Hand exoskeleton system and control method

An exoskeleton and hand technology, applied in the field of exoskeleton robots, can solve the problems of cumbersome control process, poor real-time performance, delay, etc., to simplify the control process, improve the user experience, and reduce the volume and cost.

Active Publication Date: 2021-01-22
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The exoskeleton glove is simple to set up, and there is no fusion of sensors to measure the human-machine contact force and joint angle of the hand; five servos are used to wind the rope, and the finger movement of the five fingers is pulled, and the control process is cumbersome; The user's motion intention has a large delay, and the real-time performance of the control is not good

Method used

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  • Hand exoskeleton system and control method
  • Hand exoskeleton system and control method
  • Hand exoskeleton system and control method

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Embodiment Construction

[0040] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0041] The present invention provides that the hand exoskeleton robot system of this invention includes a soft glove module, a drive module, a detection and control module, and the overall diagram is as follows figure 1 shown.

[0042] (1) Soft Glove Module

[0043] In order to improve the user's body feeling, it is based on soft gloves, which are well adapted to the shape of the human hand. Figure 2 and image 3 shown. Relevant studies have shown that most tasks in life can be completed by the thumb, index finger and middle finger, while the ring finger and little finger assist these three fingers to complete the work. Therefore, in this embodiment, active control is performed on the thumb part, the index finger part and the middle finger part of the glove. In other implementation manners, different fingers may also be selected ...

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Abstract

The invention discloses a hand exoskeleton system which comprises a glove, a reel set, a plurality of pre-tightening devices, a plurality of clamping devices, a plurality of ropes and a driving device. The driving device uses one motor to drive a plurality of fingers to move, the size and the manufacturing cost of the system are reduced, the complexity of the system is reduced, and the control process is simplified on the premise that the grabbing function is achieved. The designed force transmission path can ensure that each joint of the fingers can obtain enough tension, and the use experience of a user can be improved. The invention further provides a control method of the hand exoskeleton system.

Description

technical field [0001] The invention belongs to the technical field of exoskeleton robots. Background technique [0002] Contemporary society is facing increasingly serious social problems such as the aging of the social population, younger incidence of stroke, and frequent traffic accidents. The result is motor dysfunction for the elderly and physically disabled. Research priorities and hotspots in the field. The hand exoskeleton can assist the elderly and patients with motor dysfunction to grasp daily objects, and can also carry out rehabilitation training to prevent muscle atrophy and restore the movement ability of affected limbs. This hand exoskeleton is an intelligent mechanical system that can be connected in parallel to the upper limbs of a person through gloves to provide additional power for the movement of the hand, assist the patient in completing the grasping action, and restore motor function. [0003] There are still many deficiencies in the traditional hand...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J15/08B25J18/02A61B5/107A61B5/22
CPCA61B5/1071A61B5/225B25J9/0006B25J15/086B25J18/025
Inventor 吴青聪徐大文
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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