IP Library › Granted Patent US 12672999
Granted Patent B2
US 12672999 · App. 17/959,740 · Granted Jul 7, 2026

Hand exoskeleton, medical device and simulated grabbing system

Inventors: Dongsheng Zhang (Shenzhen, CN); Chuanzheng Ni (Shenzhen, CN); Xianyu Song (Shenzhen, CN); Kun Xiong (Shenzhen, CN); Lei Wei (Shenzhen, CN); Zhengyou Zhang (Shenzhen, CN)
Assignee: TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED
A61H1/0288B25J9/0006A61H2201/1207A61H2201/1638A61H2201/501
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Quick Facts
Patent No.
US 12672999
App. No.
17/959,740
Granted
Jul 7, 2026
Kind
B2
Abstract

A hand exoskeleton includes at least one mechanical finger and a mechanical palm; and the mechanical finger includes a finger section, a rod assembly and a motor, the finger section includes a first finger section and a second finger section, and the rod assembly includes a first rod assembly and a second rod assembly. The motor capable of controlling the hand exoskeleton is arranged in the hand exoskeleton, and motion constraint on the finger section is realized by constraining a rod through the motor in the movement process of the hand exoskeleton, so that motion limitation on the hand exoskeleton is realized.

Claims (60)

1 . A hand exoskeleton, comprising: at least one mechanical finger and a mechanical palm;

the mechanical finger comprising a first finger section, a second finger section, a first rod assembly, a second rod assembly, a first motor connected to the first rod assembly and configured to apply constraint to a motion of the first finger section, and a second motor connected to the second rod assembly and configured to apply constraint to a motion of the second finger section;

the first rod assembly being movably connected to the mechanical palm and the first finger section separately; and

the second rod assembly being movably connected to the second finger section;

wherein the first motor and the second motor are same type of motors;

the first motor is located between the mechanical palm and the first rod assembly, and the mechanical palm is movably connected to a first end of the first rod assembly through the first motor, the first motor is connected to the mechanical palm through a motor rod;

the second motor is located between the first finger section and the second rod assembly, and a second end of the first rod assembly and the first finger section are movably connected to a first end of the second rod assembly through the second motor; and

a second end of the second rod assembly is movably connected to the second finger section.

2 . The hand exoskeleton according to claim 1 , wherein the mechanical finger further comprises a third finger section; and

the third finger section is located between the first finger section and the second finger section.

3 . The hand exoskeleton according to claim 2 , wherein the second rod assembly comprises a third rod assembly and a fourth rod assembly;

a first end of the third rod assembly is movably connected to the first finger section, and a second end of the third rod assembly is movably connected to the third finger section; and

a first end of the fourth rod assembly is movably connected to the third finger section; and a second end of the fourth rod assembly is movably connected to the second finger section.

4 . The hand exoskeleton according to claim 3 , wherein the third rod assembly comprises a third rod joint, and the fourth rod assembly comprises a fourth rod joint; and

the third rod joint is connected to the fourth rod joint.

5 . The hand exoskeleton according to claim 4 , wherein the third rod assembly comprises a fifth rod and a sixth rod, and the fourth rod assembly comprises a seventh rod, an eighth rod and a ninth rod;

the fifth rod and the sixth rod are connected to a third rod joint;

the seventh rod and the eighth rod are connected to a fourth rod second joint; and

the third rod joint is connected to the fourth rod second joint through a tenth rod.

6 . The hand exoskeleton according to claim 1 , wherein the hand exoskeleton comprises a first mechanical finger and a second mechanical finger, and the hand exoskeleton further comprises an extension assembly;

the first rod assembly of the first mechanical finger is connected to the mechanical palm;

the extension assembly is located between the first rod assembly of the second mechanical finger and the mechanical palm, and the second mechanical finger is connected to the mechanical palm through the extension assembly; and

a first end of the extension assembly is connected to the mechanical palm, and a second end of the extension assembly is connected to a first end of the first rod assembly of the second mechanical finger.

7 . The hand exoskeleton according to claim 6 , wherein the extension assembly comprises a bracket, an adjusting mechanism and a positioning member;

a first end of the bracket is connected to the mechanical palm;

a second end of the bracket is connected to a first end of the adjusting mechanism;

the adjusting mechanism is a four-bar linkage with a spring, and a second end of the adjusting mechanism is connected to a first end of the positioning member;

a second end of the positioning member is connected to a first end of the first rod assembly of the second mechanical finger; and

the positioning member is provided with a positioning member encoder.

8 . The hand exoskeleton according to claim 1 , further comprising:

a first encoder and a second encoder, the rod assembly is correspondingly provided with a rod joint, and the motor is provided with a motor rod;

the first encoder is located on the rod assembly, and the first encoder is connected to the rod joint; and

the second encoder is located on the mechanical palm, and the second encoder is connected to a first end of the motor rod.

9 . The hand exoskeleton according to claim 1 , wherein a revolute pair is arranged between the second rod assembly and the first finger section, and the revolute pair is controlled by the second motor.

10 . The hand exoskeleton according to claim 1 , wherein an output shaft of the first motor is fixedly connected to the first rod assembly, and an output shaft of the second motor is fixedly connected to the second rod assembly.

11 . A medical device, comprising: a hand exoskeleton; and a medical central control device in communication with the hand exoskeleton, wherein the hand exoskeleton comprises:

at least one mechanical finger and a mechanical palm;

the mechanical finger comprising a first finger section, a second finger section, a first rod assembly, a second rod assembly, a first motor connected to the first rod assembly and configured to apply constraint to a motion of the first finger section, and a second motor connected to the second rod assembly and configured to apply constraint to a motion of the second finger section;

the first rod assembly being movably connected to the mechanical palm and the first finger section separately; and

the second rod assembly being movably connected to the second finger section;

wherein the first motor and the second motor are same type of motors;

the first motor is located between the mechanical palm and the first rod assembly, and the mechanical palm is movably connected to a first end of the first rod assembly through the first motor, the first motor is connected to the mechanical palm through a motor rod;

the second motor is located between the first finger section and the second rod assembly, and a second end of the first rod assembly and the first finger section are movably connected to a first end of the second rod assembly through the second motor; and

a second end of the second rod assembly is movably connected to the second finger section.

12 . The medical device according to claim 11 , wherein the mechanical finger further comprises a third finger section; and

the third finger section is located between the first finger section and the second finger section.

13 . The medical device according to claim 12 , wherein the second rod assembly comprises a third rod assembly and a fourth rod assembly;

a first end of the third rod assembly is movably connected to the first finger section, and a second end of the third rod assembly is movably connected to the third finger section; and

a first end of the fourth rod assembly is movably connected to the third finger section; and a second end of the fourth rod assembly is movably connected to the second finger section.

14 . The medical device according to claim 13 , wherein the third rod assembly comprises a third rod joint, and the fourth rod assembly comprises a fourth rod joint; and

the third rod joint is connected to the fourth rod joint.

15 . A simulated grabbing system, comprising: a hand exoskeleton; a central control device; and a simulated grabbing apparatus, the hand exoskeleton being in communication with the simulated grabbing apparatus through the central control device, wherein the hand exoskeleton comprises:

at least one mechanical finger and a mechanical palm;

the mechanical finger comprising a first finger section, a second finger section, a first rod assembly, a second rod assembly, a first motor connected to the first rod assembly and configured to apply constraint to a motion of the first finger section, and a second motor connected to the second rod assembly and configured to apply constraint to a motion of the second finger section;

the first rod assembly being movably connected to the mechanical palm and the first finger section separately; and

the second rod assembly being movably connected to the second finger section;

wherein the first motor and the second motor are same type of motors;

the first motor is located between the mechanical palm and the first rod assembly, and the mechanical palm is movably connected to a first end of the first rod assembly through the first motor, the first motor is connected to the mechanical palm through a motor rod;

the second motor is located between the first finger section and the second rod assembly, and a second end of the first rod assembly and the first finger section are movably connected to a first end of the second rod assembly through the second motor; and

a second end of the second rod assembly is movably connected to the second finger section.