公开(公告)号：US12271523B2

公开(公告)日：2025-04-08

申请号：US18634995

申请日：2024-04-14

Applicant: SOUTHEAST UNIVERSITY

Inventor： Baoguo Xu ,  Qianqian Lu ,  Weifeng Peng ,  Aiguo Song

IPC: G06F3/01

Abstract: Disclosed is a lightweight hand exoskeleton force feedback apparatus, including a driver, a first rotating link, a second rotating link, a first linkage link, a second linkage link, a finger sleeve, and a pressure sensor fixing member; the driver is worn on a back of metacarpal bone of a human hand, the finger sleeve is fixed on an index finger, and the pressure sensor fixing member is fixed below the index finger; when the human hand bends to simulate a state of grasping an object, 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, force feedback is applied to the fingertip, and a pressure is accordingly imposed on a pressure sensor of the pressure sensor fixing member, so that closed-loop force feedback control is implemented.