CN113345551B - Finger Exoskeleton and Glove Exoskeleton - Google Patents
Finger Exoskeleton and Glove Exoskeleton Download PDFInfo
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- CN113345551B CN113345551B CN202010135074.1A CN202010135074A CN113345551B CN 113345551 B CN113345551 B CN 113345551B CN 202010135074 A CN202010135074 A CN 202010135074A CN 113345551 B CN113345551 B CN 113345551B
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 67
- 210000000988 bone and bone Anatomy 0.000 abstract description 4
- 230000005057 finger movement Effects 0.000 abstract description 2
- 210000003811 finger Anatomy 0.000 description 102
- 210000004932 little finger Anatomy 0.000 description 9
- 210000003813 thumb Anatomy 0.000 description 5
- 208000012661 Dyskinesia Diseases 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000004064 dysfunction Effects 0.000 description 2
- 238000009207 exercise therapy Methods 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 210000004553 finger phalanx Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
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- 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
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Epidemiology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Pain & Pain Management (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Rehabilitation Therapy (AREA)
- Engineering & Computer Science (AREA)
- Primary Health Care (AREA)
- Medical Informatics (AREA)
- Biophysics (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
Embodiments of the present disclosure disclose a finger exoskeleton and a glove exoskeleton. One embodiment of the finger exoskeleton comprises: a phalangeal exoskeleton, a wearing part corresponding to phalangeal bone of the finger; and the direction conversion structure is connected with one side, far away from the fingertip, of the phalangeal exoskeleton, and is used for converting the movement of the phalangeal exoskeleton on a first plane into the movement of the direction conversion structure on a second plane, wherein the first plane is perpendicular to the second plane. The finger exoskeleton disclosed by the embodiment can convert the movement of the finger exoskeleton in the first plane into the movement of the direction conversion structure in the second plane, so that the acquisition of finger movement information is facilitated, and the space position occupied by the position information acquisition structure for acquiring the movement information in the glove exoskeleton is reduced.
Description
Technical Field
Embodiments of the present disclosure relate to the field of robotics, and in particular, to finger exoskeleton and glove exoskeleton.
Background
In recent years, the incidence of dyskinesia diseases (e.g., stroke, etc.) has increased in recent years, and particularly flexible joints such as fingers are more severely affected by dyskinesia.
Modern medicine and clinical manifestations have demonstrated that scientific and effective exercise therapy is an effective method for treating dyskinesia. However, due to the high technical requirements of exercise therapy, the medical professionals are required to perform one-to-one treatment for a long time, which requires a great deal of labor of the medical professionals for a long time, and the requirements of rehabilitation training of increasingly dyskinesia patients cannot be met.
In the related art, the glove exoskeleton is used for treating finger movement dysfunction, so that the workload of medical staff can be reduced while the requirements of rehabilitation training of patients with movement dysfunction are met. However, when the existing glove exoskeleton performs the actions of grasping, holding and the like, the finger exoskeleton mainly moves in a plane perpendicular to the palm, so that the acquisition of position information of the finger exoskeleton is inconvenient. In this case, the position information acquisition structure is generally required to acquire motion information of each finger exoskeleton moving in a plane perpendicular to the palm, which often causes problems that the position information acquisition structure occupies a large spatial position in the glove exoskeleton and the glove exoskeleton is poor in practicality.
Disclosure of Invention
Embodiments of the present disclosure propose a finger exoskeleton and a glove exoskeleton.
In a first aspect, embodiments of the present disclosure provide a finger exoskeleton comprising: the phalangeal exoskeleton is a wearing part corresponding to phalanges of fingers; and the direction conversion structure is connected with one side, far away from the fingertip, of the phalangeal exoskeleton, and is used for converting the movement of the phalangeal exoskeleton on a first plane into the movement of the direction conversion structure on a second plane, wherein the first plane is perpendicular to the second plane.
In some embodiments, the direction-switching structure comprises: the movable rod is used for moving along with the movement of the finger exoskeleton; the left swing rod and the right swing rod are provided with longitudinal pin shaft holes and can move in a second plane; the longitudinal pin shaft penetrates through the longitudinal pin shaft hole and is connected with the moving rod and the left and right swinging rods, wherein the shaft extending direction of the longitudinal pin shaft is perpendicular to the second plane, and the longitudinal pin shaft responds to the movement of the moving rod to drive the left and right swinging rods to move in the second plane.
In some embodiments, the phalangeal exoskeleton comprises an upper and lower swing link, wherein the upper and lower swing link is a wearing portion corresponding to a proximal phalanx of a finger; the upper swing rod and the lower swing rod are connected with the moving rod through a first transverse pin shaft so that the moving rod moves in response to the movement of the upper swing rod and the lower swing rod in a first plane, wherein the axial extension direction of the first transverse pin shaft is perpendicular to the axial extension direction of the longitudinal pin shaft.
In some embodiments, the direction-switching structure further comprises: a support for connecting the main frame plate; the bearing is arranged in the cavity arranged in the support and is used for connecting the support with the left and right swinging rods so as to enable the left and right swinging rods to move in a second plane relative to the main frame plate; the upper swing rod and the lower swing rod are connected with the support through a second transverse pin shaft so that the upper swing rod and the lower swing rod move in a first plane relative to the main frame plate, wherein the shaft extending direction of the second transverse pin shaft is perpendicular to the shaft extending direction of the longitudinal pin shaft.
In some embodiments, the left and right pendulum rods are provided with threaded holes to enable the support to fixedly connect the bearing with the left and right pendulum rods through screws and bearing press plates.
In some embodiments, the bearing is an interference fit with the cavity of the support.
In some embodiments, the finger exoskeleton further comprises: the first clamp spring and the second clamp spring are respectively arranged in shaft grooves of the longitudinal pin shaft and the first transverse pin shaft so as to fix the longitudinal pin shaft and the first transverse pin shaft.
In some embodiments, the finger exoskeleton further comprises: and the third clamp spring is arranged in the shaft groove of the second transverse pin shaft so as to fix the second transverse pin shaft.
In a second aspect, embodiments of the present disclosure provide a glove exoskeleton, the glove comprising: the finger exoskeleton of any one of the embodiments above, wherein the glove exoskeleton further comprises: a main frame plate which is a wearing part corresponding to the palm; the finger exoskeleton is connected with the main frame plate through a direction conversion structure.
In some embodiments, the finger exoskeleton comprises a support; the finger exoskeleton is fixedly connected with the main frame plate through a support.
In some embodiments, the glove exoskeleton further comprises: and the position information acquisition structure is arranged corresponding to the direction conversion structure and is used for acquiring the motion information of the direction conversion structure on the second plane.
In some embodiments, the glove exoskeleton further comprises: the main control board is electrically connected with the position information acquisition structures and is used for processing the motion information acquired by each position information acquisition structure and generating control signals for controlling the movement of the finger exoskeleton.
The finger exoskeleton and the glove exoskeleton provided by the embodiment of the disclosure comprise a finger exoskeleton and a direction conversion structure, wherein the finger exoskeleton is a wearing part corresponding to finger bones of fingers, the direction conversion structure is connected with one side, far away from fingertips, of the finger exoskeleton, and can convert movement of the finger exoskeleton on a first plane into movement of the direction conversion structure on a second plane perpendicular to the first plane. According to the scheme, the direction conversion structure can convert the movement of the phalangeal exoskeleton on the first plane (for example, the vertical plane) into the movement of the direction conversion structure on the second plane (for example, the horizontal plane), so that the position information acquisition structure can acquire the movement information of the direction conversion structure on the second plane, namely, the movement information of the phalangeal exoskeleton on the first plane can be determined, and the phalangeal exoskeleton movement information can be acquired conveniently. It can be appreciated that the position information acquisition structure occupies a small spatial position in the glove exoskeleton to acquire the motion information of the direction conversion structure in the second plane, and the finger exoskeleton reduces the volume of the glove exoskeleton and improves the practicability of the glove exoskeleton.
Drawings
Other features, objects and advantages of the present disclosure will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings:
FIG. 1A illustrates a schematic diagram of one embodiment of a finger exoskeleton according to the present disclosure;
FIG. 1B illustrates an alternate view of the finger exoskeleton of FIG. 1A with the movement of the direction conversion structure;
FIG. 1C shows a cross-sectional view of a partial structure of the finger exoskeleton of FIG. 1A;
FIG. 2A illustrates a schematic structural view of one embodiment of a glove exoskeleton according to the present disclosure;
fig. 2B shows a schematic view of the glove exoskeleton of fig. 2A being worn on a hand.
Detailed Description
The present disclosure is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the present application are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
FIG. 1A illustrates a schematic structural view of one embodiment of a finger exoskeleton according to the present disclosure. In this embodiment, the finger exoskeleton 100 can include a phalangeal exoskeleton and a direction converter 102, as shown in fig. 1A. It will be appreciated that the finger exoskeleton 100 disclosed in this embodiment may constitute a glove exoskeleton, which may be a wearable device for the hand.
In this embodiment, the phalangeal exoskeleton may be a wearing part corresponding to a phalangeal bone of a finger, and the phalangeal exoskeleton may be connected with a direction conversion structure. In particular, the direction-shifting structure may be coupled to a side of the phalangeal exoskeleton remote from the fingertip. It is understood that the phalanges of a finger may be the portion of the finger from the tip of the finger to the proximal phalanges. It should be noted that, for clarity, the specific structure of the finger exoskeleton is specifically shown, only the wearing portion of the finger exoskeleton corresponding to the proximal phalanx is shown in fig. 1A to be connected to the direction conversion structure 102.
It should be noted that, in the prior art, when a user wears a glove exoskeleton including a finger exoskeleton to perform a gripping, holding, etc., the finger exoskeleton in the finger exoskeleton can move in a first plane. Here, the first plane may be a plane perpendicular to a plane in which the palm is located. It will be appreciated that when a user wears the hand wearing device including the finger exoskeleton 100 to grip, the first plane and the second plane may be planes determined based on the palm, for example, when the palm is placed horizontally, the first plane may be a vertical plane, and the finger exoskeleton may move in the vertical plane when performing the gripping, holding, etc. In the prior art, in order to collect the motion information of the finger exoskeleton in the first plane (for example, a vertical plane, etc.), the position information collecting structure often needs to be set relatively to the first plane, and in this case, the position information collecting structure usually needs to occupy a larger space range, which causes that the size of the glove exoskeleton is larger and the practicability is worse.
In this embodiment, the direction conversion structure 102 is connected to a wearing portion of the phalangeal exoskeleton corresponding to the proximal phalangeal bone, so that the direction conversion structure 102 can convert the movement of the phalangeal exoskeleton on a first plane (for example, the vertical plane) into the movement of the direction conversion structure 102 on a second plane (for example, the horizontal plane). Here, the first plane may be perpendicular to the second plane.
Thus, when a glove exoskeleton including finger exoskeleton 100 performs an action such as a grip, or the like, the finger exoskeleton can move in a first plane (e.g., a plumb plane), and then, with direction conversion structure 102 can convert the movement of the finger exoskeleton in the first plane to movement of the direction conversion structure in a second plane (e.g., a level plane). Therefore, the movement information of the finger exoskeleton in the first plane can be determined by the movement information of the position information acquisition structure acquisition direction conversion structure 102 in the second plane, so that the movement information of the position information acquisition structure acquisition direction conversion structure 102 in the second plane is facilitated, and the problem that the size of the glove exoskeleton is large due to the fact that the position information acquisition structure must acquire the movement information of the first plane is avoided. It will be appreciated that the specific configuration of the above-described direction conversion structure may be as shown in the dashed circle of fig. 1A, and of course, the above-described direction conversion structure may take other forms, which may be implemented to convert the movement of the phalangeal exoskeleton in the first plane into the movement of the direction conversion structure in the second plane, which is not limited herein.
In some alternative implementations of the present embodiment, the direction conversion structure 102 may include a moving rod 1021, a left and right swing rod 1022, and a longitudinal pin 1023, as shown in fig. 1A. Wherein the moving rod 1021 can move with the movement of the phalangeal exoskeleton. A longitudinal pin hole 10221 is provided in the left and right swing rods 1022, and as shown in fig. 1A, the longitudinal pin hole 10221 may move on the second surface. The longitudinal pin 1023 may pass through a longitudinal pin hole 10221 in the left and right swing links 1022 to connect the moving lever 1021 and the left and right swing links 1022, as shown in fig. 1A. Therefore, if the moving rod 1021 moves in the first plane, the longitudinal pin 1023 can be linked to move in the longitudinal pin hole 10221, so that the left and right swing rods 1022 can be driven to move in the second plane. The axial extension direction of the longitudinal pin 1023 is perpendicular to the second plane.
Further, the phalangeal exoskeleton may include upper and lower swing rods 101, as shown in fig. 1A, wherein the upper and lower swing rods 101 may be wearing parts corresponding to proximal phalanges of fingers. The upper and lower swing rods 101 may be connected to the moving rod 1021 through a first transverse pin 1024, so that the moving rod 1021 may move in response to the movement of the upper and lower swing rods 101 in the first plane. Here, the axis extending direction of the first transverse pin 1024 may be perpendicular to the axis extending direction of the longitudinal pin 1023 described above, as shown in fig. 1A. It will be appreciated that the pin may be a standardized fastener, primarily for use in the hinge of two parts, forming a hinge link. The pin shaft can play a role in static fixed connection and can also play a role in relative movement with a connected piece. In this embodiment, the longitudinal pin 1023 performs a function of moving relatively to the connected member, that is, the longitudinal pin 1023 moves relatively to the left and right swing rods 1022, and the first transverse pin 1024 performs a function of static fixed connection, that is, static fixed connection between the moving rod 1021 and the upper and lower swing rods 101.
It will be appreciated that when the phalangeal exoskeleton moves in the first plane, as shown in fig. 1B, the upper and lower swing rods 101 may move in the first plane, and the first transverse pin 1024 is linked to pull the moving rod 1021, and the longitudinal pin 1023 is linked to pull the left and right swing rods 1022 to move, so as to complete the conversion from the movement of the phalangeal exoskeleton in the first plane to the movement of the direction conversion structure 102 in the second plane, as shown in fig. 1B. Wherein fig. 1B shows an alternating view of the movement of the phalangeal exoskeleton and the movement of the direction conversion structure in the phalangeal exoskeleton of fig. 1A.
In some optional implementations of this embodiment, the direction conversion structure may further include: the abutment 1025 is shown in FIG. 1A. Wherein the abutment 1025 can be used to secure the finger exoskeleton 100. Further, the direction conversion structure 102 may further include a bearing 1026, as shown in fig. 1C. Wherein fig. 1C shows a cross-sectional view of a partial structure of the finger exoskeleton of fig. 1A. It should be noted that the support 1025 may have a cavity, and as shown in fig. 1C, the bearing 1026 may be disposed in the cavity of the support 1025. The bearing 1026 may connect the support 1025 to the left and right swing links 1022, such that the left and right swing links 1022 may move relative to the support 1025 in a second plane with rotation of the bearing 1026. The upper and lower swing rods 101 may be connected to the support 1025 through a second transverse pin 1027, as shown in fig. 1A, so that the upper and lower swing rods 101 may move in a first plane with respect to the support 1025. The axis extending direction of the second transverse pin 1027 is perpendicular to the axis extending direction of the longitudinal pin 1023, and the axis extending direction of the second transverse pin 1027 may also be parallel to the axis extending direction of the first transverse pin 1024, as shown in fig. 1A. Also, similar to the first transverse pin 1024, the second transverse pin 1027 also serves as a static fixed connection, i.e., the support 1025 is statically connected to the upper and lower swing rods 101.
In some alternative implementations of this embodiment, the bearing 1026 may be an interference fit with the cavity of the seat 1025, as shown in fig. 1C, so that the bearing 1026 may be tightly coupled to the seat 1025, thereby improving the stability of the finger exoskeleton 100.
In some alternative implementations of the present embodiment, the left and right swing rods 1022 may have threaded holes 1028, as shown in fig. 1B. The support 1025 may fixedly connect the bearing 1026 to the left and right swing arms 1022 through screws 1029 and a bearing pressing plate 1030. It will be appreciated that the bearing press plate 1030 and the screw 1029 cooperate such that the left and right swing bars 1022 may move in the second plane while the bearing 1026 is holding the support 1025, i.e., the conversion of the movement of the phalangeal exoskeleton in the first plane into the movement of the direction conversion structure in the second plane may be achieved.
In some alternative implementations of the present embodiment, the finger exoskeleton 100 may further include a snap spring that cooperates with the longitudinal pin 1023, the first lateral pin 1024, and the second lateral pin 1027, as shown in fig. 1A and 1C. The snap spring can be called a retainer ring or a snap ring, belongs to one type of fastening piece and is used for fastening a bearing and preventing the bearing from falling off. Specifically, the finger exoskeleton 100 may include a first clamp spring 1031, a second clamp spring 1032, and a third clamp spring 1033 corresponding to the longitudinal pin 1023, the first lateral pin 1024, and the second lateral pin 1027, respectively, as shown in fig. 1A and 1C. The first clamp spring 1031 may be disposed in a shaft groove of the longitudinal pin 1023, as shown in fig. 1A. The second clamp spring 1032 may be disposed in a slot of the first lateral pin 1024 and the third clamp spring 1033 may be disposed in a slot of the second lateral pin 1027, as shown in fig. 1A and 1C.
The finger exoskeleton 100 provided in the above embodiments of the present disclosure may include a phalangeal exoskeleton, which is a wearing part corresponding to a phalangeal bone of a finger, and a direction conversion structure 102, the direction conversion structure 102 may be connected to a side of the phalangeal exoskeleton away from a fingertip, and the direction conversion structure 102 may convert a movement of the phalangeal exoskeleton on a first plane into a movement of the direction conversion structure on a second plane perpendicular to the first plane. According to the scheme, the direction conversion structure can convert the movement of the phalangeal exoskeleton on the first plane (for example, the vertical plane) into the movement of the direction conversion structure on the second plane (for example, the horizontal plane), so that the position information acquisition structure can acquire the movement information of the direction conversion structure on the second plane, namely, the movement information of the phalangeal exoskeleton on the first plane can be determined, and the phalangeal exoskeleton movement information can be acquired conveniently. It can be appreciated that the position information acquisition structure occupies a small spatial position in the glove exoskeleton to acquire the motion information of the direction conversion structure in the second plane, and the finger exoskeleton reduces the volume of the glove exoskeleton and improves the practicability of the glove exoskeleton.
Next, please continue to refer to fig. 2A, fig. 2A shows a schematic structural view of one embodiment of a glove exoskeleton according to the present disclosure. In this embodiment, a glove including glove exoskeleton 200 as shown in fig. 2A may be a wearable device of the hand. The glove exoskeleton 200 can include a main frame plate 201 and at least one finger exoskeleton, such as five finger exoskeletons 202, 203, 204, 205, 206, as shown in fig. 2A. Of course, the number of the finger exoskeletons can be set according to actual needs. Taking the example of glove exoskeleton 200 comprising five finger exoskeleton as shown in fig. 2A, five finger exoskeleton 202, 203, 204, 205, 206 in glove exoskeleton 200 can each comprise five direction switching structures 2021, 2031, 2041, 2051, 2061, each of which can be located within a virtual loop as shown in fig. 2A.
In the present embodiment, the above-described main frame plate 201 may be a wearing portion corresponding to the palm, as shown in fig. 2A, and the shape of the main frame plate 201 is adapted to the shape of the palm, for example, the main frame plate 201 may be a plate-like structure projected as a rectangle, as shown in fig. 2A. Of course, the main frame plate 201 may have other shapes such as a plate-like structure projected in a trapezoid, and is not limited only. The five finger exoskeletons 202, 203, 204, 205, and 206 may be wearing parts corresponding to the five fingers, respectively, as shown in fig. 2B, and fig. 2B shows a schematic diagram of wearing the glove exoskeletons in fig. 2A on the hand. Specifically, the five finger exoskeletons described above may include a thumb exoskeletons 202, an index finger exoskeletons 203, a middle finger exoskeletons 204, a ring finger exoskeletons 205, and a little finger exoskeletons 206. It will be appreciated that the thumb exoskeleton 202 may be a wearing portion corresponding to a thumb, the index finger exoskeleton 203 may be a wearing portion corresponding to an index finger, the middle finger exoskeleton 204 may be a wearing portion corresponding to a middle finger, the ring finger exoskeleton 205 may be a wearing portion corresponding to a ring finger, and the little finger exoskeleton 206 may be a wearing portion corresponding to a little finger, as shown in fig. 2B.
It should be noted that each of the above-mentioned finger exoskeleton is generally connected to the main frame plate 201, so that the wearable function of the glove exoskeleton 200 can be achieved. In the prior art, each finger exoskeleton is often fixedly attached directly to the main frame plate 201. Thus, when a user performs a gripping, holding, etc. action while wearing the glove exoskeleton as shown in fig. 2A, each finger exoskeleton can move in a first plane. Here, the first plane may be a surface parallel to the first surface of the main frame plate 201. It will be appreciated that the main frame plate 201 may be disposed opposite the palm of the hand when the user is wearing a glove comprising glove exoskeleton 200, and that the first surface may be the surface of main frame plate 201 opposite the palm of the hand. For example, when the palm is placed horizontally, the first plane may be a vertical plane, and each of the finger exoskeletons may move in the vertical plane when performing the grasping operation or the like. In order to collect motion information of each phalange exoskeleton in a first plane (for example, a vertical plane, etc.), the position information collecting structure often needs to be set relative to the first plane, and in this case, the position information collecting structure usually needs to occupy a larger space range, which results in larger size and poorer practicability of the glove exoskeleton.
In this embodiment, each finger exoskeleton may be connected to the main frame plate 201 by a corresponding direction conversion structure. Specifically, thumb exoskeleton 202 is connected to main frame plate 201 by a direction conversion structure 2021 corresponding to thumb exoskeleton 202, index finger exoskeleton 203 is connected to main frame plate 201 by a direction conversion structure 2031 corresponding to index finger exoskeleton 203, middle finger exoskeleton 204 is connected to main frame plate 201 by a direction conversion structure 2041 corresponding to middle finger exoskeleton 204, ring finger exoskeleton 205 is connected to main frame plate 201 by a direction conversion structure 2051 corresponding to ring finger exoskeleton 205, and little finger exoskeleton 206 is connected to main frame plate 201 by a direction conversion structure 2061 corresponding to little finger exoskeleton 206, as shown in fig. 2A.
The above-described directional translation structures may be used to translate movement of a corresponding phalangeal exoskeleton on a first plane into movement of the directional translation structures on a second plane. The second plane may be parallel to the first surface of the main frame plate 201. Thus, when glove exoskeleton 200 performs an action such as grasping, holding, etc., the phalangeal exoskeleton in each finger exoskeleton moves in a first plane (e.g., a plumb plane), and then the direction conversion structure in each finger exoskeleton can convert the movement of the corresponding phalangeal exoskeleton in the first plane to movement of the direction conversion structure in a second plane (e.g., a horizontal plane). Therefore, the movement information of the finger skeleton exoskeleton in the first plane can be determined by the movement information of the position information acquisition structure in the second plane, the movement information of the finger skeleton exoskeleton in the second plane can be conveniently acquired by the position information acquisition structure by the direction conversion structure, and the problem that the size of the glove exoskeleton of the position information acquisition structure is large due to the movement information of the first plane is avoided.
It will be appreciated that the position information gathering structure of each finger exoskeleton generally gathers movement of the finger exoskeleton away from the finger tip, and therefore, the position information gathering structure is often disposed on the finger exoskeleton away from the finger tip. And, the position information acquisition structure is only required to acquire the motion information in the second surface, so the position information acquisition structure can be arranged opposite to the second surface. By combining the two points, the position information acquisition structure occupies a small space in the glove exoskeleton, so that the acquisition of the movement information of the finger exoskeleton can be realized, and the volume of the glove exoskeleton can be reduced.
In some alternative implementations of this embodiment, the glove exoskeleton 200 may include a position information acquisition structure corresponding to each finger exoskeleton, for example, five position information acquisition structures, as shown in fig. 2A, where each position information acquisition structure may be respectively corresponding to each finger exoskeleton. Here, taking the position information collection structure 207 corresponding to the little finger exoskeleton 206 as an example, as shown in fig. 2A, the position information collection structure 207 may be provided corresponding to the direction conversion structure 2061 corresponding to the little finger exoskeleton 206. Further, a positional information acquisition structure 207 corresponding to the little finger exoskeleton 206 may be in contact with the direction conversion structure 2061, such that the positional information acquisition structure 207 may acquire movement information of the positional information acquisition structure 207 in the second plane. The position and function of the position information acquisition structure corresponding to the other finger exoskeleton structures except the little finger exoskeleton are the same as or similar to those of the position information acquisition structure 207, and will not be described here again. It will be appreciated that the various positional information gathering structures described above may also be located at other locations of glove exoskeleton 200, without limitation.
In some alternative implementations of this embodiment, glove exoskeleton 200 can further include a master control board 208, as shown in fig. 2A, and each of the above-described position information acquisition structures (e.g., position information acquisition structure 207) can be electrically connected to master control board 208. Therefore, the main control board 208 can acquire the motion information of the corresponding finger exoskeleton from each position information acquisition structure. The acquired motion information may then be processed and analyzed by the master control board 208 to generate control signals for controlling movement of the individual finger exoskeleton. Alternatively, the main control board 208 may be fixed to the main frame board 201 by screws, as shown in fig. 2A. It will be appreciated that the master control board 208 may also be located at other locations of the glove exoskeleton 200, as described above without limitation.
The glove exoskeleton 200 disclosed in the above embodiment of the present application includes the finger exoskeleton of the above embodiment, and the main frame plate 201, each of which is connected to the main frame plate 201 through a direction conversion structure therein. According to the scheme disclosed by the embodiment, the direction conversion structure can convert the movement of the finger exoskeleton on the first plane (for example, the vertical plane) into the movement of the direction conversion structure on the second plane (for example, the horizontal plane), so that the position information acquisition structure can acquire the movement information of the direction conversion structure in the second plane, namely, the movement information of the finger exoskeleton in the first direction can be determined, and the position information acquisition structure occupies a smaller space position in the glove exoskeleton, namely, the acquisition of the movement information of the direction conversion structure in the second plane can be realized, so that the size of the glove exoskeleton is reduced, and the practicability of the glove exoskeleton is improved.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the application in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the application. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.
Claims (11)
1. A finger exoskeleton comprising:
the phalangeal exoskeleton is a wearing part corresponding to phalanges of fingers;
the direction conversion structure is connected with one side, far away from the fingertip, of the phalangeal exoskeleton and is used for converting the movement of the phalangeal exoskeleton on a first plane into the movement of the direction conversion structure on a second plane, and the first plane is perpendicular to the second plane;
wherein, the direction conversion structure includes: a moving rod for moving with the movement of the finger exoskeleton; the left swing rod and the right swing rod are provided with longitudinal pin shaft holes, and the left swing rod and the right swing rod can move in the second plane; the longitudinal pin shaft penetrates through the longitudinal pin shaft hole and is connected with the moving rod and the left and right swinging rods, the shaft extending direction of the longitudinal pin shaft is perpendicular to the second plane, and the longitudinal pin shaft responds to the movement of the moving rod to drive the left and right swinging rods to move in the second plane.
2. The finger exoskeleton of claim 1, wherein said phalangeal exoskeleton comprises upper and lower swing arms, wherein said upper and lower swing arms are wearable portions corresponding to proximal phalanges of a finger;
the upper swing rod and the lower swing rod are connected with the moving rod through a first transverse pin shaft so that the moving rod can move in response to the movement of the upper swing rod and the lower swing rod in the first plane, wherein the axial extension direction of the first transverse pin shaft is perpendicular to the axial extension direction of the longitudinal pin shaft.
3. The finger exoskeleton of claim 2 wherein said direction conversion structure further comprises:
a support for securing the finger exoskeleton;
the bearing is arranged in the cavity arranged in the support and is used for connecting the support with the left and right swinging rods so as to enable the left and right swinging rods to move in the second plane relative to the support;
the upper swing rod and the lower swing rod are connected with the support through a second transverse pin shaft so that the upper swing rod and the lower swing rod move in the first plane relative to the support, wherein the axial extension direction of the second transverse pin shaft is perpendicular to the axial extension direction of the longitudinal pin shaft.
4. A finger exoskeleton as claimed in claim 3 wherein said left and right swing arms are provided with threaded bores to enable said support to fixedly connect said bearing to said left and right swing arms by means of screws and bearing clamps.
5. A finger exoskeleton as claimed in claim 3 wherein said bearing is an interference fit with the cavity of said support.
6. The finger exoskeleton of claim 2, wherein said finger exoskeleton further comprises:
the first clamp spring and the second clamp spring are respectively arranged in the shaft grooves of the longitudinal pin shaft and the first transverse pin shaft so as to fix the longitudinal pin shaft and the first transverse pin shaft.
7. The finger exoskeleton of claim 3 wherein said finger exoskeleton further comprises:
and the third clamp spring is arranged in the shaft groove of the second transverse pin shaft so as to fix the second transverse pin shaft.
8. A glove exoskeleton comprising the finger exoskeleton of any one of claims 1 to 7, wherein said glove exoskeleton further comprises:
a main frame plate which is a wearing part corresponding to the palm;
the finger exoskeleton is connected with the main frame plate through the direction conversion structure.
9. The glove exoskeleton of claim 8, wherein said finger exoskeleton comprises a support;
the finger exoskeleton is fixedly connected with the main frame plate through a support.
10. The glove exoskeleton of claim 8, wherein said glove exoskeleton further comprises:
and the position information acquisition structure is arranged corresponding to the direction conversion structure and is used for acquiring the motion information of the direction conversion structure on the second plane.
11. The glove exoskeleton of claim 10, wherein said glove exoskeleton further comprises:
the main control board is electrically connected with the position information acquisition structures and is used for processing the motion information acquired by each position information acquisition structure and generating a control signal for controlling the movement of the finger exoskeleton.
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