CN105726262B - A kind of joint motions auxiliary device of independent assisted finger - Google Patents

A kind of joint motions auxiliary device of independent assisted finger Download PDF

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Publication number
CN105726262B
CN105726262B CN201610204756.7A CN201610204756A CN105726262B CN 105726262 B CN105726262 B CN 105726262B CN 201610204756 A CN201610204756 A CN 201610204756A CN 105726262 B CN105726262 B CN 105726262B
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CN
China
Prior art keywords
joint
finger
thumb
joint motions
fastener
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CN201610204756.7A
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Chinese (zh)
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CN105726262A (en
Inventor
杨克强
冒真炜
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Zhongshan Chang Yao Medical Equipment Co., Ltd.
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Zhongshan Chang Yao Medical Equipment Co Ltd
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Priority to CN201610204756.7A priority Critical patent/CN105726262B/en
Publication of CN105726262A publication Critical patent/CN105726262A/en
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A61H1/0288—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H2001/0207—Nutating movement of a body part around its articulation

Abstract

The present invention discloses a kind of joint motions auxiliary device of independent assisted finger comprising：The retractile air bag of at least one；At least two transmits fastener, blocks the different parts of the corresponding air bag, and the fixed part air bag being stuck respectively；At least one Wavelet piece, it is to be located between 2 adjacent transmission fasteners and be not snapped into the part air bag for transmitting fastener on the air bag, in the case where the Wavelet piece is configured at around the joint shaft of corresponding finger with the joint shaft generally perpendicular direction, the Wavelet piece is flexible to generate the power for assisting the joint motions；1st wearing portion；The transmission fastener is configured in the connecting portion being connect with the joint, and the power of the auxiliary joint motions generated since the Wavelet piece is flexible is transmitted to the joint；2nd wearing portion；There is at least one to refer to wearing portion in the 1st wearing portion.In this way, can joint motions auxiliary individually be carried out to any one or more fingers of user.

Description

A kind of joint motions auxiliary device of independent assisted finger
Technical field
The present invention relates to joint motions ancillary technique fields, and in particular to a kind of joint motions auxiliary of independent assisted finger Device.
Background technology
Clinic confirms, after limbs of patient operation or during the early rehabilitation of Cranial nerve injury as birth trauma and spontaneous recovery, implements to connect Continuous passive movement can compensate the deficiency of patient's active movement, increase its limb activity degree, while reducing corresponding complication.Separately Outside, exist in current patient since the case where central nervous system injuries such as cerebral infarction cause finger paralysis and contracture is inferior, it is this In the case of, if the finger of patient can be assisted to move, the resume speed of patient's finger can be increased.
Current joint motions auxiliary device can carry out synkinesia to the finger-joint of patient, but the movement in joint is auxiliary It helping and is carried out at the same time, the Toe Transplantation for Segmental Finger of some patients is not needed or cannot be moved, in this case, existing joint fortune Dynamic auxiliary device can not assist this.
In view of drawbacks described above, creator of the present invention obtains the present invention finally by prolonged research and practice.
Invention content
To solve above-mentioned technological deficiency, the technical solution adopted by the present invention is, provides a kind of pass of independent assisted finger Save exercise assist device comprising：
The retractile air bag of at least one；
At least two transmits fastener, blocks the different parts of the corresponding air bag, and the fixed part gas being stuck respectively Capsule；
At least one Wavelet piece, to be located between 2 adjacent transmission fasteners on the air bag and not being snapped into institute The part air bag for transmitting fastener is stated, is configured at the joint shaft substantially around the joint shaft of corresponding finger in the Wavelet piece In the case of vertical direction, the Wavelet piece is flexible to generate the power for assisting the joint motions；
1st wearing portion, is worn on finger motion part, and the 1st wearing portion is fixedly mounted the transmission fastener；
The transmission fastener is configured in the connecting portion being connect with the joint, and is transmitted to the joint due to described The power for the auxiliary joint motions that Wavelet piece is flexible and generates；
2nd wearing portion, is worn on palm part, and the 1st wearing portion is installed on the described 2nd in a manner of assemble and unassemble Wearing portion；
There is at least one in following wearing portion to refer to wearing portion in the 1st wearing portion：Thumb wearing portion, is worn on Thumb；Index finger wearing portion, is worn on index finger；Middle finger wearing portion, is worn on middle finger；Nameless wearing portion, is worn on nothing Name refers to；And little finger of toe wearing portion, it is worn on little finger of toe.
Fastener is transmitted preferably, being fixed with treatment of distal thumb bone in thumb wearing portion and corresponding to, with auxiliary thumb The 1st joint of thumb of the joint motions in the 1st joint corresponds to the side end connection of Wavelet piece, and is configured along minor details bone.
Fastener is transmitted preferably, being fixed with thumb base pitch bone in thumb wearing portion and corresponding to, with the thumb the 1st Joint correspond to Wavelet piece end side connection, and with auxiliary thumb the 2nd joint joint motions the 2nd joint of thumb The side end connection of corresponding Wavelet piece, and configured along base pitch bone.
Fastener is transmitted preferably, being fixed with thumb metacarpal in thumb wearing portion and corresponding to, is closed with the thumb the 2nd The end side connection of the corresponding Wavelet piece of section, and configured along metacarpal bone.
Preferably, the 1st wearing portion has：
The wearable components being configured on the joint motions part；
The end fixed part of the end of the fixed joint motions part；And
Connecting portion fixed part fixes the connecting portion being connect with the joint and the transmission fastener.
Preferably, the wearable components are the fabric components of flexible long shape, the direction extended along joint is matched It is placed in finger back side.
Preferably, connecting portion fixed part is the fabric component of long shape, to prolong with the long plate portion for transmitting fastener The direction stretched is substantially vertical and is fixed on the wearable components with the mode intersected of long plate portion for transmitting fastener.
Preferably, the 1st wearing portion is installed in the 2nd wearing portion by means of surface buckle part.
Preferably, the end fixed part in the 1st wearing portion is the fingerstall for the finger tip for being worn on the finger.
Preferably, the table side in the 2nd wearing portion is extended with forward bar, the bar is between thumb and index finger Gap is inserted and secured on the back side in hand wearing portion.
Compared with the prior art the beneficial effects of the present invention are：In this way, can individually any one to user or Multiple fingers carry out joint motions auxiliary.
A kind of joint motions auxiliary device, the joint motions of ancillary provisions object, joint motions auxiliary are also provided Device has：The retractile Wavelet piece of at least one, to the joint of joint motions to be assisted each of on the regulation object Prepare the Wavelet piece, the joint portion in the direction vertical with the rotation axis of the rotational motion in the joint is configured in the Wavelet piece In the case of point, which generates the power for assisting the joint motions；Fastener is transmitted, the end of the Wavelet piece is connected to It is transmitted to the joint due to the Wavelet piece in the case where being configured in the connecting portion being connect with the joint in portion The power of flexible and generation the auxiliary joint motions；1st wearing portion is worn on joint motions part, the joint motions portion It includes the connecting portion for waiting assisting the joint of the joint motions and connecting with the joint to divide；And the 2nd wearing flexible Portion is worn on the position other than the joint motions part on the regulation object, and the 1st wearing portion is fixedly pacified Equipped with the transmission fastener being connect with the Wavelet piece, the regulation object is worn in the joint motions auxiliary device In the case of object, the 1st wearing portion has：The wearable components being configured on the joint motions part；The fixed pass Save the end fixed part of the end of motion parts；And connecting portion fixed part, the connecting portion that will be connect with the joint It is fixed with the transmission fastener, the 1st wearing portion is installed on the 2nd wearing portion in a manner of assemble and unassemble.
In the joint motions auxiliary device, the 2nd wearing portion flexible is worn on the joint motions portion on regulation object Position other than point.In addition, the 1st wearing portion of the fixed transmission fastener being connect with the end of Wavelet piece of installation is worn on joint fortune Dynamic part, the joint motions part include the joint of joint motions to be assisted and the connecting portion that is connect with the joint.Here, When the 1st wearing portion is worn on joint motions part, end fixed part is fixed in the end of joint motions part.In addition, When the 1st wearing portion is worn on joint motions part, connecting portion fixed part is by the connecting portion and biography of joint motions part Fastener is passed to fix.Moreover, making joint motions auxiliary device be worn on regulation by the 1st wearing portion is installed on the 2nd wearing portion Object.Therefore, it when joint motions auxiliary device is worn on regulation object, can carry out on regulation object respectively Joint motions part other than position wear the 2nd wearing portion and to joint motions part wear the 1st wearing portion.
Therefore, joint motions auxiliary device according to the present invention is worn on the 1st wearing portion of joint motions part and wears The 2nd wearing portion for wearing the position other than joint motions part does not become one structure, therefore can be easily worn around regulation Object.
If in addition, using the Wavelet piece of the resin of light softness as structural element, it can realize that joint motions assist The lighting of the weight of device mitigates the load for supporting the personnel worn and by the burden of the body of wearer, can be easy to wear Wear joint motions auxiliary device.
In the joint motions auxiliary device of the present invention, the 1st wearing portion can be installed in institute by means of surface buckle part State the 2nd wearing portion.In this case, using face fastener can be easy the 1st wearing portion being installed on the 2nd wearing portion.Therefore, energy Enough joint motions auxiliary device is easily worn using regulation object.
In addition, in the joint motions auxiliary device of the present invention, it can be configured to, wait the joint for assisting the joint motions It is at least one joint of finger, the end fixed part in the 1st wearing portion is the finger for the finger tip for being worn on the finger Set.In this case, when the 1st wearing portion is worn on finger, fingerstall is worn on to the finger tip of finger first.Then, sharp The connecting portion in the joint of finger is fixed with fastener is transmitted with connecting portion fixed part.Therefore, it is possible to which reliably the 1st is worn The portion of wearing is worn on finger.
In the case where making the joint of joint motions to be assisted become at least one joint of finger, can be configured to, in institute State to be formed in the 2nd wearing portion and be inserted into hole, thumb be inserted in the insertions hole and by the 2nd wearing portion be worn on the back of the hand with After on palm, the fingerstall is worn on to the finger tip of the finger, hereafter, the 1st wearing portion is installed on the described 2nd and is worn Wear portion.In this case, after inserting a thumb into the insertion hole in the 2nd wearing portion, by the 2nd wearing portion be worn on the back of the hand and Palm.Then, after the 2nd wearing portion is worn on the back of the hand and palm, fingerstall is worn on to the finger tip of finger, the 1st is worn Portion is installed on the 2nd wearing portion.
Therefore, though finger in the state of bending in the case of contracture if can to easily and reliably make the 2nd wearing portion The back of the hand and palm as the position other than joint motions part are worn in the state of fitting.In addition, can individually into Row wears the 2nd wearing portion to the back of the hand and palm and wears the 1st wearing portion to finger, easily can assist filling by joint motions It sets and is worn on hand.
In the joint motions auxiliary device of the present invention, it can be configured to, the 1st wearing portion has following wearing portion In at least one refer to wearing portion：Thumb wearing portion, is worn on thumb；Index finger wearing portion, is worn on index finger；Middle finger is worn Portion is worn on middle finger；Nameless wearing portion, is worn on the third finger；And little finger of toe wearing portion, it is worn on little finger of toe, it is described It is the wearing portion being separated from each other that at least one, which refers to each finger wearing portion in wearing portion,.
In this case, each thumb wearing portion, index finger wearing portion, middle finger wearing portion, nameless wearing portion can be made And little finger of toe wearing portion is worn on corresponding finger one by one.As a result, when joint motions auxiliary device is worn on hand, energy Enough finger is made to stretch one by one, finger wearing portion is worn on to the finger of the stretching, extension.Therefore, it is possible to be easy to assist filling by joint motions It sets and is worn on hand, can realize the load for mitigating by the burden of wearer and mitigating the personnel for supporting wearing.In addition, this In the case of, can using in the five fingers arbitrary 1 finger or 2 or more arbitrary fingers as auxiliary object.
In the case where the 1st wearing portion has thumb wearing portion, it can be configured to, be fixed in thumb wearing portion Treatment of distal thumb bone, which corresponds to, transmits fastener, which corresponds to the joint motions for transmitting fastener and the 1st joint for assisting thumb The 1st joint of thumb correspond to Wavelet piece a side end connection, and along minor details bone configure.In addition, can be configured to, in the thumb Refer to and be fixed with thumb base pitch bone correspondence transmission fastener in wearing portion, which, which corresponds to, transmits fastener and the thumb the 1st Joint correspond to Wavelet piece end side connection, and with auxiliary thumb the 2nd joint joint motions the 2nd joint of thumb The side end connection of corresponding Wavelet piece, and configured along base pitch bone.Moreover, can be configured to, it is solid in thumb wearing portion Surely there is thumb metacarpal to correspond to and transmit fastener, which, which corresponds to, transmits fastener Wavelet piece corresponding with the 2nd joint of the thumb End side connects, and is configured along metacarpal bone.
In this case, thumb can suitably be assisted using the joint motions auxiliary device that can be easy to be worn on hand The joint motions in the 1st joint and the 2nd joint referred to.
In addition, there is index finger wearing portion, middle finger wearing portion, nameless wearing portion and little finger of toe wearing portion in the 1st wearing portion At least one finger wearing portion in the case of, can be configured to, in index finger wearing portion, the middle finger wearing portion, the nothing Name, which refers to, is respectively fixed with minor details bone correspondence transmission fastener in wearing portion and little finger of toe wearing portion, which, which corresponds to, transmits card One side end of part Wavelet piece corresponding with auxiliary the 1st joint of joint motions in the 1st joint connects, and is configured along minor details bone.Separately Outside, it can be configured to, wear in index finger wearing portion, the middle finger wearing portion, the nameless wearing portion and the little finger of toe It wears and is respectively fixed with middle section bone correspondence transmission fastener in portion, section bone, which corresponds to, in this transmits fastener ripple corresponding with the 1st joint The end side of part connects, and a side end of Wavelet piece corresponding with auxiliary the 2nd joint of joint motions in the 2nd joint connects It connects, and is configured along middle section bone.In addition, can be configured to, in index finger wearing portion, the middle finger wearing portion, the third finger Be respectively fixed in wearing portion and the little finger of toe wearing portion base pitch bone correspond to transmit fastener, the base pitch bone correspond to transmit fastener with 2nd joint correspond to Wavelet piece end side connection, and with auxiliary the 3rd joint joint motions the 3rd joint pair It answers a side end of Wavelet piece to connect, and is configured along base pitch bone.Moreover, being worn in each index finger wearing portion, the middle finger It is respectively fixed with metacarpal bone in portion, the nameless wearing portion and little finger of toe wearing portion and corresponds to transmission fastener, which corresponds to The end side connection of fastener Wavelet piece corresponding with the 3rd joint is transmitted, and is configured along metacarpal bone.
In this case, it using can be easy to be worn on the joint motions auxiliary device of hand, can suitably assist The joint motions in the 1st joint, the 2nd joint and the 3rd joint of index finger.In addition, in this case, utilization can be easy to wear In the joint motions auxiliary device of hand, the joint in the 1st joint of middle finger, the 2nd joint and the 3rd joint can be suitably carried out Movement.Moreover, in this case, using being easy to be worn on the joint motions auxiliary device of hand, nothing can be suitably assisted The joint motions in the 1st joint, the 2nd joint and the 3rd joint that name refers to.Moreover, in this case, using being easy to be worn on hand The joint motions auxiliary device in portion can suitably assist the 1st joint of little finger of toe, the joint fortune in the 2nd joint and the 3rd joint It is dynamic.
The present invention can also provide the usual method of above-mentioned joint motions auxiliary device, which has following step Suddenly：The 2nd wearing portion is worn on to the wearing step at the position other than the joint motions part on the regulation object Suddenly；The end fixed part in the 1st wearing portion is fixed on to the 1st fixing step of the end of the joint motions part； The 1st wearing portion is installed on to the installation steps in the 2nd wearing portion；And the company by means of the 1st wearing portion Socket part position fixed part is by the connecting portion and fixed 2nd fixing step of transmission fastener.
In the usual method of the joint motions auxiliary device, first, the 2nd wearing portion flexible is worn in wearing step Wear the position other than the joint motions part on regulation object.Then, in the 1st fixing step, by the end in the 1st wearing portion Portion's fixed part is fixed on the end of joint motions part.Then, in installation steps, the end of joint motions part will be fixed with The 1st wearing portion be installed on the 2nd wearing portion.Then, in the 2nd fixing step, the connecting portion fixed part in the 1st wearing portion is utilized The connecting portion of joint motions part is fixed with fastener is transmitted.
Therefore, the 2nd wearing portion is being worn on regulation pair by the usual method of joint motions auxiliary device according to the present invention After the position other than the joint motions part on object, carries out wearing the 1st wearing portion to joint motions part and wear to the 2nd It wears portion and the 1st wearing portion is installed, therefore compared with when the 1st wearing portion and the 2nd wearing portion being made to be integrally formed, can be easy to transport in joint Dynamic auxiliary device is worn on regulation object.
It in the usual method of the joint auxiliary moving devices of the present invention, can be configured to, also have described in making to wait assisting The joint of joint motions becomes the joint extension step of extended configuration, and the joint extension step is after the installation steps And the step of being carried out before the 2nd fixing step.In this case, in the state of making joint extension to be assisted, energy Enough connecting portions that the connecting portion fixed part in the 1st wearing portion is fixed on to joint motions part.Therefore, it is possible to be easy to utilize rule Determine object and wears joint motions auxiliary device.
In addition, in the usual method of the joint motions auxiliary device of the present invention, it is described in the joint extension step Wavelet piece generates the power for carrying out joint extension movement, and the joint is made to become extended configuration.In this case, branch can be mitigated Help the load of the personnel of wearing.
Description of the drawings
It is required in being described below to embodiment in order to illustrate more clearly of the technical solution in various embodiments of the present invention The attached drawing used is briefly described.
Fig. 1 is the figure of the skeletal structure for illustrating human hands.
Fig. 2 be one embodiment of the present invention relates to joint motions auxiliary device outside drawing.
Fig. 3 is the figure (one) in the hand wearing portion for definition graph 2.
Fig. 4 be the hand wearing portion for definition graph 2 figure (secondly).
Fig. 5 is the figure of the structure of the thumb joint motion assisting section for definition graph 2.
Fig. 6 is the figure of the structure in the thumb wearing portion for definition graph 5.
Fig. 7 is the figure of the structure of the movement of finger joint assisted parts for definition graph 2.
Fig. 8 is the figure of the structure in the finger wearing portion for definition graph 7.
Fig. 9 is the figure for the structure of the adjustment section of definition graph 2.
Figure 10 is the figure (one) of the usual method for illustrating joint motions auxiliary device.
Figure 11 be the usual method for illustrating joint motions auxiliary device figure (secondly).
Figure 12 be the usual method for illustrating joint motions auxiliary device figure (thirdly).
Figure 13 is the schematic diagram (one) of Circumscribed structure.
Figure 14 is the mapping graph of output voltage percentage and bending angle percentage.
Figure 15 is the mapping graph of atmospheric pressure value percentage and bending angle percentage.
Figure 16 be Circumscribed structure schematic diagram (secondly).
Specific implementation mode
Below in conjunction with attached drawing, the forgoing and additional technical features and advantages are described in more detail.
Hereinafter, referring to Fig.1~Figure 12 illustrates an embodiment of the invention.In addition, in the present embodiment, example Illustrate the joint motions that the joint motions of the articulations digitorum manus of the finger on the right hand to the human body as regulation object are assisted Auxiliary device.In addition, in the following description and attached drawing, identical label is marked to identical or same element, and omit Repeat description.
[skeletal structure]
Before the explanation for carrying out joint motions auxiliary device of the present embodiment, first to the bone knot of human hands Structure illustrates.
Fig. 1 is the skeletal structure of the right hand from palm (palm) side.The bone of hand in carpal bone as shown in Figure 1, connect It is connected to " metacarpal bone " of thumb, index finger, middle finger, the third finger and little finger of toe.It is connected with by " base pitch bone " and " minor details in the metacarpal bone of thumb The phalanges that bone " is constituted.About thumb, the minor details bone of finger tip is connect by " the 1st joint " with base pitch bone, which passes through the " the 2nd Joint " is connect with the metacarpal bone of thumb.
In addition, respectively index finger, it is middle refer to, nameless and little finger of toe metacarpal bone be connected with by " base pitch bone ", " middle section bone " with And the phalanges that " minor details bone " is constituted.About index finger, middle finger, the third finger and little finger of toe, the minor details bone of finger tip by " the 1st joint " with Middle section bone connection, section bone is connect by " the 2nd joint " with base pitch bone in this.Moreover, the base pitch bone passes through " the 3rd joint " and metacarpal bone Connection.In addition, in the following description, the position of the finger using minor details bone as bone is known as " minor details position ", it will be in The position that bone is saved as the finger of bone is known as " middle section position ".In addition, the position of the finger using base pitch bone as bone is claimed For " base pitch position ".Also it will be known as " metacarpus position " using " metacarpal bone " as the position of bone.
[structure]
Fig. 2 is the outside drawing for the joint motions auxiliary device 100 that an embodiment is related to.Fig. 2 is when the joint of finger The appearance of the joint motions auxiliary device 100 on the back of the hand (the back of the hand) of the right hand is worn on when in extended configuration from dorsal side Figure.
As shown in Fig. 2, joint motions auxiliary device 100 has hand wearing portion 110 and thumb joint motion assisting section 120.In addition, joint motions auxiliary device 100 has：Index finger joint motions assisted parts 1302, middle finger joint motions assisted parts 1303, nameless joint motions assisted parts 1304And little finger of toe joint motions assisted parts 1305.And joint motions auxiliary device 100 have adjustment section 180.Here, hand wearing portion 110 is corresponding with the 2nd wearing portion.
In addition, in the following description, by index finger joint motions assisted parts 1302, middle finger joint motions assisted parts 1303, nothing Name articulations digitorum manus motion assisting section 1304, little finger of toe joint motions assisted parts 1305It is referred to as and is denoted as " movement of finger joint assisted parts 130j (j=2 ..., 5) " or " movement of finger joint assisted parts 130 ".
<Hand wearing portion 110>
Above-mentioned hand wearing portion 110 is illustrated.Hand wearing portion 110 can be fabric component, be worn on the right side The back of the hand and palm of hand.Fig. 3 is the hand wearing portion 110 for not being worn on the back of the hand and palm.In addition, Fig. 4 be worn on the back of the hand and Palm and the hand wearing portion 110 for being not installed with thumb joint motion assisting section 120 and movement of finger joint assisted parts 130.
According to fig. 3, shown in 4 synthesis, hand wearing portion 110 is equipped with the hook side 111 of surface buckle part1、1112、1113、1114、 1115.In addition, in the following description, hook side 111 will be equipped with1、1112、1113、1114、1115Side as table side.
Hook side 1111The ring for the surface buckle part for being installed on thumb joint motion assisting section 120 is pasted in a manner of it can remove Face.In addition, hook side 111j(j=2 ..., 5) is pasted in a manner of it can remove is installed on movement of finger joint assisted parts 130j Surface buckle part anchor ring.
In addition, the table side in hand wearing portion 110 is equipped with hook side MF1, MF2 of surface buckle part.In addition, in hand wearing portion 110 back side is equipped with anchor ring ML1, ML2 corresponding with hook side MF1, MF2 of surface buckle part.
In addition, the table side in hand wearing portion 110 is extended with forward bar, bar end is equipped with the hook of surface buckle part Face MF3, the back side in hand wearing portion 110 are equipped with the anchor ring ML3 corresponding with hook side MF3 of surface buckle part.
It, will when position i.e. the back of the hand and the palm being worn on such hand wearing portion 110 other than joint motions part Hand wearing portion 110 is configured at dorsal side, and by the hook side MF3 of bar from the insertion of the gap of thumb and index finger and can shell From mode be pasted on anchor ring ML3.Then, hook side MF1 is pasted on anchor ring ML1 in a manner of it can remove in palm portion, And in the wrist of palmar side, hook side MF2 is pasted on anchor ring ML2 in a manner of it can remove, to wear hand Portion 110 is worn on the back of the hand and palm.<The structure of thumb joint motion assisting section 120>
The structure of above-mentioned thumb joint motion assisting section 120 is illustrated.Hand wearing portion 110 be worn on the back of the hand and In the state of palm, thumb joint motion assisting section 120 is worn on finger portion (minor details position, base pitch position) and the metacarpus position of thumb On assist the joint motions of thumb.Thumb joint motion assisting section 120 has wave as shown in Fig. 1 and Fig. 5 (A), (B) synthesis Line part 241,242, piping 232 and transmission fastener 221,223,224.Make in addition, thumb joint motion assisting section 120 has For the thumb wearing portion 250 of the part in the 1st wearing portion.
Coordinate system (X, Y, Z) in Fig. 5 (A), (B) be in the state that thumb stretches, using finger tip direction as +Y direction, It, will be vertical with Y-direction and Z-direction and towards little finger of toe side using the direction from bending lateral extension side in each joint as +Z direction Coordinate system of the direction as +X direction.Here, Fig. 5 (A) be worn on from +Z direction side thumb thumb joint movement it is auxiliary Help the figure in portion 120.In addition, Fig. 5 (B) is the thumb joint motion assisting section 120 shown in the-X-direction side observation chart 5 (A) Figure.
Here, Wavelet piece 241 is corresponding with the 1st joint of thumb, Wavelet piece 242 is corresponding with the 2nd joint of thumb.In addition, transmitting The transmission fastener corresponding with treatment of distal thumb bone of fastener 221 transmits the transmission fastener corresponding with thumb base pitch bone of fastener 223, transmits fastener 224 transmission fasteners corresponding with thumb metacarpal.
Wavelet piece 241 is identical as Wavelet piece 242, is the air bag of the retractile resin with equally spaced endless groove A part, transmit fastener 221,223,224 and be stuck in the different piece of air bag, it is adjacent to transmit the non-card portion exposed between fastener For Wavelet piece 241,242.Distinguish at the both ends of the air bag of the retractile resin with equally spaced endless groove and middle part Gap be caught in transmit fastener 221,223,224, then air bag be snapped into transmit fastener part can be fixed on transmit fastener 221, 223, it in 224, is no longer moved with the flexible of air bag, meanwhile, transmit the endless groove that 221,223,224 edge of fastener is caught in air bag Interior, it is Wavelet piece 241 to transmit the part air bag not being snapped into transmission fastener between fastener 221,223, transmits fastener 221,224 Between be not snapped into transmit fastener in part air bag be Wavelet piece 242.Joint shaft of the Wavelet piece 241 along the 1st joint of thumb Around be configured at and the joint shaft generally perpendicular direction.One side end of Wavelet piece 241 and the side for transmitting fastener 223 Portion is clamped, and the end side of Wavelet piece 241 transmits the side end clamping of fastener 221.The Wavelet piece 241 being configured so that It generates and transmits fastener 221 relative to the movement i.e. power of the joint motions in the 1st joint of auxiliary for transmitting fastener 223.
Wavelet piece 242 is configured at and the joint shaft generally perpendicular direction around the joint shaft in the 2nd joint of thumb. One side end of Wavelet piece 242 is clamped with the end by 242 side of Wavelet piece for transmitting fastener 224, and Wavelet piece 242 is another Side end is clamped with the end by 242 side of Wavelet piece for transmitting fastener 223.Wavelet piece 242, which generates, in this way transmits fastener 223 relatively In the movement i.e. power of the joint motions in the 2nd joint of auxiliary for transmitting fastener 224.
Here, being connected to (because being the same air bag) between Wavelet piece 241 and Wavelet piece 242.And when by being connected to gas The piping 232 of flexible resin between capsule and adjustment section 180 and make the air pressure change in 2 Wavelet pieces (air bag) When, air bag be snapped into transmit fastener 221,223,224 part be fixed, can not dilation, Wavelet piece 241,242 is by air pressure Influence dilation.As a result, Wavelet piece 241,242 generates the power of above-mentioned auxiliary joint motions.In the present embodiment, match Pipe 232 can be loaded and unloaded relative to air bag.
Above-mentioned transmission fastener 221 can be steel system or plastic component, have long plate portion.Moreover, in the long plate portion One end is formed with cricoid interconnecting piece.It is connect with 241 side of Wavelet piece in a side end of the long plate portion for transmitting fastener 221, wave The other side of line part 241, which is connected with, transmits fastener 223.Here, when joint motions auxiliary device 100 is worn on the right hand, transmit One side end of the long plate portion of fastener 221 using the joint shaft in the 1st joint of thumb as rotation axis rotatably with Fastener 223 is transmitted to connect.The long plate portion of the transmission fastener 221 is worn on the minor details position of thumb by thumb wearing portion 250.
Above-mentioned transmission fastener 223 can be steel system or plastic component, have long plate portion.Moreover, in the long plate portion There is cricoid interconnecting piece at both ends.It is connect with 242 side of Wavelet piece in a side end of the long plate portion for transmitting fastener 223, Wavelet piece 242 other side, which is connected with, transmits fastener 224.Here, when joint motions auxiliary device 100 is worn on the right hand, fastener is transmitted One side end of 223 long plate portion using the joint shaft in the 2nd joint of thumb as rotation axis rotatably with transmission Fastener 224 connects.
In addition, the end side in the long plate portion for transmitting fastener 223 is connect with Wavelet piece 241.The transmission fastener 223 Long plate portion is worn on the base pitch position of thumb by thumb wearing portion 250.
Above-mentioned transmission fastener 224 can be steel system or plastic component, have long plate portion.Moreover, in the long plate portion There is cricoid interconnecting piece in one end.It is connect with Wavelet piece 242 in a side end of the long plate portion for transmitting fastener 224, Wavelet piece 242 The other side, which is connected with, transmits fastener 223.The long plate portion of the transmission fastener 224 is worn on the palm of thumb by thumb wearing portion 250 On position.
《The structure in thumb wearing portion 250》
The structure in above-mentioned thumb wearing portion 250 is illustrated.Thumb wearing portion 250 is worn on as joint motions part Thumb finger portion (minor details position, base pitch position) and metacarpus position on.Fig. 6 (A) is to be worn on thumb from -X direction side The figure in thumb wearing portion 250.In addition, Fig. 6 (B) is the thumb wearing portion 250 for not being worn on thumb from -Z direction side Figure.
As shown in Fig. 6 (A), (B) synthesis, thumb wearing portion 250 has wearable components 251 and fingerstall 252.In addition, thumb Wearing portion 250 has tape member 253.Here, fingerstall 252 is corresponding with end fixed part.In addition, tape member 253 and connecting portion Fixed part corresponds to.
Above-mentioned wearable components 251 can be the fabric component of flexible long shape, match along the direction that thumb extends The dorsal side being placed in the finger portion and metacarpus position of thumb.The +Z direction side of wearable components 251 be fixed with transmit fastener 221, 223,224 long plate portion.In addition, opposite side (the sides-Z with the part for being fixed with transmission fastener 224 in wearable components 251 To side), the anchor ring 259 of surface buckle part is installed.
Above-mentioned fingerstall 252 can be the component of leather, be fixed on the finger tip side of wearable components 251.Moreover, when thumb is closed When section motion assisting section 120 is worn on thumb, fingerstall 252 is fixed on the finger tip of thumb.
Above-mentioned tape member 253 can be the fabric component of long shape, with the side extended with the long plate portion for transmitting fastener 223 It is fixed on wearable components 251 to mode that is substantially vertical and intersecting with the long plate portion for transmitting fastener 223.Moreover, when thumb is closed When section motion assisting section 120 is worn on thumb, hook side 254 and anchor ring 255 of the tape member 253 using the surface buckle part for being installed on end To fix base pitch position and transmit the long plate portion of fastener 223.
<Movement of finger joint assisted parts 130jThe structure of (j=2 ..., 5)>
To above-mentioned movement of finger joint assisted parts 130jThe structure of (j=2 ..., 5) illustrates.
Here, movement of finger joint assisted parts (index finger joint motions assisted parts) 1302Assist the joint motions of index finger.Separately Outside, movement of finger joint assisted parts (middle finger joint motions assisted parts) 1303Assist the joint motions of middle finger.In addition, finger-joint Motion assisting section (nameless joint motions assisted parts) 1304Assist nameless joint motions.In addition, movement of finger joint is auxiliary Help portion's (little finger of toe joint motions assisted parts) 1305Assist the joint motions of little finger of toe.It is worn on the back of the hand and hand in hand wearing portion 110 In the state of the palm, each movement of finger joint assisted parts 130j(j=2 ..., 5) is worn on (the minor details portion of finger portion of these fingers Position, middle section position, base pitch position) and metacarpus position on.
In Fig. 7 (A), (B), as movement of finger joint assisted parts 130jRepresentative, be movement of finger joint assisted parts (index finger joint motions assisted parts) 1302Structure chart.Coordinate system (U, V, W) in Fig. 7 (A), (B) is the shape stretched in index finger It, will be with V using each joint from curved side towards the direction of stretching, extension side as the directions+W using finger tip direction as the directions+V under state Direction and the directions W be vertical and the coordinate system towards the direction of little finger of toe side as the directions+U.
Here, Fig. 7 (A) is the movement of finger joint assisted parts 130 for being worn on index finger from+W direction sides2Figure.Separately Outside, Fig. 7 (B) is the movement of finger joint assisted parts 130 shown in the-U direction sides observation chart 7 (A)2Figure.In present embodiment In, about movement of finger joint assisted parts 1303、1304、1305Also with movement of finger joint assisted parts 1302Similarly constitute.
Each movement of finger joint assisted parts 130j(j=2 ..., 5) has wave as shown in Fig. 2 and Fig. 7 (A), (B) synthesis Line part 341j、342j、343j, piping 333jAnd transmit fastener 321j、322j、323j、324j.In addition, each finger-joint fortune Dynamic auxiliary portion 130jFinger wearing portion 350 with the part as the 1st wearing portionj。
Here, Wavelet piece 341jIt is corresponding with the 1st joint, Wavelet piece 342jIt is corresponding with the 2nd joint, Wavelet piece 343jIt is closed with the 3rd Section corresponds to.In addition, transmitting fastener 321jIt is corresponding with minor details bone, transmit fastener 322jIt is corresponding with middle section bone, transmit fastener 323jWith base It saves bone to correspond to, transmits fastener 324jIt is corresponding with metacarpal bone.
In addition, finger wearing portion 3502It is corresponding with index finger wearing portion, finger wearing portion 3503It is corresponding with middle finger wearing portion.Separately Outside, finger wearing portion 3504It is corresponding with nameless wearing portion, finger wearing portion 3505It is corresponding with little finger of toe wearing portion.
In addition, in the following description, by each Wavelet piece 341j、342j、343jBe also denoted as " Wavelet piece 341,342, 343".In addition, each piping 333jIt is also denoted as " 333 ".In addition, each transmission fastener 321j、322j、323j、324jIt is also denoted as " passing Pass fastener 321,322,323,324 ".Moreover, finger wearing portion 350jIt is also denoted as in " finger wearing portion 350 ".
Wavelet piece 341, Wavelet piece 342, Wavelet piece 343 are identical, are the retractile trees with equally spaced endless groove A part for the air bag of fat transmits fastener 321,322,323,324 and is stuck in the different piece of air bag, between adjacent transmission fastener The non-card division exposed is divided into Wavelet piece 341,342,343.In the gas of the retractile resin with equally spaced endless groove Ipt card enters to transmit fastener 321,322,323,324 respectively for the both ends of capsule and middle part, then air bag is snapped into the portion for transmitting fastener Branch, which is fixed on, to transmit in fastener 321,322,323,324, is no longer moved with the flexible of air bag, meanwhile, transmission fastener 321, 322,323,324 edges are caught in the endless groove of air bag, and the part transmitted in fastener is not snapped between transmission fastener 321,322 Air bag is Wavelet piece 341, and it is Wavelet piece 342 to transmit the part air bag not being snapped into transmission fastener between fastener 322,323, is passed It is Wavelet piece 343 to pass the part air bag not being snapped into transmission fastener between fastener 323,324.
Above-mentioned Wavelet piece 341 is configured at and the joint shaft generally perpendicular direction around the joint shaft in the 1st joint.Wave One side end of line part 341 is clamped with the side end for transmitting fastener 322, and the end side of Wavelet piece 341 and transmission One side end of fastener 321 is clamped.The Wavelet piece 341 being configured so that, which generates, transmits fastener 321 relative to the fortune for transmitting fastener 322 The power of the joint motions in the 1st joint of dynamic i.e. auxiliary.
Above-mentioned Wavelet piece 342 is configured at and the joint shaft generally perpendicular direction around the joint shaft in the 2nd joint.Wave One side end of line part 342 is clamped with the side end for transmitting fastener 323, and another-side end of Wavelet piece 342 and transmission One side end of fastener 322 is clamped.The Wavelet piece 342 being configured so that, which generates, transmits fastener 322 relative to the fortune for transmitting fastener 323 The power of the joint motions in the 2nd joint of dynamic i.e. auxiliary.
Above-mentioned Wavelet piece 343 is configured at and the joint shaft generally perpendicular direction around the joint shaft in the 3rd joint.Wave One side end of line part 343 is clamped with the end by 343 side of Wavelet piece for transmitting fastener 324, and the other side of Wavelet piece 343 End is clamped with the side end for transmitting fastener 323.The Wavelet piece 343 being configured so that, which generates, transmits fastener 323 relative to transmission The movement of the fastener 324 i.e. power of the joint motions in the 3rd joint of auxiliary.
Herein, it is connected between Wavelet piece 341 and Wavelet piece 342 (because being the different piece of the same air bag).Moreover, working as The air pressure in 3 Wavelet pieces is set to become by piping 333 of the flexible resin between communicated air bags and adjustment section 180 When change, air bag be snapped into transmit fastener 321,322,323,324 part be fixed, can not dilation, Wavelet piece 341, 342,343 by effects of air pressure dilation.As a result, Wavelet piece 341,342,343 generates the power of above-mentioned auxiliary joint motions.
In the present embodiment, piping 333 can be loaded and unloaded relative to air bag.
Above-mentioned transmission fastener 321 can be steel system or plastic component, have long plate portion.Moreover, in the long plate portion One end has cricoid interconnecting piece to be connect with Wavelet piece 341 in a side end of the long plate portion for transmitting fastener 321, Wavelet piece 341 The other side, which is connected with, transmits fastener 322.Here, when joint motions auxiliary device 100 is worn on the right hand, fastener 321 is transmitted One side end of long plate portion is rotatably connect with transmission fastener 322 using the joint shaft in the 1st joint as rotation axis. The long plate portion of the transmission fastener 321 is worn on the minor details position of finger by finger wearing portion 350.
Above-mentioned transmission fastener 322 can be steel system or plastic component, have long plate portion.Moreover, in the long plate portion There is cricoid interconnecting piece in one end.It is connect with Wavelet piece 342 in a side end of the long plate portion for transmitting fastener 322, Wavelet piece 342 The other side, which is connected with, transmits fastener 323.Here, when joint motions auxiliary device 100 is worn on the right hand, fastener 322 is transmitted One side end of long plate portion is rotatably connect with transmission fastener 323 using the joint shaft in the 2nd joint as rotation axis.
In addition, the end side in the long plate portion for transmitting fastener 322 is connect with Wavelet piece 341.The transmission fastener 322 Long plate portion is worn on the middle section position of finger by finger wearing portion 350.
Above-mentioned transmission fastener 323 can be steel system or plastic component, have long plate portion.Moreover, in the long plate portion There is cricoid interconnecting piece at both ends.It is connect with Wavelet piece 343 in a side end of the long plate portion for transmitting fastener 323, Wavelet piece 343 is another Side, which is connected with, transmits fastener 324.Here, when joint motions auxiliary device 100 is worn on the right hand, the length of fastener 323 is transmitted One side end of plate portion is rotatably connect with transmission fastener 324 using the joint shaft in the 3rd joint as rotation axis.
In addition, the end side in the long plate portion for transmitting fastener 323 is connect with Wavelet piece 342.The transmission fastener 323 Long plate portion is worn on the base pitch position of finger by finger wearing portion 350.
Above-mentioned transmission fastener 324 can be steel system or plastic component, have long plate portion.Moreover, in the long plate portion There is cricoid interconnecting piece in one end.It is connect with Wavelet piece 343 in a side end of the long plate portion for transmitting fastener 324, Wavelet piece 343 is another Side, which is connected with, transmits fastener 323.The long plate portion of the transmission fastener 324 is worn on the metacarpus of finger by finger wearing portion 350 On position.
《Finger wearing portion 350jThe structure of (j=2 ..., 5)》
To above-mentioned finger wearing portion 350jThe structure of (j=2 ..., 5) illustrates.Finger wearing portion 350jIt is worn on conduct In the finger portion (minor details position, middle section position, base pitch position) of the finger of joint motions part and metacarpus position.Fig. 8 (A) is from the sides-U The finger wearing portion 350 of index finger is worn on to side observation2Figure.In addition, Fig. 8 (B) is not to be worn on food from-W direction sides The finger wearing portion 350 of finger2Figure.
As shown in Fig. 8 (A), (B) synthesis, each finger wearing portion 350j(j=2 ..., 5) has wearable components 351jAnd Fingerstall 352j.In addition, each finger wearing portion 350jWith tape member 353j、356j.Here, fingerstall 352jWith end fixed part pair It answers.In addition, tape member 353j、356jIt is corresponding with connecting portion fixed part.
In addition, in the following description, also by wearable components 351jIt is denoted as " wearable components 351 ".In addition, also by fingerstall 352jIt is denoted as " fingerstall 352 ".Also by tape member 353j、356jIt is denoted as " tape member 353,356 ".
The wearable components 351 can be the fabric component of flexible long shape, match along the direction that finger extends The dorsal side being placed in the finger portion and metacarpus position of finger.+ W the direction sides of wearable components 351 be fixed with transmit fastener 321, 322,323,324 long plate portion.In addition, in wearable components 351 be fixed with transmit fastener 324 part opposite side (- W direction sides), the anchor ring 359 for being equipped with surface buckle part (is also denoted as " anchor ring 359 belowj”)。
The fingerstall 352 can be the component of leather, be fixed on the finger tip side of wearable components 351.Moreover, when finger is closed When section motion assisting section 130 is worn on finger, fingerstall 352 is fixed on the finger tip of finger.
Above-mentioned tape member 353 can be the fabric component of long shape, with the side extended with the long plate portion for transmitting fastener 322 It is fixed on wearable components 351 to mode that is substantially vertical and intersecting with the long plate portion for transmitting fastener 322.Moreover, when finger is closed When section motion assisting section 130 is worn on finger, hook side 354 and anchor ring 355 of the tape member 353 using the surface buckle part for being installed on end Come section position in fixing and transmit the long plate portion of fastener 322.
Above-mentioned tape member 356 can be the fabric component of long shape, with the side extended with the long plate portion for transmitting fastener 323 It is fixed on wearable components 351 to mode that is substantially vertical and intersecting with the long plate portion for transmitting fastener 323.Moreover, when finger is closed When section motion assisting section 130 is worn on finger, hook side 357 and anchor ring 358 of the tape member 356 using the surface buckle part for being installed on end To fix base pitch position and transmit the long plate portion of fastener 323.
<The structure of adjustment section 180>.
The structure of above-mentioned adjustment section 180 is illustrated.Adjustment section 180 is assisted via piping 232 and thumb joint movement The Wavelet piece 241,242 in portion 120 is connected to.In addition, adjustment section 180 is via piping 333jWith movement of finger joint assisted parts 130j's Wavelet piece 341j、342j、343j(or corresponding air bag) is connected to.In the following description, also these Wavelet pieces are referred to as and are abbreviated For " Wavelet piece ".
As shown in figure 9, the adjustment section 180 with this structure with 181 solenoid valve 183 of two-way air pump, control unit 184, And piping 185,186.
The positive pressure interface of two-way air pump 181 is connect via piping 185 with a side side of the pump side connector of solenoid valve 183. When carrying out forcibly supplying air to Wavelet piece, pressurizeed using the two-way air pump 181.The negative pressure of two-way air pump 181 connects Mouth is connect via piping 186 with another party side of the pump side connector of solenoid valve 183.When sky is forcibly discharged from Wavelet piece in progress When gas, depressurized using the two-way air pump 181.Above-mentioned solenoid valve 183 can be flow channel switching valve.The flow channel switching valve enters One side of mouth side connect with piping 185, and another party of entrance side connect with piping 186.The positive pressure interface of two-way air pump 181 Constant positive pressure is generated, negative port generates constant negative pressure.
It has used two-way air pump to replace individual force (forcing) pump and drawdown pump, has saved the quantity of pump, simplified number of components Amount, saves raw material.In addition, two-way air pump is the air pump of compact, two-way air pump and solenoid valve etc. can be integrated in one In a device, occupy little space in this way, it is easy to carry.
Moreover, when forcibly carrying out supplying air to Wavelet piece under the control in control unit 184, flow channel switching valve connection " piping 185 being connect with the positive pressure interface of two-way air pump 181 " and " piping being connected to specified Wavelet piece " and form flow path. In addition, when forcibly carried out under the control in control unit 184 from Wavelet piece be discharged air when, flow channel switching valve connection " with it is two-way Air pump 181 negative port connection piping 186 " and " piping being connected to specified Wavelet piece " and form flow path.
For example, when forcibly carrying out supplying to the Wavelet piece 241,242 of thumb joint motion assisting section 120, flow path is cut It changes valve connecting pipings 185 and piping 232 and forms flow path.In addition, ought forcibly carry out that air is discharged from Wavelet piece 241,242 When, flow channel switching valve connecting pipings 186 forms flow path with being piped 232.
In addition, ought forcibly carry out to Wavelet piece 341j、342j、343jWhen supply, 185 He of flow channel switching valve connecting pipings Piping 333jAnd form flow path.In addition, ought forcibly carry out from Wavelet piece 341j、342j、343jWhen air is discharged, flow path switching Valve connecting pipings 186 and piping 333jAnd form flow path.
Above-mentioned control unit 184 carries out that air forcibly is discharged from Wavelet piece and forcibly supplies cutting for air to Wavelet piece It changes.When carrying out these controls, in the case where forcibly carrying out supplying air to Wavelet piece, control unit 184 is controlled, and is made The flow path for being formed in solenoid valve 183 and connecting the positive pressure interface of two-way air pump 181 with the Wavelet piece for carrying out joint motions is obtained, and is adjusted The constant positive pressure that the positive pressure interface of air pressure and two-way air pump 181 in whole Wavelet piece generates reaches unanimity.In addition, strong when carrying out From in the case that air is discharged in Wavelet piece, control unit 184 is controlled so that is formed two-way air pump in solenoid valve 183 on system ground The flow path that 181 negative port is connected with the Wavelet piece for carrying out joint motions, and the air pressure in Wavelet piece is adjusted, so that it is tended to be double The constant negative pressure generated to the negative port of air pump 181.
Such control according to taken into account experiment, simulation, experience etc. with E.E.G, the relevant Biont information of muscular strength come It carries out.Here, its test section (not shown) detection E.E.G, electromyogram, muscle meat toughness etc. can be led to obtain with E.E.G, The relevant Biont information of muscular strength.
In addition, solenoid valve 183 can be it is multiple, respectively with piping 232,3332、3333、3334、3335Connection, in this way, matching 185 one end of pipe is connect with the positive pressure interface of two-way air pump, and the other end is connect with a side of the entrance side of multiple solenoid valves 183；Match 186 one end of pipe is connect with the negative port of two-way air pump, and the other end is connect with another party of the entrance side of multiple solenoid valves 183, The outlet of solenoid valve 183 and piping 232,3332、3333、3334、3335Connection so that two-way air pump can match to multiple simultaneously Pipe (232,3332、3333、3334、3335) supply air or discharge air.<Usual method>
For the joint motions auxiliary device 100 constituted above, illustrate to wear the joint motions auxiliary device 100 Usual method on to the right hand.
Moreover, it is assumed that the right hand of wearing joint motions auxiliary device 100 contracture in the state of all digital flexions.
Joint motions auxiliary device 100 is worn on the right hand, hand wearing portion 110 is worn on the back of the hand and hand first The palm.When hand wearing portion 110 is worn on the back of the hand and palm, the personnel of wearing are supported by the hook side MF3 of bar from being worn The thumb of wearer and the gap of index finger are inserted into palmar side by dorsal side and are pasted on anchor ring ML3, and hand wearing portion 110 is configured In dorsal side.Then, in palm portion, hook side MF1 is pasted on anchor ring ML1, and in the wrist of palmar side, by hook side MF2 is pasted on anchor ring ML2.As a result, hand wearing portion 110 is worn on the back of the hand and palm.Figure 10 is that hand is worn in this way Wear the state that portion 110 is worn on the back of the hand and palm.
Then, in the case where thumb joint motion assisting section 120 to be worn on thumb, thumb joint is moved and is assisted Portion 120 is configured in the finger portion and metacarpus position of thumb, and the fingerstall 252 for being fixed on thumb wearing portion 250 is worn to the finger of thumb On point.Then, the anchor ring 259 for being installed on thumb wearing portion 250 is pasted on to the hook side 111 for being installed on hand wearing portion 1101。 Slowly stretch the thumb of contracture next, supporting the personnel worn.Then, using the band for being fixed on thumb wearing portion 250 Component 253 come fix thumb base pitch position and transmit fastener 223 long plate portion (with reference to Fig. 5 (A), (B)).As a result, thumb Joint motions assisted parts 120 is worn on thumb.Figure 11 is that thumb joint motion assisting section 120 is worn on thumb in this way State.
Next, by index finger joint motions assisted parts 1302In the case of being worn on index finger, by index finger joint motions Assisted parts 1302It is configured in the finger portion and metacarpus position of index finger, finger wearing portion 350 will be fixed on2Fingerstall 3522It is worn to food On the finger tip of finger.Then, finger wearing portion 350 will be installed on2Anchor ring 3592It is pasted on the hook for being installed on hand wearing portion 110 Face 1112.Slowly stretch the index finger of contracture next, supporting the personnel worn.Then, using being fixed on finger wearing portion 3502Tape member 3532To fix the middle section position of index finger and transmit fastener 3222Long plate portion, use tape member 3562To consolidate Determine the base pitch position of index finger and transmits fastener 3232Long plate portion (with reference to Fig. 7 (A), (B)).As a result, index finger joint motions are auxiliary Help portion 1302It is worn on index finger.Figure 12 is in this way by index finger joint motions assisted parts 1302It is worn on the state of index finger.
Then, to wear index finger joint motions assisted parts 130 to index finger with above-mentioned2Same step wear to middle finger Wear middle finger joint motions assisted parts 1303, to the third finger wear nameless joint motions assisted parts 1304, to little finger of toe wear little finger of toe close Save motion assisting section 1305.As a result, joint motions auxiliary device 100 is worn on the right hand.
As described above, in the present embodiment, when wearing joint motions auxiliary device 100 on hand, First, hand wearing portion 110 is worn on the back of the hand and palm.Then, thumb joint motion assisting section 120 is being worn on thumb In the case of, thumb joint motion assisting section 120 is configured in the finger portion and metacarpus position of thumb, thumb wearing portion will be fixed on 250 fingerstall 252 is worn on the finger tip of thumb.Then, the anchor ring 259 for being installed on thumb wearing portion 250 is pasted on and is installed on The hook side 111 in hand wearing portion 1101.Then, the thumb for stretching contracture uses the tape member for being fixed on thumb wearing portion 250 253 come the base pitch position for fixing thumb and the long plate portion for transmitting fastener 223.
Then, by index finger joint motions assisted parts 1302In the case of being worn on index finger, index finger joint motions are assisted Portion 1302It is configured in the finger portion and metacarpus position of index finger, finger wearing portion 350 will be fixed on2Fingerstall 3522It is worn on index finger Finger tip.Next, finger wearing portion 350 will be installed on2Anchor ring 3592It is pasted on the hook side for being installed on hand wearing portion 110 1112.Then, the index finger for stretching contracture, using being fixed on finger wearing portion 3502Tape member 3532To fix the middle section of index finger Position and transmission fastener 3222Long plate portion, and use tape member 3562To fix the base pitch position of index finger and transmit fastener 3232Long plate portion.
For wearing middle finger joint motions assisted parts 130 to middle finger3, to the third finger wear nameless joint motions assisted parts 1304, to little finger of toe wear little finger of toe joint motions assisted parts 1305, also to wear index finger joint motions assisted parts 130 with to index finger2Together The step of sample, carries out.
As a result, when joint motions auxiliary device 100 is worn on hand, can individually carry out transporting to as joint The back of the hand and palm at the position other than dynamic part wear hand wearing portion 110 and to as joint motions part finger portion and Thumb joint motion assisting section 120, movement of finger joint assisted parts 130 are worn on metacarpus positionj.In addition, being closed when being worn to hand When saving exercise assist device 100, thumb joint motion assisting section 120, movement of finger joint assisted parts can be individually carried out 130jWearing to corresponding finger.Therefore, when using joint motions auxiliary device, even if finger is in the state of bending In the case of carrying out contracture, it can also realize and joint motions auxiliary device is easily worn around hand, and mitigate by wearer Burden, mitigate support wear personnel load.
In addition, in the present embodiment, when hand wearing portion 110 is worn on the back of the hand and palm, by the hook of bar Face MF3 is inserted into from the gap of thumb and index finger and is pasted on anchor ring ML3, to which hand wearing portion 110 is configured at dorsal side.So Afterwards, in palm portion, hook side MF1 is pasted on anchor ring ML1, and in wrist, hook side MF2 is pasted on anchor ring ML2.
Therefore, though finger in the state of bending in the case of contracture if can realize mitigation by the burden of wearer, Load with the personnel for supporting wearing are mitigated, can to easily and reliably wear hand wearing portion 110 in the state of fitting In the back of the hand and palm.In addition, because hand wearing portion 110 is worn on the back of the hand and palm by using face fastener, therefore can be simple Hand wearing portion 110 is worn on the back of the hand and palm by ground.
In addition, in the present embodiment, when by thumb joint motion assisting section 120 and movement of finger joint assisted parts 130j When being worn on corresponding finger, first, fingerstall is worn on to the finger tip of thumb, then, the bone of fixed finger is carried out using tape member Bone part and transmission fastener.Therefore, it is possible to easily and reliably that thumb joint motion assisting section 120 and movement of finger joint is auxiliary Help portion 130jIt is worn on corresponding finger.
In addition, in the present embodiment, being installed when by thumb joint motion assisting section 120 and movement of finger joint assisted parts When hand wearing portion 110, using face fastener.Therefore, it is possible to which joint motions auxiliary device 100 is easily worn on hand.
Therefore, according to the present embodiment, can joint motions auxiliary device be easily worn on hand.
[other embodiment on the basis of preferably]
<Single joint moves supplementary structure>
Joint motions supplementary structure as described above is different from place in this structure and is, this structure is for list The movement auxiliary body in a joint has 1 air bag, 2 are transmitted fastener and 1 Wavelet piece；Wavelet piece is that have at equal intervals Endless groove retractile resin air bag a part, 2 are transmitted fasteners and are stuck in the both ends of air bag, transmit fastener it Between the non-card division exposed be divided into Wavelet piece.Between the both ends of the air bag of the retractile resin with equally spaced endless groove Gap is caught in transmission fastener, then air bag, which is snapped into, transmits the part of fastener and can be fixed on and transmit in fastener, no longer with the flexible of air bag And move, meanwhile, transmitting fastener edge is caught in the endless groove of air bag, and the portion transmitted in fastener is not snapped between transmission fastener It is Wavelet piece to divide air bag.Wavelet piece is configured at and the joint shaft generally perpendicular direction around the joint shaft in joint.Ripple One side end of part and a side end of a transmission fastener are clamped, and the end side of Wavelet piece is blocked with another transmission One side end of part is clamped.The Wavelet piece being configured so that, which generates, transmits fastener relative to the i.e. auxiliary joint of movement for transmitting fastener The power of joint motions.
Wearing portion has wearable components and tape member, and wearable components can be the fabric portion of flexible long shape Part, the direction extended along joint are configured at joint back side.The long plate portion for transmitting fastener is fixed in wearable components.In addition, wearing The opposite side with the part for being fixed with transmission fastener on component is worn, the anchor ring of surface buckle part is installed.Above-mentioned tape member can be The fabric component of long shape, with transmit fastener long plate portion extend direction it is substantially vertical and with transmit fastener long plate portion The mode of intersection is fixed on wearable components.Moreover, when joint motions assisted parts is worn on joint, tape member uses installation Come the position of fixing joint both sides in the hook side of the surface buckle part of end and anchor ring and transmits the long plate portion of fastener.
<Another structure of adjustment section 180>
It is above-mentioned<The structure of adjustment section 180>In adjustment section to Wavelet piece/air bag supply air or air can be excluded, from And it is flexible to control Wavelet piece/air bag.But solenoid valve 183 therein (may only be separately connected two-way air pump in two entrances side Positive pressure interface and negative port) between selection one be connected to and form flow path, therefore the solenoid valve other end connection match Pipe (232,3332、3333、3334、3335) can only be converted between supply air, discharge air, without having intermediate shape State.
It therefore, can be in the piping 185,186 for being connected to the two-way air pump and the solenoid valve as improved structure The valve for installing the channel break-make in control piping additional, is controlled with the break-make of flow path；The valve can be configured at piping 185,186 close to one end of solenoid valve, and the quantity of the valve described in this way is identical as the quantity of solenoid valve or the number of the valve Amount is twice (only can also install valve in the solenoid valve front end of needs, the quantity of such valve is indefinite) of solenoid valve quantity, It can individually be controlled with flow path in this way；The valve can also be configured at piping 185,186 close to one end of two-way air pump Or piping 185,186 connect respectively with multiple solenoid valves (it is intermediate by bifurcated the piping there are one entrance, separate it is multiple go out Mouthful) crotch, in this way can to corresponding flow path carry out simultaneously control, and needs valve quantity it is few, it is easy to control, simultaneously Can piping (185,186) be subjected to bifurcated.
In addition, the valve can be throttle valve, throttle valve is connect with control unit, under the control of control unit described in change The channel cross-sectional area of flow path；The control unit is same to control by the channel cross-sectional area and flow path currency for controlling throttle valve The air bag of flow path or the air pressure in Wavelet piece.
It is accurately controlled in this way, can be realized to the air pressure in air bag or Wavelet piece.
Preferably, the continuous adjustment to joint motions auxiliary device is realized, it is also necessary to 1 storage part, to prestore Need the data being adjusted, such as air bag pressure, inflationtime, evacuation time；It can also be carried out by Circumscribed structure real When adjust.
<Circumscribed structure>
Under normal circumstances, in application joint motions auxiliary device, control unit controls the flexible of Wavelet piece, and then nondominant hand Articulations digitorum manus is moved；But control unit needs the control of Wavelet piece to control data, and control data needs and preset, this Puzzlement just is caused to the use of joint motions auxiliary device.
The use of joint motions auxiliary device is to promote the activity of corresponding joint, how to promote, need to stretch every time The needs such as which joint, Extensional periods and the rate of stretch are determines according to actual conditions；In control not determines according to actual conditions In the case of data processed, unnecessary loss is suffered to the use of joint motions auxiliary device, gently can not then reach auxiliary The purpose of movement, it is heavy then the joint of synkinesia is caused to damage.In this case it is desirable to introduce Circumscribed structure.
The structure be with it is above-mentioned<Another structure of adjustment section 180>Corresponding structure, it is auxiliary with the joint motions It helps device to combine and may make up the servo-actuated auxiliary device in joint.The Circumscribed structure can be worn on the right hand of guide, detection guiding The right hand motion conditions and real-time Transmission of person give joint motions auxiliary device, such guide that can be closed by the action control of hand Exercise assist device is saved, it is convenient, fast.
As shown in figure 13, the Circumscribed structure includes sensor 41 and data processor 42, and the sensor 41 is worn on The joint of guide records joint motion data；The joint should need the joint phase assisted with joint motions auxiliary device It is corresponding, it is the identical joint of the same area with different users, for example to assist the 1st joint of other people right hand index fingers, needs Sensor 41 is arranged in the 1st joint of the right hand index finger of guide, this correspondence so that setting is convenient, fast.Described Corresponding or symmetrical mapping relations, for example the 1st joint of other people right hand index fingers is assisted, it needs to set sensor 41 Use scope (such as certain guides of the Circumscribed structure can be expanded in the 1st joint of the left index finger of guide in this way by setting Right hand underaction, or the right hand of oneself can be guided using the left hand of oneself by user).
The control unit 184 is connect with the data processor 42, receives the joint motion data；It can make in this way Information real-time Transmission reduces delay.Its specific connection type can be wire/wireless.
The sensor 41 is potentiometer, and potentiometer can generate corresponding telecommunications with the difference of bent upon itself angle Number, it measures accurate；Preferably membrane potential device, it is frivolous, it is sensitive and soft, pliable, mitigate the load of guide's bent joint. Membrane potential device is wrapped in the outside of corresponding joint, membrane potential device is bent with the movement in joint, and with bending Angle self-resistance value change, and generate corresponding output voltage/electric current, data processor records output voltage/electricity Flow and handle/be converted into the data format of storage or transmission.
Here relatively crucial problem is the action of guide between the action of joint motions auxiliary device auxiliary Mapping problems, in order to which the action of envoy's exercise assist device auxiliary can truly restore the action of guide, the present invention uses Mode be that percentage corresponds to, that is, by the joint of guide in the state of not bending, bending angle is set as 0%, Joint is folded into the state of maximum angle, and bending angle is set as 100%, and the bending angle under other states proportionally changes It is corresponding percentage to calculate；It is curved by the joint of auxiliary in the state of not bending simultaneously in joint motions auxiliary device Dog-ear degree is set as 0%, and in the state that joint is folded into maximum angle, bending angle is set as 100%, under other states Bending angle is proportionally scaled corresponding percentage；The auxiliary joint of control unit control joint motions auxiliary device in this way is curved The corresponding joint of folding and guide bend identical percentage, to reach the true reduction acted to guide.
In this case, the data processor 42 records instant electric signal and pass of the sensor in joint motion Electric signal when section curves utmostly；And it calculates the corresponding joint of the instant electric signal and curves angle and account for the joint most The percentage of big bendable gyration.
In normal operation, the finger of guide makes action, which makes joint bend corresponding bending angle Degree；Meanwhile it being wrapped in the membrane potential device outside joint and generating corresponding output voltage；Data processor 42 receives the voltage value And it is transferred to control unit 183 after handling；Air pressure in the control control Wavelet piece/air bag of control unit 483；Air pressure makes Wavelet piece certainly It is so flexible, drive corresponding joint to bend corresponding bending angle.Here, to make the corresponding bending angle in the joint of guide and The bending angle of the corresponding joint of drive is identical, needs bending angle being converted to corresponding output voltage, and by output voltage Corresponding atmospheric pressure value is converted to, finally converts corresponding atmospheric pressure value to the bending angle in corresponding joint.Therefore it needs to establish The bending angle of guide is to the mapping of output voltage, the mapping of output voltage to atmospheric pressure value, atmospheric pressure value to diarthrodial curved The mapping of dog-ear degree, core are to establish bending angle to the mapping of output voltage, the mapping of bending angle to atmospheric pressure value.Here Mapping relations determined using percentage.
By taking the mapping of bending angle to output voltage as an example：The percentage for determining bending angle is drawing membrane potential device The joint for the person of leading is not in the state of bending, and output voltage setting 0% is defeated in the state that joint is folded into maximum angle Go out voltage and be set as 100%, the output voltage under other states is corresponding with bending angle to be done according to straight line determination or difference Calibration determines；It is directly proportionally to convert output voltage to percentage, and assert that the percentage is curved that the straight line, which determines, In the case of dog-ear degree, the output voltage of membrane potential device is also the percentage；Told difference is demarcated, and is that output voltage is straight It connects and is proportionally converted into percentage, and the joint when output voltage is the percentage is directly measured by the methods of protractor Bending angle simultaneously converts bending angle to percentage, in this case, by the hundred of the percentage of output voltage and bending angle Ratio is divided to be corresponded to, the percentages of output voltage and the percentages of bending angle are surveyed according to actual conditions at this time Fixed, specific numerical value may be identical, it is also possible to differ；In this way, (10 degree, 20 degree, 30 degree etc.) are curved at certain intervals Folding joint simultaneously actually measures corresponding output voltage, and intermediate undetermined part can be carried out according to above-mentioned straight line assay method It measures, can also be corresponded to according to other modes, determining mapping relations are as shown in figure 14 in this way, and dot therein is conduct The point of calibration is mapped as linear relationship between adjacent calibration point.In this way, the quantity for the difference demarcated is done by increasing, it can To improve the accuracy of data mapping.
Similarly, mapping of the atmospheric pressure value to the bending angle of joint motions auxiliary device can be established, as shown in figure 15.
In this case, 42/ control unit 183 of data processor calculates the percentage of instant electric signal (voltage/current), And judge the value of two adjacent calibration points of the percentage and the percentage of the corresponding bending angle of two calibration points, it calculates The corresponding joint of percentage for going out instant electric signal curves angle percent.
Calculation formula is：
In formula, AxFor the percentage of instant electric signal, A1、A2For with AxThe percentage of the electric signal of two adjacent calibration points Than B1For with A1The percentage of the bending angle of the same calibration point, B2For with A2The percentage of the bending angle of the same calibration point Than BxFor the percentage A of instant electric signalxCorresponding joint curves angle percent, and α is modifying factor, and β is correction value.
Concrete thought is：Electric signal percentage between two neighboring calibration point is curved to the pass of angle percent with joint System is considered as linear relationship, determines the slope of linear relationship by two adjacent calibration points in this way, then pass through slope and electricity immediately The percentage of signal determines that joint curves angle percent.
It has the beneficial effect that：The percentage of the slope and instant electric signal of linear relationship is determined by two adjacent calibration points Directly determine that joint curves angle percent, formula is simple, and convenience of calculation is quick；By modifying factor and correction value to result into Row is corrected, and accuracy is improved.
Similarly, in this case, 42/ control unit 183 of data processor determines the percentage of instant bending angle, and sentences The value of two adjacent calibration points of the percentage of breaking and the percentage of the corresponding atmospheric pressure value of two calibration points, calculate immediately The percentage of atmospheric pressure value.
Calculation formula is：
In formula, CxFor the percentage of instant bending angle, C1、C2For with CxThe bending angle of two adjacent calibration points Percentage, D1For the percentage of the atmospheric pressure value with the same calibration points of C, D2For with C2The percentage of the atmospheric pressure value of the same calibration point Than DxFor the percentage C of instant bending anglexCorresponding atmospheric pressure value percentage, γ are modifying factor, and δ is correction value.
Concrete thought is：Atmospheric pressure value percentage between two neighboring calibration point is curved to the pass of angle percent with joint System is considered as linear relationship, determines the slope of linear relationship by two adjacent calibration points in this way, then pass through slope and electricity immediately The percentage of signal determines atmospheric pressure value percentage.
It has the beneficial effect that：The slope of linear relationship and the percentage for curving angle immediately are determined by two adjacent calibration points Than directly determining atmospheric pressure value percentage, formula is simple, and convenience of calculation is quick；Result is repaiied by modifying factor and correction value Just, accuracy is improved.
In above-mentioned two formula, the bending angle of joint the bending angle percentage and joint motions auxiliary device of guide Percentage is identical, the correspondence of the percentage and instant atmospheric pressure value of instant electric signal is assured that in this way, by guide's Joint curves the auxiliary joint motions that movement is mapped as joint motions auxiliary device.
In the above, electric signal percentage, the joint bending angle percentage of guide, joint motions auxiliary device The percentage of bending angle percentage and atmospheric pressure value can not also be converted into percentage, directly numerical value be applied to carry out formula calculating, The step of being converted to percentage is omitted in this way, it is simple, convenient, fast.But it is because the measurement data of each sensor, each The size etc. of air bag has certain error, therefore this method narrow scope of application, and each sensor is required for measuring calibration point Data, complex steps, and after being converted into percentage then then only need each sensor, air bag to measure 0% and 100% Corresponding numerical value can (for eliminate the individual between sensor, air bag it is different caused by error), save major part in this way Calibration point measurement work, it is simple, convenient, fast and error caused by Different Individual size slight change can be eliminated.
In addition, membrane potential device can be wrapped in different joints respectively, i.e., each joint to be measured configures One membrane potential device can also configure the same membrane potential device in the different joints of a finger.
Equally, the same air bag can be configured in the different joints of a finger in joint motions auxiliary device；Also may be used To configure an air bag in each joint.
If the different joints in a finger configure the same membrane potential device；Simultaneously in joint motions auxiliary device In each joint configure an air bag, then data processor or control unit are needed the electric signal (voltage/electricity of membrane potential device Stream) it is converted into the numerical value of the finger difference joint, this conversion can be decoupled directly according to a certain percentage, can also It is converted into percentage and is directly mapped (the 1st joint, the 2nd joint, the 3rd joint of the finger while identical percentage can be rotated The bending angle of ratio).
If a membrane potential device is configured in each joint to be measured, meanwhile, in joint motions auxiliary device In the different joints of finger configure the same air bag；In this way, then data processor or control unit need the finger is more The electric signal of the membrane potential device in a joint is integrated into an electric signal, to be mapped on the atmospheric pressure value of air bag.
It can be done in real time by Circumscribed structure by acting the control to joint motions auxiliary device, it is simply, convenient；But It is that guide is needed to guide, it is relatively high to human resources requirement in this way, if without the profession of guide or guide Degree is inadequate, is easy to bring hidden danger to the synkinesia in joint；Therefore as shown in figure 16, data can be installed additional on Circumscribed structure and deposited The action of guide can be recorded by data storage 43, can subsequently pass through wire/wireless by reservoir 43 in this way Mode connecting joint exercise assist device carries out the direct transmission of data, or is uploaded onto the server middle confession by modes such as networks The data of storage are downloaded using the user of joint motions auxiliary device, and control unit was listened to execute.In this case, outer binding Structure can be used as 1 joint motions recording device.
<Transmit the structure of fastener>
It can be steel system or plastic component to transmit fastener, have long plate portion, in the one or both ends of the long plate portion There are cricoid interconnecting piece, cricoid interconnecting piece to be caught in the annular groove of air bag, blocks air bag；It is hollow structure inside long plate portion, It can be used for accommodating in this way being caught in the air bag for transmitting fastener.
The end of long plate portion may be the groove of semicircular, the endless groove for blocking the air bag；In such case Under, it further includes covering part to transmit fastener, and there is the groove of semicircular in the covering part end, the semicircular groove with the long plate portion In conjunction with the endless groove of the air bag is fixed.In this way, can long plate portion first be caught in air bag, covering part is then covered, by air bag It is fixed on the inside for transmitting fastener.
The inside for transmitting fastener further includes at least one fixed part, and fixed part is caught in the endless groove of air bag, and air bag is consolidated It is fixed；Fixed part can be cricoid；Fixed part may be semicircular, and in this case, covering part corresponding position has semi-ring The groove of shape is combined with fixed part and is fixed the endless groove of air bag.Can air bag be first caught in long plate portion, then close the lid conjunction Portion secures the air-bag to the inside for transmitting fastener, not only fixation, but also simple and convenient.
The length for transmitting fastener is variable, can be adjusted in this way according to hand-type, adapts to the hand-type of different people, improves and is applicable in Range.
[deformation of embodiment] the present invention is not limited to the above embodiments, can carry out various modifications.
For example, in the above-described embodiment, thumb is closed according to the sequence of thumb, index finger, middle finger, ring finger and little finger Save motion assisting section 120 and movement of finger joint assisted parts 130j(being also denoted as below " joint motions assisted parts ") is worn on correspondence Finger joint motions assisted parts is worn on corresponding but as long as after hand wearing portion is worn on the back of the hand and palm The sequence of finger can also be arbitrary.
In this way, when keeping the sequence that joint motions assisted parts is worn on to corresponding finger arbitrary, such as support wearing Personnel most start to pry open using the little finger of toe that contracture is closed by the utensils such as stick and the little finger of toe is made to stretch, and joint motions are auxiliary Portion is helped to be worn on little finger of toe.In the case where making little finger of toe most start stretching, extension in this way, because sometimes nameless, middle finger contracture can be delayed With, therefore then joint motions assisted parts can also be worn on to nameless and middle finger.
In addition, in the above-described embodiment, by joint motions assisted parts be worn on thumb, index finger, middle finger, it is nameless with And little finger of toe this five fingers, but joint motions assisted parts can be both worn on to arbitrary 1 finger in the five fingers, alternatively, it is also possible to 2 or more arbitrary fingers joint motions assisted parts being worn in the five fingers.
In addition, in the above-described embodiment, fingerstall being worn on finger tip, joint motions assisted parts is pasted on to hand pendant After wearing portion, the personnel for supporting wearing make the finger extension of contracture.In contrast, joint motions assisted parts can also be pasted on After hand wearing portion, Wavelet piece possessed by the joint motions assisted parts is set to shrink, to make the finger extension of contracture.
In addition, in the above-described embodiment, making to move as thumb joint using the piping of flexible resin It is connected between the Wavelet piece 241 and Wavelet piece 242 of the structural element of assisted parts.In contrast, piping can also be utilized to make ripple It is directly connected between part 241 and adjustment section, and makes to be connected between Wavelet piece 242 and adjustment section using other pipings.This In the case of, it can independently assist the joint motions of the joint motions and the 2nd joint in the 1st joint of thumb.
In addition, in the above-described embodiment, air bag is with equidistant endless groove, and endless groove can also be not At equal intervals.In this case, for the patient of the 1st joint motion that cannot make thumb, by making Wavelet piece 241 Interior air pressure becomes atmosphere opening state and adjusts the air pressure in Wavelet piece 242, can carry out the 2nd joint for only assisting thumb Joint motions.In addition, for the patient of the 2nd joint motion that cannot make thumb, by make the air pressure in Wavelet piece 242 at For atmosphere opening state and the air pressure in Wavelet piece 241 is adjusted, the joint motions in only the 1st joint of auxiliary thumb can be carried out.
In addition, in the above-described embodiment, making to be used as movement of finger joint by the piping of flexible resin It is connected between the Wavelet piece 341 and Wavelet piece 342 of the structural element of assisted parts.In contrast, piping can also be utilized to make ripple It is directly connected between part 341 and adjustment section, and makes to be connected between Wavelet piece 342 and adjustment section using other pipings.This In the case of, it is capable of joint motions, the joint motions in the 2nd joint and the joint in the 3rd joint in the 1st joint of independent assisted finger Movement.
In this case, the joint motions in joint to be assisted can be only assisted, such as finger cannot be made For the patient of 1st joint motion, the joint motions for only assisting the 2nd joint and the 3rd joint can be carried out.
In addition, in the above-described embodiment, hand wearing portion is worn on the back of the hand and palm by using face fastener, but also may be used Hand wearing portion is worn on the back of the hand and palm using the other methods such as snap-fastener.
In addition, in the above-described embodiment, joint motions assisted parts is installed on hand wearing portion by using face fastener, but Joint motions assisted parts can also be installed on hand wearing portion using the other methods such as snap-fastener.
In addition, in the above-described embodiment, when joint motions assisted parts is worn on finger, being referred to using fingerstall fixation Point, but finger tip can also be fixed using tape member.In this case, when wearing joint motions assisted parts to finger, Such as it copes with due to old age and finger is thicker or the thickness by fingers such as wearers that attenuates is different multiple is worn Person.
In addition, in the above-described embodiment, tape member is fixed on wearable components, but can not also be fixed on wearing portion Part.
In addition, in the above-described embodiment, joint motions auxiliary device is worn on and is worn by the personnel for supporting wearing The hand of person, but can also be worn on joint motions auxiliary device certainly by the personnel oneself of wearing joint motions auxiliary device Oneself hand.
In addition, in the above-described embodiment, illustrating the joint motions auxiliary of the movement of the right finger of auxiliary human body Device, naturally it is also possible to be the joint motions auxiliary device for the movement for assisting left-hand finger.
In addition, the Wavelet piece of resin is used in the present embodiment, but as long as being capable of expansion and contraction and not applied to human body The raw material for adding the burdens such as the weight of worn device can also be other raw material.
In addition, the present invention joint motions auxiliary device by working fluid be set as air but it is also possible to be other gases, The liquid such as water or oil.
The joint motions auxiliary device of the present invention in the case of use, serves not only as rehabilitation in the field of nursing or welfare With being worn, the device that strength valetudinarian, invalid can be used as power-assisted uses.In addition, the joint motions auxiliary of the present invention Device is other than the field of nursing or welfare, additionally it is possible to be used as the power assist apparatus for clamping article etc..
In addition, in the above-described embodiment, applying the present invention to assist the joint motions of the joint motions of human body auxiliary Device is helped, even if being the mammality with the endoskeleton type other than the human body of articulation mechanism, the robot isotactic of endoskeleton type Determine also apply the present invention in the joint motions auxiliary device of object.
In addition, in the above-described embodiment, for each finger, normal person in activity, close by the 1st joint and the 2nd Section is linkage, that is to say and is carried out at the same time joint motions, and the activity in the 3rd joint and the 1st joint, the 2nd joint can separate, Therefore, 1 air bag can be used on the 1st joint of finger and the 2nd joint, (thumb is then used without the 3rd joint in the 3rd joint 1 air bag) 1 air bag is used, in this way, will can independently open to the auxiliary in the 1st joint and the 2nd joint and to the auxiliary in the 3rd joint Come, more meet the habitual movement of finger movement, accelerates finger resume speed.Wherein, similar one end of 2 air bags can be same One is transmitted fastener and blocked, and can also be transmitted fastener by 2 and be blocked respectively.In addition, air bag quantity may be two or two More than, fastener and the quantity of Wavelet piece also synchronous increase are transmitted, increased quantity is according to practical determination.
In addition, in the above-described embodiment, to assist the joint motions of user, need to face different situations, If the hand of user only have specific finger just can activity, in above-mentioned embodiment, can according to actual conditions, Installation wearing portion and air bag, can bring unnecessary burden to avoid to other fingers in this way on the finger for needing to assist.
In addition, in the above-described embodiment, to assist the joint motions of user, need to face different situations, If the joint of user only has specific joint just can be movable, above-mentioned embodiment be not applicable in, and needs to improve； 1 group of supplementary structure can be configured in each joint, every group of supplementary structure all configures 1 air bag and 2 transmission fasteners, this Sample, can independently carry out each joint the auxiliary of joint motions, and using flexible is convenient.In addition, 2 adjacent air bags are mutual Close one end can be blocked by the same transmission fastener, can also be transmitted fastener by 2 and be blocked respectively.In addition, air bag quantity It may be two or more, transmit the also synchronous increase of fastener and the quantity of Wavelet piece, increased quantity is according to practical true It is fixed.
In addition, in the above-described embodiment, mutually independent multiple Wavelet pieces originally are replaced using complete air bag, Solve the problems, such as airtight not tight between Wavelet piece, and complete air bag only needs a piping that extension and contraction control can be realized, Multiple pipings are not needed, save material, and reduce the problem for causing air-tightness not tight because of excessive piping.
The foregoing is merely presently preferred embodiments of the present invention, is merely illustrative for the purpose of the present invention, and not restrictive 's.Those skilled in the art understand that in the spirit and scope defined by the claims in the present invention many changes can be carried out to it, It changes or even equivalent, but falls in protection scope of the present invention.

Claims (10)

1. a kind of joint motions auxiliary device of independent assisted finger, which is characterized in that including：
The retractile air bag of at least one；
At least two transmits fastener, blocks the different parts of the corresponding air bag, and the fixed part air bag being stuck respectively；
At least one Wavelet piece, to be located between 2 adjacent transmission fasteners on the air bag and not being snapped into the biography The part air bag for passing fastener is configured in the Wavelet piece around the joint shaft of corresponding finger substantially vertical with the joint shaft Direction in the case of, the Wavelet piece is flexible to generate the power for assisting the joint motions；
1st wearing portion, is worn on finger motion part, and the 1st wearing portion is fixedly mounted the transmission fastener；
The transmission fastener is configured in the connecting portion being connect with the joint, and is transmitted to the joint due to the ripple The power for the auxiliary joint motions that part is flexible and generates；
2nd wearing portion, is worn on palm part, and the 1st wearing portion is installed on the described 2nd in a manner of assemble and unassemble and worn Portion；
There is at least one in following wearing portion to refer to wearing portion in the 1st wearing portion：Thumb wearing portion, is worn on thumb； Index finger wearing portion, is worn on index finger；Middle finger wearing portion, is worn on middle finger；Nameless wearing portion, is worn on the third finger； And little finger of toe wearing portion, it is worn on little finger of toe；
Piping, connect with the air bag.
2. the joint motions auxiliary device of independent assisted finger as described in claim 1, which is characterized in that wear in the thumb It wears and is fixed with treatment of distal thumb bone correspondence transmission fastener in portion, closed with the thumb the 1st of the joint motions in the 1st joint of auxiliary thumb The side end connection of the corresponding Wavelet piece of section, and configured along minor details bone.
3. the joint motions auxiliary device of independent assisted finger as described in claim 1, which is characterized in that wear in the thumb It wears and is fixed with thumb base pitch bone correspondence transmission fastener, the end side of Wavelet piece corresponding with the 1st joint of the thumb in portion Connection, and a side end of Wavelet piece corresponding with auxiliary the 2nd joint of thumb of joint motions in the 2nd joint of thumb connects, And it is configured along base pitch bone.
4. the joint motions auxiliary device of independent assisted finger as described in claim 1, which is characterized in that wear in the thumb It wears and is fixed with thumb metacarpal correspondence transmission fastener in portion, the end side of Wavelet piece corresponding with the 2nd joint of the thumb connects It connects, and is configured along metacarpal bone.
5. the joint motions auxiliary device of the independent assisted finger as described in any in claim 1-4, which is characterized in that described 1st wearing portion has：
The wearable components being configured on the joint motions part；
The end fixed part of the end of the fixed joint motions part；And
Connecting portion fixed part fixes the connecting portion being connect with the joint and the transmission fastener.
6. the joint motions auxiliary device of independent assisted finger as claimed in claim 5, which is characterized in that the wearable components It is the fabric component of flexible long shape, the direction extended along joint is configured at finger back side.
7. the joint motions auxiliary device of independent assisted finger as claimed in claim 5, which is characterized in that connecting portion is fixed Portion is the fabric component of long shape, with it is described transmit fastener long plate portion extend direction it is substantially vertical and with the transmission The mode that the long plate portion of fastener is intersected is fixed on the wearable components.
8. the joint motions auxiliary device of the independent assisted finger as described in any in claim 1-4, which is characterized in that described 1st wearing portion is installed in the 2nd wearing portion by means of surface buckle part.
9. the joint motions auxiliary device of independent assisted finger as claimed in claim 5, which is characterized in that the described 1st wears The end fixed part in portion is the fingerstall for the finger tip for being worn on the finger.
10. the joint motions auxiliary device of the independent assisted finger as described in any in claim 1-4, which is characterized in that institute The table side for stating the 2nd wearing portion is extended with forward bar, and the bar is inserted and secured on institute from the gap of thumb and index finger State the back side in the 2nd wearing portion.
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