CN115871006A - Wearable rigid-flexible coupling force feedback dexterous hand skeleton - Google Patents

Abstract

The invention provides a wearable rigid-flexible coupling force feedback dexterous hand skeleton which comprises a wrist skeleton (1), a hand back skeleton (2), a single-finger skeleton (3) and a force feedback structure, wherein the single-finger skeleton consists of fingertips (4), a middle knuckle (5), a lower knuckle (6) and a tail knuckle (7), and the fingertips are movably connected with the middle knuckle, the middle knuckle is movably connected with the lower knuckle, and the lower knuckle is movably connected with the tail knuckle; the fingertip is provided with a pressure sensor (8), angle sensors (9) are arranged in the middle knuckle, the lower knuckle and the last knuckle, the force feedback structure comprises a plurality of tendon ropes and a movable assembly, the hand back framework is provided with a main board (10) and a data transmission board (11), and the drive assembly drives the single-finger framework to move by controlling the tension force of the key ropes. The dexterous hand skeleton is similar to the physiological structure of a human hand, better sticks to the exoskeleton, is convenient to collect hand data, can simultaneously capture the motion state of the exoskeleton joints in the hand motion process, and can make corresponding feedback.

Description

Wearable rigid-flexible coupling force feedback dexterous hand skeleton

Technical Field

The invention relates to the technical field of robots, in particular to a wearable rigid-flexible coupling force feedback dexterous hand skeleton.

Background

In recent years, research in the fields of artificial intelligence and robotics has made good progress. Due to the rapid development of machine learning, especially reinforcement learning, robots have gradually become capable of moving based on the environment. In contrast, little progress has been made in the research on dexterous hands that have started since the last 70 s, and existing dexterous hands still cannot dexterously operate independently, which has greatly limited the application of robots in many delicate operating scenarios. In the literature, there is a trend to design and control robots using information obtained from human grab studies. In the research of the dexterous hand, a researcher can select a human hand as a source of control information of the dexterous hand, transmit the position of the human hand and finger motion information as control instructions to the dexterous hand, and simultaneously feed back information obtained by the dexterous hand from the environment and interaction information of the dexterous hand and the environment to the human hand. The proposal of master-slave control of the dexterous hand by the hand combines the experience intelligence and high-level task planning of human beings into the control of the robot, so that the exoskeleton and the human beings respectively exert the excellences of the exoskeleton and the human beings, the human beings make decisions, the exoskeleton of the hand executes tasks, the operation capability of the manipulator in unknown environments such as outer space, deep sea, explosive disposal and the like can be well expanded, and the proposal is a good choice for the application of the robot at the present stage.

However, the effectiveness of this approach relies on available human hand measurement and feedback tools. While there are many sensing solutions designed for this purpose, it remains a challenge to obtain a complete set of force measurements during operational interaction, including balancing the requirements of both motion measurement and force feedback. In terms of the current application, the force feedback data glove has the functions of motion capture and force feedback, so that an operator can transmit the motion of the hand to a dexterous hand in a natural mode, and can obtain necessary force sense and even tactile feedback information.

For example, application publication No.: CN 112338899A, chinese patent application published 2021, 02/09, discloses a hand exoskeleton, a medical device and a simulated grasping system, in which a motor capable of controlling the hand exoskeleton is disposed in the hand exoskeleton, and in the process of movement of the hand exoskeleton, the motor restrains a connecting rod, so as to realize movement restraint of a finger section fixing member, thereby realizing movement limitation of the hand exoskeleton. However, the hand exoskeleton of the invention does not have any measuring device, cannot measure hand data, and further cannot acquire tactile feedback information.

For example, the authorization publication number: CN 216061204U, chinese patent of 03 month 18 of 2022 granted bulletin date discloses an ectoskeleton hand action auxiliary device based on brain plasticity, this utility model discloses a through arranging signal sensor on user's health, utilize signal transmission line with bioelectricity signal transmission to drive unit, drive unit carries out analysis, processing and with the drive power transmission hand ectoskeleton of production to the bioelectricity signal, control hand ectoskeleton moves, and adopted line drive's design, let whole equipment lightweight, it is convenient to dress. However, the utility model discloses an electric signal measurement accuracy is lower, can't reach the high accuracy requirement, also does not have force feedback device's design simultaneously.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, it is an object of the present invention to provide a wearable rigid-flexible coupling force feedback dexterous hand armature that addresses both the needs of motion measurement and force feedback.

In order to achieve the above and other related purposes, the invention provides a wearable rigid-flexible coupling force feedback dexterous hand skeleton, which comprises a wrist skeleton, a hand back skeleton, a plurality of single-finger skeletons and force feedback structures, wherein the single-finger skeletons are rotatably connected with the hand back skeleton, each single-finger skeleton consists of fingertips, middle knuckles, lower knuckles and end knuckles, and the fingertips are movably connected with the middle knuckles, the middle knuckles are movably connected with the lower knuckles, and the lower knuckles are movably connected with the end knuckles; the fingertip is equipped with pressure sensor, be equipped with angle sensor in well dactylus, lower dactylus and the last dactylus, the force feedback structure include a plurality of tendon ropes and with tendon rope's one end fixed connection's drive assembly, on drive assembly located the wrist skeleton, single key rope run through in single finger skeleton, back of the hand skeleton and wrist skeleton, back of the hand skeleton is equipped with mainboard and data transmission board, drive assembly and mainboard signal connection, the motion of single finger skeleton is driven to drive assembly through the tensile force of control key rope.

The utility model provides a flexible hand skeleton of wearable rigid and flexible coupling force feedback does not hinder hand ectoskeleton action capture and feedback device of staff's motion, can make the hand paste the ectoskeleton better simultaneously, gather the hand data better, combine the physiological structure characteristics of staff, the hand ectoskeleton device that can catch 20 individual hand joint degrees of freedom simultaneously and can carry out force feedback has been designed, and human-machine compatible principle has fully been shown in the design of wearing the mode, the force feedback structure can carry out effective control to the flexible hand skeleton of wearable rigid and flexible coupling force feedback through the motion of the tensile force drive single finger skeleton of control key rope.

Preferably, the data transmission board is used for receiving information collected by the pressure sensor and the angle sensor and sending the information to the main board; the main board is used for receiving information sent by the data transmission board, comparing the information with preset parameters and sending an execution instruction to the driving assembly, and the driving assembly is used for executing the instruction of the main board and controlling the tension of the key rope to drive the single-finger framework to move.

Preferably, the finger tip and the middle knuckle, the middle knuckle and the lower knuckle, and the lower knuckle and the last knuckle of the single-finger framework are hinged and fixed by adopting a connecting rod structure. The connecting rod has simple structural design and is convenient for effective transmission of force.

Preferably, the connecting rod structure is a two-connecting-rod structure, the two-connecting-rod structure comprises a first connecting rod and a second connecting rod, and the first connecting rod and the second connecting rod are hinged and fixed through a roller; on a single fingertip or knuckle, at least one joint of the hinged seat and the two-link structure is provided with a magnet, and the angle sensor and the magnet are arranged in a non-contact corresponding manner. When the smart hand skeleton of wearable rigid-flexible coupling force feedback moved, two connecting rod structures took place to rotate, and magnet also can take place to rotate this moment, angle sensor is hall sensor, and it can detect the angle change according to the magnetic field change.

Preferably, the first connecting rod and the second connecting rod are provided with a plurality of threading holes.

Preferably, the fingertip sequentially comprises a limiting block, a sliding block and a fingertip hinge seat, the limiting block is fixedly clamped with the fingertip hinge seat, the sliding block is arranged between the limiting block and the fingertip hinge seat, the sliding block is provided with a sliding rod along the fingertip direction, the limiting block is provided with a sliding groove matched with the sliding rod, and a reset spring assembly, a pressure head and a pressure sensor are arranged between the sliding block and the fingertip hinge seat; the reset spring assembly comprises a plurality of telescopic springs, the sliding block is provided with a plurality of limiting holes matched with the telescopic springs, and the fingertip hinge seat is provided with a hinge assembly hole matched with the two connecting rod structures. In the motion process, when the fingertip touched the article, can exert pressure to the stopper, slider in the stopper can inwards slide, and the extrusion reset spring subassembly makes its deformation, and on elasticity acted on the pressure head, pressure sensor gathered pressure information to transmit to the information transmission board.

Preferably, the middle knuckle comprises a middle knuckle hinging seat, the lower knuckle comprises a lower knuckle hinging seat, and two hinging assembling holes matched with the two connecting rod structures are respectively arranged on the middle knuckle hinging seat and the lower knuckle hinging seat in a staggered manner.

Preferably, the tail knuckle comprises a rotating seat and a tail knuckle hinging seat arranged above the rotating seat, the tail knuckle hinging seat is rotatably connected with the rotating seat, a hinging assembling hole matched with the two-link structure is formed in the tail knuckle hinging seat, the rotating seat is provided with a magnet, a position corresponding to the magnet is provided with an angle sensor in a non-contact manner; in the single-finger framework except the thumb framework, the end part of the rotating seat is provided with a telescopic shaft which is fixedly connected with the hand back framework. The back of the hand fixing base is provided with a plurality of single-finger slots, the telescopic shaft is fixedly inserted into the single-finger slots, and the inserting depth of the telescopic shaft is adjustable. The rotatable design of end knuckle simulates the actual structure of people's finger, and is more nimble, and angle sensor can catch the swing angle of single finger skeleton to transmit to the information transmission board. The splicing depth of the telescopic shaft can be adjusted according to the actual length of the fingers of a wearer, and the adaptability is high.

Preferably, a rotating boss is arranged on the rotating seat, a shaft hole is formed in the center of the rotating boss, a rotating groove matched with the rotating boss is formed in the bottom of the tail knuckle hinged seat, a rotating shaft is arranged in the rotating groove, and the rotating shaft is matched with the shaft hole; the inside magnet that is equipped with of rotatory boss holds the chamber, magnet is located magnet and is held the intracavity.

Preferably, the wrist skeleton includes the wrist fixing base, the wrist fixing base is equipped with a plurality of steering wheel hole site, drive assembly includes the steering wheel that a plurality of and single finger skeleton correspond the setting, the steering wheel is located in the steering wheel hole site, the steering wheel includes driving motor and wire reel, the pivot of wire reel and driving motor's output shaft fixed connection, the tendon rope coils on the wire reel, one side of wire reel is equipped with the fender. This application the steering wheel is based on prior art, mainly comprises shell, circuit board, driving motor, reduction gear and position detection element, and it can receive the executive instruction that the mainboard sent to according to the tensioning of receiving and releasing of instruction drive tendon rope. When the steering wheel drives the wire spool to rotate, the length of the tendon rope can be changed, so that the motion of a single finger of the smart hand framework is limited, and force information is indirectly fed back to the whole finger.

Preferably, the back of the hand skeleton comprises a back of the hand fixing seat and a wiring board arranged on the back of the hand fixing seat, and the wiring support is provided with a plurality of wiring grooves; the side surfaces of the fingertips, the middle knuckles, the lower knuckles and the tail knuckles are provided with wiring grooves, and the wiring grooves are provided with wiring holes at intervals; the wrist skeleton is correspondingly provided with a wiring support, and the wiring support is provided with a plurality of threading through holes.

Preferably, the single-finger skeleton, the hand back skeleton and the wrist skeleton are provided with cambered surface structures matched with the hand, so that the wearing comfort level is improved conveniently.

Preferably, back of the hand skeleton and wrist skeleton are equipped with the fixed band, are convenient for improve and dress stability.

Preferably, the wrist framework is further provided with a power supply installation groove.

As described above, the wearable rigid-flexible coupling force feedback dexterous hand skeleton of the invention has the following beneficial effects: the hand patch is similar to the physiological structure of a human hand, better adheres to the exoskeleton, is convenient for collecting hand data, and fully shows the principle of human-computer compatibility in the design of a wearing mode; the motion states of the outer skeleton joints in the hand motion process, including the stress states of fingertips, the bending angles of all the knuckles and the swing angle between the single-finger skeletons, can be captured simultaneously, and corresponding feedback can be made; the force feedback structure can drive the motion of the single-finger framework through the tension of the control key rope to realize effective control on the wearable rigid-flexible coupling force feedback dexterous hand framework.

Drawings

Fig. 1 shows a schematic structural diagram of a wearable rigid-flexible coupling force feedback dexterous hand skeleton.

FIG. 2 is a schematic diagram of a single finger skeleton.

Fig. 3 is another view of fig. 2.

Fig. 4 is an exploded view of the fingertip.

Fig. 5 is an exploded view of the lower and the last knuckles.

Fig. 6 shows a bottom view of the swivel.

Figure 7 shows a bottom view of the distal knuckle hinge mount.

Fig. 8 is a schematic structural view of the back skeleton.

FIG. 9 is a schematic diagram of the structure of the wrist skeleton.

Fig. 10 is a front view of fig. 9.

Fig. 11 is an exploded view of the steering engine.

The reference numbers illustrate: the wrist skeleton 1, the hand back skeleton 2, the single finger skeleton 3, the fingertip 4, the middle finger knuckle 5, the lower finger knuckle 6, the end finger knuckle 7, the pressure sensor 8, the angle sensor 9, the main board 10, the data transmission board 11, the first link 12, the second link 13, the roller 14, the magnet 15, the limit block 16, the slider 17, the fingertip hinge seat 18, the slide bar 19, the pressure head 21, the extension spring 22, the limit hole 23, the hinge assembly hole 24, the middle finger knuckle hinge seat 25, the lower finger knuckle hinge seat 26, the rotary seat 27, the end finger knuckle hinge seat 28, the extension shaft 29, the single finger slot 30, the rotary boss 31, the shaft hole 32, the rotary slot 33, the rotary shaft 34, the magnet accommodating cavity 35, the wrist fixing seat 36, the hole site 37, the steering engine 38, the driving motor 39, the wire winding disc 40, the enclosure 41, the hand back fixing seat 42, the wiring board 43, the wiring groove 44, the wiring bracket 45, the wiring groove 46, the wiring groove 47, the wiring groove 48, the wiring hole 49, the conversion board 50 and the power supply mounting groove 51.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.

Please refer to fig. 1 to 11. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.

In the following embodiments of the present application, the angle sensor is a hall sensor.

As shown in fig. 1, the invention provides a wearable rigid-flexible coupling force feedback dexterous hand skeleton, which comprises a wrist skeleton 1, a hand back skeleton 2, five single finger skeletons 3 rotationally connected with the hand back skeleton and a force feedback structure, wherein as shown in fig. 2 and fig. 3, each single finger skeleton consists of a fingertip 4, a middle knuckle 5, a lower knuckle 6 and a tail knuckle 7, and the fingertips are movably connected with the middle knuckle, the middle knuckle is movably connected with the lower knuckle and the lower knuckle is movably connected with the tail knuckle; the fingertip is provided with a pressure sensor 8, angle sensors 9 are arranged in the middle knuckle, the lower knuckle and the last knuckle, the force feedback structure comprises a plurality of tendon ropes and a driving assembly fixedly connected with one end of each tendon rope, a transparent guide pipe is arranged outside each tendon rope, and the diameter of each guide pipe can enable the tendon ropes to pass through. The driving assembly is arranged on the wrist framework, the single-finger framework, the hand back framework and the wrist framework are penetrated by the single key rope, the hand back framework is provided with a main board 10 and a data transmission board 11, the driving assembly is in signal connection with the main board, and the driving assembly drives the single-finger framework to move by controlling the tension of the key rope. The data transmission board is used for receiving information collected by the pressure sensor and the angle sensor and sending the information to the main board; the main board is used for receiving information sent by the data transmission board, comparing the information with preset parameters and sending an execution instruction to the driving assembly, and the driving assembly is used for executing the instruction of the main board and controlling the tension of the key rope to drive the single-finger framework to move. And connecting rod structures are hinged and fixed between fingertips and middle knuckles, between the middle knuckles and lower knuckles, and between the lower knuckles and tail knuckles of the single-finger framework. The connecting rod structure is a two-connecting-rod structure, the two-connecting-rod structure comprises a first connecting rod 12 and a second connecting rod 13, the first connecting rod and the second connecting rod are hinged and fixed through a rolling shaft 14, and the finger tips and the finger joints are hinged and fixed with two ends of the two-connecting-rod structure through hinge seats respectively; on a single fingertip or knuckle, a magnet 15 is arranged at least one joint of the hinged seat and the two-link structure, and the angle sensor and the magnet are arranged in a non-contact corresponding mode. The first connecting rod and the second connecting rod are provided with a plurality of threading holes 49.

As shown in fig. 4, the fingertip sequentially comprises a limiting block 16, a sliding block 17 and a fingertip hinge seat 18, the limiting block is fixedly clamped with the fingertip hinge seat, the sliding block is arranged between the limiting block and the fingertip hinge seat, the sliding block is provided with a sliding rod 19 along the fingertip direction, the limiting block is provided with a sliding groove 20 matched with the sliding rod, a reset spring assembly, a pressure head 21 and a pressure sensor are arranged between the sliding block and the fingertip hinge seat, and a conversion plate 50 is arranged above the pressure sensor; the reset spring assembly comprises a plurality of telescopic springs 22, the sliding block is provided with a plurality of limiting holes 23 matched with the telescopic springs, and the fingertip hinge seat is provided with a hinge assembly hole 24 matched with the two connecting rod structures. The middle knuckle includes a middle knuckle hinge 25.

As shown in fig. 5, the lower knuckle includes a lower knuckle hinge base 26, and two hinge assembly holes adapted to the two-link structure are respectively and alternately formed on the middle knuckle hinge base and the lower knuckle hinge base. The tail knuckle comprises a rotating seat 27 and a tail knuckle hinging seat 28 arranged above the rotating seat, the tail knuckle hinging seat is rotatably connected with the rotating seat, and a hinging assembling hole matched with the two-connecting-rod structure is formed in the tail knuckle hinging seat; the rotating seat is provided with a magnet, and an angle sensor is arranged at a position corresponding to the magnet in a non-contact manner; in the single finger skeleton except that thumb skeleton, the tip of roating seat is equipped with telescopic shaft 29, as shown in fig. 9, the back of the hand fixing base is equipped with a plurality of single finger slot 30, the telescopic shaft is pegged graft and is fixed in the single finger slot, the grafting degree of depth of telescopic shaft is adjustable, and concrete accessible locking bolt is adjusted fixedly. The rotating seat is provided with a threading hole 49.

As shown in fig. 6, a rotary boss 31 is arranged on the rotary base, a shaft hole 32 is arranged at the center of the rotary boss, a rotary groove 33 matched with the rotary boss is arranged at the bottom of the tail knuckle hinge base, a rotary shaft 34 is arranged in the rotary groove, and the rotary shaft is matched with the shaft hole; as shown in fig. 7, a magnet accommodating cavity 35 is formed inside the rotary boss, and the magnet is arranged in the magnet accommodating cavity.

As shown in fig. 8, the back frame includes a back fixing base 42 and a wiring board 43 disposed on the back fixing base, and the wiring board is provided with a plurality of wiring grooves 44. As shown in fig. 9, the wrist framework includes a wrist fixing seat 36, and a power supply installation groove 51 is formed at the end of the wrist fixing seat 36. The wrist fixing base is provided with five steering engine hole sites 37, the driving assembly comprises a plurality of steering engines 38 which are arranged corresponding to the single-finger frameworks, the steering engines are arranged in the steering engine hole sites, as shown in fig. 11, each steering engine comprises a driving motor 39 and a wire spool 40, a rotating shaft of the wire spool is fixedly connected with an output shaft of the driving motor, the tendon rope is wound on the wire spool, and one side of the wire spool is provided with a surrounding baffle 41. The wrist skeleton is correspondingly provided with a wiring support 45, and the wiring support is provided with a plurality of threading through holes 46; as shown in fig. 10, the bottom surface of the wrist fixing seat 36 is provided with a cambered surface structure matched with the wrist. The side surfaces of the fingertips, the middle knuckles, the lower knuckles and the end knuckles are provided with wiring grooves 47, and the wiring grooves are provided with wiring holes 48 at intervals; the single-finger skeleton and the hand back skeleton are provided with cambered surface structures matched with human hands in a matching mode, the hand back skeleton and the wrist skeleton are provided with fixing bands, and the fixing bands are magic bands and can be well fixed on the hand back and the wrist.

The working principle of the wearable rigid-flexible coupling force feedback dexterous hand skeleton is as follows:

the tendon rope is led out from the wire spool 40 of the steering engine 38, firstly passes through the threading through holes 46 on the wiring support 45 on the wrist framework 1, then passes through the wiring grooves 44 on the wiring board 43 of the back of the hand framework 2, then respectively passes through the wiring holes 48 on two sides of each single finger framework, and is fixed through the wiring grooves 47, part of the tendon rope passes through the threading holes 49 on the first connecting rod and the second connecting rod, and the tendon rope on the thumb framework is directly led out from the wrist framework and does not pass through the back of the hand framework.

Wear the hand and the wrist skeleton and the back of the hand skeleton of the flexible hand skeleton of wearable rigid-flexible coupling force feedback of this application fixedly through the magic area, it is fixed with finger upper surface laminating that single indicates skeleton cambered surface part to according to the grafting degree of depth of finger actual length adjustment telescopic shaft. In the motion process, when the fingertip touched the article, can exert pressure to the stopper, slider in the stopper can the inside slip, extrusion reset spring subassembly makes its deformation, elasticity acts on the pressure head, pressure sensor gathers pressure information, and transmit to the information transmission board, the information transmission board is with signal transmission to mainboard, the mainboard receives the information that the data transmission board sent, and compare it with predetermineeing the parameter, send executive instruction to steering wheel, the instruction of steering wheel execution mainboard, the corresponding motion of making of tensile force drive single finger skeleton of control key rope.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (10)

1. A wearable rigid-flexible coupling force feedback dexterous hand skeleton is characterized by comprising a wrist skeleton (1), a hand back skeleton (2), a plurality of single finger skeletons (3) and force feedback structures, wherein the single finger skeletons are rotatably connected with the hand back skeleton, each single finger skeleton consists of a fingertip (4), a middle knuckle (5), a lower knuckle (6) and a tail knuckle (7), and the fingertips are movably connected with the middle knuckles, the middle knuckles and the lower knuckles, and the lower knuckles and the tail knuckles; the fingertip is equipped with pressure sensor (8), be equipped with angle sensor (9) in well dactylus, lower dactylus and the last dactylus, the force feedback structure include a plurality of tendon ropes and with the one end fixed connection's of tendon rope drive assembly, on drive assembly located the wrist skeleton, single finger skeleton, back of the hand skeleton and the wrist skeleton that single key rope runs through in, back of the hand skeleton is equipped with mainboard (10) and data transmission board (11), drive assembly and mainboard signal connection, drive assembly passes through the motion of the tensile force drive single finger skeleton of control key rope.

2. The wearable rigid-flexible coupling force feedback dexterous hand skeleton of claim 1, wherein: the data transmission board is used for receiving information collected by the pressure sensor and the angle sensor and sending the information to the main board; the main board is used for receiving information sent by the data transmission board, comparing the information with preset parameters and sending an execution instruction to the driving assembly, and the driving assembly is used for executing the instruction of the main board and controlling the tension of the key rope to drive the single-finger framework to move.

3. The wearable rigid-flexible coupling force feedback dexterous hand skeleton of claim 1, wherein: and the fingertips of the single-finger framework are hinged and fixed with the middle knuckle, the middle knuckle is hinged with the lower knuckle, and the lower knuckle is hinged and fixed with the last knuckle by adopting a connecting rod structure.

4. The wearable rigid-flexible coupling force feedback dexterous hand skeleton of claim 3, wherein: the connecting rod structure is a two-connecting-rod structure, the two-connecting-rod structure comprises a first connecting rod (12) and a second connecting rod (13), the first connecting rod and the second connecting rod are hinged and fixed through a rolling shaft (14), and the finger tips and the finger joints are hinged and fixed with two ends of the two-connecting-rod structure through hinge seats respectively; on single fingertip or knuckle, the hinged seat and at least one joint of the two connecting rod structures are provided with a magnet (15), and the angle sensor and the magnet are arranged in a non-contact corresponding manner.

5. The wearable rigid-flexible coupling force feedback dexterous hand skeleton of claim 4, wherein: the fingertip comprises a limiting block (16), a sliding block (17) and a fingertip hinge seat (18) in sequence, the limiting block is fixedly clamped with the fingertip hinge seat, the sliding block is arranged between the limiting block and the fingertip hinge seat, the sliding block is provided with a sliding rod (19) along the fingertip direction, the limiting block is provided with a sliding groove (20) matched with the sliding rod, and a reset spring assembly, a pressure head (21) and a pressure sensor are arranged between the sliding block and the fingertip hinge seat; the reset spring assembly comprises a plurality of telescopic springs (22), the sliding block is provided with a plurality of limiting holes (23) matched with the telescopic springs, and hinged assembly holes (24) matched with the two connecting rod structures are formed in the fingertip hinged seat.

6. The wearable rigid-flexible coupling force feedback dexterous hand skeleton of claim 4, wherein: the middle knuckle comprises a middle knuckle hinged seat (25), the lower knuckle comprises a lower knuckle hinged seat (26), and two hinged assembly holes matched with the two connecting rod structures are formed in the middle knuckle hinged seat and the lower knuckle hinged seat in a staggered mode respectively.

7. The wearable rigid-flexible coupling force feedback dexterous hand skeleton of claim 4, wherein: the tail knuckle comprises a rotating seat (27) and a tail knuckle hinging seat (28) arranged above the rotating seat, the tail knuckle hinging seat is rotatably connected with the rotating seat, and a hinging assembling hole matched with the two-connecting-rod structure is formed in the tail knuckle hinging seat; the rotating seat is provided with a magnet, and an angle sensor is arranged at a position corresponding to the magnet in a non-contact manner; in the single finger skeleton except thumb skeleton, the tip of roating seat is equipped with telescopic shaft (29), back of the hand fixing base is equipped with a plurality of single finger slot (30), the telescopic shaft is pegged graft and is fixed in the single finger slot, the grafting degree of depth of telescopic shaft is adjustable.

8. The wearable rigid-flexible coupling force feedback dexterous hand armature of claim 7, wherein: the rotary base is provided with a rotary boss (31), the center of the rotary boss is provided with a shaft hole (32), the bottom of the tail knuckle hinged base is provided with a rotary groove (33) matched with the rotary boss, a rotary shaft (34) is arranged in the rotary groove, and the rotary shaft is matched with the shaft hole; rotatory boss inside is equipped with magnet and holds chamber (35), magnet is located magnet and holds the intracavity.

9. The wearable rigid-flexible coupling force feedback dexterous hand skeleton of claim 1, wherein: the wrist skeleton includes wrist fixing base (36), the wrist fixing base is equipped with a plurality of steering wheel hole site (37), drive assembly includes steering wheel (38) that a plurality of and single finger skeleton correspond the setting, the steering wheel is located in the steering wheel hole site, the steering wheel includes driving motor (39) and wire reel (40), the pivot of wire reel and driving motor's output shaft fixed connection, the tendon rope coils on the wire reel, one side of wire reel is equipped with fender (41).

10. The wearable rigid-flexible coupling force feedback dexterous hand skeleton according to any one of claims 1 to 9, wherein: the hand back framework comprises a hand back fixing seat (42) and a wiring board (43) arranged on the hand back fixing seat, and a plurality of wiring grooves (44) are formed in the wiring board; the wrist skeleton is correspondingly provided with a wiring support (45), and the wiring support is provided with a plurality of threading through holes (46); wiring grooves (47) are formed in the side surfaces of the fingertips, the middle knuckles, the lower knuckles and the tail knuckles, and wiring holes (48) are formed in the wiring grooves at intervals; the single-finger skeleton, the hand back skeleton and the wrist skeleton are provided with cambered surface structures matched with hands in a matched mode, and the hand back skeleton and the wrist skeleton are provided with fixing bands.

Images