US 12,324,781 B1
Variable stiffness hand exoskeleton device based on antagonistic driving
Baoguo Xu, Jiangsu (CN); Qianqian Lu, Jiangsu (CN); Xin Wang, Jiangsu (CN); Weifeng Peng, Jiangsu (CN); and Aiguo Song, Jiangsu (CN)
Assigned to SOUTHEAST UNIVERSITY, Jiangsu (CN)
Filed by SOUTHEAST UNIVERSITY, Jiangsu (CN)
Filed on Feb. 23, 2025, as Appl. No. 19/060,754.
Application 19/060,754 is a continuation of application No. PCT/CN2024/098321, filed on Jun. 11, 2024.
Claims priority of application No. 202410659867.1 (CN), filed on May 27, 2024.
Int. Cl. A61H 1/02 (2006.01)
CPC A61H 1/0288 (2013.01) [A61H 2201/0192 (2013.01); A61H 2201/1215 (2013.01); A61H 2201/149 (2013.01); A61H 2201/1638 (2013.01); A61H 2201/165 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A variable stiffness hand exoskeleton device based on antagonistic driving, comprising a power mechanism, a support base, a spring-link composite transmission mechanism, and a distal finger sleeve connected to a power output end of the spring-link composite transmission mechanism for index finger, middle finger, ring finger, and little finger; and the power mechanism implements force feedback through the spring-link composite transmission mechanism; wherein
the distal finger sleeve is fixed to a distal joint periphery of a finger joint using a first elastic adjustment band, and the distal finger sleeve provides force feedback to an end of the finger joint under driving force of a link structure; an inner surface of the support base is contoured to match a complete/partial back of a palm, and a back of the support base is provided with a rotary support seat and a motor fixing seat; a motor group of the power mechanism is mounted on the motor fixing seat; and when the force feedback is provided, the spring-link composite transmission mechanism is located on an outer side of the palm;
the power mechanism comprises a first motor and a second motor that are arranged vertically; and the motor fixing seat is arranged in a position adjacent to a palm-level end of the support base, and the motor fixing seat comprises first motor fixing seats and second motor fixing seats that are arranged vertically;
the support base comprises the rotary support seat and the motor fixing seat;
the spring-link composite transmission mechanism comprises a first spring and a second spring, rotary bearings, rotary centers, a first spring-motor linkage cable, a second spring-motor linkage cable, a first spring-rotary pivot link, and a second spring-rotary pivot link;
a finger link structure is provided with the rotary centers, upper and lower ends of the rotary center are provided with two rotary sites, that is, a first rotary site and a second rotary site; a middle of the rotary member is hollowed out and is provided with a third rotary site; and
a base of the first motor is fixed on the first motor fixing seats, and a base of the second motor is fixed on the second motor fixing seats; and the third rotary site of the spring-link composite transmission mechanism is rotationally connected to the rotary support seat of the support base via the rotary bearing.