibility rehabilitation training glove component |
| CN108652918B (en) * | 2018-05-22 | 2020-03-10 | 安徽工程大学 | Rehabilitation device for preventing hand muscle from atrophy and deformation |
| CN109259906B (en) * | 2018-10-30 | 2020-04-17 | 上海理工大学 | Modular multi-mode artificial hand |
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