Hand exoskeleton, medical device and simulated grabbing system

A medical device, comprising:

• a hand exoskeleton;
• and a medical central control device in communication with the hand exoskeleton, wherein the hand exoskeleton comprises:
• at least one mechanical finger and a mechanical palm;
• the mechanical finger comprising a first finger section, a second finger section, a first rod assembly, a second rod assembly, a first motor connected to the first rod assembly and configured to apply constraint to a motion of the first finger section, and a second motor connected to the second rod assembly and configured to apply constraint to a motion of the second finger section;
• the first rod assembly being movably connected to the mechanical palm and the first finger section separately;
• and
• the second rod assembly being movably connected to the second finger section;
• wherein the first motor and the second motor are same type of motors;
• the first motor is located between the mechanical palm and the first rod assembly, and the mechanical palm is movably connected to a first end of the first rod assembly through the first motor, the first motor is connected to the mechanical palm through a motor rod;
• the second motor is located between the first finger section and the second rod assembly, and a second end of the first rod assembly and the first finger section are movably connected to a first end of the second rod assembly through the second motor;
• and
• a second end of the second rod assembly is movably connected to the second finger section.

A simulated grabbing system, comprising:

• a hand exoskeleton;
• a central control device;
• and a simulated grabbing apparatus, the hand exoskeleton being in communication with the simulated grabbing apparatus through the central control device, wherein the hand exoskeleton comprises:
• at least one mechanical finger and a mechanical palm;
• the mechanical finger comprising a first finger section, a second finger section, a first rod assembly, a second rod assembly, a first motor connected to the first rod assembly and configured to apply constraint to a motion of the first finger section, and a second motor connected to the second rod assembly and configured to apply constraint to a motion of the second finger section;
• the first rod assembly being movably connected to the mechanical palm and the first finger section separately;
• and
• the second rod assembly being movably connected to the second finger section;
• wherein the first motor and the second motor are same type of motors;
• the first motor is located between the mechanical palm and the first rod assembly, and the mechanical palm is movably connected to a first end of the first rod assembly through the first motor, the first motor is connected to the mechanical palm through a motor rod;
• the second motor is located between the first finger section and the second rod assembly, and a second end of the first rod assembly and the first finger section are movably connected to a first end of the second rod assembly through the second motor;
• and
• a second end of the second rod assembly is movably connected to the second finger section.