CN114734427B - Portable finger exoskeleton robot - Google Patents
Portable finger exoskeleton robot Download PDFInfo
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- CN114734427B CN114734427B CN202210330474.7A CN202210330474A CN114734427B CN 114734427 B CN114734427 B CN 114734427B CN 202210330474 A CN202210330474 A CN 202210330474A CN 114734427 B CN114734427 B CN 114734427B
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- finger
- driving
- optical axis
- guide wheel
- palm
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- 210000000245 forearm Anatomy 0.000 claims abstract description 35
- 230000003287 optical effect Effects 0.000 claims abstract description 35
- 238000004804 winding Methods 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 101100291369 Mus musculus Mip gene Proteins 0.000 claims description 44
- 101150116466 PALM gene Proteins 0.000 claims description 44
- 244000060701 Kaempferia pandurata Species 0.000 claims description 8
- 235000016390 Uvaria chamae Nutrition 0.000 claims description 8
- 230000009471 action Effects 0.000 abstract description 4
- 230000005483 Hooke's law Effects 0.000 abstract description 3
- 238000005452 bending Methods 0.000 abstract description 3
- 230000000712 assembly Effects 0.000 description 6
- 238000000429 assembly Methods 0.000 description 6
- 208000027418 Wounds and injury Diseases 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 241000905957 Channa melasoma Species 0.000 description 2
- 208000007101 Muscle Cramp Diseases 0.000 description 2
- 206010028289 Muscle atrophy Diseases 0.000 description 2
- 208000005392 Spasm Diseases 0.000 description 2
- 230000037444 atrophy Effects 0.000 description 2
- 210000001142 back Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 201000000585 muscular atrophy Diseases 0.000 description 2
- 208000024891 symptom Diseases 0.000 description 2
- 208000011092 Hand injury Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000010428 Muscle Weakness Diseases 0.000 description 1
- 206010028372 Muscular weakness Diseases 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000009207 exercise therapy Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 210000000578 peripheral nerve Anatomy 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 208000037816 tissue injury Diseases 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
-
- 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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention belongs to the technical field of medical rehabilitation, and particularly relates to a portable finger exoskeleton robot. The invention comprises a forearm support, a palm component, a finger component and a finger driving mechanism; the finger driving mechanism comprises a driving motor, a first optical axis, a second optical axis, a torsion spring and a retraction assembly; one end of the driving rope is fixedly wound on the winding and unwinding assembly, and the other end of the driving rope is fixedly connected to the tail end of the finger assembly; the second encoder is installed on the rotating shaft of the driving motor, and the first encoder is installed at the tail end of the second optical axis. According to the invention, the bending action of the fingers of a patient when grabbing an article drives the driving rope to pull the second optical axis to rotate, the rotation angle of the torsion spring is detected through the first encoder and the second encoder, the rigidity of the torsion spring and the variation of the torsion spring are combined, the torque required for grabbing the article is calculated by Hooke's law, and finally the motor is driven to rotate to output the torque, so that the patient can grab the article easily.
Description
Technical Field
The invention belongs to the technical field of medical rehabilitation, and particularly relates to a portable finger exoskeleton robot.
Background
Symptoms such as hemiplegia commonly exist in symptoms of hand stiffness, and are typically characterized by bending and shrinking fingers, which can cause hand muscle spasm and atrophy for a long time, seriously affect the daily life of a patient, cause peripheral nerve tissue injury due to other hand injuries, cause muscle weakness, spasm and atrophy and other phenomena of hand muscles, and further worsen the illness state if no effective rehabilitation training activity is performed. The rehabilitation medicine is a medical application subject for researching rehabilitation of disabled persons and patients, and aims to enable disabled persons to recover to the maximum extent as soon as possible through various means such as physical therapy, exercise therapy, life training, skill training, speech training and psychological consultation, so that functions of body residual parts are fully exerted, the maximum possible life self-care is realized, the maximum possible labor and working capacity recovery is realized, and a foundation is laid for disabled persons to return to society.
The existing exoskeleton robots mostly adopt the traditional rigid transmission method, are high in price, have potential safety hazards, cannot be popularized in a large area, and currently, the rehabilitation training for hands mainly adopts manual one-to-one massage activity training, so that the strength and the efficiency of the rehabilitation training cannot be well guaranteed, the burden of medical workers is increased, and patients need to come and go between families and hospitals, so that the time and the money cost of treatment of the patients are correspondingly increased. Therefore, development of a portable finger exoskeleton robot which is low in cost, high in pertinence, good in safety, comfortable to wear and suitable for vast patients to finish daily rehabilitation training in home is needed.
Disclosure of Invention
The invention aims to overcome the defects that most of the prior art adopts rigid transmission, has potential safety hazard, is high in cost and is not suitable for finishing schedule rehabilitation training at home, and provides a portable finger exoskeleton robot which adopts driving ropes for driving, has good safety and can finish daily rehabilitation training at home, and can perform rehabilitation training on a damaged finger according to the needs.
The technical scheme adopted for solving the technical problems is as follows:
a portable finger exoskeleton robot, characterized in that: the device comprises a forearm support, a palm component connected with the forearm support, a finger component flexibly connected with the palm component and a finger driving mechanism arranged on the forearm support; the finger driving mechanism comprises a driving motor arranged on the forearm support, a first optical axis coaxially connected with an output shaft of the driving motor, a second optical axis sleeved at the tail end of the first optical axis, torsion springs with two ends respectively fixed on the first optical axis and the second optical axis, and a retraction assembly fixedly connected on the second optical axis; one end of the driving rope is fixedly wound on the winding and unwinding assembly, and the other end of the driving rope is fixedly connected to the tail end of the finger assembly; the second encoder is arranged on the rotating shaft of the driving motor, and the first encoder is arranged at the tail end of the second optical axis.
Further, the end part of the first optical axis is provided with a first limit baffle, the tail end of the second optical axis is provided with a second limit baffle, and the torsion spring is arranged between the first limit baffle and the second limit baffle.
Further, a first guide wheel and a third guide wheel are rotatably arranged on the forearm support, the first guide wheel is close to one side of the retraction assembly, the third guide wheel is positioned at one end of the forearm support close to the palm assembly, and two second guide wheels which are arranged in parallel are arranged between the first guide wheel and the third guide wheel; the rotating shaft of the retraction assembly is in an X direction, the rotating shafts of the first guide wheel and the third guide wheel are in a Z direction, and the rotating shaft of the second guide wheel is in a Y direction, wherein the X direction, the Y direction and the Z direction are mutually perpendicular.
Further, the forearm support is connected with the palm component through a forearm harness tube.
Further, the palm component comprises a palm mounting plate, a guide wheel arranged on the front surface of the palm mounting plate and a palm binding belt arranged on the back surface of the palm mounting plate.
Further, the finger assembly includes: the finger comprises a finger root, a U-shaped bracket fixed on the finger root, a first screw rod rotationally connected with the opening end of the U-shaped bracket, a back lifting connecting rod in threaded connection with the first screw rod, a first finger back rotationally connected with the tail end of the back lifting connecting rod, a second finger back rotationally connected with the tail end of the first finger back and a fingertip rotationally connected with the tail end of the second finger back.
Further, the outside of first finger back with the outside of second finger back is fixed mounting respectively has receive and releases the subassembly, receive and release the subassembly and include: the driving rope winding device comprises two opposite supporting frames, a driving wheel is rotatably connected to the center position between the two supporting frames, a plurality of rope pressing wheels are arranged on the periphery of the driving wheel, the rope pressing wheels are rotatably installed on the two supporting frames through bearings, a winding wheel is fixedly connected between two adjacent rope pressing wheels, a driving rope is wound in from one winding wheel and then sequentially winds around the driving wheel, finally the end part of the driving rope is fixed to the other winding wheel, and the rope pressing wheels ensure that the driving rope is not separated from the driving wheel.
Further, the palm mounting plate is connected with the finger root through a flexible harness pipe.
Further, the second guide wheel is rotatably mounted on a U-shaped base, and the U-shaped base is fixed on the forearm support.
Further, a shell with a protection function is fixed outside the driving motor.
The portable finger exoskeleton robot has the beneficial effects that:
1. the driving rope is always in a tensioning state due to the action of the torsion spring, the bending action of fingers of a patient when grabbing an article drives the driving rope to pull the second optical axis to rotate, the rotation angle of the gear shaft can be measured through the second encoder, the rotation of the second optical axis further enables the torsion spring to twist, the second encoder detects the rotation angle of the torsion spring, the rigidity of the torsion spring and the variable quantity of the torsion spring are combined, the torque required for grabbing the article is calculated through Hooke's law, and finally the motor is driven to rotate to output the torque, so that the patient can grab the article easily. When the articles are released, the states of all mechanisms are the same as those of the articles during grabbing, the whole grabbing or releasing process is very rapid, and the time delay is low.
2. The finger driving mechanism is different from the rigid driving of transmission, and the driving rope is adopted to make the exoskeleton robot light and portable, so that the operation is simple, the cost is low, the operation is stable and safe, the simple and effective rehabilitation training can be provided for patients, and the workload and the cost of clinicians can be reduced.
3. The first guide wheel, the second guide wheel and the third guide wheel in the finger driving mechanism are ingeniously arranged, the driving rope released from the finger driving mechanism is reversed and guided, the driving rope is accurately sent into the small arm harness tube, the driving rope is guided by arranging the large palm back guide wheel on the palm mounting plate, and the driving rope is retracted/released by arranging the two retraction assemblies on the same side of the finger of a patient, so that the output of force is better controlled, the patient can accurately grasp/release articles, and the safety is high.
4. The invention can correspondingly increase the number of the finger assemblies or change the positions of the finger assemblies according to the condition of the patient, and can be better suitable for the patient in need.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
FIG. 1 is an overall block diagram of an embodiment of the present invention;
FIG. 2 is a partial cross-sectional view of a finger drive mechanism according to an embodiment of the present invention;
FIG. 3 is an enlarged view of portion A of FIG. 2;
FIG. 4 is a block diagram of the components of the forearm support according to an embodiment of the invention;
FIG. 5 is a block diagram of a palm component of an embodiment of the invention;
FIG. 6 is a block diagram of a finger assembly according to an embodiment of the present invention;
fig. 7 is a block diagram of a retractable assembly according to an embodiment of the present invention.
In the figure, 1, a forearm support, 2, a finger driving mechanism, 20, a driving motor, 21, a first optical axis, 211, a first limit baffle, 22, a second optical axis, 221, a second limit baffle, 24, a first encoder, 25, a torsion spring, 27, a first guide wheel, 28, a second guide wheel, 29, a third guide wheel, 3, a forearm harness tube, 4, a palm component, 41, a palm mounting plate, 42, a guide wheel support, 43, a palm back guide wheel, 5, a flexible harness tube, 6, a finger component, 60, a finger root, 61, a U-shaped support, 62, a first screw rod, 63, a back lifting connecting rod, 65, a first back, 66, a second back, 67, a finger strap, 68, a fingertip, 7, a retraction component, 70, a support frame, 71, a reel, 72, a driving wheel, 74, a rope pressing wheel, 8, a U-shaped base, 10, a second encoder, 11, a palm strap, 12, a housing, 13 and a forearm strap.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
An embodiment of a portable finger exoskeleton robot of the present invention, as shown in fig. 1 to 7, includes a forearm support 1, a palm component 4 connected to the forearm support 1, a finger component 6 flexibly connected to the palm component 4, and a finger driving mechanism 2 mounted on the forearm support 1; the finger driving mechanism 2 comprises a driving motor 20 arranged on the forearm support 1, a first optical axis 21 coaxially connected with an output shaft of the driving motor 20, a second optical axis 22 sleeved at the tail end of the first optical axis 21, torsion springs 25 with two ends respectively fixed on the first optical axis 21 and the second optical axis 22, and a retraction assembly 7 fixedly connected on the second optical axis 22; one end of the driving rope is fixedly wound on the winding and unwinding component 7, and the other end of the driving rope is fixedly connected to the tail end of the finger component; the second encoder 10 is mounted on the rotation shaft of the driving motor 20, and the first encoder 24 is mounted at the end of the second optical axis 22.
Referring to fig. 2, the end of the first optical axis 21 has a first limit stop 211, the end of the second optical axis 22 has a second limit stop 221, and the torsion spring 25 is disposed between the first limit stop 211 and the second limit stop 221.
Referring to fig. 4, the forearm support 1 is further rotatably provided with a first guide wheel 27 and a third guide wheel 29, the first guide wheel 27 is close to one side of the retraction assembly 7, the third guide wheel 29 is positioned at one end of the forearm support 1 close to the palm assembly 4, and two second guide wheels 28 are arranged between the first guide wheel 27 and the third guide wheel 29 in parallel; the rotating shaft of the retraction assembly 7 is in the X direction, the rotating shafts of the first guide wheel 27 and the third guide wheel 29 are in the Z direction, and the rotating shaft of the second guide wheel 28 is in the Y direction, wherein the X direction, the Y direction and the Z direction are mutually perpendicular. The first guide wheel 27 and the third guide wheel 29 are identical in structure but different in diameter, and the diameter of the third guide wheel 29 is much larger than the diameter of the first guide wheel 27.
Referring to fig. 1, the forearm support 1 and the palm assembly 4 are connected by a forearm harness tube 3.
Referring to fig. 5, palm assembly 4 includes a palm mounting plate 41, a dorsum manus guide wheel 43 mounted on the front surface of palm mounting plate 41, and a palm strap 11 mounted on the back surface of palm mounting plate 41, a guide wheel bracket 42 being mounted on the front surface of palm mounting plate 41, and dorsum manus guide wheel 43 being mounted on guide wheel bracket 42. The second guide wheel 28 is rotatably mounted on the U-shaped base 8, and the U-shaped base 8 is fixed on the forearm support 1.
Referring to fig. 6, the finger assembly 6 includes: the finger rest comprises a finger rest 60, a U-shaped bracket 61 fixed on the finger rest 60, a first screw rod 62 rotatably connected with the opening end of the U-shaped bracket 61, a back lifting connecting rod 63 in threaded connection with the first screw rod 62, a first finger rest 65 rotatably connected with the tail end of the back lifting connecting rod 63, a second finger rest 66 rotatably connected with the tail end of the first finger rest 65 and a finger tip 68 rotatably connected with the tail end of the second finger rest 66. The outer sides of the first finger back 65 and the second finger back 66 are respectively fixedly provided with a retraction assembly 7. The position of the back-up link 63 on the first screw 62 can be adjusted by rotating it.
Referring to fig. 7, the retraction assembly 7 includes: the driving rope winding device comprises two opposite supporting frames 70, a driving wheel 72 is rotatably connected to the center position between the two supporting frames 70, a plurality of rope pressing wheels 74 are arranged on the periphery of the driving wheel 72, the rope pressing wheels 74 are rotatably installed on the two supporting frames through bearings, a winding wheel 71 is fixedly connected between two adjacent rope pressing wheels 72, a driving rope winds in from one winding wheel 71 and then sequentially winds around the driving wheel 72, finally the end part of the driving rope is fixed on the other winding wheel 71, and the rope pressing wheels 74 ensure that the driving rope does not fall out from the driving wheel 72. The palm mounting plate 41 and the finger root 60 are connected through a flexible harness tube 5.
When the patient performs rehabilitation training, the forearm of the patient is fixed on the forearm support 1 through the forearm strap 13, the palm is fixed on the palm mounting plate through the palm strap 11, and the fingers are fixed at the corresponding positions of the finger assembly through the finger straps.
The invention can correspondingly increase the number of the finger assemblies 6 or change the positions of the finger assemblies 6 according to the condition of patients, and can be better suitable for the patients in need.
The finger driving mechanism 2 can be fixed on an arm or a table of a patient, and the first guide wheel 27, the second guide wheel assembly 28 and the third guide wheel 29 in the finger driving mechanism 2 are ingeniously arranged to change and guide the driving rope released from the winding and unwinding assembly 7, so that the driving rope is accurately sent into the forearm harness tube 3.
The driving rope in the embodiment of the invention can be a common nylon rope and can also be a flexible metal wire.
One end of the driving rope is fixedly wound on a driving wheel 72 of the winding and unwinding assembly 7 on the finger driving mechanism 2, then sequentially winds around the first guide wheel 27, the two second guide wheels 28 and the third guide wheels 29, passes through the forearm harness tube and then winds on the palmar back guide wheel 43, sequentially winds around the two winding and unwinding assemblies 7 on the finger assembly 6 after passing through the flexible harness tube 5 after bypassing the palmar back guide wheel 43, and the tail end of the driving rope is fixedly wound on the driving wheel 72 of the tail end winding and unwinding assembly 7.
The drive cord is threaded from one reel 71 of the retraction assembly 7, wound around the drive wheel 72, and threaded from the other reel 72.
When the driving rope is wound and unwound, the driving wheel 72, the surrounding rope pressing wheel 74 and the reel 71 clamp the driving rope with each other, and the driving rope is led out from a specially provided outlet, thereby controlling the winding and unwinding accuracy of the driving rope.
The palm component 4 guides the wire bundle by arranging a large palm back guide wheel 43 on the palm mounting plate 41, and installs two retraction components on the same side of the finger to retract and release the driving rope, thereby better controlling the output of force.
The driving motor 20 is externally fixed with the casing 12 with protection function, so that the finger driving mechanism 2 can be more attractive in appearance, and also has sealing and dustproof functions.
In operation, the drive motor 20 outputs torque through the decelerator and acts on the actuator through the torsion spring 25. When a patient wants to bend a finger, the length of the driving rope changes, the winding and unwinding assembly 70 in the finger assembly 6 has the purpose of releasing the driving rope, the torsion spring 25 is subjected to the action of external force to achieve certain torsion, the rotation angle of the torsion spring 25 is measured through the first encoder 24 and the second encoder 10, the driving motor 20 can calculate the output moment of the exoskeleton by combining the rigidity of the torsion spring 25 and the variable quantity of the torsion spring 25 through Hooke's law, the safety can be effectively improved by taking the output moment as the basis of force control, and the finger assembly 6 drives the exoskeleton of the finger of the patient to move through the driving rope transmission.
It should be understood that the above-described specific embodiments are only for explaining the present invention and are not intended to limit the present invention. Obvious variations or modifications which extend from the spirit of the present invention are within the scope of the present invention.
Claims (8)
1. A portable finger exoskeleton robot, characterized in that: the device comprises a forearm support (1), a palm component (4) connected with the forearm support (1), a finger component (6) flexibly connected with the palm component (4) and a finger driving mechanism (2) arranged on the forearm support (1); the finger driving mechanism (2) comprises a driving motor (20) arranged on the forearm support (1), a first optical axis (21) coaxially connected with an output shaft of the driving motor (20), a second optical axis (22) sleeved at the tail end of the first optical axis (21), a torsion spring (25) with two ends respectively fixed on the first optical axis (21) and the second optical axis (22) and a retraction assembly (7) fixedly connected on the second optical axis (22); one end of the driving rope is fixedly wound on the winding and unwinding assembly (7), and the other end of the driving rope is fixedly connected to the tail end of the finger assembly; a second encoder (10) is arranged on a rotating shaft of the driving motor (20), and a first encoder (24) is arranged at the tail end of the second optical axis (22); the palm component (4) comprises a palm mounting plate (41), a guide wheel (43) arranged on the front surface of the palm mounting plate (41) and a palm binding band (11) arranged on the back surface of the palm mounting plate (41); the finger assembly (6) comprises: the finger comprises a finger root (60), a U-shaped bracket (61) fixed on the finger root (60), a first screw rod (62) rotationally connected with the opening end of the U-shaped bracket (61), a back lifting connecting rod (63) in threaded connection with the first screw rod (62), a first finger back (65) rotationally connected with the tail end of the back lifting connecting rod (63), a second finger back (66) rotationally connected with the tail end of the first finger back (65) and a fingertip (68) rotationally connected with the tail end of the second finger back (66).
2. The portable finger exoskeleton robot of claim 1 wherein: the end of the first optical axis (21) is provided with a first limit baffle (211), the tail end of the second optical axis (22) is provided with a second limit baffle (221), and the torsion spring (25) is arranged between the first limit baffle (211) and the second limit baffle (221).
3. The portable finger exoskeleton robot of claim 1 wherein: the small arm support (1) is further rotatably provided with a first guide wheel (27) and a third guide wheel (29), the first guide wheel (27) is close to one side of the folding and unfolding assembly (7), the third guide wheel (29) is positioned at one end, close to the palm assembly (4), of the small arm support (1), and two second guide wheels (28) which are arranged in parallel are arranged between the first guide wheel (27) and the third guide wheel (29); the rotating shaft of the retraction assembly (7) is in an X direction, the rotating shafts of the first guide wheel (27) and the third guide wheel (29) are in a Z direction, and the rotating shaft of the second guide wheel (28) is in a Y direction, wherein the X direction, the Y direction and the Z direction are mutually perpendicular.
4. The portable finger exoskeleton robot of claim 1 wherein: the forearm support (1) is connected with the palm component (4) through a forearm harness tube (3).
5. The portable finger exoskeleton robot of claim 4 wherein: the outer sides of the first finger backs (65) and the second finger backs (66) are respectively and fixedly provided with a retraction assembly (7), and the retraction assembly (7) comprises: the driving rope winding device comprises two opposite supporting frames (70), a driving wheel (72) is rotatably connected to the center position between the two supporting frames (70), a plurality of rope pressing wheels (74) are arranged on the periphery of the driving wheel (72), the rope pressing wheels (74) are rotatably installed on the two supporting frames through bearings, a winding wheel (71) is fixedly connected between the two adjacent rope pressing wheels (72), a driving rope winds in from one winding wheel (71), then sequentially winds around the driving wheel (72), and finally the end part of the driving rope is fixed on the other winding wheel (71), and the rope pressing wheels (74) ensure that the driving rope is not separated from the driving wheel (72).
6. The portable finger exoskeleton robot of claim 1 wherein: the palm mounting plate (41) is connected with the finger root (60) through a flexible harness tube (5).
7. The portable finger exoskeleton robot of claim 2 wherein: the second guide wheel (28) is rotatably arranged on the U-shaped base (8), and the U-shaped base (8) is fixed on the forearm support (1).
8. A portable finger exoskeleton robot as claimed in claim 1 wherein: the driving motor (20) is externally fixed with a shell (12) with a protection function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210330474.7A CN114734427B (en) | 2022-03-31 | 2022-03-31 | Portable finger exoskeleton robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210330474.7A CN114734427B (en) | 2022-03-31 | 2022-03-31 | Portable finger exoskeleton robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114734427A CN114734427A (en) | 2022-07-12 |
| CN114734427B true CN114734427B (en) | 2023-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210330474.7A Active CN114734427B (en) | 2022-03-31 | 2022-03-31 | Portable finger exoskeleton robot |
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| CN (1) | CN114734427B (en) |
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|---|---|---|---|---|
| WO2006113520A2 (en) * | 2005-04-13 | 2006-10-26 | The Regents Of The University Of California | Semi-powered lower extremity exoskeleton |
| CN106214418A (en) * | 2016-07-01 | 2016-12-14 | 山东大学 | A kind of flexible wearable ectoskeleton drive lacking is all referring to training rehabilitation mechanical hand |
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| CN111513898B (en) * | 2020-05-15 | 2021-06-29 | 华中科技大学 | Under-actuated prosthetic hand with self-adaptive grabbing function |
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