Exoskeleton Glove

Abstract

An exoskeleton glove (2) comprising an individual linkage mechanism (4, 5, 6, 7) for each finger, wherein the linkage mechanism comprises a series of linkages (8, 11, 15, 19) concatenated through joints (10, 17, 20), a first link-age being attached to the glove (2), and a last linkage (19) farthest from the glove being provided with a thimble (18), wherein a cable (21) guided within or alongside the linkage mechanism connects the last linkage (19) and/or the thimble (18) to the first linkage (8) so as to transfer a force through the cable (21) acting on the last linkage (19) and/or the thimble (18).

Claims

1. An exoskeleton glove provided with an individual linkage mechanism for at least a finger or a thumb, wherein the linkage mechanism comprises a series of linkages concatenated through joints, a first linkage being attached to the glove, and a last linkage at a farthest end from the glove being provided with a thimble, wherein a cable guided within or alongside the linkage mechanism connects the last linkage and/or the thimble to the first linkage so as to transfer a force through the cable acting on the last linkage and/or the thimble, wherein at or near the first linkage a spring-loaded pulley is provided for winding or unwinding the cable, and wherein the pulley is connected with a magnetic brake.

2. The exoskeleton glove according to claim 1, wherein the magnetic brake is drivable by a variable voltage.

3. The exoskeleton glove according to claim 1, wherein the glove is battery-powered.

4. The exoskeleton glove according to claim 1, wherein the cable is guided over a guide wheel in the linkage mechanism which is positioned distant from the glove.

5. The exoskeleton glove according to claim 1, wherein the linkage mechanism is provided with a vibro-haptic feedback motor.

6. The exoskeleton glove according to claim 1, further comprising at least one actuator acting on the cable.

Description

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated into and form a part of the specification, illustrate one or more embodiments of the present invention and, together with the description, serve to explain the principles of the invention. The drawings are only for the purpose of illustrating one or more embodiments of the invention and are not to be construed as limiting the invention. In the drawings:

[0018] FIG. 1A and FIG. 1B are illustrations show in different perspectives a glove of an exoskeleton glove according to the prior art provided on a hand of the user;

[0019] FIGS. 2A and 2B are illustrations showing the individual linkage mechanisms of the thumb and the fingers of the prior art glove in different perspectives;

[0020] FIG. 3 is an illustration showing a linkage mechanism for a finger of an exoskeleton glove according to an embodiment of the present invention; and

[0021] FIG. 4 is an illustration showing a sectional view of the linkage mechanism shown in FIG. 3.

DETAILED DESCRIPTION OF THE INVENTION

[0022] Whenever in the figures the same reference numerals are applied, these numerals refer to the same parts.

[0023] FIG. 1A and FIG. 1B show in different perspectives a user's hand 1 provided with a glove 2 of an exoskeleton glove of the prior art which is shown in more detail in FIG. 2A and FIG. 2B.

[0024] In FIG. 2A and FIG. 2B it is shown that the exoskeleton glove is provided with an individual linkage mechanism for each finger and for the thumb. It shows a linkage mechanism 3 for the thumb, and further there are a linkage mechanism 4 for the index finger, a linkage mechanism 5 for the middle finger, a linkage mechanism 6 for the ring finger, and a linkage mechanism 7 for the small finger. The linkage mechanism 3 for the thumb is a bit more complicated than the linkage mechanisms for the fingers. The construction of the linkage mechanisms for the fingers is however for each finger the same. Accordingly the linkage mechanism comprises in any case a series of linkages 8, 11, 15, 19 concatenated through joints 10, 17, 20, wherein a first linkage is attached to the glove 2, and a last linkage 19 farthest from the glove is provided with a thimble 18.

[0025] FIGS. 3 and 4 show a linkage mechanism for a single finger as forming part of the exoskeleton glove according to an embodiment of the present invention. It is noted that although not shown the linkage mechanism for the thumb of the exoskeleton glove of the embodiment of the present invention is arranged similarly, so that a separate illustration thereof is superfluous. FIG. 3 shows the linkage mechanism in full view, whereas FIG. 4 shows the linkage mechanism in a sectional view through a longitudinal axis of the mechanism.

[0026] FIGS. 3 and 4 show that the linkage mechanism comprises several sections that are interconnected with joints to enable changing their mutual angular orientation. The linkage mechanism comprises first linkage 8 which is intended to be attached to glove 2 (see FIGS. 2A and 2B), second linkage 11 connected to first linkage 8 through first joint 9, third linkage 15 connected to the second linkage 11 through second joint 17, and fourth linkage 19 connected to third linkage 15 through third joint 20, wherein fourth linkage 19 is provided with thimble 18. Thimble 18 is evidently at a farthest end from glove 2.

[0027] FIG. 3 and more clearly FIG. 4 further show that cable 21 is guided within (or alongside) the linkage mechanism that connects the last linkage 19 distant from glove 2 and/or thimble 18 to first linkage 8 so as to transfer a force through cable 21 acting on the last linkage 19 and/or thimble 18.

[0028] At or near first linkage 8, spring-loaded pulley 22 is provided for winding or unwinding cable 21. The spring for the pulley 22 is carrying reference 23.

[0029] Pulley 22 is preferably connected with magnetic brake 24, which is desirably drivable by a variable voltage, for instance by pulse width modulation PWM, which is known per se to the skilled person.

[0030] Preferably, embodiments of the present invention are battery-powered. This is not shown in the drawing but is clear for the skilled person and requires no further elucidation.

[0031] FIG. 4 further shows that cable 21 is guided over guide wheel 25 in the linkage mechanism which is positioned distant from glove 2.

[0032] Finally, FIG. 4 shows that the linkage mechanism is provided with vibro-haptic feedback motor 26.

[0033] Although the invention has been discussed in the foregoing with reference to an exemplary embodiment of a part of the exoskeleton glove of the invention, the invention is not restricted to this particular embodiment which can be varied in many ways without departing from the invention. The discussed exemplary embodiment shall therefore not be used to construe the appended claims strictly in accordance therewith. On the contrary the embodiment is merely intended to explain the wording of the appended claims without intent to limit the claims to this exemplary embodiment. The scope of protection of the invention shall therefore be construed in accordance with the appended claims only, wherein a possible ambiguity in the wording of the claims shall be resolved using this exemplary embodiment.

[0034] Embodiments of the present invention can include every combination of features that are disclosed herein independently from each other. Although the invention has been described in detail with particular reference to the disclosed embodiments, other embodiments can achieve the same results. Variations and modifications of the present invention will be obvious to those skilled in the art and it is intended to cover in the appended claims all such modifications and equivalents. The entire disclosures of all references, applications, patents, and publications cited above are hereby incorporated by reference. Unless specifically stated as being essential above, none of the various components or the interrelationship thereof are essential to the operation of the invention. Rather, desirable results can be achieved by substituting various components and/or reconfiguration of their relationships with one another.