MECHANICAL HAND EXOSKELETON APPARATUS AND EXOSKELETON DEVICE

摘要

A mechanical hand exoskeleton apparatus and an exoskeleton wearing device; the mechanical hand exoskeleton apparatus comprises: finger mechanisms (1), which are worn on the fingers and which may move together with the fingers; a palm mechanism (2), which is worn on the palm and which may be fixed to the palm; a first motor driving mechanism (3), which is fixed on the palm mechanism (2), an output shaft thereof being connected to the finger mechanisms (1) so that the finger mechanisms (1) may synchronously rotate with the output shaft of the first motor driving mechanism (3) on a first rotation plane, thus the fingers may be closed or opened after the mechanical hand exoskeleton apparatus is worn; a first angle sensor (4), which is used for monitoring the rotation angle of the finger mechanisms (1) on the first rotation plane and which sends a detection value to a first control apparatus (5) so that the first control apparatus (5) controls the first motor driving mechanism (3) to generate a torque opposite to the rotation direction of the finger mechanisms (1) on the first rotation plane. After being worn on a human hand, force feedback adjustment may be achieved when the fingers are turned laterally such that a user may attain a better tactile experience.