WO2024179119A1

WO2024179119A1 - Hand exoskeleton robot

Info

Publication number: WO2024179119A1
Application number: PCT/CN2023/137882
Authority: WO
Inventors: 雍旭; 景晓蓓; 孙振羽; 朱珊珊; 王玮; 彭迎虎; 陈世雄; 横井浩史; 李光林
Original assignee: 中国科学院深圳先进技术研究院
Priority date: 2023-02-27
Filing date: 2023-12-11
Publication date: 2024-09-06
Also published as: CN118544328A

Abstract

Disclosed in the present application is a hand exoskeleton robot. The hand exoskeleton robot comprises: a driving device and at least one hand exoskeleton, each hand exoskeleton comprising a first joint mechanism, a first connection mechanism, a second joint mechanism, a second connection mechanism and a third joint mechanism. The first connection mechanism comprises a first push rod and a second push rod. The second joint mechanism is bound to a first set position of a finger and is connected to the second push rod. The second connection mechanism comprises a third push rod and a fourth push rod. The third joint mechanism is bound to a second set position of a finger and is connected to the fourth push rod. The driving device drives the first push rod to move by means of a tendon rope, such that the second push rod applies an acting force to the second joint mechanism; and/or, the driving device also drives the third push rod to move by means of a tendon rope, such that the fourth push rod applies an acting force to the third joint mechanism. In this way, the present application can adapt to fingers of different lengths, thereby improving the applicability of the hand exoskeleton robot.

Description

A hand exoskeleton robot

Technical Field

The present application relates to the technical field of exoskeleton robots, and in particular to a hand exoskeleton robot.

Background Art

Hand function plays a huge role in people's daily lives. On average, a person will clench and tighten their hands more than 1,500 times a day. Impaired hand motor function will significantly limit the number of daily tasks a person can perform, affecting their quality of life and making them more susceptible to mental illness.

The inventors of the present application have found through long-term research that the current joint rehabilitation treatment still has many shortcomings, such as over-reliance on hospital rehabilitation physiotherapists, and the equipment used is expensive and has single functions. Different instruments need to be used for physiotherapy at different rehabilitation stages, which is a large economic burden for both hospitals and individual patients.

Technical Solutions

The present application provides a hand exoskeleton robot that can adapt to fingers of different lengths and improve the practicality of the hand exoskeleton robot.

In order to solve the above technical problems, a technical solution adopted in the present application is: to provide a hand exoskeleton robot, which includes: a driving device; at least one hand exoskeleton, including: a first joint mechanism, which is bound to a set position of the palm; a first connecting mechanism, including: a first push rod and a second push rod, the first end of the first push rod is connected to the first joint mechanism and connected to the driving device through a tendon rope, and the second end of the first push rod is movably connected to the first end of the second push rod; the second joint mechanism is bound to the first set position of the finger and connected to the second end of the second push rod; the second connecting mechanism includes: a third push rod and a fourth push rod, the first end of the third push rod is connected to the second joint mechanism and connected to the driving device through a tendon rope, and the second end of the third push rod is movably connected to the first end of the fourth push rod; the third joint mechanism is bound to the second set position of the finger and connected to the second end of the fourth push rod; the driving device drives the first push rod to move through the tendon rope, so that the second push rod applies a force to the second joint mechanism; and/or the driving device also drives the third push rod to move through the tendon rope, so that the fourth push rod applies a force to the third joint mechanism.

The driving device at least comprises a first driving device and a second driving device; the first driving device is connected to the first push rod via a tendon rope; the second driving device is connected to the third push rod via a tendon rope.

Among them, the first driving device includes a first motor and a first steering wheel, the first steering wheel is arranged on the transmission shaft of the first motor, and is connected to the first push rod through a tendon rope; the second driving device includes a second motor and a second steering wheel, the second steering wheel is arranged on the transmission shaft of the second motor, and is connected to the third push rod through a tendon rope; wherein, the transmission shaft of the second motor and the transmission shaft of the first motor are distributed in different directions.

Among them, the tendon rope includes a first tendon rope, a second tendon rope, a third tendon rope and a fourth tendon rope; the first end of the first tendon rope and the first end of the second tendon rope are fixedly set on the first end of the first push rod; the second end of the first tendon rope and the second end of the second tendon rope are fixedly set on the first steering wheel; the first end of the third tendon rope and the first end of the fourth tendon rope are fixedly set on the first end of the third push rod; the second end of the third tendon rope and the second end of the fourth tendon rope are fixedly set on the second steering wheel.

Among them, the first driving device also includes a first code disc, which is arranged between the first steering wheel and the first motor through a transmission shaft; the second driving device also includes a second code disc, which is arranged between the second steering wheel and the second motor through a transmission shaft.

Among them, the first joint mechanism includes: a first base, the first base is bound to a set position of the palm through a first binding belt; the first end of the first push rod is arranged on the first base; and a first angle sensor is arranged on the first base for collecting the rotation angle of the first push rod.

Wherein, the first joint mechanism further includes: a first positioning member, and the first angle sensor and the first end of the first push rod are arranged on the first base through the first positioning member.

Among them, the second joint mechanism includes: a second base, the second base is bound to the first set position of the finger through a second binding belt; the first end of the third push rod is arranged on the second base; and a second angle sensor is arranged on the second base for collecting the rotation angle of the third push rod.

Wherein, the second joint mechanism further includes: a second positioning member, and the second angle sensor and the first end of the third push rod are arranged on the second base through the second positioning member.

Among them, the second end of the first push rod is connected to the first end of the second push rod through a first movable part; the second end of the third push rod is connected to the first end of the fourth push rod through a second movable part; the second end of the second push rod is connected to the second joint mechanism through a fixing part; the second end of the fourth push rod is connected to the third joint mechanism through a fixing part.

Beneficial Effects

Different from the prior art, the hand exoskeleton robot of the present application flexibly connects the first push rod and the second push rod, as well as the third push rod and the fourth push rod, so that the hand exoskeleton robot can adapt to fingers of different lengths, thereby improving the practicality of the hand exoskeleton robot.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

FIG1 is a schematic structural diagram of an embodiment of a hand exoskeleton robot provided by the present application;

FIG2 is a schematic structural diagram of an embodiment of a driving device provided by the present application;

FIG3 is a schematic structural diagram of an embodiment of a hand exoskeleton provided by the present application;

FIG. 4 is a schematic structural diagram of another embodiment of the driving device provided in the present application.

Embodiments of the present invention

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It will be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some but not all structures related to the present application are shown in the drawings. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

Referring to FIG1 , FIG1 is a schematic diagram of the structure of an embodiment of a hand exoskeleton robot provided by the present application. The hand exoskeleton robot 100 comprises: a driving device 10 and at least one hand exoskeleton 20 .

The hand exoskeleton 20 includes: a first joint mechanism 21 , a first connecting mechanism 22 , a second joint mechanism 23 , a second connecting mechanism 24 and a third joint mechanism 25 .

The first joint mechanism 21 is bound to the set position of the palm, such as in FIG1 , the first joint mechanism 21 is bound to the set position of the palm of the hand 200. In some embodiments, a binding belt can be used to bind to the set position of the palm. The binding belt can be made of relatively soft and light materials, such as silk, cloth, and nylon. The length of the binding belt can be adjusted according to the binding position.

The first connection mechanism 22 includes: a first push rod 221 and a second push rod 222. The first push rod 221 and the second push rod 222 can be made of 3D printing materials and have a lighter weight.

The first end of the first push rod 221 is connected to the first joint mechanism 21 and is connected to the driving device 10 through the tendon A, and the second end of the first push rod 221 is movably connected to the first end of the second push rod 222. By movably connecting the second end of the first push rod 221 with the first end of the second push rod 222, when the hand exoskeleton robot 100 is worn, the angle between the first push rod 221 and the second push rod 222 can be adjusted to match different fingers.

The second joint mechanism 23 is bound to the first setting position of the finger and connected to the second end of the second push rod 222 .

The second connection mechanism 24 includes: a third push rod 241 and a fourth push rod 242. The third push rod 241 and the fourth push rod 242 can be made of 3D printing materials and have a lighter weight.

The first end of the third push rod 241 is connected to the second joint mechanism 23 and is connected to the driving device 10 through the tendon rope B, and the second end of the third push rod 241 is movably connected to the first end of the fourth push rod 242. By movably connecting the second end of the third push rod 241 with the first end of the fourth push rod 242, when the hand exoskeleton robot 100 is worn, the angle between the third push rod 241 and the fourth push rod 242 can be adjusted to match different fingers.

The third joint mechanism 25 is bound to the second setting position of the finger and connected to the second end of the fourth push rod 242 .

The driving device 10 drives the first push rod 221 to move through the tendon A, so that the second push rod 222 applies a force to the second joint mechanism 23.

The driving device 10 also drives the third push rod 241 to move through the tendon rope B, so that the fourth push rod 242 applies a force to the third joint mechanism 25.

Specifically, corresponding control can be performed according to the actual rehabilitation needs of specific fingers of the hand.

In some embodiments, it is necessary to move the first joint of the finger, wherein the first joint is associated with the first set position of the finger, and the driving device 10 drives the first push rod 221 to move through the tendon rope A, so that the second push rod 222 applies a force to the second joint mechanism 23. Since the second joint mechanism 23 is bound to the first set position of the finger, the first joint of the finger can be moved under the corresponding force.

In some embodiments, it is necessary to move the second joint of the finger, wherein the second joint is associated with the second set position of the finger, and the driving device 10 further drives the third push rod 241 to move through the tendon rope B, so that the fourth push rod 242 applies a force to the third joint mechanism 25. Since the third joint mechanism 25 is bound to the second set position of the finger, the second joint of the finger can be moved under the corresponding force.

In some embodiments, if the first joint and the second joint of the finger need to be moved, the driving device 10 drives the first push rod 221 to move through the tendon rope A, so that the second push rod 222 applies a force to the second joint mechanism 23. And the driving device 10 also drives the third push rod 241 to move through the tendon rope B, so that the fourth push rod 242 applies a force to the third joint mechanism 25. Because the third joint mechanism 25 is tied to the second set position of the finger, the second joint of the finger can move under the corresponding force. Because the second joint mechanism 23 is tied to the first set position of the finger, the first joint of the finger can move under the corresponding force. That is, the first joint and the second joint can move at the same time.

In this embodiment, the hand exoskeleton robot 100 can adapt to fingers of different lengths by flexibly connecting the first push rod 221 and the second push rod 222, as well as the third push rod 241 and the fourth push rod 242, thereby improving the practicality of the hand exoskeleton robot 100.

1 and 2, the drive device 10 includes at least a first drive device 11 and a second drive device 12; wherein the first drive device 11 is connected to the first push rod 221 via a tendon rope A; and the second drive device 12 is connected to the third push rod 241 via a tendon rope B. By connecting the first push rod 221 via the tendon rope A using the first drive device 11, and connecting the third push rod 241 via the tendon rope B using the second drive device 12, the second joint mechanism 23 and the third joint mechanism 25 can be controlled respectively, so that the hand exoskeleton robot 100 can meet different finger rehabilitation needs.

The first driving device 11 includes a first motor 111 and a first steering wheel 112 . The first steering wheel 112 is arranged on a transmission shaft of the first motor 111 and is connected to the first push rod 221 via a tendon A.

The second driving device 12 includes a second motor 121 and a second steering wheel 122, wherein the second steering wheel 122 is arranged on the transmission shaft of the second motor 121 and is connected to the third push rod 241 through a tendon rope B; wherein the transmission shaft of the second motor 121 and the transmission shaft of the first motor 111 are distributed in different directions. For example, the transmission shaft of the second motor 121 can be oriented in a first direction, and the transmission shaft of the first motor 111 can be oriented in a second direction, and the first direction and the second direction are opposite. In other embodiments, it is only necessary to ensure that the first direction and the second direction are not the same direction. By distributing the transmission shaft of the second motor 121 and the transmission shaft of the first motor 111 in different directions, the second motor 121 and the first motor 111 will not interfere with each other when working, thereby reducing abnormal conditions of the hand exoskeleton robot 100.

The first driving device 11 further includes a first code disc 113, which is disposed between the first steering plate 112 and the first motor 111 via a transmission shaft; the second driving device 12 further includes a second code disc 123, which is disposed between the second steering plate 122 and the second motor 121 via a transmission shaft. The first code disc 113 can detect the angular displacement of the first motor 111. The second code disc 123 can detect the angular displacement of the second motor 121.

In some embodiments, in conjunction with FIG1 , the tendon rope A includes a first tendon rope A1 and a second tendon rope A2, and the tendon rope B includes a third tendon rope B3 and a fourth tendon rope B4. The first end of the first tendon rope A1 and the first end of the second tendon rope A2 are fixedly disposed at the first end of the first push rod 221; the second end of the first tendon rope A1 and the second end of the second tendon rope A2 are fixedly disposed at the first steering wheel 112; the first end of the third tendon rope B3 and the first end of the fourth tendon rope B4 are fixedly disposed at the first end of the third push rod 241; the second end of the third tendon rope B3 and the second end of the fourth tendon rope B4 are fixedly disposed at the second steering wheel 122.

For example, a corresponding fixing portion is provided on the first end of the first push rod 221, and the first tendon A1 and the second tendon A2 are fixed by the fixing portion. A corresponding fixing portion is provided on the first end of the third push rod 241, and the third tendon B3 and the fourth tendon B4 are fixed by the fixing portion.

Further, referring to FIG. 3 , the first joint mechanism 21 includes a first base 211 and a first angle sensor 212 .

The first base 211 is bound to a set position of the palm through a first binding belt 31 ; and the first end of the first push rod 221 is disposed on the first base 211 .

The first angle sensor 212 is disposed on the first base 211 and is used to collect the rotation angle of the first push rod 221 .

The first joint mechanism 21 further includes: a first positioning member 213, through which the first angle sensor 212 and the first end of the first push rod 221 are arranged on the first base 211. The first positioning member 213 may be a positioning pin. The first positioning member 213 fixes the first angle sensor 212 and the first end of the first push rod 221 to the first base 211, and the first push rod 221 can rotate around the first positioning member 213.

The second joint mechanism 23 includes a second base 231 and a second angle sensor 232 .

The second base 231 is bound to the first setting position of the finger through the second binding belt 32 ; and the first end of the third push rod 241 is disposed on the second base 231 .

The second angle sensor 232 is disposed on the second base 231 and is used to collect the rotation angle of the third push rod 241 .

The second joint mechanism 23 further includes: a second positioning member 233, through which the second angle sensor 232 and the first end of the third push rod 241 are arranged on the second base 231. The second positioning member 233 may be a positioning pin. The second positioning member 233 fixes the second angle sensor 232 and the first end of the third push rod 241 to the second base 231. The third push rod 241 may rotate around the second positioning member 233.

The second end of the first push rod 221 is connected to the first end of the second push rod 222 through the first movable member 223; the second end of the third push rod 241 is connected to the first end of the fourth push rod 242 through the second movable member 243; the second end of the second push rod 222 is connected to the second joint mechanism 23 through the first fixing member 224; the second end of the fourth push rod 242 is connected to the third joint mechanism 25 through the second fixing member 244. The first movable member 223 can be a movable pin, so that the first push rod 221 and the second push rod 222 can move around the first movable member 223, such as rotating. The second movable member 243 can be a movable pin, so that the third push rod 241 and the fourth push rod 242 can move around the second movable member 243, such as rotating.

In one application scenario, the hand exoskeleton robot 100 can assist any finger of the human hand in rehabilitation exercises, such as the index finger, ring finger or little finger. Similarly, each finger uses the same five hand exoskeletons 20 to perform rehabilitation exercises for the five fingers. Taking the index finger wearing the hand exoskeleton robot 100 as an example, the hand exoskeleton robot 100 is placed on the extended side of the index finger (towards the back of the hand), and the metacarpal binding strap such as the first binding strap 31, the proximal knuckle binding strap such as the second binding strap 32, and the middle knuckle binding strap such as the third binding strap 33 are respectively passed through the binding strap holes on the first base 211, the second base 231, and the third base 251, respectively corresponding to the metacarpal 021, proximal knuckle, and middle knuckle of the index finger, and are tied and worn in turn. The hand exoskeleton 20 can adapt to various finger lengths, and each binding strap can be adjusted in tightness, which can be worn by different people and different finger lengths.

Specifically, in conjunction with Figures 3 and 4, the first base 211 is used as a fixed end, and is fixed to the metacarpal bone by the first binding belt 31. In the first base 211, the first push rod 221 and the first angle sensor 212 are connected through the proximal knuckle angle positioning pin. On the first push rod 221, a tendon rope hole for connecting the tendon rope of the index finger MP joint is provided. The first push rod 221 is pulled clockwise or counterclockwise through the tendon rope to drive it to perform a rotational motion relative to the first base 211. In addition, the function of the first angle sensor 212 in the first base 211 is to provide closed-loop feedback of the position of the index finger driving part, so that it can reach the ideal motion position more accurately. The first push rod 221 is connected to the second push rod 222 through the proximal knuckle movable pin, and the other end of the second push rod 222 is connected to the second base 231 through the proximal knuckle positioning pin. The second push rod 222 is linked by the first push rod 221 and transmits power to the second base 231. The second push rod 222 pushes the second base 231 to give the proximal phalanx of the index finger a flexing pressure. In addition, the second push rod 222 can also pull the second base 231, and at the same time, the second binding belt 32 gives the proximal phalanx of the index finger a stretching pulling force, and finally realizes the flexion and extension movement of the MP joint of the index finger. Similarly, the second base 231 is connected to the third push rod 241 and the second angle sensor 232 through the middle phalanx angle positioning pin. On the third push rod 241, there is a tendon rope hole connecting the tendon rope of the index finger PIP joint. Similarly, the third push rod 241 is pulled clockwise and counterclockwise by the tendon rope to drive it to rotate relative to the second base 231. The second angle sensor 232 and the first angle sensor 212 on the second base 231 have the same meaning. The third push rod 241 is connected to the fourth push rod 242 through the middle phalanx movable pin, and the other end of the fourth push rod 242 is connected to the third base on the third joint mechanism 25 through the middle phalanx positioning pin. The fourth push rod 242 is linked by the third push rod 241 to transmit power to the third base. The fourth push rod 242 pushes the third base on the third joint mechanism 25 to give the middle knuckle of the index finger a flexion pressure. In addition, the fourth push rod 242 can also pull the third base, while bringing the third binding belt 33 to give the middle knuckle of the index finger a stretching tension, and finally achieve the flexion and extension movement of the PIP joint of the index finger.

When the technical solution of the present application is used on all five fingers of the hand, as shown in FIG4 , the driving device 10 includes a plurality of motors and corresponding steering wheels. For example, 10 small motors are mounted on the driving bracket 120, namely, the first motor 111, the second motor 121, the third motor 103, the fourth motor 104, the fifth motor 105, the sixth motor 106, the seventh motor 107, the eighth motor 108, the ninth motor 109 and the tenth motor 110. Among them, the first motor 111 and the second motor 121 correspond to the thumb, such as the first motor 111 corresponds to the thumb MP joint, the second motor 121 corresponds to the thumb IP joint, the third motor 103 corresponds to the index finger MP joint, the fifth motor 105 corresponds to the middle finger MP joint, the seventh motor 107 corresponds to the ring finger MP joint and the ninth motor 109 corresponds to the little finger MP joint; the fourth motor 104 corresponds to the index finger PIP joint, the sixth motor 106 corresponds to the middle finger PIP joint, the eighth motor 108 corresponds to the ring finger PIP joint and the tenth motor 110 corresponds to the little finger PIP joint.

The two motors corresponding to each finger are placed in different directions, and each motor is equipped with a corresponding encoder through a D-shaped shaft, and the encoder is connected to a driving plate to achieve the purpose of controlling the position of the corresponding motor. Each motor is also connected to a corresponding steering wheel, driving the steering wheel to rotate clockwise and counterclockwise, pulling the tendon rope wrapped around it to transfer power to the corresponding push rod in the hand exoskeleton 20, and realizing the flexion and extension movement of the joint of the corresponding finger.

In any of the above embodiments, the motor drives the tendon rope to drive the corresponding hand exoskeleton 20 in forward and reverse rotation to realize the movement of finger flexion and extension; accurate rehabilitation assistance can be provided for any one to five fingers, or even a single finger joint; the hand exoskeleton 20 can adapt to the wearing of fingers of different lengths and thicknesses; the mixed transmission method of the tendon rope and the push rod can better control the flexion and extension movement of the corresponding finger joints; and the wearing and binding method does not completely block the physiological touch of the flexed side of the hand, retains the physiological touch of the human hand to the greatest extent, is conducive to rehabilitation recovery, and through the binding method, it can be quickly worn and is highly practical.

The driving device 10 can be separated from the hand exoskeleton 20, which greatly reduces the weight of the wearable device on the hand, reduces the burden on the hand to be rehabilitated, and is less likely to cause muscle fatigue. In other embodiments, the hand exoskeleton robot 100 also includes a control unit, which is connected to the driving device 10 and the angle sensor, and is used to control the driving device 10 to work according to the angle data of the angle sensor.

When the hand exoskeleton 20 of the present application is used, it can be worn on one to five fingers as needed, and is suitable for wearing on fingers of any length and thickness.

The hand exoskeleton 20 of the present application can independently provide motion assistance to each finger joint to achieve precise rehabilitation.

Furthermore, the hand exoskeleton robot 100 of the present application is miniaturized and easy to carry. Compared with large-scale rehabilitation equipment in hospitals, patients can perform rehabilitation treatment on their own as needed during the golden rehabilitation period, and the degree of rehabilitation can be controlled by the patients themselves.

The motor part mentioned above can be replaced with a high-torque motor, so that the hand exoskeleton can be used for power assistance.

The angle sensor mentioned above can be replaced with other position-acquisition sensors such as a gyroscope.

The angle sensors mentioned above can be installed at any push rod node of the hand exoskeleton 20 .

In some embodiments, part of the joint mechanism can be removed to make the structure more compact, lightweight, and reduce costs, thereby achieving the purpose of assisting only the corresponding single joint as needed.

In summary, the hand exoskeleton robot 100 of the present application is composed of two parts, namely the hand exoskeleton 20 and the drive device 10. The hand exoskeleton 20 can be worn as needed, that is, it can assist one to five fingers, and can accurately assist a single joint of the finger. The structural part of the hand exoskeleton 20 is composed of two sets of three-link rods. The drive device 10 uses a DC motor to pull the tendon rope to realize the hybrid drive technology of the tendon rope push rod, so that the corresponding joints of the fingers can achieve flexion and extension movements. The hand exoskeleton robot 100 is suitable for wearing with any finger length, and greatly retains the wearer's physiological grasping touch; each finger joint can independently complete rehabilitation movements to achieve precise rehabilitation; patients can perform rehabilitation training by themselves; the control is simple, the structure is compact, the weight is light, and it is easy to carry. It can provide rehabilitation assistance for hands affected by spinal cord injuries, degenerative diseases, hemiplegia, various movement disorders, and muscle weakness related to aging.

The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformations made according to the contents of the description and drawings of the present application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

A hand exoskeleton robot, characterized in that the hand exoskeleton robot comprises:

Drive device;

At least one hand exoskeleton, including:

The first joint mechanism is tied to a set position on the palm;

The first connection mechanism comprises: a first push rod and a second push rod, wherein the first end of the first push rod is connected to the first joint mechanism and is connected to the driving device through a tendon rope, and the second end of the first push rod is movably connected to the first end of the second push rod;

A second joint mechanism is bound to the first setting position of the finger and connected to the second end of the second push rod;

The second connection mechanism comprises: a third push rod and a fourth push rod, wherein the first end of the third push rod is connected to the second joint mechanism and is connected to the driving device through a tendon rope, and the second end of the third push rod is movably connected to the first end of the fourth push rod;

A third joint mechanism, bound to the second setting position of the finger, and connected to the second end of the fourth push rod;

The driving device drives the first push rod to move through the tendon rope, so that the second push rod applies a force to the second joint mechanism; and/or,

The driving device also drives the third push rod to move through the tendon rope, so that the fourth push rod applies a force to the third joint mechanism.
The hand exoskeleton robot according to claim 1 is characterized in that the driving device includes at least a first driving device and a second driving device; wherein the first driving device is connected to the first push rod through a tendon rope; and the second driving device is connected to the third push rod through a tendon rope.
The hand exoskeleton robot according to claim 2, characterized in that the first driving device comprises a first motor and a first steering wheel, the first steering wheel is arranged on the transmission shaft of the first motor, and is connected to the first push rod through a tendon rope;

The second driving device comprises a second motor and a second steering disc, wherein the second steering disc is arranged on a transmission shaft of the second motor and connected to the third push rod via a tendon rope;

Wherein, the transmission shaft of the second motor and the transmission shaft of the first motor are distributed in different directions.
The hand exoskeleton robot according to claim 3, characterized in that the tendon rope includes a first tendon rope, a second tendon rope, a third tendon rope and a fourth tendon rope;

The first end of the first tendon rope and the first end of the second tendon rope are fixedly arranged on the first end of the first push rod; the second end of the first tendon rope and the second end of the second tendon rope are fixedly arranged on the first steering plate;

The first end of the third tendon rope and the first end of the fourth tendon rope are fixedly arranged on the first end of the third push rod; the second end of the third tendon rope and the second end of the fourth tendon rope are fixedly arranged on the second steering disc.
The hand exoskeleton robot according to claim 3 is characterized in that the first driving device also includes a first code disc, which is arranged between the first steering wheel and the first motor through a transmission shaft; the second driving device also includes a second code disc, which is arranged between the second steering wheel and the second motor through a transmission shaft.
The hand exoskeleton robot according to claim 1, characterized in that the first joint mechanism comprises:

A first base, wherein the first base is bound to the palm setting position through a first binding belt; the first end of the first push rod is disposed on the first base;

The first angle sensor is disposed on the first base and is used to collect the rotation angle of the first push rod.
The hand exoskeleton robot according to claim 6 is characterized in that the first joint mechanism further includes: a first positioning member, and the first angle sensor and the first end of the first push rod are arranged on the first base through the first positioning member.
The hand exoskeleton robot according to claim 1, characterized in that the second joint mechanism comprises:

a second base, the second base being bound to the first set position of the finger through a second binding belt; the first end of the third push rod being disposed on the second base;

The second angle sensor is disposed on the second base and is used to collect the rotation angle of the third push rod.
The hand exoskeleton robot according to claim 8 is characterized in that the second joint mechanism further includes: a second positioning member, and the second angle sensor and the first end of the third push rod are arranged on the second base through the second positioning member.
The hand exoskeleton robot according to claim 1 is characterized in that the second end of the first push rod is connected to the first end of the second push rod through a first movable member; the second end of the third push rod is connected to the first end of the fourth push rod through a second movable member;

The second end of the second push rod is connected to the second joint mechanism through a fixing member; the second end of the fourth push rod is connected to the third joint mechanism through a fixing member.