阅读说明：本技术 一种用于康复机器人的手部外骨骼 (Hand exoskeleton for rehabilitation robot ) 是由 张福海 付宜利 林乐庚 杨磊 于 2020-07-17 设计创作，主要内容包括：一种用于康复机器人的手部外骨骼,包括拇指模块、手掌模块和四个指模块,拇指模块和四个指模块分别与手掌模块连接；所述手部外骨骼为手性对称性设计,拇指模块和四个指模块分别为簧片耦合驱动结构,用于驱动手指关节的弯曲或伸展运动,手掌模块用于连接和约束拇指模块和四指模块,拇指模块通过手掌模块上的定型软管实现弯折。手部外骨骼采用簧片耦合驱动结构,舒适轻便,具有镜像互换功能,可使左右手互换使用。(A hand exoskeleton for a rehabilitation robot comprises a thumb module, a palm module and four finger modules, wherein the thumb module and the four finger modules are respectively connected with the palm module; the hand exoskeleton is designed in a chiral symmetry mode, the thumb module and the four finger modules are respectively of reed coupling driving structures and used for driving the bending or stretching movement of finger joints, the palm module is used for connecting and restraining the thumb module and the four finger modules, and the thumb module is bent through a shaping hose on the palm module. The hand exoskeleton adopts a reed coupling driving structure, is comfortable and light, has a mirror image interchange function, and can enable the left hand and the right hand to be interchanged for use.)

1. A hand exoskeleton for a rehabilitation robot comprising a thumb module (2), a palm module (3) and four finger modules (1);

the method is characterized in that: the hand exoskeleton is designed in a chiral symmetry mode, the thumb module (2) and the four finger modules (1) are respectively of a three-layer reed coupling driving structure, the palm module (3) is connected with the thumb module (2) and the four finger modules (1) and used for driving fingers to synchronously bend or stretch, and the thumb module (2) is bent through the shaping hose (3-0) on the palm module (3).

2. The hand exoskeleton of claim 1, wherein: each finger module (1) comprises a far knuckle finger bone seat (1-1), a middle knuckle finger bone seat (1-2), a near knuckle finger bone seat (1-3), a metacarpal bone seat (1-4), a bottom layer reed (1-5), a middle layer reed (1-6), a far end interdigital upper layer reed (1-7), a near end interdigital upper layer reed (1-8), a metacarpal finger upper layer reed (1-9) and a metacarpal finger connecting piece (1-11);

the palm skeleton seat (1-4) is fixed on the palm module (3), the bottom layer reed (1-5) is fixed on the far-section phalanx seat (1-1), the middle-section phalanx seat (1-2), the near-section phalanx seat (1-3) and the palm skeleton seat (1-4) in a penetrating way, the far end of the middle-layer reed (1-6) is fixedly connected with the far-section phalanx seat (1-1) and is slidably penetrated through the middle-section phalanx seat (1-2), the near-section phalanx seat (1-3) and the palm skeleton seat (1-4), the near end is fixedly connected with the palm-finger connecting piece (1-11), the far end of the far-end interphalangeal upper layer reed (1-7) is fixed with the far-section phalanx seat (1-1), the near end is limited to move in the limit groove of the middle-section phalanx seat (1-2), the far end of the near-end interphalangeal upper layer reed (1-8) is fixed with the middle-section, The near end of the palm finger connecting piece is limited in a limit groove of the proximal phalanx base (1-3) to move, the far end of the palm finger upper layer reed (1-9) is fixed with the proximal phalanx base (1-3), the near end of the palm finger upper layer reed is limited in the limit groove of the palm bone base (1-4) to move, and the palm finger connecting piece (1-11) is slidably arranged in the palm bone base (1-4) and the palm module (3).

3. A hand exoskeleton as claimed in claim 1 or claim 2 wherein: the thumb module (2) comprises a thumb far knuckle phalanx seat (2-1), a thumb near knuckle phalanx seat (2-2), a thumb metacarpal bone seat (2-3), a thumb bottom layer reed (2-4), a thumb middle layer reed (2-5), an interphalangeal upper layer reed (2-6), a thumb metacarpal upper layer reed (2-7) and a thumb metacarpal finger connecting piece (2-8);

a thumb metacarpal bone seat (2-3) is fixed on the palm module (3), a thumb bottom layer reed (2-4) is fixed on a thumb distal segment phalanx seat (2-1), a thumb proximal segment phalanx seat (2-2) and a thumb metacarpal bone seat (2-3), the far end of a thumb middle layer reed (2-5) is fixed with the thumb distal segment phalanx seat (2-2), the thumb middle layer reed slidably penetrates through the thumb proximal segment phalanx seat (2-2) and the thumb metacarpal bone seat (2-3), the near end of the thumb middle layer reed is fixedly connected with a thumb metacarpal connecting piece (2-8), the far end of an interphalangeal upper layer reed (2-6) is fixed with the thumb distal segment phalanx seat (2-1), the near end of the thumb proximal segment phalanx seat (2-2) is limited to move in a limit groove of the thumb proximal segment phalanx seat (2-2), the far end of a thumb upper layer reed (2-7) is fixed with, The proximal end of the connecting piece is limited in a limit groove of the thumb metacarpal bone seat (2-3) to move, and the thumb metacarpal finger connecting piece (2-8) is slidably arranged in the thumb metacarpal bone seat (2-3) and the palm module (3).

4. The hand exoskeleton of claim 3, wherein: the palm module (3) comprises a four-finger palm module (3-1) and a thumb palm module (3-2); the four-finger palm module (3-1) comprises a palm back seat shell (3-1-1), four guide guides (3-1-2), four-finger connecting pieces (3-1-3), four-finger racks (3-1-4), four-finger gears (3-1-5) and four-finger wheels (3-1-6);

the four-guide part (3-1-2) is arranged at the wrist side of the palm back seat shell (3-1-1), the palm finger connecting piece (1-11) is arranged in the palm back seat shell (3-1-1) in a sliding way and is connected with the four-finger connecting piece (3-1-3), the four-finger gear (3-1-5) and the four-finger wheel (3-1-6) are coaxially and rotatably arranged in the palm back seat shell (3-1-1), the four-finger gear (3-1-5) is meshed with the four-finger rack (3-1-4), the four-finger rack (3-1-4) is arranged in the palm back seat shell (3-1-1) in a sliding way and is fixedly connected with the four-finger connecting piece (3-1-3), and the four-finger connecting piece (3-1-3) is arranged in a sliding way by the four-guide part (3-1-2) Is arranged in the metacarpal seat shell (3-1-1), and the metacarpal seat shell (3-1-1) is connected with the thumb palm module (3-2) through a shaping hose (3-0).

5. The hand exoskeleton of claim 4, wherein: the thumb palm module (3-2) comprises a thumb back seat shell (3-21), a thumb connecting piece (3-22), a thumb guiding piece (3-23), a thumb rack (3-24), a thumb gear (3-25) and a thumb wheel (3-26);

the palm back seat shell (3-1-1) is connected with the thumb back seat shell (3-21) through a shaping hose (3-0), a thumb guide piece (3-23) is installed on the wrist side of the thumb back seat shell (3-21), a thumb palm finger connecting piece (2-8) is slidably arranged in the thumb back seat shell (3-21) and connected with a thumb connecting piece (3-22), a thumb gear (3-25) and a thumb reel (3-26) are coaxially and rotatably installed in the thumb back seat shell (3-21), the thumb gear (3-25) is meshed with a thumb rack (3-24), the thumb rack (3-24) is slidably arranged in the thumb back seat shell (3-21) and fixedly connected with the thumb connecting piece (3-22), and the thumb connecting piece (3-22) is slidably arranged on the thumb back seat shell by the thumb guide piece (3-23) Seat housings (3-21).

6. The hand exoskeleton of claim 5, wherein: a linear displacement sensing module for detecting the relative displacement of the palm back seat shell (3-1-1) and the four-finger connecting piece (3-1-3) is connected between the palm back seat shell (3-1-1) and the four-finger connecting piece; a linear displacement sensing module for detecting the relative displacement of the thumb back seat shell (3-2-1) and the thumb connecting piece (3-2-2) is connected between the thumb back seat shell (3-2-1) and the thumb connecting piece.

7. The hand exoskeleton of claim 6, wherein: the linear displacement sensing module comprises a flexible ultrathin linear position sensor, a sliding rod, a spring and a contact head; the flexible ultrathin linear position sensor is fixed on a palm back seat shell (3-1-1) or a thumb back seat shell (3-2-1), a sliding rod is fixed on a four-finger connecting piece (3-1-3) or a thumb connecting piece (3-2-2), a spring is wrapped in the sliding rod, the spring abuts against a contact at one end, and the contact slides in contact with a flexible conductive resistance layer of the flexible ultrathin linear position sensor.

8. The hand exoskeleton of claim 7, wherein: the hand exoskeleton further comprises a transmission drive mechanism (4) comprising: the winding device comprises a bracket (4-1), a motor (4-2), a coupler (4-3) and a winding module (4-4);

the wire winding module (4-4) comprises a thumb source wire wheel (4-41), a four-finger source wire wheel (4-42), a wire wheel output shaft (4-43), a wire wheel shell (4-44) and a shell top cover (4-45); the motor (4-2) is arranged on the bracket (4-1), and the wire wheel shell (4-44) is arranged on the bracket (4-1);

the output end of the motor (4-2) is connected with a reel output shaft (4-43) through a coupler (4-3), the reel output shaft (4-43) is arranged in a reel shell (4-44), a thumb-source reel (4-41) is fixedly sleeved in the middle of the reel output shaft (4-43), a four-finger-source reel (4-42) is fixedly arranged at one end of the reel output shaft (4-43) far away from the coupler (4-3), a shell top cover (4-45) is arranged on the reel shell (4-44), two ends of the reel output shaft (4-43) are arranged on the reel shell (4-44) and the shell top cover (4-45) through flange bearings (4-46), an adjusting screw (4-47) vertical to the reel output shaft (4-43) is arranged on the reel shell (4-44), a central through hole is processed on the adjusting screw (4-47) along the length direction; the four-finger source wire wheel (4-42) is connected with the four-finger wire wheel (3-1-6) through a Bowden cable, and the thumb source wire wheel (4-41) is connected with the thumb wire wheel (3-26) through the Bowden cable.

9. The hand exoskeleton of claim 8, wherein: bowden cables controlling the flexion or extension movement of the thumb module (2) and the four finger modules (1) are routed as follows:

one ends of two steel wires of the two Bowden wires are wound on the four-finger source wire wheel (4-42), the other ends of the two steel wires are wound on the four-finger source wire wheel (3-1-6), one ends of the two Bowden wire sheaths, corresponding to one ends of the two steel wires, penetrate into central holes of the two adjusting screws (4-47) corresponding to the four-finger source wire wheel (4-42) and are fixed, and the other ends of the two Bowden wire sheaths are fixed on the palm back seat shell (3-1-1);

one ends of two steel wires of the other two Bowden wires are wound on the thumb source wire wheel (4-41), the other ends of the two steel wires are wound on the thumb source wire wheel (3-26), one ends of the two Bowden wire sheaths, corresponding to one ends of the two steel wires, penetrate into central holes of two adjusting screws (4-47) corresponding to the thumb source wire wheel (4-41) and are fixed, and the other ends of the other two Bowden wire sheaths are fixed on the thumb back seat shell (3-2-1).

Technical Field

The invention relates to an exoskeleton, in particular to a hand exoskeleton for a rehabilitation robot, and belongs to the field of rehabilitation robots.

Background

The apoplexy patient loses the self-care ability of life because of losing the motor function, the severe patient is completely paralyzed, and the probability of hemiplegia after the apoplexy is more than fifty percent. The hand is the organ used by the human body most frequently in daily life, so the rehabilitation training of the hand becomes the content of the stroke patient which needs to be rehabilitated most urgently. The rehabilitation training usually adopts a method that medical care personnel or family members of a patient perform artificial rehabilitation training, and the rehabilitation training assists the patient to perform long-time finger flexion, extension and other rehabilitation motions to promote the recovery of a nervous system. However, the manual auxiliary rehabilitation training has the defects of large manpower consumption, low efficiency, high cost and the like. The rehabilitation robot drives the patient to perform rehabilitation training, so that manpower and cost are saved, and the rehabilitation robot is a mode for making up for the deficiency of manual rehabilitation training.

There are two main types of finger movements: flexion/extension and adduction/abduction movements. During the rehabilitation training process of the stroke patient, the hand grasping action is mainly realized through the bending/stretching movement of the five fingers, the hand grasping action is the action related to the most hand motor nerves, and the paths of the related nerves of the hand of the patient can be effectively activated.

Research shows that the hand is far away from the trunk, the finger joints are telecentric in the grasping action, the flexion of the single finger palm and finger joint and the interphalangeal joint is not completely independent, and the movement speeds of the two joints have a definite proportional relation. How to fully simulate the natural coupling telecentric motion of three joints of a finger by using an underactuated lightweight structure and improve the rehabilitation effect becomes a research subject at the present stage.

At present, some hand rehabilitation mechanical driving devices in China have been developed, and the driving devices generally realize independent control of each joint and realize the coupling motion of finger joints according to a certain joint rotation angle. However, the hand mechanism is clumsy and heavy, the comfort is poor, the movement of the finger joints is unnatural, and the rehabilitation effect is not satisfactory. Therefore, an exoskeleton finger driving device adopting a bionic driving technology needs to be designed, so that the motion track of the exoskeleton mechanism of the manipulator is closer to the natural motion track of the finger joint, and the finger action can reach the expected rehabilitation effect more quickly.

At present, some hand function rehabilitation devices exist in the market, but most of the products do not have a sensing function, so that a sensor needs to be integrated into a robot for conveniently evaluating the rehabilitation condition of a patient, and angle information of each joint of a finger of the patient is collected in real time in the rehabilitation training process to be referred by doctors and the patient.

At present, most of the existing hand function rehabilitation devices can only be suitable for one-side hand rehabilitation and cannot be applied to the opposite side, and two sets of left and right rehabilitation devices must be equipped for a rehabilitation center during application. In order to save cost and improve application convenience as much as possible, the mirror image interchange function of the hand exoskeleton needs to be designed so as to meet the requirement that different paraplegic patients can conveniently use one set of equipment.

In conclusion, the existing rehabilitation manipulator is bulky, heavy and poor in comfort, unnatural in joint movement, unsatisfactory in rehabilitation effect and free of a sensing function and a mirror image interchange function.

Disclosure of Invention

The invention provides a hand exoskeleton for a rehabilitation robot to overcome the defects of the prior art. The hand exoskeleton adopts a reed coupling driving structure, is comfortable and light, has a mirror image interchange function, and can be used by interchanging left and right hands.

The technical scheme of the invention is as follows:

the hand exoskeleton comprises a thumb module, a palm module and four finger modules, the hand exoskeleton is designed in a chiral symmetry mode, the thumb module and the four finger modules are respectively of a three-layer reed coupling driving structure, the palm module is connected with the thumb module and the four finger modules and used for driving fingers to synchronously bend or stretch, and the thumb module is bent through a shaping hose on the palm module.

Compared with the prior art, the invention has the beneficial effects that:

the reed coupling driving structure is adopted, the structure can rotate around interphalangeal joints of fingers and metacarpophalangeal joints in a telecentric mode, the reed is light, thin and good in toughness, the weight of the mechanism can be greatly reduced, and the mechanism form can be simplified; the joint movement is more natural, the actual movement form of the fingers is met, and the man-machine compatibility is realized; the upper reed is provided with a limit groove for coupling the motion range, and meanwhile, mechanical limit can be realized, and the safety of the system is ensured;

the hand exoskeleton designed by the invention has a mirror image interchange function, can be interchanged left and right, and is suitable for left and right hemiplegic stroke patients, so that one set of equipment meets different hemiplegic stroke patients, the cost is controlled within the acceptable range of the patients, the cost can be reduced as far as possible, and the use convenience and the use ratio can be improved.

The hand exoskeleton has a modular structural design easy to mount and dismount, and can be replaced quickly and conveniently when part of parts are damaged; in addition, the modular structure design is convenient for putting on and taking off and part conversion, so that the mirror image exchange of the mechanism is faster and more convenient.

The technical scheme of the invention is further explained by combining the drawings and the embodiment:

drawings

FIG. 1 is a schematic perspective view of the present invention with the transmission drive mechanism removed;

FIG. 2 is an exploded view of FIG. 1;

FIG. 3 is an exploded view of the thumb module;

FIG. 4 is a perspective view of the transmission driving mechanism;

FIG. 5 is an exploded view of the wire winding module;

FIG. 6 is a schematic diagram of a linear displacement sensing module.

Detailed Description

Referring to fig. 1, a hand exoskeleton of the rehabilitation robot of the present embodiment includes a thumb module 2, a palm module 3, and four finger modules 1; the hand exoskeleton is designed in a chiral symmetry mode, the thumb module 2 and the four finger modules 1 are respectively of a three-layer reed coupling driving structure, the palm module 3 is connected with the thumb module 2 and the four finger modules 1 and used for driving fingers to bend or extend synchronously, and the thumb module 2 is bent through the shaping hoses 3-0 on the palm module 3. The palm module 3 functions to connect, restrain and drive the thumb module 2 and the four finger modules 1.

When the hand-operated thumb driving device is used, the hand-operated thumb driving device can be matched with a transmission driving mechanism to realize driving, the transmission driving mechanism adopts a motor as a power source, and a reel module converts the rotating torque output by the motor into linear driving through a palm module 3 through a Bowden cable and transmits the linear driving to a four-finger module 1 and a thumb module 2. To achieve flexion or extension movements of the finger joints. The hand exoskeleton mechanism of design adopts the design of hand symmetry, has the mirror image interchange function, can do and control and exchange, is applicable to left side and right side hemiplegia apoplexy patient, makes one set of equipment satisfy different side hemiplegia patients, with cost control in patient acceptable range, can reduce the cost as far as possible and improve convenience and the utilization ratio of using. Each component of the designed exoskeleton can be manufactured by selective sintering technology (SLS) of 3D printing, and the material of the exoskeleton can be selected from nylon; by the method, small and complicated parts can be printed, and each part has the characteristics of high strength and light weight; the 3D printing SLS process can be used for quickly manufacturing parts, and the development time of a prototype model machine is reduced; the key parts can be assembled by polishing in the later stage. Only the gear rack and the wire wheel in the mechanism are machined, so that the machining cost is greatly reduced.

As an implementation mode, as shown in fig. 1 and fig. 2, each finger of the four finger modules 1 respectively includes a distal phalanx base 1-1, a middle phalanx base 1-2, a proximal phalanx base 1-3, a metacarpal base 1-4, a bottom layer spring 1-5, a middle layer spring 1-6, a distal interphalangeal upper layer spring 1-7, a proximal interphalangeal upper layer spring 1-8, a metacarpal upper layer spring 1-9, a buckle fixing member 1-10 and a metacarpal finger connecting member 1-11; the metacarpal bone seat 1-4 is fixed on the palm module 3, the bottom layer reed 1-5 is fixed on the distal phalanx seat 1-1, the middle phalanx seat 1-2, the proximal phalanx seat 1-3 and the metacarpal bone seat 1-4 in a penetrating way, the far end of the middle layer reed 1-6 is fixedly connected with the distal phalanx seat 1-1 and slides to penetrate the middle phalanx seat 1-2, the proximal phalanx seat 1-3 and the metacarpal bone seat 1-4, the near end is fixedly connected with the metacarpal finger connecting piece 1-11, the far end of the far end interdigital upper layer reed 1-7 is fixed with the distal phalanx seat 1-1, the near end is limited to move in the limit groove of the middle phalanx seat 1-2, the far end of the near end interdigital upper layer reed 1-8 is fixed with the middle phalanx seat 1-2 and the near end is limited to move in the limit groove of the proximal phalanx seat 1-3, the far end of the palm finger upper layer reed 1-9 is fixed with the proximal phalanx base 1-3, the near end is limited to move in the limit groove of the palm phalanx base 1-4, and the palm finger connecting piece 1-11 is slidably arranged in the palm phalanx base 1-4 and the palm module 3.

For convenience of disassembly and assembly, as shown in fig. 2, buckle fixing pieces 1-10 are designed to fix bottom layer reeds 1-5, middle layer reeds 1-6, far end interphalangeal upper layer reeds 1-7, near end interphalangeal upper layer reeds 1-8 and palm finger upper layer reeds 1-9, specifically: the far knuckle phalanx seat 1-1 is matched with a buckle fixing piece 1-10, the middle knuckle phalanx seat 1-2 is matched with two buckle fixing pieces 1-10, the near knuckle phalanx seat 1-3 is matched with two buckle fixing pieces 1-10, the far end of a bottom layer reed 1-5 is fixed with the far knuckle phalanx seat 1-1 through the buckle fixing pieces 1-10, the near end is fixed with the metacarpal phalanx seat 1-4 through the buckle fixing pieces 1-10, the far end of a middle layer reed 1-6 is fixed with the far knuckle phalanx seat 1-1 through the buckle fixing pieces 1-10, the near end is fixedly connected with the metacarpal phalanx connecting pieces 1-11, the far end of an upper layer reed 1-7 between far fingers is fixed with the far knuckle phalanx seat 1-1 through the buckle fixing pieces 1-10, and the near end is limited in the limit groove of the middle knuckle phalanx seat 1-2 through the buckle fixing, the far end of the near-end interphalangeal upper reed 1-8 is fixed with the middle phalanx base 1-2 through the buckle fixing piece 1-10, the near end is limited to move in the limit groove of the near phalanx base 1-3 through the buckle fixing piece 1-10, the far end of the metacarpal upper reed 1-9 is fixed with the near phalanx base 1-3 through the buckle fixing piece 1-10, and the near end is limited to move in the limit groove of the metacarpal base 1-4 through the buckle fixing piece 1-10.

The beneficial effects of the above possible implementation modes are as follows: a three-layer reed structure is adopted, wherein the bottom reed 1-5 is a fixed reed which is rigidly connected with the distal phalanx base 1-1, the middle phalanx base 1-2, the proximal phalanx base 1-3 and the metacarpal phalanx base 1-4, and can play a role in bending restraint in finger action; the middle layer reeds 1-6 are active reeds and are connected with the palm finger connecting pieces 1-11 and a transmission driving mechanism in the palm module 3 to realize advancing and retreating, and the palm finger connecting pieces 1-11 and the middle layer reeds 1-6 can play a role in force transmission; the upper layer reeds (the far-end interphalangeal upper layer reeds 1-7, the near-end interphalangeal upper layer reeds 1-8 and the metacarpal finger upper layer reeds 1-9) are passive reeds which respectively slide in limit grooves with certain length in phalanx seats (the middle phalanx seat 1-2, the near phalanx seat 1-3 and the metacarpal seat 1-4) and can play a role in limiting in finger action, and the coupling relation of the motion range of the exoskeleton joints of each finger is realized by limit distance. The four-finger module 1 can perform telecentric rotation motion around interphalangeal joints and metacarpophalangeal joints of fingers, and the reed is light, thin and good in toughness, so that the weight of the mechanism can be greatly reduced, and the mechanism form can be simplified; the telecentric position of the mechanism movement coincides with the telecentric position of the joint movement, thus realizing telecentric matching of the mechanism and the human joint movement, leading the joint movement to be more natural, conforming to the actual movement form of the fingers and realizing man-machine compatibility; the upper reed is provided with a limiting groove, so that mechanical limitation can be realized while the upper reed is coupled in a motion range, and the safety of the four-finger module 1 is guaranteed.

During the working process, the palm finger connecting piece 1-11 advances to drive the middle layer reeds 1-6 to move forward, a force effect for expanding the distance exists among the far knuckle finger bone seat 1-1, the middle knuckle finger bone seat 1-2, the near knuckle finger bone seat 1-3 and the palm bone seat 1-4, the far end knuckle upper layer reeds 1-7, the near end knuckle upper layer reeds 1-8 and the palm finger upper layer reeds 1-9 slide in the corresponding finger bone seats respectively, and the lower parts of the finger seats are fixed by the bottom layer reeds 1-5, so that the whole four-finger module can bend under the constraint of the bottom layer reeds 1-5, and when the bending reaches a certain angle, the upper layer reeds reach the end point, the continuous bending of the module is limited and the safety of a wearer is protected; when the palm and finger connecting pieces 1-11 are retracted, the motion is just opposite to the motion process, and the four-finger bending and stretching motion can be realized.

As shown in fig. 2 and 3, as another possible embodiment, the thumb module 2 comprises a thumb distal phalanx base 2-1, a thumb proximal phalanx base 2-2, a thumb metacarpal base 2-3, a thumb bottom layer spring leaf 2-4, a thumb middle layer spring leaf 2-5, an interphalangeal upper layer spring leaf 2-6, a thumb metacarpal upper layer spring leaf 2-7 and a thumb metacarpal finger connecting piece 2-8; a thumb metacarpal bone seat 2-3 is fixed on a palm module 3, a thumb bottom layer reed 2-4 is fixed on a thumb distal segment phalanx seat 2-1, a thumb proximal segment phalanx seat 2-2 and a thumb metacarpal bone seat 2-3, the far end of a thumb middle layer reed 2-5 is fixed with the thumb distal segment phalanx seat 2-1, the thumb proximal segment phalanx seat 2-2 and the thumb metacarpal bone seat 2-3 are penetrated in a sliding way, the near end is fixedly connected with a thumb metacarpal connecting piece 2-8, the far end of an interphalangeal upper layer reed 2-6 is fixed with the thumb distal segment phalanx seat 2-1, the near end is limited in the limit groove of the thumb proximal segment phalanx seat 2-2 to move, the far end of a thumb metacarpal upper layer reed 2-7 is fixed with the thumb proximal segment phalanx seat 2-2, and the near end is limited in the limit groove of the thumb metacarpal bone seat 2, the thumb and palm connecting piece 2-8 is slidably arranged in the thumb and palm bone seat 2-3 and the palm module 3. In order to facilitate disassembly and assembly for use, the thumb buckle fixing piece 2-9 is designed to realize the fixation of the upper, middle and lower three layers of reeds, the thumb distal phalanx seat 2-1 is matched with one thumb buckle fixing piece 2-9, and the thumb proximal phalanx seat 2-2 is matched with two thumb buckle fixing pieces 2-9; the far end of the inter-phalangeal upper reed 2-6 is fixed with the thumb distal phalanx seat 2-1 through a thumb buckle fixing piece 2-9, the near end is limited to move in the limiting groove of the thumb proximal phalanx seat 2-2 through a buckle fixing piece 2-9, the far end of the thumb metacarpal upper reed 2-7 is fixed with the thumb proximal phalanx seat 2-2 through the buckle fixing piece 2-9, and the near end is limited to move in the limiting groove of the thumb metacarpal seat 2-3 through the thumb buckle fixing piece 2-9. In the working process, the thumb metacarpal-finger connecting piece 2-8 advances to drive the middle layer reed 2-5 of the thumb to move forward, the distance enlarging force is acted on the far knuckle phalanx seat 2-1 of the thumb, the near knuckle phalanx seat 2-2 of the thumb and the metacarpal bone seat 2-3 of the thumb, the upper layer reed 2-6 between the fingers and the upper layer reed 2-7 of the thumb metacarpal-finger slide in the limit groove with a certain length in the near knuckle phalanx seat 2-2 of the thumb and the metacarpal bone seat 2-3 of the thumb, because the lower parts of all the finger seats are fixed by the bottom layer reeds 2-4 of the thumb, the whole thumb module 2 can be bent under the constraint of the bottom layer reeds 2-4 of the thumb, when the bending reaches a certain angle, the inter-finger upper layer reeds 2-6 and the thumb palm upper layer reeds 2-7 reach the limiting end point, so that the continuous bending of the thumb module 2 is limited and the safety of a wearer is protected; when the thumb-palm connecting piece 2-8 is retracted, the motion is just opposite to the motion process, and the bending and stretching motion of the thumb can be realized.

In the scheme, the joints of each finger adopt a coupling driving mode, and the five fingers form an underactuated mode, so that when the exoskeleton hand-held device is used, the hand-held device realizes the gripping action of the hand by utilizing the two groups of bowden cable transmission driving mechanisms, can comprehensively activate the motor nerves of the hand, realizes a better rehabilitation effect, can effectively reduce the weight of a hand-driven executive element, and improves the comfort and the portability of the exoskeleton; in addition, the under-actuated form only needs two groups of driving systems and only needs two motors, so that the weight of a driving source and the cost of the whole machine are greatly reduced.

As shown in fig. 2, the designed palm module 3 is an integrated structure and mainly comprises a four-fingered palm module 3-1, a thumb palm module 3-2 and a shaping hose 3-3, wherein the palm module 3 comprises the four-fingered palm module 3-1 and the thumb palm module 3-2; the four-finger palm module 3-1 comprises a palm back seat shell 3-1-1, four guide guides 3-1-2, four-finger connectors 3-1-3, four-finger racks 3-1-4, four-finger gears 3-1-5 and four-finger wheels 3-1-6; the four-guide 3-1-2 is arranged at the wrist side of the palm back seat shell 3-1-1, the palm finger connecting piece 1-11 is arranged on the palm back seat shell 3-1-1 in a sliding way and is connected with the four-finger connecting piece 3-1-3, the four-finger gear 3-1-5 and the four-finger wheel 3-1-6 are coaxially and rotatably arranged in the palm back seat shell 3-1-1, the four-finger gear 3-1-5 is meshed with the four-finger rack 3-1-4, the four-finger rack 3-1-4 is arranged in the palm back seat shell 3-1-1 in a sliding way and is fixedly connected with the four-finger connecting piece 3-1-3, the four-finger connecting piece 3-1-3 is arranged in the palm bone seat shell 3-1-1 in a guiding way by the four-guide 3-1-2, the palm back seat shell 3-1-1 is connected with the thumb palm module 3-2 through a shaping hose 3-0. The bowden cable and the gear rack transmission mechanism are utilized to realize the gripping action of the hand, the motor nerves of the hand can be activated comprehensively, the better rehabilitation effect is realized, meanwhile, the weight of the hand driving execution element can be effectively reduced, and the comfort and the portability of the exoskeleton are improved.

The thumb palm module 3-2 comprises a thumb backseat housing 3-21, a thumb connecting piece 3-22, a thumb guiding piece 3-23, a thumb rack 3-24, a thumb gear 3-25 and a thumb reel 3-26; the palm back seat shell 3-1-1 is connected with a thumb back seat shell 3-21 through a shaping hose 3-0, a thumb guide piece 3-23 is installed on the wrist side of the thumb back seat shell 3-21, a thumb palm finger connecting piece 2-8 is slidably arranged on the thumb back seat shell 3-21 and is connected with a thumb connecting piece 3-22, a thumb gear 3-25 and a thumb reel 3-26 are coaxially and rotatably installed in the thumb back seat shell 3-21, the thumb gear 3-25 is meshed with a thumb rack 3-24, the thumb rack 3-24 is slidably arranged in the thumb back seat shell 3-21 and is fixedly connected with the thumb connecting piece 3-22, and the thumb connecting piece 3-22 is slidably arranged in the thumb back seat shell 3-21 guided by the thumb guide piece 3-23. The bowden cable and the gear rack transmission mechanism are utilized to realize the gripping action of the hand, the hand motor nerve can be activated comprehensively, the better rehabilitation effect is realized, meanwhile, the weight of the hand driving execution element can be effectively reduced, and the comfort and the portability of the exoskeleton are improved.

As shown in fig. 6, in order to obtain the bending moment of the finger, a linear displacement sensing module 5 is further provided, and a linear displacement sensing module 5 for detecting the relative displacement between the palm back seat shell 3-1-1 and the four-finger connecting piece 3-1-3 is connected between the two; a linear displacement sensing module 5 for detecting the relative displacement of the thumb back seat shell 3-2-1 and the thumb connecting piece 3-2-2 is connected between the two. Specifically, the linear displacement sensing module 5 comprises a flexible ultrathin linear position sensor, a sliding rod, a spring and a contact head; the flexible ultrathin linear position sensor is fixed on a palm back seat shell 3-1-1 or a thumb back seat shell 3-2-1, the sliding rod is fixed on a four-finger connecting piece 3-1-3 or a thumb connecting piece 3-2-2, a spring is wrapped in the sliding rod, the spring props against a contact at one end, and the contact slides in contact with a flexible conductive resistor of the flexible ultrathin linear position sensor. By the design, the linear displacement sensing module between the four-finger connecting piece 3-1-3 and the dorsum palmaris housing 3-1-3 can detect the relative displacement distance during movement, and four-finger moment information can be obtained by using Hooke's law; finger joint spring moment^fτ_eCan be calculated from the following formula:

^fτ_e＝^fk^fθ

in the formula^fk. -the reed stiffness of the finger;

^fθ -the angle of rotation of the finger relative to the telecentricity of the joint.

Wherein the content of the first and second substances,^ftheta and^fx satisfies the following relationship:

in the formula^fx. -the linear driving displacement of the finger, acquired by a displacement sensor;

r. -the distance radius of the finger reed from the distal center of the joint.

Because the above formula has no analytic solution, only can adopt the formula in the application processBy numerical solution of^fTheta and^fthe x correspondence is noted as:

^fθ＝F(^fx)

assuming that the moment arm of the reed is about half the length of the reed, the linear driving force can be considered in the steady state of the finger joint, i.e. in the process of static or uniform rotation^fF_aAnd the reed moment balance, namely:

in the formula^fl. -finger leaf length.

In the unstable state of the finger joints, the rotation angle direction of the joints when the finger is bent is positive according to the above formulas, and the net moment applied to each joint of the finger in the rotation process^fτ may be calculated as:

as described above, the four-finger module 1 and the thumb module 2 are driven by the transmission drive mechanism 4 including: the winding machine comprises a bracket 4-1, a motor 4-2, a coupler 4-3 and a winding module 4-4;

the wire winding module 4-4 comprises a thumb source wire wheel 4-41, four finger source wire wheels 4-42, a wire wheel output shaft 4-43, a wire wheel outer shell 4-44 and a shell top cover 4-45; the motor 4-2 is arranged on the bracket 4-1, and the reel shell 4-44 is arranged on the bracket 4-1;

the output end of the motor 4-2 is connected with a reel output shaft 4-43 through a coupler 4-3, the reel output shaft 4-43 is arranged in a reel shell 4-44, a thumb source reel 4-41 is fixedly sleeved in the middle of the reel output shaft 4-43, a four-finger source reel 4-42 is fixedly arranged at one end of the reel output shaft 4-43 far away from the coupler 4-3, a shell top cover 4-45 is arranged on the reel shell 4-44, two ends of the reel output shaft 4-43 are arranged on the reel shell 4-44 and the shell top cover 4-45 through flange bearings 4-46, an adjusting screw 4-47 vertical to the reel output shaft 4-43 is arranged on the reel shell 4-44, and a central through hole is processed in the length direction on the adjusting screw 4-47. So set up, the tension of steel wire can be adjusted through rotatory hollow fluting adjusting screw to the wire winding module, and the steel wire of Bowden wire pierces into the screw from the fluting of screw side, and the sheath injects the hole of screwhead, and when the external screw, the pressure that the sheath received increases, because the pressure of sheath equals with the tension of steel wire, the tension of steel wire also increases, and this wire winding module can be convenient the realization is to the pretension of steel wire.

Bowden cable routing to control the flexion or extension motion of the thumb module 2 and the four finger modules 1 is as follows:

one ends of two steel wires of the two Bowden wires are wound on the four-finger cord wheel 4-42, the other ends of the two steel wires are wound on the four-finger cord wheel 3-1-6, one ends of the two Bowden wire sheaths, corresponding to one ends of the two steel wires, penetrate into central holes of two adjusting screws 4-47 corresponding to the four-finger cord wheel 4-42 and are fixed, and the other ends of the two Bowden wire sheaths are fixed on the palm back seat shell 3-1-1; one ends of two steel wires of the other two Bowden wires are wound on the thumb source wire wheel 4-41, the other ends of the two steel wires are wound on the thumb source wire wheel 3-26, one ends of the two Bowden wire sheaths, corresponding to one ends of the two steel wires, penetrate into central holes of the two adjusting screws 4-47 corresponding to the thumb source wire wheel 4-41 and are fixed, and the other ends of the other two Bowden wire sheaths are fixed on the thumb back seat shell 3-2-1.

By the design, the torque output by the transmission driving mechanism 4 can be transmitted to the exoskeleton driving joint through the Bowden cable, so that the power can be transmitted in a long distance, and the motor 4-2 is remotely separated from the exoskeleton to reduce the burden of the robot on the hand; the exoskeleton robot is convenient to complete tasks and daily life actions during training. In addition, the steel wire penetrates through the sheath to transmit the pulling force, and the sheath is used for neutralizing the pulling force of the steel wire on the mechanism, so that the total force of the Bowden wire on the exoskeleton equipment is zero, namely, the driver based on the Bowden wire can be regarded as a pure torque source and cannot generate the pulling effect on the fingers.

The working process is as follows: the palm back seat top cover 3-1-7 covers the palm back seat shell 3-1-1, wraps the inner part and restrains the inner four-finger assembly, the steel wire drives the four-finger wire wheel 3-1-6 to rotate, so as to drive the four-finger gear 3-1-5 matched with the D-shaped shaft to rotate, so as to convert the four-finger rack 3-1-4 into linear motion, so as to drive the four-finger connecting piece 3-1-3 to move forwards or backwards in the guide hole in the four guide piece 3-1-2, the four-finger connecting piece 3-1-3 drives the palm finger connecting pieces 1-11 in the four finger module 1 to move simultaneously when moving in the palm back seat shell 3-1-1, and the linear displacement sensing module between the four-finger connecting piece 3-1-3 and the palm back seat shell 3-1-1 can detect the relative displacement distance when moving, four-finger moment information can be obtained by using Hooke's law; the top cover 3-27 of the thumb back seat covers the inside of the package of the shell 3-21 of the thumb back seat and restricts the internal thumb assembly, the steel wire drives the thumb wheel 3-26 to rotate, thereby driving the thumb teeth 3-25 to rotate through the D-shaped shaft, converting the meshed thumb racks 3-24 into linear motion, thereby driving the thumb connecting pieces 3-22 to move forwards or backwards in the guide holes in the thumb guiding pieces 3-23, driving the thumb palm finger connecting pieces 2-8 in the thumb module 3 to move when the thumb connecting pieces 3-22 move in the thumb back seat shells 3-21, detecting the relative displacement distance by the linear displacement sensing module between the thumb connecting pieces 3-22 and the thumb back seat shells 3-21 during the movement, and obtaining the thumb moment information by using the Hooke's law; the palm back seat shell 3-1-1 and the palm back seat top cover 3-1-7 are designed to be completely symmetrical to the palm and the back of the hand, when the hand exoskeleton needs to be exchanged in a mirror image mode, the palm module 3 only needs to be translated to the opposite side, then the positions of the original palm and the back of the hand are exchanged, the thumb back seat shell 3-21 and the palm back seat shell 3-1-1 are connected through a shaped silica gel hose 3-0, and the palm back seat shell and the back seat shell can be matched with the thumb on the opposite side after being folded and self-locked and shaped; each of the four finger modules 1 and the thumb module 2 adopts a modular design, and are easy to detach and mount in the palm module 3, in the exchange process, only the palmar back seat top cover 3-1-7 needs to be opened, and the four finger modules 1 and the thumb module 2 need to be turned and mounted, and the two metacarpal bone gaskets 3-1-8 are used for fine adjustment of the connection positions of the finger module at the forefinger and the four finger module at the little finger and the palmar back seat shell 3-1-1 during mirror image exchange.

The distal phalanx base 1-1 is fixed on the distal phalanx of four fingers of a human hand through a magic tape, the middle phalanx base 1-2 is fixed on the middle phalanx of four fingers of the human hand through a magic tape, and the proximal phalanx base 1-3 is fixed on the proximal phalanx of four fingers of the human hand through a magic tape. The thumb distal phalanx seat 2-1 is fixed on the thumb distal phalanx of the human hand through a magic tape, and the thumb proximal phalanx seat 2-2 is fixed on the thumb proximal phalanx of the human hand through a magic tape.

The present invention is not limited to the above embodiments, and those skilled in the art can make various changes and modifications without departing from the scope of the invention.