Flexible exoskeleton glove device

Abstract

The invention relates to the field of flexible mechanical hands, in particular to a flexible exoskeleton glove device. The device comprises a flexible exoskeleton glove and a drive device, wherein thehand back side of the flexible exoskeleton glove is provided with a flexible drive connecting piece and a hand back side drive line, the upper side of the flexible drive connecting piece is fixedly connected with the tail end of each finger except for the thumb, the lower end of the flexible drive connecting piece is connected with the back side drive line, the index finger and the middle fingerat the palm side of the flexible exoskeleton glove are each provided with a holding drive line and a kneading drive line, wherein the holding drive lines extend along the fingers, the tail ends of theholding drive lines are connected with the tail ends of the fingers, the kneading drive lines extend along the fingers to any joint and then are wound to the palm back side to be connected with the flexible drive connecting pieces at the finger back side, a plurality of drive mechanisms are arranged inside the drive device, and the holding drive lines, the kneading drive lines and the hand back side drive lines are driven by different drive mechanisms to pay off or take up lines. A patient with no activity capability can be helped to complete daily grabbing activity, carrying is convenient, and no injury is caused to the hand of the patient.

Description

technical field [0001] The invention relates to the field of flexible manipulators, in particular to a flexible exoskeleton glove device. Background technique [0002] Due to diseases or injuries, such as spinal cord injury, stroke, cerebral palsy, etc., many people cannot precisely control the wrist and fingers, thus losing the grasping ability and unable to complete some simple daily activities. Although there are some exoskeleton manipulators in the prior art to assist patients with hand activities, most of these manipulators are rigid exoskeleton manipulators composed of a series of connected rigid rods and joints. If the cooperation is out of the ideal position, the center axis of finger rotation will be misaligned with the center axis of robot rotation, which may cause extrusion or distortion of the fingers, causing secondary injuries to the patient. In addition, the rigid exoskeleton manipulator has a heavy structure and a large volume, etc. Defects are also not cond...

AI Technical Summary

Problems solved by technology

[0002] Due to diseases or injuries, such as spinal cord injury, stroke, cerebral palsy, etc., many people cannot precisely control the wrist and fingers, thus losing the ability to grasp and unable to complete some simple daily activities

Although there are some exoskeleton manipulators in the prior art to assist patients with hand activities, most of these manipulators are rigid exoskeleton manipulators composed of a series of connected rigid rods and joints. If the fit is out of the ideal position, the center axis of finger rotation will be misaligned with the center axis of robot rotation, which may cause extrusion or distortion of the fingers, causing secondary injury to the patient. In addition, the rigid exoskeleton manipulator has a heavy structure and a large volume, etc. defects, and is not conducive to daily use by patients

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