CN103315880A - Hand external skeleton rehabilitation system based on memory alloy driving - Google Patents
Hand external skeleton rehabilitation system based on memory alloy driving Download PDFInfo
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- CN103315880A CN103315880A CN2013102176653A CN201310217665A CN103315880A CN 103315880 A CN103315880 A CN 103315880A CN 2013102176653 A CN2013102176653 A CN 2013102176653A CN 201310217665 A CN201310217665 A CN 201310217665A CN 103315880 A CN103315880 A CN 103315880A
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Abstract
The invention discloses a hand external skeleton rehabilitation system based on memory alloy driving. The hand external skeleton rehabilitation system comprises a glove (1), a palm plate (2), a power source (3) and a finger linkage system. The palm plate (2), the power source (3) and the finger linkage system are all fixed on the glove (1). The finger linkage system is connected with the palm plate (2). A memory alloy spring is used as a driving device, the structure is simple and light, the five fingers can move independently, and the flexibility is high. A four-bar mechanism is used as an external skeleton transmission mechanism, and the hand external skeleton rehabilitation system is easy to install and maintain and can be suitable for patients with different finger lengths. The external skeleton is different from a traditional driven rehabilitation external skeleton. Surface electromyogram signals are used as control signals of the hand external skeleton, rehabilitation movement is controlled by the patients themselves, and a curative effect is promoted. The hand external skeleton rehabilitation system is convenient, easy to use, safe, effective and low in cost and has wide application prospects.
Description
Technical field
The present invention relates to a kind of human motion auxiliary device, relate in particular to a kind of be applicable to the hand function impaired patients based on memory alloy driven exoskeleton rehabilitation system.
Background technology
Hands is that human body is the most complicated, one of most important organ, yet also is a position that very easily sustains damage.The injured often recovery period of hand is long, and is how undesirable to the functional rehabilitation of finishing fine movement, had a strong impact on patient's quality of life.How to promote to hinder back hand functional rehabilitation, oneself seems most important.
Nineteen sixty, Canadian orthopedist Robert Salter has proposed Continuous Passive Movement rehabilitation therapy (Continuous Passive Motion is called for short CPM).Driving the trouble limb by external force and do long-time FR passive activity, stop the stiff of sufferer joint with this, and promote to suffer from limb blood. the liquid circulation reaches the purpose of fast track rehabilitation.It is obvious that the CPM therapy has been proved effect, but the characteristics of this high strength high duplication, and Physical Therapist's labor intensity has been proposed very high request.In order to tackle this problem, robot and correlation technique thereof are applied in the hand rehabilitation, replace the Physical Therapist by the hand exoskeleton system, drive the trouble limb and carry out passive exercise, promote hand function to recover.
Occurring in nature, ectoskeleton are a kind ofly can provide the hard external structure of biological soft inside organ being carried out configuration, building and protection.Shrimp, Eriocheir sinensis etc. all are typical ectoskeleton biology.Gain enlightenment from biological ectoskeleton, scientist develops a series of mechanical ectoskeletons, by mechanical external force, the people of amyotrophy or brain or spinal function damage is assisted under the situation of no manpower assistance, and help people with disability, old people carry out daily life.
In each joint of human body, the joint freedom degrees of finger is many, and structure is also complicated, so the ectoskeletal design of hand is also relatively more difficult.Find that through the literature search to prior art domestic ectoskeletal research also is in the starting stage to hand.Chinese patent application number is: 201110121085.5 patent of invention discloses a kind of fixed hand exoskeleton rehabilitation device.This device obtains power by the motor-driven feed screw nut, and is simple in structure, and is easy to realize.But also there is following problem:
(1) the ectoskeleton driving device is motor, and volume is big, quality is heavy, brings bigger burden to the patient in the rehabilitation training process.Therefore the hand ectoskeleton has to make fixed, by pedestal carrying driving device weight, has influenced the portability of whole system.
(2) the hand rehabilitation ectoskeleton of traditional passive type, good rehabilitation exercise prepared in advance, action is simple, form is single, influences rehabilitation efficacy.Along with the development of the machining surface signal of telecommunication (Electromyography, be called for short EMG) technology, develop the active rehabilitation system that is brought out by the patient and become and very be necessary.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, developed a kind of novel, by marmem (Shape MemoryAlloy) driving, quadric chain transmission, surface electromyogram signal bring out based on memory alloy driven hand exoskeleton rehabilitation system.
The present invention is achieved by the following technical solutions:
A kind of based on memory alloy driven hand exoskeleton rehabilitation system, comprise glove 1, palm plate 2, power source 3 and finger linked system, wherein, described palm plate 2, power source 3 and finger linked system all are fixed on the glove 1, and described finger linked system links to each other with palm plate 2.
Preferably, described finger linked system comprises: thumb section, forefinger portion, middle finger, unknown finger and little finger, wherein:
One thumb section, forefinger portion, middle finger and unknown finger include: the connecting rod 14 in MCP joint, No. two connecting rods 15 in MCP joint, MCP articular branches strut 19, the connecting rod 16 in PIP joint, No. two connecting rods 17 in PIP joint, PIP articular branches strut 18, driving gear 20, driven gear 21, a rotating shaft 22 and No. two rotating shafts 23, wherein, connecting rod in described MCP joint 14 is hinged with palm plate 2; Connecting rod 14 of one end of No. two connecting rods 15 in described MCP joint and MCP joint is hinged, the other end of No. two connecting rods 15 in described MCP joint and rotating shaft 22 interference fit; MCP articular branches strut 19 is passed in a described rotating shaft 22, and with driving gear 20 interference fit; Described driving gear 20 is meshing with each other with driven gear 21; MCP articular branches strut 19 is passed in described No. two rotating shafts 23, and respectively with connecting rod 16 interference fit of driven gear 21 and PIP joint; Connecting rod in described PIP joint 16 is hinged with No. two connecting rods 17 in PIP joint; No. two connecting rods in described PIP joint 17 are hinged with PIP articular branches strut 18; Described MCP articular branches strut 19, PIP articular branches strut 18 all are fixed on the glove 1;
One little finger comprises: the connecting rod 24 in little finger of toe portion MCP joint, No. two connecting rods 25 in little finger of toe portion MCP joint and the MCP of little finger of toe portion articular branches strut 26, and wherein, described little finger of toe portion's connecting rod in MCP joint 24 and little finger of toe portion palm plate support bar 26 are hinged; Connecting rod 24 of an end and little finger of toe portion MCP joint of described little finger of toe portion No. two connecting rods 25 in MCP joint is hinged, and the other end and the MCP of the little finger of toe portion articular branches strut 26 of described little finger of toe portion No. two connecting rods 25 in MCP joint are hinged; The described little finger of toe MCP of portion articular branches strut 26 is fixed on the glove 1.
Preferably, described palm plate 2 comprises: palm plate fixing head 9 and palm plate support bar 10, and described palm plate support bar 10 is fixed on the palm plate fixing head 9 by suitable screw bolt and nut 13, and described palm plate fixing head 9 is glued to the back of the hand position of glove 1.
Preferably, described finger linked system comprises thumb section, forefinger portion, middle finger, unknown finger and little finger, wherein: thumb section, forefinger portion, middle finger and unknown finger include: connecting rod in 14,4 MCP joints of a connecting rod, MCP joint 14 is hinged with palm plate support bar 10.
Preferably, described power source 3 comprises: marmem extension spring 11 and common straightcarbon steel extension spring 12, wherein, the two ends of described marmem extension spring 11 and common straightcarbon steel extension spring 12 are hinged with finger linked system and palm plate 2 respectively.
Preferably, described finger linked system comprises thumb section, forefinger portion, middle finger, unknown finger and little finger, wherein: thumb section, forefinger portion, middle finger and unknown finger include: the connecting rod 14 in MCP joint, described palm plate 2 comprises palm plate fixing head 9, and the two ends of described marmem extension spring 11 and common straightcarbon steel extension spring 12 are hinged with the connecting rod 14 in 4 MCP joints and palm plate fixing head 9 respectively.
Above-mentioned MCP refers to metacarpophalangeal joints; PiP refers to nearly finger tip joint.
Provided by the invention based on memory alloy driven hand exoskeleton rehabilitation system, its marmem provides power for this hand ectoskeleton, power to weight ratio is far longer than motor, cylinder, the surface electromyogram signal technology is by gathering the ultra-weak electronic signal on human body skin surface, analysis draws the motion intention of muscle, and pass to ectoskeleton, as its control signal.That whole system has is simple and light, be easy to installation and maintenance, the characteristics of cheap, intelligent control.
The present invention with the shape memory alloy spring is driving device, and is simple and light, and five fingers can self-movement, and flexibility ratio is higher; Adopt quadric chain as ectoskeletal drive mechanism, be easy to installation and maintenance, and can be adapted to the patient of different finger length; Difference and passive type rehabilitation ectoskeleton in the past, the present invention as the ectoskeletal control signal of hand, by patient's Autonomous Control rehabilitation action, promotes curative effect with surface electromyogram signal.The present invention is convenient easy-to-use, safe and effective, and cost is lower, has broad application prospects.
Description of drawings
Fig. 1 is hand ectoskeleton frame for movement sketch map;
Fig. 2 is the glove structure sketch map;
Fig. 3 is palm plate and power source structural representation;
Fig. 4 is thumb section, forefinger portion, middle finger or unknown finger structural representation;
Fig. 5 is little finger of toe portion structural representation;
Among the figure: 1 is glove, and 2 are palm plate, and 3 is power source, 4 is thumb section, and 5 is forefinger portion, and 6 is middle finger, 7 is unknown finger, 8 is little finger, and 9 are palm plate fixing head, and 10 are palm plate support bar, 11 is the marmem extension spring, 12 is the common straightcarbon steel extension spring, and 13 is screw bolt and nut, and 14 is the connecting rod in MCP joint, 15 is No. two connecting rods in MCP joint, 16 is the connecting rod in PIP joint, and 17 is No. two connecting rods in PIP joint, and 18 is PIP articular branches strut, 19 is MCP articular branches strut, 20 is driving gear, and 21 is driven gear, and 22 is a rotating shaft, 23 is No. two rotating shafts, 24 is the connecting rod in little finger of toe portion MCP joint, and 25 is No. two connecting rods in little finger of toe portion MCP joint, and 26 is the MCP of little finger of toe portion articular branches strut.
The specific embodiment
Below embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, has provided detailed embodiment and concrete operating process.Should be pointed out that to those skilled in the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Please consult Fig. 1 to Fig. 5 simultaneously.
It is a kind of based on memory alloy driven hand exoskeleton rehabilitation system that present embodiment provides, comprise glove 1, palm plate 2, power source 3 and finger linked system, wherein, described palm plate 2, power source 3 and finger linked system all are fixed on the glove 1, and described finger linked system links to each other with palm plate 2.
Further, described finger linked system comprises: thumb section, forefinger portion, middle finger, unknown finger and little finger, wherein:
One thumb section, forefinger portion, middle finger and unknown finger include: the connecting rod 14 in MCP joint, No. two connecting rods 15 in MCP joint, MCP articular branches strut 19, the connecting rod 16 in PIP joint, No. two connecting rods 17 in PiP joint, PIP articular branches strut 18, driving gear 20, driven gear 21, a rotating shaft 22 and No. two rotating shafts 23, wherein, connecting rod in described MCP joint 14 is hinged with palm plate 2; Connecting rod 14 of one end of No. two connecting rods 15 in described MCP joint and MCP joint is hinged, the other end of No. two connecting rods 15 in described MCP joint and rotating shaft 22 interference fit; MCP articular branches strut 19 is passed in a described rotating shaft 22, and with driving gear 20 interference fit; Described driving gear 20 is meshing with each other with driven gear 21; MCP articular branches strut 19 is passed in described No. two rotating shafts 23, and respectively with connecting rod 16 interference fit of driven gear 21 and PIP joint; Connecting rod in described PIP joint 16 is hinged with No. two connecting rods 17 in PIP joint; No. two connecting rods in described PIP joint 17 are hinged with PIP articular branches strut 18; Described MCP articular branches strut 19, PIP articular branches strut 18 all are fixed on the glove 1;
One little finger comprises: the connecting rod 24 in little finger of toe portion MCP joint, No. two connecting rods 25 in little finger of toe portion MCP joint and the MCP of little finger of toe portion articular branches strut 26, and wherein, described little finger of toe portion's connecting rod in MCP joint 24 and little finger of toe portion palm plate support bar 26 are hinged; Connecting rod 24 of an end and little finger of toe portion MCP joint of described little finger of toe portion No. two connecting rods 25 in MCP joint is hinged, and the other end and the MCP of the little finger of toe portion articular branches strut 26 of described little finger of toe portion No. two connecting rods 25 in MCP joint are hinged; The described little finger of toe MCP of portion articular branches strut 26 is fixed on the glove 1.
Further, described palm plate 2 comprises: palm plate fixing head 9 and palm plate support bar 10, and described palm plate support bar lO is fixed on the palm plate fixing head 9 by suitable screw bolt and nut 13, and described palm plate fixing head 9 is glued to the back of the hand position of glove 1.
Further, described finger linked system comprises thumb section, forefinger portion, middle finger, unknown finger and little finger, wherein: thumb section, forefinger portion, middle finger and unknown finger include: connecting rod in 14,4 MCP joints of a connecting rod, MCP joint 14 is hinged with palm plate support bar 10.
Further, described power source 3 comprises: marmem extension spring 11 and common straightcarbon steel extension spring 12, wherein, the two ends of described marmem extension spring 11 and common straightcarbon steel extension spring 12 are hinged with finger linked system and palm plate 2 respectively.
Further, described finger linked system comprises thumb section, forefinger portion, middle finger, unknown finger and little finger, wherein: thumb section, forefinger portion, middle finger and unknown finger include: the connecting rod 14 in MCP joint, described palm plate 2 comprises palm plate fixing head 9, and the two ends of described marmem extension spring 11 and common straightcarbon steel extension spring 12 are hinged with the connecting rod 14 in 4 MCP joints and palm plate fixing head 9 respectively.
Above-mentioned MCP refers to metacarpophalangeal joints; PIP refers to nearly finger tip joint.
Be specially,
As shown in Figure 1, described palm plate 2, power source 3, thumb section 4, forefinger portion 5, middle finger 6, unknown finger 7, little finger of toe portion 8 based on memory alloy driven hand exoskeleton rehabilitation system all is fixed on the glove 1, and thumb section 4, forefinger portion 5, middle finger 6, unknown finger 7, little finger of toe portion 8 and palm plate 2 link to each other.
As shown in Figure 3, palm plate 2 comprises palm plate fixing head 9 and palm plate support bar 10; Power source 3 comprises marmem extension spring 11 and common straightcarbon steel extension spring 12.
As shown in Figure 4, thumb section 4, forefinger portion 5, middle finger 6, unknown finger 7 include the connecting rod 14 in MCP joint, No. two connecting rods 15 in MCP joint, MCP articular branches strut 19, the connecting rod 16 in PIP joint, No. two connecting rods 17 in PIP joint, PIP articular branches strut 18, driving gear 20,22, No. two rotating shafts 23 of 21, numbers rotating shafts of driven gear.Wherein MCP representative " metacarpophalangeal joints ", PIP representative " near finger tip joint ".
As shown in Figure 5, little finger of toe portion 8 comprises the connecting rod 24 in little finger of toe portion MCP joint, No. two connecting rods 25 in little finger of toe portion MCP joint, the MCP of little finger of toe portion articular branches strut 26.
Annexation is as follows between the each several part:
As shown in Figure 3, in the described palm plate 2, palm plate support bar lO is fixed on the palm plate fixing head 9 by screw bolt and nut 13, and palm plate fixing head 9 is glued to the back of the hand position of glove l.In the described power source 3, the two ends of marmem extension spring 11 are hinged with the connecting rod 14 in MCP joint, palm plate fixing head 9 respectively.The two ends of common straightcarbon steel extension spring 12 are hinged with the connecting rod 14 in MCP joint, palm plate fixing head 9 respectively.
As shown in Figure 4, in described thumb section 4 or forefinger portion 5 or middle finger 6 or the unknown finger 7, connecting rod in MCP joint 14 is hinged with palm plate support bar 10; The connecting rod 14 in one end of No. two connecting rods 15 in MCP joint and MCP joint is hinged, the other end and rotating shaft 22 interference fit; MCP articular branches strut 19 is passed in a rotating shaft 22, and with driving gear 20 interference fit; Driving gear 20 is meshing with each other with driven gear 21; MCP articular branches strut 19 is passed in No. two rotating shafts 23, and respectively with driven gear 21, connecting rod 16 interference fit in PIP joint; Connecting rod in PIP joint 16 is hinged with No. two connecting rods 17 in PIP joint; No. two connecting rods in PIP joint 17 are hinged with PIP articular branches strut 18; MCP articular branches strut 19, PIP articular branches strut 18 all are fixed on the glove 1.
As shown in Figure 5, in described little finger of toe portion 8 parts, connecting rod in little finger of toe portion MCP joint 24 is hinged with little finger of toe portion palm plate support bar 26; Connecting rod 24 of one end of little finger of toe portion No. two connecting rods 25 in MCP joint and little finger of toe portion MCP joint is hinged, and the other end and the MCP of little finger of toe portion articular branches strut 26 are hinged; The MCP of little finger of toe portion articular branches strut 26 is fixed on the glove 1.
Described hinged can the realization by screw bolt and nut 13.
Present embodiment provide based on memory alloy driven hand exoskeleton rehabilitation system, by the collection surface electromyographic signal, to analyze and draw hand muscular movement intention, control hand ectoskeleton is done corresponding sports, drive the activity of patient's finger, reach autonomous reconditioning effect.
Below in conjunction with specific embodiment, be that example is elaborated to work process of the present invention with the control instruction of importing " bending of forefinger portion " and " stretch middle finger ".
Work process of the present invention may further comprise the steps:
Step l, patient's hand puts on one's gloves 1, has dressed the hand ectoskeleton.The surface electromyogram signal Acquisition Instrument imports the hand muscle signal of telecommunication that collects in the computer into, and computer analysis draws the motion intention of hand muscle, and passes to the hand ectoskeleton as control instruction.
Step 2, when control instruction was " bending of forefinger portion ", constant-current source was connected in the marmem extension spring 11 in the forefinger portion power source 3, is heated to phase transition temperature, produces shape memory effect.Marmem extension spring 11 is initiatively shunk under the shape memory effect effect, drives the connecting rod 14 in MCP joint and rotates around palm plate support bar 10.Simultaneously, connecting rod in MCP joint 14 promotes No. two connecting rods in MCP joint 15 and rotates with MCP articular branches strut 19, drives patient's the MCP of forefinger portion arthrogryposis.The rotation of No. two connecting rods 15 in MCP joint under the transfer function of driving gear 20, driven gear 2l, causes the connecting rod 16 in PIP joint also to rotate.Connecting rod in PIP joint 16 promotes No. two connecting rods in PIP joint 17 and rotates with PIP articular branches strut 18, drives patient's the PIP of forefinger portion arthrogryposis.
Step 3, when control instruction was " stretch middle finger ", the marmem extension spring 11 in the middle finger power source 3 broke from heater circuit, and temperature is reduced to below the phase transition temperature, and shape memory effect disappears, and no longer produces contractility.The common straightcarbon steel extension spring 12 that is stretched is shunk under self restoring force effect, drives the connecting rod 14 in MCP joint around palm plate support bar 10 backward rotation.Simultaneously, connecting rod in MCP joint 14 promotes No. two connecting rods in MCP joint 15 and MCP articular branches strut 19 backward rotation, and stretch in the MCP joint, middle finger that drives the patient.The backward rotation of No. two connecting rods 15 in MCP joint under the transfer function of driving gear 20, driven gear 21, causes the connecting rod 16 in PIP joint that backward rotation also takes place.Connecting rod in PiP joint 16 promotes No. two connecting rods in PIP joint 17 and PIP articular branches strut 18 backward rotation, and stretch in the PIP joint, middle finger that drives the patient.
More than specific embodiments of the invention are described.It will be appreciated that the present invention is not limited to above-mentioned specific implementations, those skilled in the art can make various distortion or modification within the scope of the claims, and this does not influence flesh and blood of the present invention.
Claims (6)
1. one kind based on memory alloy driven hand exoskeleton rehabilitation system, it is characterized in that, comprise glove (1), palm plate (2), power source (3) and finger linked system, wherein, described palm plate (2), power source (3) and finger linked system all are fixed on the glove (1), and described finger linked system links to each other with palm plate (2).
2. according to claim 1 based on memory alloy driven hand exoskeleton rehabilitation system, it is characterized in that described finger linked system comprises: thumb section, forefinger portion, middle finger, unknown finger and little finger, wherein:
One thumb section, forefinger portion, middle finger and unknown finger include: the connecting rod in MCP joint (14), No. two connecting rods in MCP joint (15), MCP articular branches strut (19), the connecting rod in PiP joint (16), No. two connecting rods in PIP joint (17), PIP articular branches strut (18), driving gear (20), driven gear (21), a rotating shaft (22) and No. two rotating shafts (23), wherein, the described MCP connecting rod in joint (14) is hinged with palm plate (2); The connecting rod in one end of No. two connecting rods in described MCP joint (15) and MCP joint (14) is hinged, the other end of No. two connecting rods in described MCP joint (15) and a rotating shaft (22) interference fit; MCP articular branches strut (19) is passed in a described rotating shaft (22), and with driving gear (20) interference fit; Described driving gear (20) is meshing with each other with driven gear (21); MCP articular branches strut (19) is passed in described No. two rotating shafts (23), and respectively with driven gear (21) and the connecting rod in PiP joint (16) interference fit; The connecting rod in described PiP joint (16) is hinged with No. two connecting rods in PiP joint (17); No. two connecting rods in described PIP joint (17) are hinged with PIP articular branches strut (18); Described MCP articular branches strut (19), PiP articular branches strut (18) all are fixed on the glove (1);
One little finger comprises: the connecting rod in little finger of toe portion MCP joint (24), No. two connecting rods in little finger of toe portion MCP joint (25) and the MCP of little finger of toe portion articular branches strut (26), and wherein, described little finger of toe portion's connecting rod in MCP joint (24) is hinged with little finger of toe portion palm plate support bar (26); One end of described little finger of toe portion's No. two connecting rods in MCP joint (25) and the connecting rod in little finger of toe portion MCP joint (24) are hinged, and the other end of described little finger of toe portion's No. two connecting rods in MCP joint (25) and the MCP of little finger of toe portion articular branches strut (26) are hinged; The described little finger of toe MCP of portion articular branches strut (26) is fixed on the glove (1).
3. according to claim 1 based on memory alloy driven hand exoskeleton rehabilitation system, it is characterized in that, described palm plate (2) comprising: palm plate fixing head (9) and palm plate support bar (10), described palm plate support bar (10) is fixed on the palm plate fixing head (9) by suitable screw bolt and nut (13), and described palm plate fixing head (9) is glued to the back of the hand position of glove (1).
4. according to claim 3 based on memory alloy driven hand exoskeleton rehabilitation system, it is characterized in that, described finger linked system comprises thumb section, forefinger portion, middle finger, unknown finger and little finger, wherein: thumb section, forefinger portion, middle finger and unknown finger include: the connecting rod in MCP joint (14), 4 connecting rods in MCP joint (14) are hinged with palm plate support bar (10).
5. according to claim 1 based on memory alloy driven hand exoskeleton rehabilitation system, it is characterized in that, described power source (3) comprising: marmem extension spring (11) and common straightcarbon steel extension spring (12), wherein, the two ends of described marmem extension spring (11) and common straightcarbon steel extension spring (12) are hinged with finger linked system and palm plate (2) respectively.
6. according to claim 5 based on memory alloy driven hand exoskeleton rehabilitation system, it is characterized in that, described finger linked system comprises thumb section, forefinger portion, middle finger, unknown finger and little finger, wherein: thumb section, forefinger portion, middle finger and unknown finger include: the connecting rod in MCP joint (14), described palm plate (2) comprises palm plate fixing head (9), and the two ends of described marmem extension spring (11) and common straightcarbon steel extension spring (12) are hinged with the connecting rods in 4 MCP joints (14) and palm plate fixing head (9) respectively.
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