CN210282277U - Hand exoskeleton device - Google Patents
Hand exoskeleton device Download PDFInfo
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- CN210282277U CN210282277U CN201920941255.6U CN201920941255U CN210282277U CN 210282277 U CN210282277 U CN 210282277U CN 201920941255 U CN201920941255 U CN 201920941255U CN 210282277 U CN210282277 U CN 210282277U
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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Abstract
The utility model relates to a hand ectoskeleton equipment, this hand ectoskeleton equipment includes: the finger mechanism is matched with the human finger and can move along with the human finger; a finger fixture capable of securing a human finger to the finger mechanism; a connection mechanism for connecting the finger mechanism and the finger fixation device; the connecting mechanism comprises a first connecting part and a second connecting part which are detachably connected, wherein the first connecting part is arranged on the finger mechanism, and the second connecting part is arranged on the finger fixing device. The utility model provides a hand ectoskeleton equipment can dismantle between finger mechanism and the finger fixing device and be connected, and the user can select the finger fixing device who is fit for oneself when using hand ectoskeleton equipment to dress to improve the comfort level that whole hand ectoskeleton equipment used and the precision of catching to finger motion information.
Description
Technical Field
The utility model relates to the technical field of robots, especially, relate to a hand ectoskeleton equipment.
Background
In a virtual reality scene, a hand exoskeleton wearing device is often used to capture motion information of a human hand, and the hand exoskeleton wearing device has five finger mechanisms matched with five fingers of the human hand and finger fixing devices respectively arranged on the five finger mechanisms. After the hand exoskeleton device is worn, five fingers of a person are bound with five finger mechanisms of the hand exoskeleton wearing device through the finger fixing devices, when the fingers of the person move, corresponding sensors on the hand exoskeleton device capture movement information of the fingers of the person, and the hand exoskeleton device captures movement information of the hand of the person.
Present finger fixing device and finger mechanism are integrative setting usually, however to the people of difference, its hand size of a dimension also can not be the same, when the staff is not fit for with finger fixing device, not only dress is uncomfortable, still can influence the seizure precision of whole equipment to the people hand motion information, the event need change finger fixing device into the model that suits with this hand type when wearing hand exoskeleton equipment, and among the current hand exoskeleton equipment, finger fixing device then can't satisfy actual demand with the design mode of finger mechanism.
SUMMERY OF THE UTILITY MODEL
The utility model provides a hand ectoskeleton equipment aims at solving among the prior art finger fixing device and the integrative setting of finger mechanism, can't satisfy the problem that hand ectoskeleton equipment changed finger fixing device demand.
A hand exoskeleton device comprising: the finger mechanism is matched with the human finger and can move along with the human finger; a finger fixture capable of securing a human finger to the finger mechanism; a connection mechanism for connecting the finger mechanism and the finger fixation device; wherein the connecting mechanism comprises a first connecting part and a second connecting part; the first connecting part is arranged on the finger mechanism, and the second connecting part is arranged on the finger fixing device; the first connecting portion and the second connecting portion are detachably connected, so that the finger fixing device can be replaced by the finger mechanism.
Furthermore, the detachable connection between the first connection part and the second connection part comprises any one of clamping connection, threaded connection and magnetic adsorption connection.
Furthermore, one of the first connecting part and the second connecting part is provided with a cavity, and the other of the first connecting part and the second connecting part is provided with a lock tongue;
a lock core is arranged in the cavity, a force application part which is connected with the lock core so as to apply force to the lock core is arranged outside the cavity, and the lock core can move in the cavity under the action force of the force application part; the cavity is also internally provided with a first elastic part which is contacted with the lock cylinder and can deform under stress when the lock cylinder moves so as to reset the lock cylinder when the lock cylinder is not stressed; the lock tongue can extend into the cavity to be matched with the lock cylinder so as to be fixed in the cavity, and the lock tongue can be separated from the lock cylinder when the lock cylinder moves so as to exit the cavity.
Furthermore, a second elastic part is arranged in the cavity, and the second elastic part can be extruded by the spring bolt to deform when the spring bolt is matched with the lock cylinder, so that the spring bolt is ejected out of the cavity when the spring bolt is separated from the lock cylinder.
Furthermore, one of the lock cylinder and the lock tongue is provided with a convex block, the other is provided with a groove matched with the convex block, and the lock cylinder and the lock tongue are matched with the groove through the convex block.
Furthermore, a first hole site communicated with the cavity is arranged on the first connecting part; one end of the force application part can penetrate through the first hole position to receive force application, and the other end of the force application part is connected with the lock cylinder and cannot penetrate through the first hole position.
Furthermore, a second hole site communicated with the cavity is arranged on the first connecting part, the second hole site is matched with the lock tongue, and the lock tongue can penetrate through the second hole site to be matched with the lock cylinder and further clamped by the lock cylinder and the hole wall of the second hole site.
Further, the first connecting part is hinged to the finger mechanism.
Furthermore, the second connecting part is connected with the finger fixing structure in a non-detachable mode.
Further, the finger fixing device is of a finger sleeve structure or a glove structure.
Further, the first connecting portion comprises a third hole site, and a concave structure is arranged on the side wall of the third hole site; the second connecting part comprises a connecting shaft and a clamping block, and the clamping block is arranged on the side wall of the connecting shaft and can be ejected out of or retracted into the connecting shaft; the connecting shaft can be placed in the third hole site, in the process that the connecting shaft is placed in the third hole site, the clamping block retracts into the connecting shaft under the extrusion of the side wall of the third hole site, then the connecting shaft is popped out of the concave structure and clamped in the concave structure, and when the connecting shaft is applied with a force opposite to the direction of placing the connecting shaft in the third hole site, the clamping block retracts into the connecting shaft, so that the connecting shaft can exit from the third hole site.
Furthermore, a fourth hole site is formed in the side wall of the connecting shaft, the second connecting part further comprises an elastic piece, one end of the elastic piece is fixed in the fourth hole site, and the other end of the elastic piece is connected with the clamping block; the clamping block protrudes out of the fourth hole site and can be retracted into the fourth hole site when stressed.
Further, the first connecting portion includes a first surface and a second surface that are opposite to each other, and the third hole and the concave structure form a stepped hole, where the third hole extends from the first surface to the second surface, and the concave structure extends from the second surface to the first surface; and/or the step surface of the step hole and/or one end of the fixture block protruding out of the fourth hole site are provided with inclined surfaces, so that the fixture block can retract into the fourth hole site when the connecting shaft is applied with force in the direction opposite to the direction of being placed into the third hole site.
The utility model provides a hand ectoskeleton equipment, its finger mechanism are equipped with first connecting portion and second connecting portion respectively with finger fixing device to through the dismantlement between first connecting portion and the second connecting portion being connected, realize that the dismantlement between finger mechanism and the finger fixing device is connected. Therefore, when the user uses the hand exoskeleton equipment, the user can select the finger fixing device suitable for the user to wear, so that the use comfort level of the whole hand exoskeleton equipment is improved, and the capture precision of the finger motion information is improved.
Drawings
Fig. 1 is a schematic view of an overall structure of a hand exoskeleton apparatus according to an embodiment of the present invention;
fig. 2 is an exploded view of the finger mechanism and finger holder assembly in accordance with one embodiment of the present invention;
fig. 3 is a schematic view illustrating a first connection portion and a second connection portion of the present invention;
fig. 4 is a schematic view of the lock core and the lock tongue in a matching connection according to an embodiment of the present invention;
fig. 5 is a schematic overall structure diagram of a first connection portion according to an embodiment of the present invention;
fig. 6 is an exploded view of a first connection portion according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a connection mechanism according to another embodiment of the present invention;
fig. 8 is a schematic partial cross-sectional view of a connection mechanism according to another embodiment of the present invention;
fig. 9 is a schematic partial cross-sectional view of a first connection portion according to another embodiment of the present invention;
fig. 10 is a schematic structural view of a second connecting portion according to another embodiment of the present invention;
fig. 11 is a schematic partial cross-sectional view of a second connecting portion according to another embodiment of the present invention;
fig. 12 is a schematic structural view of a glove as a finger fixing device according to an embodiment of the present invention.
Detailed Description
In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" or "mounted to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. When an element is "in contact" with another element, it can be directly in contact with the other element or intervening elements may be present, in indirect contact with the other element.
As shown in fig. 1 and 2, in an embodiment provided by the present invention, the hand exoskeleton apparatus includes: a finger mechanism 1, a finger fixing device 2 and a connecting mechanism 3. The finger mechanism 1 is matched with fingers of a person and can move along with the fingers of the person after being worn; the finger fixing device 2 is worn by fingers so as to fix the fingers of a person and the finger mechanism together; the connecting mechanism 3 is used to connect the finger mechanism 1 with the finger fixing device 2. The connecting mechanism 3 comprises a first connecting part 31 and a second connecting part 32 which are detachably connected together, namely, the first connecting part 31 and the second connecting part 32 can be detached and separated again after being matched and connected, wherein the first connecting part 31 is arranged on the finger mechanism 1, the second connecting part 32 is arranged on the finger fixing device 2, and the connection between the finger mechanism 1 and the finger fixing device 2 can be realized through the matching of the first connecting part 31 and the second connecting part 32. In this embodiment, the first connection portion 31 is detachably connected to the second connection portion 32, so that the connection between the finger mechanism 1 and the finger fixing device 2 is detachable. Therefore, when the user uses the hand exoskeleton device, the finger fixing devices 2 which are not suitable for the fingers of the user can be detached, and the finger fixing devices 2 which are suitable for the user are installed on the finger mechanism to be worn (when the hand exoskeleton device is actually used, the finger fixing devices 2 corresponding to each finger of the hand exoskeleton device are provided with a plurality of different sizes and provided with second connecting parts), so that the use comfort level of the whole hand exoskeleton device is improved, and the capture precision of the motion information of the fingers is improved.
In the present embodiment, the finger mechanism 1 includes a four-finger mechanism 11 and a thumb mechanism 12, wherein the four-finger mechanism 11 and the thumb mechanism 12 are both link mechanisms, which are mounted on a palm fixing device 4 for being worn by a human hand. Specifically, the thumb mechanism 12 corresponds to a thumb of a human hand and is used for wearing the thumb of the human hand, and the four-finger mechanism 11 corresponds to the other four fingers of the human hand and is used for wearing the other four fingers of the human hand. In order to provide the finger mechanism 1 with a better following effect (i.e. the effect of the finger mechanism 1 following the movement of the finger) the first connecting portion 31 is arranged at the end of the finger mechanism 1 remote from the palm fixing device 4. Further, in order to make the fingers more flexible after wearing the device, the first connecting portion 31 is hinged to the finger mechanism 1.
In addition, in this embodiment, the finger fixing device 2 is a finger stall or a glove, so that the user can wear the finger stall more conveniently. Of course, the finger fixing device 2 may also be a strap, such as a velcro tape. The finger fixing device 2 is made of silica gel, plastic, cloth and the like, so that the finger is more comfortable to wear. The finger fixing device 2 and the second connecting portion 32 are permanently fixed and non-detachable, and they may be bonded together by gluing, sewing, or integrally molding.
The utility model provides an in the embodiment, be connected through the joint mode between first connecting portion 31 and the second connecting portion 32, make the connection of the two more simple and convenient. It is understood that, in other embodiments provided by the present invention, the first connection portion 31 and the second connection portion 32 may be combined by a threaded connection or the like. At this time, one of the first connecting portion 31 and the second connecting portion 32 is provided with a bolt structure, and the other is provided with a screw hole structure adapted to the bolt structure. Of course, in other embodiments provided by the present invention, the first connecting portion 31 and the second connecting portion 32 can also be detachably connected together by magnetic attraction, and at this time, the portions of the first connecting portion 31 and the second connecting portion for connection are respectively provided with magnets with opposite magnetism.
As shown in fig. 3, in the embodiment provided by the present invention, the clamping connection between the first connection portion 31 and the second connection portion 32 is specifically: first connecting portion 31 is equipped with cavity 311, and second connecting portion 32 is equipped with spring bolt 321, and can understand the utility model provides an in other embodiments, cavity 311 also can be with the setting of spring bolt 321: the latch tongue 321 is disposed on the first connection portion 31, and the cavity 311 is disposed on the second connection portion 32. The cavity 311 is internally provided with a lock core 312, the cavity 311 is externally provided with a force application part 313 connected with the lock core 312 so as to apply force to the lock core 312, the lock core 312 can move in the cavity 311 under the action force of the force application part 313, that is, the force applied by a person is transferred to the lock core 312 after passing through the force application part 313, so that the lock core 312 moves in the cavity 311. The cavity 311 is further provided with a first elastic member 314 (in this embodiment, the first elastic member 314 is a spring, in other embodiments of the present invention, the first elastic member 314 may also be an elastic device such as a spring plate, and the first elastic member 314 is in contact with the lock cylinder 312. When the lock core 312 is forced by the force application part 313 to move, the first elastic part 314 is forced to deform, and when the force applied to the lock core 312 by a person disappears (i.e. the force applied to the lock core 312 by the force application part 313 disappears), the first elastic part 314 can reset the lock core 312. The bolt 321 can extend into the cavity 311 to be matched with the lock cylinder 312, and the bolt 321 can be fixed in the cavity 311 after the bolt 321 and the lock cylinder are matched, so that the connection between the finger fixing device 2 and the finger mechanism 1 is realized; and the bolt 321 can be disengaged from the lock cylinder 312 when the lock cylinder 312 is forced to move so as to exit the cavity 311, thereby realizing the separation of the finger fixing device 2 and the finger mechanism 1.
In this embodiment, the lock cylinder 312 is forced by the force application part 313 to move linearly in the cavity 311, the first elastic element 314 is disposed between the lock cylinder 312 and the cavity wall of the cavity 311, and the first elastic element 314 is pressed to deform when the lock cylinder 312 moves. It is understood that in other embodiments provided by the present invention, the movement of the lock cylinder 312 may also be an arc movement, and the first elastic element 314 may also be deformed by the pulling force.
Further, as shown in fig. 3, in this embodiment, a second elastic element 315 is further disposed in the cavity 311, one end of the second elastic element 315 is connected to a cavity wall of the cavity 311, and the other end of the second elastic element 315 can contact the latch 321 and be pressed to deform when the latch 321 extends into the cavity to match with the lock cylinder 312. When the latch 321 is disengaged from the key cylinder 312, the elastic force of the second elastic member 315 can eject the latch 321 out of the cavity 311, so that the finger fixing device 2 is separated from the finger mechanism 1. The second elastic member 315 may also be an elastic device such as a spring or a leaf spring. In addition, in other embodiments provided by the present invention, the deformation of the second elastic element 315 may also be a deformation generated by a tensile force.
As shown in fig. 4, in the present embodiment, the lock cylinder 312 is provided with a projection 3121, the lock bolt 321 is provided with a groove 3211 matched with the projection 3121, and the lock cylinder 312 and the lock bolt 321 are matched with the groove 3211 through the projection 3121. It can be understood that, in other embodiments provided by the present invention, the projection 3121 may also be disposed on the latch tongue 321, and the groove 3211 is disposed on the lock cylinder 312. Specifically, in this embodiment, the key cylinder 312 includes a plate-shaped base 3122, the protrusion 3121 is a prism vertically disposed on the base, the locking tongue 321 is a column, and the groove 3211 is a rectangular groove.
In addition, as shown in fig. 3, 5 and 6, in the present embodiment, the first connecting portion 31 is provided with a first hole 316 communicated with the cavity 311; one end of the force application part 313 can pass through the first hole 316 to receive the force application, and the other end of the force application part 313 is connected with the key cylinder 312 and can not pass through the first hole 316. The first hole 316 is an escape position of the force application portion 313, and is used for extending the force application portion 313 out of the cavity so as to receive a force application. As shown in fig. 4, the lock core 312 and the force application portion 313 are integrally formed as an F-shaped structure, one end of the F-shaped structure having two parallel branches is a lock core portion located in the cavity, and the other end is the force application portion 313 extending out of the cavity 311. The branch far from the force application portion 313 is a protruding block 3121 for cooperating with the latch 321 (the latch 321 passes through a gap between the two branches to cooperate with the branch), and the other branch can abut against a cavity wall of the cavity 311 (for example, the length of the other branch is greater than the width of the first hole position 316), so as to perform a limiting function, so as to prevent the lock cylinder 312 from exiting the cavity 311 from the first hole position 316, and thus, the lock cylinder portion is always located in the cavity 311. It can be understood that, in other embodiments provided by the present invention, the clearance of the force application portion 313 disposed on the first connection portion 31 may also be a long groove structure, the length direction of the clearance is the same as the movement direction of the lock cylinder 312, and the force application portion 313 can move along the long groove, so as to drive the lock cylinder 312 to move.
As shown in fig. 5, in this embodiment, the first connecting portion 31 is provided with a second hole 317 communicated with the cavity 311, the second hole 317 is adapted to the latch 321, and the latch 321 passes through the second hole 317 to be matched with the key cylinder 312, and then is tightly clamped by the lock cylinder 312 and the hole walls of the second hole 317. It can be understood that, in order to facilitate the separation of the lock cylinder 312 and the latch tongue 321 after the lock cylinder is locked and locked, the depth direction of the second hole position 317 is not parallel to the moving direction of the lock cylinder 312, and preferably, the depth direction is perpendicular to the moving direction of the lock cylinder 312.
As shown in fig. 6, in the embodiment provided by the present invention, the first connecting portion 31 includes a first side plate 318 and a second side plate 319, corresponding slots are disposed on the first side plate 318 and the second side plate 319, the first side plate 318 and the second side plate 319 are connected together by screws to form a complete first connecting portion 31, wherein the slots on the first side plate 318 and the second side plate 319 together form a cavity 311 for accommodating the lock cylinder 312, and the first hole position 316 and the second hole position 317. It is understood that the first side plate 318 and the second side plate 319 may be bonded together by gluing, ultrasonic welding, etc.
Fig. 7 to 11 show a connecting mechanism according to another embodiment of the present invention, wherein the first connecting portion 310 can be integrally provided with the finger mechanism 1 (of course, the two connecting portions can also be two separate elements and assembled together by a corresponding connecting member), the first connecting portion 310 includes a third hole 3101, and a side wall of the third hole 3101 is provided with a concave structure 3102; the second connection portion 320 includes a base plate 3201, a connection plate 3202, a connection shaft 3203, a spring 3204, and a latch 3205.
As shown in fig. 8 to 11, the finger holder 2 is disposed on a first surface 32011 of the base plate 3201, and the connecting plate 3202 is disposed on a second surface 32012 of the base plate 3201; the first surface and the second surface of the base plate 3201 are disposed opposite to each other. The connecting shaft 3203 is mounted on a side wall 32011 of the connecting plate (the side wall 32011 of the connecting plate is connected with the second surface 32012 of the bottom plate 3203), and an axis of the connecting shaft 3203 may be perpendicular to the side wall 32021 of the connecting plate. A fourth hole 32031 is formed in a side wall of the connecting shaft 3203, the spring 3204 and the locking block 3205 are both disposed in the fourth hole 32031, one end of the spring 3204 is connected to a bottom surface of the fourth hole 32031 (the spring 3204 may also be connected to the side wall of the fourth hole), and the other end of the spring 3204 is connected to the locking block 3205. The block 3204 is a cylindrical structure and protrudes from the fourth hole 32031, and can be retracted into the fourth hole 32031 when a force is applied. It is understood that the spring 3204 may be replaced by an elastic member such as a rubber pad or a spring plate.
During assembly, the clamping block 3205 is placed into the third hole 3101 along with the connecting shaft 3203, and the clamping block 3205 is first squeezed by the side wall of the third hole 3101 and retracted into the fourth hole 32031. When the block 3205 moves to the concave structure 3102, the block 3205 may pop out of the fourth hole 32031 and be engaged with the concave structure 3102, thereby connecting the first connecting portion and the second connecting portion. In addition, in the present embodiment, an end of the latch 3205 protruding out of the fourth hole 32031 is provided with an inclined surface (wherein, in the present embodiment, the inclined surface is a tapered surface, and a diameter of the tapered surface gradually increases in a direction approaching the fourth hole 32031), so that the latch 3205 can retract into the fourth hole 32031 when the connecting shaft 3203 is subjected to a force in a direction opposite to the first direction, wherein, in the present embodiment, the first direction is a direction in which the connecting shaft 3203 is inserted into the third hole 3101, and a direction opposite to the first direction is defined as a second direction.
As shown in fig. 9, in the present embodiment, the third hole 3101 and the concave structure 3102 constitute a stepped hole, wherein the first connection portion 310 includes a first surface 3103 and a second surface 3104, which are opposite to each other, the third hole 3101 extends from the first surface 3103 to the second surface 3104, and the concave structure 3102 extends from the second surface 3104 to the first surface 3103. The fixture block 3205 is limited in the concave structure 3102 by the abutment between the step surface of the stepped hole and the side wall of the fixture block 3205, and the inclined surface is arranged on the fixture block 3205, so that the step surface can press the inclined surface to enable the fixture block 3205 to enter the fourth hole 32031 when the force is applied in the second direction. It can be understood that, in other embodiments provided by the present invention, the step surface may also be an inclined surface, or the step surface may be an inclined surface, and meanwhile, the fixture block 3205 is also provided with an inclined surface.
As shown in fig. 7, in the present embodiment, the finger fixing device 2 is a finger stall, which has a first accommodating cavity 21, and the first accommodating cavity 21 is used for inserting a finger tip, so as to fix a human finger and the finger stall together. In this embodiment, the finger stall includes a hard portion 22 and a soft portion 23, the hard portion 22 is connected to the second connecting portion 320 (the two may be connected by gluing, sewing, etc.), the soft portion 23 is connected to the hard portion 22 (the two may be connected by two-color injection molding, gluing, sewing, etc.), and the first accommodating cavity 21 is formed by surrounding; when the finger tip is placed in the first accommodating cavity 21, the hard portion 22 contacts with the back of the finger (i.e. the side where the nail is located), and the soft portion 23 contacts with the front of the finger.
In addition, in the present embodiment, the inner wall of the first accommodating cavity 21 is provided with an anti-slip structure, such as an anti-slip layer with a large friction coefficient, or an anti-slip protrusion. Specifically, the anti-slip structure may be provided on the soft portion 23 of the finger stall.
In addition, in this embodiment, the first end of dactylotheca is the first one end that holds 21 openings places in chamber, and the second end and the first end of dactylotheca back of the body mutually, and the second end of dactylotheca sets up opening 24, and opening 24 communicates with each other with first holding chamber 21, and opening 24 not only can be used to breathe freely, can also play the effect of dodging the nail to avoid the nail to cut the dactylotheca when the finger is worn.
In another embodiment of the present invention, as shown in fig. 12, the finger fixing structure 2 can be a glove, the glove has a second accommodating cavity 25, and the second accommodating cavity 25 is used for placing a palm of a hand, so as to fix a finger of a person and the glove together. The glove may be attached to the second connector portion 32 by gluing, stitching or the like. The glove may be made of breathable cloth, such as mesh cloth or the like. The inside region that is used for with the fingertip contact of gloves is equipped with the skid resistant course, and the skid resistant course can be glue line, high resistance cloth etc. that the drop of glue formed.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. A hand exoskeleton device, comprising:
the finger mechanism is matched with the human finger and can move along with the human finger;
a finger fixture capable of securing a human finger to the finger mechanism;
a connection mechanism for connecting the finger mechanism and the finger fixation device;
wherein the connecting mechanism comprises a first connecting part and a second connecting part;
the first connecting part is arranged on the finger mechanism, and the second connecting part is arranged on the finger fixing device;
the first connecting part and the second connecting part are detachably connected, so that the finger fixing device can be replaced by the finger mechanism.
2. The hand exoskeleton device of claim 1 wherein the detachable connection between the first and second connection portions comprises any one of a snap connection, a threaded connection, and a magnetic attraction connection.
3. The hand exoskeleton device of claim 2, wherein one of the first and second connections is provided with a cavity and the other is provided with a locking tongue;
a lock core is arranged in the cavity, a force application part which is connected with the lock core so as to apply force to the lock core is arranged outside the cavity, and the lock core can move in the cavity under the action force of the force application part;
the lock tongue can extend into the cavity to be matched with the lock cylinder so as to be fixed in the cavity, and the lock tongue can be separated from the lock cylinder when the lock cylinder moves so as to exit the cavity.
4. The hand exoskeleton device of claim 3 wherein a first resilient member is disposed in the cavity and is in contact with the lock cylinder and is deformable under force when the lock cylinder is moved so as to reset the lock cylinder when the force applied by the force applying portion to the lock cylinder is removed; and/or
The cavity is also internally provided with a second elastic part which can be extruded by the lock tongue to deform when the lock tongue is matched with the lock cylinder, so that the lock tongue can be ejected out of the cavity when the lock tongue is not matched with the lock cylinder; and/or
One of the lock cylinder and the lock tongue is provided with a convex block, the other one is provided with a groove matched with the convex block, and the lock cylinder and the lock tongue are matched with the groove through the convex block; and/or
A first hole site communicated with the cavity is arranged on the first connecting part; one end of the force application part can penetrate through the first hole position to receive force application, and the other end of the force application part is connected with the lock cylinder and cannot penetrate through the first hole position; and/or
The first connecting portion is provided with a second hole site communicated with the cavity, the second hole site is matched with the lock tongue, and the lock tongue can penetrate through the second hole site to be matched with the lock cylinder and further clamped by the lock cylinder and the hole wall of the second hole site.
5. The hand exoskeleton device of any one of claims 2 to 4 wherein the first connection is hinged to the finger mechanism.
6. The hand exoskeleton device of claim 1 wherein the first connection portion includes a third aperture having a sidewall with a concave structure;
the second connecting part comprises a connecting shaft and a clamping block, and the clamping block is arranged on the side wall of the connecting shaft and can be ejected out of or retracted into the connecting shaft;
the connecting shaft can be placed in the third hole site, in the process that the connecting shaft is placed in the third hole site, the clamping block is extruded by the side wall of the third hole site and retracted into the connecting shaft, then the concave structure is popped out of the connecting shaft to be clamped in the concave structure, and when the connecting shaft is applied with a force opposite to the direction of placing the connecting shaft in the third hole site, the clamping block can be retracted into the connecting shaft so that the connecting shaft can exit from the third hole site.
7. The hand exoskeleton device of claim 6, wherein a fourth hole is formed in a sidewall of the connecting shaft, the second connecting portion further comprises a third elastic member, one end of the third elastic member is fixed in the fourth hole, and the other end of the third elastic member is connected to the block; the clamping block protrudes out of the fourth hole site and can be retracted into the fourth hole site when stressed.
8. The hand exoskeleton device of claim 7 wherein the first connection portion comprises a first surface and a second surface that are opposite each other, and the third hole and the recessed structure form a stepped hole, wherein the third hole extends from the first surface to the second surface and the recessed structure extends from the second surface to the first surface; and/or
The stepped surface of the stepped hole and/or the end of the fixture block protruding out of the fourth hole site are provided with an inclined surface, so that the fixture block can retract into the fourth hole site when the connecting shaft is applied with a force in a direction opposite to the direction of being placed into the third hole site.
9. The hand exoskeleton device of claim 1 wherein the finger fixation device is a finger cuff having a first receiving cavity for insertion of a finger tip to hold a human finger with the finger cuff; or
The finger fixing device is a glove, and the glove is provided with a second accommodating cavity, and the second accommodating cavity is used for enabling a palm of a hand to be placed in so as to fix fingers of the hand and the glove together.
10. The hand exoskeleton device of claim 9 wherein the first containment chamber is provided with an anti-skid structure on an inner wall; and/or
The finger stall comprises a hard part and a soft part, the hard part is connected with the second connecting part, and the soft part is connected with the hard part and surrounds to form the first accommodating cavity; when the finger tip is placed in the first accommodating cavity, the hard part is in contact with the back of the finger, and the soft part is in contact with the front of the finger.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920941255.6U CN210282277U (en) | 2019-06-21 | 2019-06-21 | Hand exoskeleton device |
| PCT/CN2019/098850 WO2020252856A1 (en) | 2019-06-21 | 2019-08-01 | Connection mechanism and hand exoskeleton apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920941255.6U CN210282277U (en) | 2019-06-21 | 2019-06-21 | Hand exoskeleton device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210282277U true CN210282277U (en) | 2020-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920941255.6U Active CN210282277U (en) | 2019-06-21 | 2019-06-21 | Hand exoskeleton device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN210282277U (en) |
| WO (1) | WO2020252856A1 (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4414537A (en) * | 1981-09-15 | 1983-11-08 | Bell Telephone Laboratories, Incorporated | Digital data entry glove interface device |
| JP4465476B2 (en) * | 2006-03-08 | 2010-05-19 | 国立大学法人秋田大学 | Motion capture measurement method for fingers using magnetic position and orientation sensor |
| CN203835879U (en) * | 2014-04-21 | 2014-09-17 | 上汽通用五菱汽车股份有限公司 | Fastener combined part |
| KR101609158B1 (en) * | 2014-05-12 | 2016-05-17 | 울산과학기술원 | A finger motion measurement system and measurement method of finger motion |
| CN105455697A (en) * | 2015-11-18 | 2016-04-06 | 惠州宏利五金塑胶制品厂有限公司 | Detachable handle |
| GR1009085B (en) * | 2016-06-21 | 2017-08-11 | Αλεξανδρος Τηλεμαχου Τζαλλας | Method and glove-like device for the determination and improved assessment of disease-associated kinetic symptoms |
| CN109043751B (en) * | 2018-06-28 | 2021-01-26 | 立讯电子科技（昆山）有限公司 | Connection structure and wearing equipment |
| CN109363686A (en) * | 2018-11-01 | 2019-02-22 | 深圳岱仕科技有限公司 | Hand mechanical exoskeleton equipment |
| CN109512638B (en) * | 2018-11-13 | 2021-06-11 | 南京邮电大学 | Flexible under-actuated finger rehabilitation device |
-
2019
- 2019-06-21 CN CN201920941255.6U patent/CN210282277U/en active Active
- 2019-08-01 WO PCT/CN2019/098850 patent/WO2020252856A1/en active Application Filing
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| WO2020252856A1 (en) | 2020-12-24 |
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