Hand exoskeletons, medical devices and simulated grasping systems

Abstract

This application relates to a hand exoskeleton, medical equipment and a simulated grasping system, and relates to the field of robots. The hand exoskeleton includes at least one mechanical finger glove and a robotic palm seat; the mechanical finger glove includes a finger segment fixer and a connecting rod assembly and the motor, the finger-segment holder includes a first finger-segment holder and a second finger-segment holder, and the link assembly includes a first link assembly and a second link assembly. By setting a motor in the hand exoskeleton that can control the hand exoskeleton, during the movement of the hand exoskeleton, the motor constrains the connecting rod, and then realizes the movement constraint on the finger segment fixture, so as to realize the control of the hand exoskeleton. Motion limitations of the hand exoskeleton. In the scene corresponding to the simulated grasping, the motion limit provided by the motor can be used to accurately simulate the grasping situation of the remote mechanical device for the object, which improves the human-computer interaction performance that the hand exoskeleton can provide.

Description

technical field [0001] This application relates to the field of robots, in particular to a hand exoskeleton, medical equipment and a simulated grasping system. Background technique [0002] The hand exoskeleton is a mechanical device imitating the structure of the human hand, which can protect the structure of the human hand from the outside and cooperate with the hand to complete the action. At present, hand exoskeletons are often used in bionic simulation scenarios to simulate the user's grasping process of objects. [0003] In this scenario, the user wears a hand exoskeleton on the master end, and uses the hand wearing the hand exoskeleton to perform simulated grasping. Objects located far away from the end are grasped. [0004] However, after the slave manipulator grasps the object in the distance, the hand exoskeleton will not generate corresponding feedback. At this time, the user wearing the hand exoskeleton at the master end will not perceive that the slave manipul...

AI Technical Summary

Problems solved by technology

[0004] However, after the slave manipulator grasps the object in the distance, the hand exoskeleton will not generate corresponding feedback. At this time, the user wearing the hand exoskeleton at the master end will not perceive that the slave manipulator has grasped the object

In the process of simulated grasping, the human-computer interaction performance provided by the hand exoskeleton in the prior art is poor

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