CN-122008148-A - Wrist exoskeleton mechanism for acquiring three-degree-of-freedom gestures of wrist

CN122008148ACN 122008148 ACN122008148 ACN 122008148ACN-122008148-A

Abstract

The application provides a wrist exoskeleton mechanism, which comprises a plurality of shaft acquisition units, wherein each first shaft acquisition unit comprises a wrist seat sleeve, a wrist bearing and a first encoder assembly, the wrist seat sleeve rotates around a first axis through the wrist bearing, and the first encoder assembly acquires a first rotation angle of the wrist seat sleeve. The second shaft acquisition unit comprises a first curve track and a second encoder assembly, the first curve track is sleeved in the second encoder assembly, and the second encoder assembly acquires a second rotation angle around a second shaft line. The third shaft acquisition unit comprises a second curve track and a third encoder assembly, the second curve track is fixed with the first curve track, and the third encoder assembly moves along the second curve track and rotates around a third shaft line to acquire a third rotation angle. The wrist rotation zero point position, the first axis and the third axis are perpendicular to the second axis, and the three axes are always intersected at the same point and correspond to a roll (R) axis, a pitch (P) axis and a deflection (Y) axis of the wrist joint RPY rotation respectively.

Inventors

ZHAO XIN
ZHAN WANGBIN

Assignees

北京傲粒微电子有限公司

Dates

Publication Date: 20260512
Application Date: 20260313

Claims (10)

1. A wrist exoskeleton mechanism for acquiring three degrees of freedom poses of a wrist, comprising: the wrist seat sleeve is connected with the wrist bearing so as to realize rotary motion around a first axis, and the first encoder assembly is used for acquiring a first shaft rotation angle of the wrist seat sleeve around the first axis; The second shaft acquisition unit comprises a first curve track and a second encoder assembly, the second encoder assembly is fixedly connected to the wrist seat sleeve, the first curve track is sleeved in the second encoder assembly and slides under the constraint of the second encoder assembly to realize the rotation motion around a second shaft line, and the second encoder assembly is also used for acquiring the second shaft rotation angle of the first curve track around the second shaft line; The third shaft acquisition unit comprises a second curve track and a third encoder assembly, the second curve track is fixedly connected with the first curve track, the third encoder assembly can move on the second curve track so as to realize rotary motion around a third axis, and the third encoder assembly is used for acquiring a third shaft rotation angle around the third axis; the first axis and the third axis are perpendicular to the second axis at the zero position of wrist rotation, the first axis, the second axis and the third axis are always intersected at the same point, and the first axis, the second axis and the third axis correspond to a roll (R) axis, a pitch (P) axis and a deflection (Y) axis in wrist joint RPY rotation respectively.
2. The wrist exoskeleton mechanism of claim 1 wherein, The wrist exoskeleton mechanism comprises two second shaft acquisition units, and two second encoder assemblies in the two second shaft acquisition units are fixed on the wrist seat sleeve at intervals along the extending direction of the second shaft line; two ends of the second curve track are respectively connected with the two first curve tracks in the two second shaft acquisition units; the wrist exoskeleton mechanism further comprises a track connecting piece, wherein two ends of the track connecting piece are respectively connected with one end, far away from the second curved track, of the first curved track.
3. The wrist exoskeleton mechanism of claim 2 wherein, The wrist sleeve is fixedly connected with the outer ring of the wrist bearing, the wrist sleeve is provided with a through hole penetrating along the extending direction of the first axis, the forearm of the user is penetrated in the through hole, and the first axis is overlapped with the transverse rolling (R) axis of the wrist of the user.
4. The wrist exoskeleton mechanism of claim 2 wherein the two first curvilinear tracks, the second curvilinear tracks and the track connection enclose a first receiving space in which a user's wrist is received, the second axis coinciding with a pitch (P) axis of the user's wrist, the third axis coinciding with a yaw (Y) axis of the user's wrist.
5. The wrist exoskeleton mechanism of claim 2 further comprising a tip assembly coupled to the third encoder assembly, the tip assembly configured to couple to a finger or palm of a user's wrist through which the second encoder assembly and/or the first curved track and/or the wrist sleeve are rotated during movement of the user's wrist.
6. The wrist exoskeleton mechanism of any one of claims 2 to 5 wherein the generatrix of the first curved track is a circular arc, the line connecting the centers of the two generatrixes of the first curved track coincides with the second axis, and the two first generatrix planes in which the generatrixes of the two first curved tracks lie are parallel to each other.
7. The wrist exoskeleton mechanism of claim 6 wherein the generatrix of the second curvilinear track is circular and a second generatrix plane in which the generatrix of the second curvilinear track lies is perpendicular to the first generatrix plane and the third axis is perpendicular to the second generatrix plane.
8. The wrist exoskeleton mechanism of any one of claims 1 to 5 wherein said first encoder assembly, said second encoder assembly and said third encoder assembly are one of an opto-electronic encoder, a magneto-electric encoder or an inductive encoder.
9. The wrist exoskeleton mechanism of claim 7 wherein, The second encoder assembly includes a first support unit and a first magnetic grid readhead; The cross section of the first curve track is V-shaped, and the cross section of the first curve track comprises a first conical surface projection and a second conical surface projection which are arranged at an included angle; the first supporting unit comprises a first roller, a second roller and a third roller, the first roller and the second roller are respectively abutted against the first conical surface and the second conical surface, and the third roller is abutted against the outer side surface of the first curved track along the radial direction; The first curved track further includes a first magnetic grating extending along a generatrix of the first curved track, the first magnetic grating read head configured to determine a circular arc position of the first curved track relative to the second encoder assembly based on a relative positional relationship with the first magnetic grating to determine the second axis rotation angle.
10. The wrist exoskeleton mechanism of claim 7 wherein, The third encoder assembly includes a second support unit and a second magnetic grid readhead; The cross section of the second curve track is V-shaped, and the cross section of the second curve track comprises a third conical projection and a fourth conical projection which are arranged at an included angle; the second supporting unit comprises a fourth roller, a fifth roller and a sixth roller, the fourth roller and the fifth roller are respectively abutted against the third conical surface and the fourth conical surface, and the sixth roller is abutted against the outer side surface of the second curved track along the radial direction; The second curved track further includes a second magnetic grating extending along a generatrix of the second curved track, the second magnetic grating read head configured to determine a circular arc position of the third encoder assembly relative to the second curved track based on a relative positional relationship with the second magnetic grating to determine the third axis rotation angle.

Description

Wrist exoskeleton mechanism for acquiring three-degree-of-freedom gestures of wrist Technical Field The application relates to the technology of wearable equipment, in particular to a wrist exoskeleton mechanism for acquiring three-degree-of-freedom gestures of a wrist. Background Along with the rapid development of robot technology, sensing technology and material science, wearable hand exoskeleton gloves are becoming research focus in the field of big data acquisition of human-type robots. The device is used as an important wearable human-computer interaction tool and is widely applied to the scenes such as remote operation, high-precision motion capture and data acquisition, rehabilitation training and the like of robots. The wrist is used as a key part for connecting the hand and the forearm, and the motion mode of the wrist is complicated and coordinated with a plurality of degrees of freedom, so that the wrist mechanism has the core functions of accurately capturing the posture change and rotation angle data of the wrist and realizing effective coordination with the finger action so as to construct a complete upper limb motion capture system. The exoskeleton device in the related art generally adopts a 'parallel' structure at the wrist, so that a large distance offset exists between the center of the rotation axis of the actual human wrist and the center of the rotation axis of the exoskeleton structure. The offset not only causes significant motion travel difference, but also causes frequent mechanical interference and singular point problems, so that the motion acquisition flexibility is reduced and the data error is greatly increased. Disclosure of Invention The embodiment of the application provides a wrist exoskeleton mechanism for acquiring three-degree-of-freedom gestures of a wrist. According to a first aspect of the embodiment of the application, a wrist exoskeleton mechanism for acquiring the posture of a wrist in a third degree of freedom is provided, and the wrist exoskeleton mechanism comprises a first shaft acquisition unit, a second shaft acquisition unit and a third shaft acquisition unit, wherein the first shaft acquisition unit comprises a wrist seat sleeve, a wrist bearing and a first encoder assembly, the wrist seat sleeve is connected with the wrist bearing to realize the rotation motion around a first axis, the first encoder assembly is used for acquiring the first shaft rotation angle of the wrist seat sleeve around the first axis, the second shaft acquisition unit comprises a first curve track and a second encoder assembly, the second encoder assembly is fixedly connected on the wrist seat sleeve, the first curve track is sleeved in the second encoder assembly to slide under the constraint of the second encoder assembly to realize the rotation motion around a second axis, the second encoder assembly is also used for acquiring the second shaft rotation angle of the first curve track around the second axis, the third shaft acquisition unit comprises a second curve track and a third encoder assembly, the second curve track is fixedly connected with the first curve track, the third encoder assembly can move around the first axis, the third encoder assembly can realize the rotation angle around the first axis, the third encoder assembly and the rotation point around the first axis, the third encoder assembly can always intersect with the second axis, and the rotation angle of the third encoder assembly can realize the rotation motion around the first axis. In some embodiments, the wrist exoskeleton mechanism comprises two second shaft acquisition units, two second encoder assemblies in the two second shaft acquisition units are fixed on the wrist seat cover at intervals along the extending direction of the second shaft, two ends of the second curved track are respectively connected with two first curved tracks in the two second shaft acquisition units, and the wrist exoskeleton mechanism further comprises a track connecting piece, and two ends of the track connecting piece are respectively connected with one end, far away from the second curved track, of the first curved track. In some embodiments, the wrist sleeve is fixedly connected with the outer ring of the wrist bearing, the wrist sleeve has a through hole penetrating along the extending direction of the first axis, the forearm of the user is penetrated in the through hole, and the first axis coincides with the roll (R) axis of the wrist of the user. In some embodiments, the two first curvilinear tracks, the second curvilinear tracks, and the track connection enclose a first receiving space in which the user's wrist is received, the second axis coinciding with a pitch (P) axis of the user's wrist, and the third axis coinciding with a yaw (Y) axis of the user's wrist. In some embodiments, the wrist exoskeleton mechanism further comprises an end component connected to the third encoder component, wherein the end component is use