US 12,271,523 B2
Lightweight hand exoskeleton force feedback apparatus
Baoguo Xu, Suzhou (CN); Qianqian Lu, Suzhou (CN); Weifeng Peng, Suzhou (CN); and Aiguo Song, Suzhou (CN)
Assigned to SOUTHEAST UNIVERSITY, Jiangsu (CN)
Filed by SOUTHEAST UNIVERSITY, Suzhou (CN)
Filed on Apr. 14, 2024, as Appl. No. 18/634,995.
Application 18/634,995 is a continuation of application No. PCT/CN2023/127214, filed on Oct. 27, 2023.
Claims priority of application No. 202311088293.9 (CN), filed on Aug. 28, 2023.
Prior Publication US 2025/0076981 A1, Mar. 6, 2025
Int. Cl. G06F 3/01 (2006.01)
CPC G06F 3/014 (2013.01) [G06F 3/016 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A lightweight hand exoskeleton force feedback apparatus, comprising a driver, a driver power fixing member, a driver fixing rotating shaft fixing member, a driver pull rod fixing member, a first rotating link, a second rotating link, a first linkage link, a second linkage link, bearings, gaskets, a finger sleeve, and a pressure sensor fixing member; wherein
the driver is installed on the driver power fixing member and the driver fixing rotating shaft fixing member, the driver power fixing member and the driver fixing rotating shaft fixing member are worn on a back of a metacarpal bone of a user through a first strap, a driver pull rod is rotationally connected to a front end of the first rotating link through the driver pull rod fixing member, a rear end of the first rotating link is rotationally connected to a front end of the second rotating link, a rear end of the first linkage link is rotationally connected to the driver fixing rotating shaft fixing member, the rear end of the first linkage link is rotationally connected to a front end of the second linkage link, a rear end of the second linkage link is rotationally connected to a central rotating bearing hole of the second rotating link, a rear end of the second rotating link is rotationally connected to the finger sleeve, and the pressure sensor fixing member is connected to the finger sleeve through a second strap and is fixed below a fingertip of an index finger; the driver drives the first rotating link to couple with the first linkage link and the second linkage link through the second rotating link to drive the finger sleeve to bend and stretch, a force feedback is applied to the fingertip, and a pressure is accordingly imposed on a pressure sensor of the pressure sensor fixing member, such that a closed-loop force feedback control module is formed.