In this study, we design an embedded surface EMG acquisition device to conveniently collect human surface EMG signals, pursue more intelligent human–computer interactions in exoskeleton robots, and enable exoskeleton robots to synchronize with or even respond to user actions in advance. The device has the characteristics of low cost, miniaturization, and strong compatibility, and it can acquire eight-channel surface EMG signals in real time while retaining the possibility of expanding the channel. This paper introduces the design and function of the embedded EMG acquisition device in detail, which includes the use of wired transmission to adapt to complex electromagnetic environments, light signals to indicate signal strength, and an embedded processing chip to reduce signal noise and perform filtering. The test results show that the device can effectively collect the original EMG signal, which provides a scheme for improving the level of human–computer interactions and enhancing the robustness and intelligence of exoskeleton equipment. The development of this device provides a new possibility for the intellectualization of exoskeleton systems and reductions in their cost.

Giving robot hands more powerful functions has always been one of the goals pursued by scholars in this field. In this paper, an electromagnetic switching multiple grasping modes robot hand (ESMGM hand) is proposed, which integrates three typical grasping modes and therefore has versatile usage and improved performance. The switchable CPS mechanism developed in this paper integrated the parallel grasping and coupled grasping modes, which are incompatible with each other, through ingenious design. The partial effective transmission mechanism guarantees the fusion and connection to self-adaptive grasping mode from both parallel grasping mode and coupled grasping mode. Based on the above two essential mechanisms, the specific structure of the ESMGM robot hand is designed. Theoretical analyses for the kinematic and grasping forces are performed, and the results show that the ESMGM hand not only has multiple grasping functions but also has the characteristics of equitable grasping motions, adequate grasping forces, and stable grasping effects. To further verify the performance of the ESMGM hand, the prototype of the ESMGM hand is manufactured, and grasping experiments are performed. The grasping forces distribution results are consistent with the theoretical analysis results. The general grasping experiments also illustrate that the ESMGM hand has the features of fast electromagnetic switching speed, good adaptability, high stability, fast response, and broad application prospects.