LINKAGE STRUCTURE OF A HAND EXOSKELETON FOR INTERACTING WITH VIRTUAL OBJECTS

摘要

Provided in the present invention is a hand exoskeleton structure, which is to accurately apply force feedback while allowing natural finger movements. To achieve the above purpose, the hand exoskeleton structure composed of a link system comprises: an actuator which is installed on the back of a hand in the exoskeleton in order to generate fixed force; at least two first link groups which are installed on individual fingers in order to transmit the force generated from the actuator to the end of the fingers; and at least four second link groups which are to support by being connected with the first link group. Kinematically, the first and second link groups can be disassembled into at least three sub-link body structures. The sub-link bodies connected with the actuator include a 5-bar link body. Thus, the degree of freedom of the entire link body is 3.