CN105769511A - Joint movement assist device independently assisting joint - Google Patents
Joint movement assist device independently assisting joint Download PDFInfo
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- CN105769511A CN105769511A CN201610204464.3A CN201610204464A CN105769511A CN 105769511 A CN105769511 A CN 105769511A CN 201610204464 A CN201610204464 A CN 201610204464A CN 105769511 A CN105769511 A CN 105769511A
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- joint
- joint motions
- finger
- worn
- air bag
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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
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/10—Devices for correcting deformities of the 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
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
Landscapes
- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a joint movement assist device independently assisting a joint, comprising at least one auxiliary structure set.Each auxiliary structure set comprises: at least one freely telescopic airbag; at least two transfer fasteners fastening part of the airbags at two ends and fixing the fastened part of the airbags; at least one corrugated part located between two transfer fasteners on the airbags and not fastened in the part of airbags fastened by the transfer fasteners, wherein the corrugated part telescopes and produces force assisting in joint movement at the premise that the corrugated part is arranged around a joint axis in a direction approximately perpendicular to the joint axis; a distributing tube, one end of which is detachably connected with the airbag and the other end of which is connected with an adjusting portion to adjust air pressure in the airbags; a first wearable portion.In this manner, the joint of a user can be assisted independently, and secondary injury caused by assisting in unmovable joints of the user is avoided.
Description
Technical field
The present invention relates to joint motions ancillary technique field, be specifically related to the joint motions auxiliary device of a kind of independent subjoint.
Background technology
Clinical confirmation, during the early rehabilitation and spontaneous recovery of limbs of patient Post operation or Cranial nerve injury as birth trauma, implements continuous passive motion and can compensate the deficiency of patient's active exercise, increase its limb activity degree, reduce corresponding complication simultaneously.It addition, exist in current patient owing to the central nervous system injuries such as cerebral infarction cause finger paralysis, the situation of contracture is inferior, in this case, if can the finger of assisting patients move, then can increase the resume speed of patient's finger.
Presently, there are the device that the joint to patient is assisted, but the finger-joint of hand is assist by it simultaneously, if the hand joint of patient only part can be movable, then existing joint motions auxiliary device is then without this function.
In view of drawbacks described above, creator of the present invention obtains the present invention finally through research for a long time and practice.
Summary of the invention
For solving above-mentioned technological deficiency, the technical solution used in the present invention is in that, it is provided that the joint motions auxiliary device of a kind of independent subjoint, and it includes at least 1 group supplementary structure, and often group supplementary structure includes:
At least 1 retractile air bag；
At least 2 transmission fasteners, block the part air bag of described balloon ends fixing jammed part air bag respectively；
At least 1 Wavelet piece, its on described air bag between 2 described transmission fasteners and be not snapped into the part air bag of described transmission fastener, when this Wavelet piece is configured at this joint shaft generally perpendicular direction along the surrounding of joint shaft, this Wavelet piece stretches and produces to assist the power of described joint motions；
Described transmission fastener is configured in the connecting portion being connected with described joint the power assisting described joint motions that is flexible due to described Wavelet piece to the transmission of described joint and that produce；
Pipe arrangement, its one end and described air bag removably connect, and the other end is connected with adjustment portion, to adjust the air pressure in described air bag；
The joint motions auxiliary device of described independent subjoint also includes: the 1st wears portion, and it is worn on joint motions part, and described 1st portion of wearing is fixedly mounted described transmission fastener.
It is also preferred that the left described adjustment portion includes:
Two-way air pump；At least 1 electromagnetic valve；
At least 2 pipe arrangements, its one end is connected with the positive pressure interface of described two-way air pump, negative port respectively, and the other end connects described electromagnetic valve；
Described electromagnetic valve is flow channel switching valve, and two sides of its entrance side are connected with 2 described pipe arrangements respectively；
Control portion, it is connected with described flow channel switching valve, controls described flow channel switching valve switching stream.
It is also preferred that the left the positive pressure interface of described two-way air pump produces constant malleation, negative port produces constant negative pressure.
It is also preferred that the left described adjustment portion also includes choke valve, described choke valve is connected in the middle of the described two-way air pump path with described electromagnetic valve by described pipe arrangement, controls the gas flowing in this path.
It is also preferred that the left described control portion controls the gas gross of circulation by controlling the time of percentage ratio and the conducting of described choke valve that channel cross-sectional area in described choke valve accounts for maximum secting area.
It is also preferred that the left described air bag has equally spaced endless groove.
It is also preferred that the left described transmission fastener includes long slab portion, there is Semicircular groove end, described long slab portion, for blocking the endless groove of described air bag.
It is also preferred that the left inside, described long slab portion is hollow structure, with the part air bag snapping in described transmission fastener with accommodation.
It is also preferred that the left described transmission fastener also includes covering part, there is Semicircular groove described covering part end, is combined with the semicircular groove in described long slab portion, is fixed by the endless groove of described air bag.
It is also preferred that the left described air bag is resinous air bag.
The beneficial effects of the present invention is compared with the prior art: as such, it is possible to the joint of user is independently assisted, it is to avoid the not movable joint of user assisted and the secondary injury that causes.
Also provide for a kind of joint motions auxiliary device, the joint motions of its ancillary provisions object, this joint motions auxiliary device has: at least 1 retractile Wavelet piece, each joint treating that subjoint moves on described regulation object is prepared this Wavelet piece, when this Wavelet piece is configured in the articular portion rotating the vertical direction of axle with the rotational motion in described joint, this Wavelet piece produces to assist the power of described joint motions；Transmission fastener, it is connected to the end of described Wavelet piece, when being configured in the connecting portion being connected with described joint, to the power assisting described joint motions that the transmission of described joint produces due to the flexible of described Wavelet piece；1st wears portion, and it is worn on joint motions part, and this joint motions part includes the joint waiting to assist described joint motions and the connecting portion being connected with described joint；And the 2nd of flexibility the wear portion, it is worn on the position beyond the described joint motions part on described regulation object, described 1st portion of wearing is fixedly mounted the described transmission fastener being connected with described Wavelet piece, when described joint motions auxiliary device is worn on described regulation object, described 1st portion of wearing has: be configured in the wearable components in described joint motions part；The end fixed part of the end of fixing described joint motions part；And connecting portion fixed part, the connecting portion being connected with described joint and described transmission fastener are fixed by it, and the described 1st wears portion wears portion can be installed on the described 2nd in the way of loading and unloading.
In this joint motions auxiliary device, the 2nd flexible portion of wearing is worn on the position beyond the joint motions part on regulation object.It addition, the 1st portion of wearing installing the fixing transmission fastener being connected with the end of Wavelet piece is worn on joint motions part, this joint motions part includes treating the joint that subjoint moves and the connecting portion being connected with this joint.At this, when the 1st portion of wearing is worn on joint motions part, it is fixed with end fixed part in the end of joint motions part.It addition, when the 1st portion of wearing is worn on joint motions part, the connecting portion of joint motions part is fixed by connecting portion fixed part with transmission fastener.And, wear portion by the 1st portion of wearing is installed on the 2nd and makes joint motions auxiliary device be worn on regulation object.Therefore, when joint motions auxiliary device is worn on regulation object, it is possible to carry out wearing to the position beyond the joint motions part on regulation object the 2nd respectively and wear portion and wear the 1st to joint motions part and wear portion.
Therefore, the joint motions auxiliary device according to the present invention, it is worn on the 1st of joint motions part and wears portion and be worn on the 2nd portion of wearing at the position beyond joint motions part and do not become one structure, therefore, it is possible to be easily worn around regulation object.
In addition, if using the resinous Wavelet piece of light softness as structural element, then it is capable of the lighting of the weight of joint motions auxiliary device, alleviates the load supporting the personnel worn and by the burden of the health of wearer, it is possible to easily wear joint motions auxiliary device.
In the joint motions auxiliary device of the present invention, described 1st portion of wearing can be installed in the described 2nd by means of face fastener and wear portion.In this case, use face fastener easily the 1st portion of wearing can be installed on the 2nd and wear portion.Therefore, it is possible to utilize regulation object easily to wear joint motions auxiliary device.
It addition, in the joint motions auxiliary device of the present invention, it is possible to be configured to, waiting to assist the joint of described joint motions is at least 1 joint of finger, and the described 1st described end fixed part wearing portion is the fingerstall of the finger tip being worn on described finger.In this case, when the 1st portion of wearing is worn on finger, first fingerstall is worn on the finger tip of finger.Then, connecting portion fixed part is utilized to be fixed with transmission fastener by the connecting portion in the joint of finger.Therefore, it is possible to reliably the 1st portion of wearing is worn on finger.
When making to treat at least 1 joint that the joint that subjoint moves becomes finger, can be configured to, wear the described 2nd and portion is formed insertion hole, after thumb is inserted in described insertion hole and is worn on the back of the hand and palm by described 2nd portion of wearing, described fingerstall is worn on the finger tip of described finger, hereafter, described 1st portion of wearing is installed on the described 2nd and wears portion.In this case, when inserting a thumb into after the 2nd insertion hole wearing portion, the 2nd portion of wearing is worn on the back of the hand and palm.Then, after the 2nd portion of wearing is worn on the back of the hand and palm, fingerstall is worn on the finger tip of finger, the 1st portion of wearing is installed on the 2nd and wears portion.
Therefore, even if finger is when bending when contracture, it is also possible to easily and reliably make the 2nd to wear portion and be worn on the back of the hand and the palm at position beyond as joint motions part when laminating.Wear portion it addition, can carry out wearing the 2nd to the back of the hand and palm individually and wear the 1st to finger and wear portion, it is possible to easily joint motions auxiliary device being worn on hand.
In the joint motions auxiliary device of the present invention, it is possible to be configured to, described 1st portion of wearing has following at least 1 finger worn in portion and wears portion: thumb wears portion, and it is worn on thumb；Forefinger wears portion, and it is worn on forefinger；Middle finger wears portion, and it is worn on middle finger；The third finger wears portion, and it is worn on the third finger；And little finger of toe wears portion, it is worn on little finger of toe, described at least 1 finger wear in portion each refer to that the portion of wearing separated from one another wears portion.
In this case, it is possible to make each thumb wear portion, forefinger wears portion, middle finger wears portion, the third finger wears portion and the little finger of toe portion of wearing is worn on corresponding finger one by one.Its result, when being worn on hand by joint motions auxiliary device, it is possible to makes finger stretch one by one, and the finger portion of wearing is worn on the finger of this stretching, extension.Therefore, it is possible to easily joint motions auxiliary device is worn on hand, it is possible to realize alleviating by the burden of wearer and alleviating the load supporting the personnel worn.It addition, in this case, it is possible to using any finger of any 1 finger in the five fingers or more than 2 as auxiliary object.
When the 1st portion of wearing have thumb wear portion, can be configured to, wear at described thumb and portion is fixed with treatment of distal thumb bone correspondence transmission fastener, one side end of this treatment of distal thumb bone correspondence transmission fastener Wavelet piece corresponding to thumb the 1st joint of the joint motions in the 1st joint of auxiliary thumb connects, and configures along minor details bone.Additionally, can be configured to, wear at described thumb and portion is fixed with thumb base pitch bone correspondence transmission fastener, the end side of this thumb base pitch bone correspondence transmission fastener Wavelet piece corresponding to described thumb the 1st joint connects, and a side end of Wavelet piece corresponding to thumb the 2nd joint of joint motions in the 2nd joint of auxiliary thumb connects, and configures along base pitch bone.And, it is possible to being configured to, wear at described thumb and be fixed with thumb metacarpal correspondence transmission fastener in portion, the end side of this thumb metacarpal correspondence transmission fastener Wavelet piece corresponding to described thumb the 2nd joint connects, and configures along metacarpal bone.
In this case, the joint motions auxiliary device that can easily be worn on hand is utilized can suitably to assist the 1st joint of thumb and the joint motions in the 2nd joint.
Additionally, when the 1st portion of wearing have that forefinger wears portion, middle finger wears portion, the third finger wears portion and little finger of toe wear at least 1 finger in portion wear portion, can be configured to, wear portion at described forefinger, described middle finger wears portion, the described third finger wears portion and described little finger of toe is worn and is respectively fixed with minor details bone correspondence transmission fastener in portion, this minor details bone correspondence transmission fastener connects with a side end of the 1st corresponding Wavelet piece in joint of the joint motions in auxiliary the 1st joint, and along the configuration of minor details bone.Additionally, can be configured to, wear portion at described forefinger, described middle finger wears portion, the described third finger wears portion and described little finger of toe is worn and saved bone correspondence transmission fastener in being respectively fixed with in portion, this saves the end side connection of bone correspondence transmission fastener and the described 1st corresponding Wavelet piece in joint, and a side end of the 2nd corresponding Wavelet piece in joint of the joint motions with auxiliary the 2nd joint connects, and along in joint bone configuration.Additionally, can be configured to, wear portion at described forefinger, described middle finger wears portion, the described third finger wears portion and described little finger of toe is worn and is respectively fixed with base pitch bone correspondence transmission fastener in portion, the end side connection of this base pitch bone correspondence transmission fastener and the described 2nd corresponding Wavelet piece in joint, and a side end of the 3rd corresponding Wavelet piece in joint of the joint motions with auxiliary the 3rd joint connects, and configures along base pitch bone.And, at each described, forefinger wears portion, described middle finger wears portion, the described third finger wears portion and described little finger of toe is worn and is respectively fixed with metacarpal bone correspondence transmission fastener in portion, this metacarpal bone correspondence transmission fastener connects with the end side of the described 3rd corresponding Wavelet piece in joint, and along metacarpal bone configuration.
In this case, the joint motions auxiliary device that can easily be worn on hand is utilized, it is possible to suitably assist the joint motions in the 1st joint of forefinger, the 2nd joint and the 3rd joint.It addition, in this case, the joint motions auxiliary device that can easily be worn on hand is utilized, it is possible to be properly carried out the joint motions in the 1st joint of middle finger, the 2nd joint and the 3rd joint.And, in this case, utilize the joint motions auxiliary device being easily worn on hand, it is possible to suitably assist the joint motions in the 1st joint of the third finger, the 2nd joint and the 3rd joint.And, in this case, utilize the joint motions auxiliary device being easily worn on hand, it is possible to suitably assist the joint motions in the 1st joint of little finger of toe, the 2nd joint and the 3rd joint.
The present invention may be provided for the usual method of above-mentioned joint motions auxiliary device, and this usual method has following steps: what described 2nd portion of wearing was worn on the position beyond the described joint motions part on described regulation object wears step；The described end fixed part that described 1st wears portion is fixed on the 1st fixing step of the end of described joint motions part；Described 1st portion of wearing is installed on the described 2nd installation steps wearing portion；And wear the described connecting portion fixed part in portion by the 2nd fixing with described transmission fastener for described connecting portion fixing step by means of the described 1st.
In the usual method of this joint motions auxiliary device, first, in wearing step, the 2nd flexible portion of wearing is worn on the position beyond the joint motions part on regulation object.Then, in the 1st fixing step, the end fixed part that the 1st wears portion is fixed on the end of joint motions part.Then, in installation steps, the 1st portion of wearing being fixed with the end of joint motions part is installed on the 2nd and wears portion.Then, in the 2nd fixing step, the 1st connecting portion fixed part wearing portion is utilized to be fixed with transmission fastener by the connecting portion of joint motions part.
Therefore, the usual method of the joint motions auxiliary device according to the present invention, after the 2nd portion of wearing is worn on the position beyond the joint motions part on regulation object, carry out wearing the 1st to joint motions part wear portion and wear portion to the 2nd portion of wearing installation the 1st, therefore compared with when making the 1st to wear portion and the 2nd portion of wearing is integrally forming, it is possible to easily joint motions auxiliary device is worn on regulation object.
In the usual method of the joint auxiliary moving devices of the present invention, can be configured to, also having the joint making to wait to assist described joint motions and become the joint extension step of extended configuration, described joint extension step is the step carried out after described installation steps and before described 2nd fixing step.In this case, when making joint extension to be assisted, it is possible to the connecting portion fixed part that the 1st wears portion is fixed on the connecting portion of joint motions part.Therefore, it is possible to easily utilize regulation object to wear joint motions auxiliary device.
It addition, in the usual method of the joint motions auxiliary device of the present invention, in described joint extension step, described Wavelet piece produces to carry out the power of joint extension motion, makes described joint become extended configuration.In this case, it is possible to alleviate the load supporting the personnel worn.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in various embodiments of the present invention, below the accompanying drawing used required during embodiment is described is briefly described.
Fig. 1 is an illustration for the figure of the skeletal structure of human hands.
Fig. 2 is the outside drawing of the joint motions auxiliary device that an embodiment of the invention relates to.
Fig. 3 is an illustration for the hand of Fig. 2 and wears the figure (one) in portion.
Fig. 4 is an illustration for the hand of Fig. 2 and wears the figure (its two) in portion.
Fig. 5 is an illustration for the figure of the structure of the thumb joint motion assisting section of Fig. 2.
Fig. 6 is an illustration for the figure that the thumb of Fig. 5 wears the structure in portion.
Fig. 7 is an illustration for the figure of the structure of the movement of finger joint assisted parts of Fig. 2.
Fig. 8 is an illustration for the figure that the finger of Fig. 7 wears the structure in portion.
Fig. 9 is an illustration for the figure of the structure in the adjustment portion of Fig. 2.
Figure 10 is an illustration for the figure (one) of the usual method of joint motions auxiliary device.
Figure 11 is an illustration for the figure (its two) of the usual method of joint motions auxiliary device.
Figure 12 is an illustration for the figure (its three) of the usual method of joint motions auxiliary device.
Figure 13 is the schematic diagram (one) of Circumscribed structure.
Figure 14 is output voltage percentage ratio and the mapping graph of bending angle percentage ratio.
Figure 15 is atmospheric pressure value percentage ratio and the mapping graph of bending angle percentage ratio.
Figure 16 is the schematic diagram (its two) of Circumscribed structure.
Detailed description of the invention
Below in conjunction with accompanying drawing, to the present invention, above-mentioned and other technical characteristic and advantage are described in more detail.
Hereinafter, with reference to Fig. 1～Figure 12, an embodiment of the invention is described.Additionally, in the present embodiment, the joint motions auxiliary device 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 is illustrated.It addition, in the following description and accompanying drawing, the label that identical or equal key element mark is identical, and the repetitive description thereof will be omitted.
[skeletal structure]
Before carrying out the explanation of joint motions auxiliary device of the present embodiment, first the skeletal structure of human hands is illustrated.
Fig. 1 is the skeletal structure of the right hand observed from palm (palm) side.The skeleton of hand as it is shown in figure 1, be connected to " metacarpal bone " of thumb, forefinger, middle finger, the third finger and little finger of toe at carpal bone.Metacarpal bone at thumb is connected to the phalanges being made up of " base pitch bone " and " minor details bone ".About thumb, the minor details bone of finger tip is connected with base pitch bone by " the 1st joint ", and this base pitch bone is connected with the metacarpal bone of thumb by " the 2nd joint ".
It addition, be connected to the phalanges being made up of " base pitch bone ", " middle joint bone " and " minor details bone " respectively at the metacarpal bone of forefinger, middle finger, the third finger and little finger of toe.About forefinger, middle finger, the third finger and little finger of toe, the minor details bone of finger tip is connected with middle joint bone by " the 1st joint ", saves bone and be connected with base pitch bone by " the 2nd joint " in this.And, this base pitch bone is connected with metacarpal bone by " the 3rd joint ".Additionally, in the following description, the position of the finger using minor details bone as skeleton is called " minor details position ", the position using middle joint bone as the finger of skeleton is called " middle joint position ".It addition, the position by the finger using base pitch bone as skeleton is called " base pitch position ".Also the position using " metacarpal bone " as skeleton is called " metacarpus position ".
[structure]
Fig. 2 is the outside drawing of the joint motions auxiliary device 100 that an embodiment relates to.Fig. 2 is the outside drawing observing the joint motions auxiliary device 100 being worn on the back of the hand (the back of the hand) of the right hand when the joint of finger is in extended configuration from dorsal side.
As in figure 2 it is shown, joint motions auxiliary device 100 has hand wears portion 110 and thumb joint motion assisting section 120.It addition, joint motions auxiliary device 100 has: forefinger joint motions assisted parts 1302, middle finger joint motions assisted parts 1303, nameless joint motions assisted parts 1304, and little finger of toe joint motions assisted parts 1305.And joint motions auxiliary device 100 has adjustment portion 180.At this, hand wears portion 110, and to wear portion with the 2nd corresponding.
Additionally, in the following description, by forefinger joint motions assisted parts 1302, middle finger joint motions assisted parts 1303, nameless joint motions assisted parts 1304, little finger of toe joint motions assisted parts 1305It is referred to as and is designated as " movement of finger joint assisted parts 130j(j=2 ..., 5) " or " movement of finger joint assisted parts 130 ".
<hand wears portion 110>
Above-mentioned hand is worn portion 110 illustrate.It can be fabric parts that hand wears portion 110, is worn on the back of the hand and the palm of the right hand.Fig. 3 is that the hand not being worn on the back of the hand and palm wears portion 110.It addition, Fig. 4 is worn on the back of the hand and palm and is not installed with the hand of thumb joint motion assisting section 120 and movement of finger joint assisted parts 130 and wears portion 110.
According to Fig. 3,4 comprehensive shown in, hand is worn portion 110 and is provided with the hook side 111 of face fastener1、1112、1113、1114、1115.Additionally, in the following description, hook side 111 will be installed1、1112、1113、1114、1115Side as table side.
Hook side 1111So that the anchor ring of the face fastener being installed on thumb joint motion assisting section 120 can be pasted in the way of peeling off.It addition, hook side 111j(j=2 ..., 5) it is installed on movement of finger joint assisted parts 130 can be pasted in the way of peeling offjThe anchor ring of face fastener.
It addition, wear the table side in portion 110 at hand to be provided with hook side MF1, MF2 of face fastener.It addition, wear the dorsal part in portion 110 at hand, anchor ring ML1, ML2 corresponding with hook side MF1, MF2 of face fastener is installed.
It addition, hand wear the table in portion 110 lateral before be extended with bar, bar end is provided with the hook side MF3 of face fastener, wears the dorsal part in portion 110 at hand, is provided with the anchor ring ML3 corresponding with hook side MF3 of face fastener.
When such hand being worn portion 110 and being worn on the position beyond joint motions part and the back of the hand and palm, hand is worn portion 110 and is configured at dorsal side, and the hook side MF3 of bar is inserted and can be pasted on anchor ring ML3 in the way of peeling off from the gap of thumb and forefinger.Then, in palm portion by hook side MF1 so that anchor ring ML1 can be pasted in the way of peeling off, and in the wrist of palmar side, by hook side MF2 so that anchor ring ML2 can be pasted in the way of peeling off, thus hand being worn portion 110 be worn on the back of the hand and palm.<structure of thumb joint motion assisting section 120>
The structure of above-mentioned thumb joint motion assisting section 120 is illustrated.When hand wear portion 110 be worn on the back of the hand and palm, thumb joint motion assisting section 120 is worn on the joint motions assisting thumb on the finger (minor details position, base pitch position) of thumb and metacarpus position.Thumb joint motion assisting section 120 as Fig. 1 and Fig. 5 (A), (B) comprehensively shown in, have Wavelet piece 241,242, pipe arrangement 232 and transmission fastener 221,223,224.It addition, thumb joint motion assisting section 120 has the thumb as the 1st part wearing portion wears portion 250.
Coordinate system (X in Fig. 5 (A), (B), Y, Z) it is when thumb stretches, using finger tip direction as +Y direction, using the direction from bending lateral extension side in each joint as +Z direction, using vertical with Y-direction and Z-direction and towards the direction of little finger of toe side as the coordinate system of +X direction.At this, Fig. 5 (A) is the figure observing the thumb joint motion assisting section 120 being worn on thumb from +Z direction side.It addition, Fig. 5 (B) is the figure observing the thumb joint motion assisting section 120 shown in Fig. 5 (A) from X-direction side.
At this, Wavelet piece 241 is corresponding with thumb the 1st joint, and Wavelet piece 242 is corresponding with thumb the 2nd joint.It addition, transmission fastener 221 transmission corresponding to treatment of distal thumb bone fastener, transmission fastener 223 transmission corresponding to thumb base pitch bone fastener, transmission fastener 224 transmission corresponding to thumb metacarpal fastener.
Wavelet piece 241 is identical with Wavelet piece 242, it it is a part for the retractile resinous air bag with equally spaced endless groove, transmission fastener 221,223,224 is stuck in the different piece of air bag, and the non-card division exposed between adjacent transmission fastener is divided into Wavelet piece 241,242.Transmission fastener 221,223,224 is snapped at the two ends of retractile resinous air bag and gap respectively, middle part with equally spaced endless groove, then air bag be snapped into transmission fastener part can be fixed on transmission fastener 221,223,224 in, no longer move with the flexible of air bag, simultaneously, transmission fastener 221,223,224 edge snaps in the endless groove of air bag, the part air bag not being snapped in transmission fastener between transmission fastener 221,223 is Wavelet piece 241, and the part air bag not being snapped in transmission fastener between transmission fastener 221,224 is Wavelet piece 242.Wavelet piece 241 is configured at and this joint shaft generally perpendicular direction along the surrounding of the joint shaft in the 1st joint of thumb.One side end of Wavelet piece 241 and the side end clamping transmitting fastener 223, and a side end clamping of the end side transmission fastener 221 of Wavelet piece 241.The Wavelet piece 241 being configured so that produces the power that namely transmission fastener 221 assists the joint motions in the 1st joint relative to the motion of transmission fastener 223.
Wavelet piece 242 is configured at and this joint shaft generally perpendicular direction along the surrounding of the joint shaft in the 2nd joint of thumb.One side end of Wavelet piece 242 and the end clamping by Wavelet piece 242 side transmitting fastener 224, and the end clamping by Wavelet piece 242 side of the end side of Wavelet piece 242 and transmission fastener 223.Such Wavelet piece 242 produces the power that namely transmission fastener 223 assists the joint motions in the 2nd joint relative to the motion of transmission fastener 224.
At this, between Wavelet piece 241 with Wavelet piece 242, connect (because being same air bag).And, when making the air pressure change in 2 Wavelet pieces (air bag) by the resinous pipe arrangement 232 with flexibility between communicated air bags and adjustment portion 180, air bag is snapped into the part of transmission fastener 221,223,224 and is fixed, cannot dilation, Wavelet piece 241,242 is by effects of air pressure dilation.Its result, Wavelet piece 241,242 produces the power of above-mentioned subjoint motion.In the present embodiment, pipe arrangement 232 can load and unload relative to air bag.
Above-mentioned transmission fastener 221 can be iron and steel system or plastic parts, has long slab portion.And, the connecting portion of ring-type it is formed with in this one end, long slab portion.A side end in the long slab portion of transmission fastener 221 is connected with Wavelet piece 241 side, and the opposite side of Wavelet piece 241 is connected to transmission fastener 223.At this, when joint motions auxiliary device 100 is worn on the right hand, the joint shaft in the 1st joint of thumb is rotatably connected with transmission fastener 223 by a side end in the long slab portion of transmission fastener 221 as rotating axle.The long slab portion of this transmission fastener 221 wears portion 250 by thumb and is worn on the minor details position of thumb.
Above-mentioned transmission fastener 223 can be iron and steel system or plastic parts, has long slab portion.And, the connecting portion of ring-type is had at these two ends, long slab portion.A side end in the long slab portion of transmission fastener 223 is connected with Wavelet piece 242 side, and the opposite side of Wavelet piece 242 is connected to transmission fastener 224.At this, when joint motions auxiliary device 100 is worn on the right hand, the joint shaft in the 2nd joint of thumb is rotatably connected with transmission fastener 224 by a side end in the long slab portion of transmission fastener 223 as rotating axle.
It addition, the end side in the long slab portion of transmission fastener 223 is connected with Wavelet piece 241.The long slab portion of this transmission fastener 223 wears portion 250 by thumb and is worn on the base pitch position of thumb.
Above-mentioned transmission fastener 224 can be iron and steel system or plastic parts, has long slab portion.And, the connecting portion of ring-type is had in this one end, long slab portion.A side end in the long slab portion of transmission fastener 224 is connected with Wavelet piece 242, and the opposite side of Wavelet piece 242 is connected to transmission fastener 223.The long slab portion of this transmission fastener 224 wears portion 250 by thumb and is worn on the metacarpus position of thumb.
The structure of portion 250 " thumb wear "
The structure that above-mentioned thumb is worn portion 250 illustrates.Thumb is worn portion 250 and is worn on finger (minor details position, base pitch position) and the metacarpus position of thumb as joint motions part.Fig. 6 (A) observes the thumb being worn on thumb to wear the figure in portion 250 from-X direction side.It addition, Fig. 6 (B) be observe from-Z direction side be not worn on the thumb of thumb wear portion 250 figure.
As Fig. 6 (A), (B) comprehensively shown in, thumb is worn portion 250 and is had wearable components 251 and fingerstall 252.It addition, thumb wears portion 250 has tape member 253.At this, fingerstall 252 is corresponding with end fixed part.It addition, tape member 253 is corresponding with connecting portion fixed part.
Above-mentioned wearable components 251 can be have the fabric parts of elastic elongated shape, is configured at the dorsal side on the finger of thumb and metacarpus position along the direction that thumb extends.The long slab portion of transmission fastener 221,223,224 it is fixed with in the +Z direction side of wearable components 251.It addition, the opposition side (-Z direction side) with the part being fixed with transmission fastener 224 in wearable components 251, the anchor ring 259 of face fastener is installed.
Above-mentioned fingerstall 252 can be the parts of leather, is fixed on the finger tip side of wearable components 251.And, when thumb joint 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 parts of elongated shape, is fixed on wearable components 251 in the way of long slab portion substantially vertical and with transmission fastener 223 with the direction of the long slab portion extension of transmission fastener 223 intersects.And, when thumb joint motion assisting section 120 is worn on thumb, tape member 253 uses the hook side 254 of the face fastener being installed on end and anchor ring 255 to fix base pitch position and the long slab portion of transmission fastener 223.
< movement of finger joint assisted parts 130j(j=2 ..., 5) structure >
To above-mentioned movement of finger joint assisted parts 130j(j=2 ..., 5) structure illustrate.
This, movement of finger joint assisted parts (forefinger joint motions assisted parts) 1302The joint motions of auxiliary forefinger.It addition, movement of finger joint assisted parts (middle finger joint motions assisted parts) 1303The joint motions of auxiliary middle finger.It addition, movement of finger joint assisted parts (nameless joint motions assisted parts) 1304The joint motions that auxiliary is nameless.It addition, movement of finger joint assisted parts (little finger of toe joint motions assisted parts) 1305The joint motions of auxiliary little finger of toe.When hand wear portion 110 be worn on the back of the hand and palm, each movement of finger joint assisted parts 130j(j=2 ..., 5) it is worn on finger (minor details position, middle joint position, base pitch position) and the metacarpus position of these fingers.
In Fig. 7 (A), (B), as movement of finger joint assisted parts 130jRepresentative, be movement of finger joint assisted parts (forefinger joint motions assisted parts) 1302Structure chart.Coordinate system (U, V, W) in Fig. 7 (A), (B) is when forefinger stretches, using finger tip direction as+V direction, using each joint from curved side towards stretching the direction of side as+W direction, using vertical with V direction and W direction and towards the direction of little finger of toe side as the coordinate system in+U direction.
At this, Fig. 7 (A) observes the movement of finger joint assisted parts 130 being worn on forefinger from side ,+W direction2Figure.It addition, Fig. 7 (B) observes the movement of finger joint assisted parts 130 shown in Fig. 7 (A) from side ,-U direction2Figure.In the present embodiment, 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) as Fig. 2 and Fig. 7 (A), (B) comprehensively shown in, there is Wavelet piece 341j、342j、343j, pipe arrangement 333j, and transmission fastener 321j、322j、323j、324j.It addition, each movement of finger joint assisted parts 130jThere is the finger as the 1st part wearing portion and wear portion 350j。
This, Wavelet piece 341jCorresponding with the 1st joint, Wavelet piece 342jCorresponding with the 2nd joint, Wavelet piece 343jCorresponding with the 3rd joint.It addition, transmission fastener 321jCorresponding with minor details bone, transmit fastener 322jCorresponding with middle joint bone, transmit fastener 323jCorresponding with base pitch bone, transmit fastener 324jCorresponding with metacarpal bone.
It addition, finger wears portion 3502The portion that wears with forefinger is corresponding, and finger wears portion 3503Portion is worn corresponding with middle finger.It addition, finger wears portion 3504The portion that wears with the third finger is corresponding, and finger wears portion 3505Portion is worn corresponding with little finger of toe.
Additionally, in the following description, by each Wavelet piece 341j、342j、343jIt is also denoted as " Wavelet piece 341,342,343 ".It addition, each pipe arrangement 333jIt is also denoted as " 333 ".It addition, each transmission fastener 321j、322j、323j、324jIt is also denoted as " transmission fastener 321,322,323,324 ".And, finger wears portion 350jIt is also denoted as " finger wears portion 350 ".
Wavelet piece 341, Wavelet piece 342, Wavelet piece 343 are identical, it it is a part for the retractile resinous air bag with equally spaced endless groove, transmission fastener 321,322,323,324 is stuck in the different piece of air bag, and the non-card division exposed between adjacent transmission fastener is divided into Wavelet piece 341,342,343.Enter to transmit fastener 321 at the two ends of retractile resinous air bag and pars intermedia ipt card respectively with equally spaced endless groove, 322, 323, 324, then air bag is snapped into the part transmitting fastener and can be fixed on transmission fastener 321, 322, 323, in 324, no longer move with the flexible of air bag, simultaneously, transmission fastener 321, 322, 323, 324 edges snap in the endless groove of air bag, transmission fastener 321, the part air bag not being snapped in transmission fastener between 322 is Wavelet piece 341, transmission fastener 322, the part air bag not being snapped in transmission fastener between 323 is Wavelet piece 342, transmission fastener 323, the part air bag not being snapped in transmission fastener between 324 is Wavelet piece 343.
Above-mentioned Wavelet piece 341 is configured at and this joint shaft generally perpendicular direction along the surrounding of the joint shaft in the 1st joint.One side end of Wavelet piece 341 and the side end clamping transmitting fastener 322, and a side end clamping of the end side of Wavelet piece 341 and transmission fastener 321.The Wavelet piece 341 being configured so that produces the power that namely transmission fastener 321 assists the joint motions in the 1st joint relative to the motion of transmission fastener 322.
Above-mentioned Wavelet piece 342 is configured at and this joint shaft generally perpendicular direction along the surrounding of the joint shaft in the 2nd joint.One side end of Wavelet piece 342 and the side end clamping transmitting fastener 323, and a side end clamping of the another side end of Wavelet piece 342 and transmission fastener 322.The Wavelet piece 342 being configured so that produces the power that namely transmission fastener 322 assists the joint motions in the 2nd joint relative to the motion of transmission fastener 323.
Above-mentioned Wavelet piece 343 is configured at and this joint shaft generally perpendicular direction along the surrounding of the joint shaft in the 3rd joint.One side end of Wavelet piece 343 and the end clamping by Wavelet piece 343 side transmitting fastener 324, and a side end clamping of the end side of Wavelet piece 343 and transmission fastener 323.The Wavelet piece 343 being configured so that produces the power that namely transmission fastener 323 assists the joint motions in the 3rd joint relative to the motion of transmission fastener 324.
At this, between Wavelet piece 341 with Wavelet piece 342, connect (because being the different piece of same air bag).And, when making the air pressure change in 3 Wavelet pieces by the resinous pipe arrangement 333 with flexibility between communicated air bags and adjustment portion 180, air bag is snapped into the part of transmission fastener 321,322,323,324 and is fixed, cannot dilation, Wavelet piece 341,342,343 is by effects of air pressure dilation.Its result, Wavelet piece 341,342,343 produces the power of above-mentioned subjoint motion.
In the present embodiment, pipe arrangement 333 can load and unload relative to air bag.
Above-mentioned transmission fastener 321 can be iron and steel system or plastic parts, has long slab portion.And, there is the connecting portion of the ring-type side end in the long slab portion of transmission fastener 321 to be connected with Wavelet piece 341 in this one end, long slab portion, the opposite side of Wavelet piece 341 is connected to and transmits fastener 322.At this, when joint motions auxiliary device 100 is worn on the right hand, the joint shaft in the 1st joint is rotatably connected with transmission fastener 322 by a side end in the long slab portion of transmission fastener 321 as rotating axle.The long slab portion of this transmission fastener 321 wears portion 350 by finger and is worn on the minor details position of finger.
Above-mentioned transmission fastener 322 can be iron and steel system or plastic parts, has long slab portion.And, the connecting portion of ring-type is had in this one end, long slab portion.A side end in the long slab portion of transmission fastener 322 is connected with Wavelet piece 342, and the opposite side of Wavelet piece 342 is connected to transmission fastener 323.At this, when joint motions auxiliary device 100 is worn on the right hand, the joint shaft in the 2nd joint is rotatably connected with transmission fastener 323 by a side end in the long slab portion of transmission fastener 322 as rotating axle.
It addition, the end side in the long slab portion of transmission fastener 322 is connected with Wavelet piece 341.The long slab portion of this transmission fastener 322 wears portion 350 by finger and is worn on the middle joint position of finger.
Above-mentioned transmission fastener 323 can be iron and steel system or plastic parts, has long slab portion.And, the connecting portion of ring-type is had at these two ends, long slab portion.A side end in the long slab portion of transmission fastener 323 is connected with Wavelet piece 343, and Wavelet piece 343 opposite side is connected to transmission fastener 324.At this, when joint motions auxiliary device 100 is worn on the right hand, the joint shaft in the 3rd joint is rotatably connected with transmission fastener 324 by a side end in the long slab portion of transmission fastener 323 as rotating axle.
It addition, the end side in the long slab portion of transmission fastener 323 is connected with Wavelet piece 342.The long slab portion of this transmission fastener 323 wears portion 350 by finger and is worn on the base pitch position of finger.
Above-mentioned transmission fastener 324 can be iron and steel system or plastic parts, has long slab portion.And, the connecting portion of ring-type is had in this one end, long slab portion.A side end in the long slab portion of transmission fastener 324 is connected with Wavelet piece 343, and Wavelet piece 343 opposite side is connected to transmission fastener 323.The long slab portion of this transmission fastener 324 wears portion 350 by finger and is worn on the metacarpus position of finger.
" finger wears portion 350j(j=2 ..., 5) structure "
Above-mentioned finger is worn portion 350j(j=2 ..., 5) structure illustrate.Finger wears portion 350jIt is worn on finger (minor details position, middle joint position, base pitch position) and the metacarpus position of finger as joint motions part.Fig. 8 (A) observes the finger being worn on forefinger to wear portion 350 from side ,-U direction2Figure.It addition, Fig. 8 (B) observes the finger not being worn on forefinger to wear portion 350 from side ,-W direction2Figure.
As Fig. 8 (A), (B) comprehensively shown in, each finger wears portion 350j(j=2 ..., 5) there is wearable components 351j, and fingerstall 352j.It addition, each finger wears portion 350jThere is tape member 353j、356j.This, fingerstall 352jCorresponding with end fixed part.It addition, tape member 353j、356jCorresponding with connecting portion fixed part.
Additionally, in the following description, also by wearable components 351jIt is designated as " wearable components 351 ".It addition, also by fingerstall 352jIt is designated as " fingerstall 352 ".Also by tape member 353j、356jIt is designated as " tape member 353,356 ".
Described wearable components 351 can be have the fabric parts of elastic elongated shape, is configured at the dorsal side on the finger of finger and metacarpus position along the direction that finger extends.The long slab portion of transmission fastener 321,322,323,324 it is fixed with in the side ,+W direction of wearable components 351.It addition, the opposition side (side ,-W direction) with the part being fixed with transmission fastener 324 in wearable components 351, the anchor ring 359 being provided with face fastener (is also denoted as " anchor ring 359 belowj”)。
Described fingerstall 352 can be the parts of leather, is fixed on the finger tip side of wearable components 351.And, when movement of finger joint assisted parts 130 is worn on finger, fingerstall 352 is fixed on the finger tip of finger.
Above-mentioned tape member 353 can be the fabric parts of elongated shape, is fixed on wearable components 351 in the way of long slab portion substantially vertical and with transmission fastener 322 with the direction of the long slab portion extension of transmission fastener 322 intersects.And, when movement of finger joint assisted parts 130 is worn on finger, tape member 353 uses the hook side 354 of the face fastener being installed on end and anchor ring 355 to fix middle joint position and the long slab portion of transmission fastener 322.
Above-mentioned tape member 356 can be the fabric parts of elongated shape, is fixed on wearable components 351 in the way of long slab portion substantially vertical and with transmission fastener 323 with the direction of the long slab portion extension of transmission fastener 323 intersects.And, when movement of finger joint assisted parts 130 is worn on finger, tape member 356 uses the hook side 357 of the face fastener being installed on end and anchor ring 358 to fix base pitch position and the long slab portion of transmission fastener 323.
<structure in adjustment portion 180>.
The structure in above-mentioned adjustment portion 180 is illustrated.Adjustment portion 180 connects with the Wavelet piece 241,242 of thumb joint motion assisting section 120 via pipe arrangement 232.It addition, adjustment portion 180 is via pipe arrangement 333jWith movement of finger joint assisted parts 130jWavelet piece 341j、342j、343j(or air bag of correspondence) connects.In the following description, also these Wavelet pieces are referred to as and are abbreviated as " Wavelet piece ".
As it is shown in figure 9, the adjustment portion 180 with this structure has two-way air pump 181 electromagnetic valve 183, control portion 184 and pipe arrangement 185,186.
The positive pressure interface of two-way air pump 181 is connected with a side side of the pump side connector of electromagnetic valve 183 via pipe arrangement 185.When carrying out supplying air forcibly to Wavelet piece, this two-way air pump 181 is used to pressurize.The negative port of two-way air pump 181 is connected via the opposing party side of pipe arrangement 186 with the pump side connector of electromagnetic valve 183.When carrying out from Wavelet piece air-out forcibly, this two-way air pump 181 is used to reduce pressure.Above-mentioned electromagnetic valve 183 can be flow channel switching valve.One side of the entrance side of this flow channel switching valve is connected with pipe arrangement 185, and the opposing party of entrance side is connected with pipe arrangement 186.The positive pressure interface of two-way air pump 181 produces constant malleation, and negative port produces constant negative pressure.
Employ two-way air pump to replace independent force (forcing) pump and drawdown pump, save the quantity of pump, simplified number of parts, save raw material.It addition, two-way air pump is the air pump of compact, it is possible to two-way air pump and electromagnetic valve etc. are integrated in a device, so take up room little, easy to carry.
And, when carrying out forcibly under the control in control portion 184 supplying air to Wavelet piece, flow channel switching valve connects " pipe arrangement 185 being connected with the positive pressure interface of two-way air pump 181 " and " pipe arrangement connected with the Wavelet piece specified " and forms stream.It addition, when carrying out forcibly from Wavelet piece air-out under the control in control portion 184, flow channel switching valve connects " pipe arrangement 186 being connected with the negative port of two-way air pump 181 " and " pipe arrangement connected with the Wavelet piece specified " and forms stream.
Such as, when carrying out forcibly supplying to the Wavelet piece 241,242 of thumb joint motion assisting section 120, flow channel switching valve connecting pipings 185 and pipe arrangement 232 and form stream.It addition, when carrying out forcibly from Wavelet piece 241,242 air-out, flow channel switching valve connecting pipings 186 and pipe arrangement 232 and form stream.
It addition, ought carry out forcibly to Wavelet piece 341j、342j、343jDuring supply, flow channel switching valve connecting pipings 185 and pipe arrangement 333jAnd form stream.It addition, ought carry out forcibly from Wavelet piece 341j、342j、343jDuring air-out, flow channel switching valve connecting pipings 186 and pipe arrangement 333jAnd form stream.
Above-mentioned control portion 184 carries out forcibly from Wavelet piece air-out and the switching supplying air forcibly to Wavelet piece.When carrying out these and controlling, when carrying out forcibly supplying air to Wavelet piece, control portion 184 is controlled, make electromagnetic valve 183 is formed the stream being connected with the Wavelet piece carrying out joint motions by the positive pressure interface of two-way air pump 181, and the constant malleation that the positive pressure interface adjusting air pressure in Wavelet piece and two-way air pump 181 produces reaches unanimity.Additionally, when carrying out forcibly from Wavelet piece air-out, control portion 184 is controlled, make electromagnetic valve 183 formed by the negative port of two-way air pump 181 and carry out the stream that the Wavelet piece of joint motions connects, and the air pressure in adjustment Wavelet piece so that it is tend to the constant negative pressure that the negative port of two-way air pump 181 produces.
Such control carries out to E.E.G, Biont information that muscular strength is relevant according to what taken into account experiment, simulation, experience etc..At this, it is possible to its not shown test section detection E.E.G, electromyogram, muscle meat toughness etc. logical obtain and E.E.G, Biont information that muscular strength is relevant.
It addition, electromagnetic valve 183 can be multiple, respectively with pipe arrangement 232,3332、3333、3334、3335Connecting, so, pipe arrangement 185 one end is connected with the positive pressure interface of two-way air pump, and the other end is connected with a side of the entrance side of multiple electromagnetic valves 183；Pipe arrangement 186 one end is connected with the negative port of two-way air pump, and the other end is connected with the opposing party of the entrance side of multiple electromagnetic valves 183, the outlet of electromagnetic valve 183 and pipe arrangement 232,3332、3333、3334、3335Connect so that two-way air pump can simultaneously to multiple pipe arrangements (232,3332、3333、3334、3335) supply air or air-out.<usual method>
For the joint motions auxiliary device 100 constituted like that above, the usual method being worn on the right hand by this joint motions auxiliary device 100 is described.
Moreover, it is assumed that wear right hand contracture when all of digital flexion of joint motions auxiliary device 100.
Joint motions auxiliary device 100 it is worn on the right hand, first hand to be worn portion 110 and is worn on the back of the hand and palm.When hand being worn portion 110 and being worn on the back of the hand and palm, support the personnel that wear by the hook side MF3 of bar from being inserted into palmar side by the thumb of wearer and the gap of forefinger by dorsal side and being pasted on anchor ring ML3, hand is worn portion 110 and is configured at dorsal side.Then, in palm portion, hook side MF1 is pasted on anchor ring ML1, and in the wrist of palmar side, hook side MF2 is pasted on anchor ring ML2.Its result, hand is worn portion 110 and is worn on the back of the hand and palm.Hand is so worn portion 110 to be worn on the state of the back of the hand and palm by Figure 10.
Then, when thumb joint motion assisting section 120 is worn on thumb, thumb joint motion assisting section 120 is configured on finger and the metacarpus position of thumb, the fingerstall 252 being fixed on thumb and wearing portion 250 is worn on the finger tip of thumb.Then, the anchor ring 259 being installed on thumb and wearing portion 250 is pasted on it is installed on hand and wears the hook side 111 in portion 1101.The thumb of contracture is made to stretch lentamente it follows that support the personnel worn.Then, use and be fixed on thumb and wear the tape member 253 in portion 250 and fix the base pitch position of thumb and the long slab portion (with reference to Fig. 5 (A), (B)) of transmission fastener 223.Its result, thumb joint motion assisting section 120 is worn on thumb.Figure 11 is the state that thumb joint motion assisting section 120 is so worn on thumb.
It follows that by forefinger joint motions assisted parts 1302When being worn on forefinger, by forefinger joint motions assisted parts 1302It is configured on finger and the metacarpus position of forefinger, finger will be fixed on and wear portion 3502Fingerstall 3522It is worn on the finger tip of forefinger.Then, finger will be installed on and wear portion 3502Anchor ring 3592It is pasted on and is installed on hand and wears the hook side 111 in portion 1102.The forefinger of contracture is made to stretch lentamente it follows that support the personnel worn.Then, use and be fixed on finger and wear portion 3502Tape member 3532Fix middle joint position and the transmission fastener 322 of forefinger2Long slab portion, use tape member 3562Fix base pitch position and the transmission fastener 323 of forefinger2Long slab portion (with reference to Fig. 7 (A), (B)).Its result, forefinger joint motions assisted parts 1302It is worn on forefinger.Figure 12 is so by forefinger joint motions assisted parts 1302It is worn on the state of forefinger.
Then, to wear forefinger joint motions assisted parts 130 with above-mentioned to forefinger2Same step carries out wearing middle finger joint motions assisted parts 130 to middle finger3, wear nameless joint motions assisted parts 130 to the third finger4, wear little finger of toe joint motions assisted parts 130 to little finger of toe5.Its 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 is worn portion 110 and be worn on the back of the hand and palm.Then, when thumb joint motion assisting section 120 is worn on thumb, thumb joint motion assisting section 120 is configured on finger and the metacarpus position of thumb, the fingerstall 252 being fixed on thumb and wearing portion 250 is worn on the finger tip of thumb.Then, the anchor ring 259 being installed on thumb and wearing portion 250 is pasted on it is installed on hand and wears the hook side 111 in portion 1101.Then, stretch the thumb of contracture, use and be fixed on thumb and wear the tape member 253 in portion 250 and fix the base pitch position of thumb and the long slab portion of transmission fastener 223.
Then, by forefinger joint motions assisted parts 1302When being worn on forefinger, by forefinger joint motions assisted parts 1302It is configured on finger and the metacarpus position of forefinger, finger will be fixed on and wear portion 3502Fingerstall 3522It is worn on the finger tip of forefinger.It follows that finger will be installed on wear portion 3502Anchor ring 3592It is pasted on and is installed on hand and wears the hook side 111 in portion 1102.Then, stretch the forefinger of contracture, use and be fixed on finger and wear portion 3502Tape member 3532Fix middle joint position and the transmission fastener 322 of forefinger2Long slab portion, and use tape member 3562Fix base pitch position and the transmission fastener 323 of forefinger2Long slab portion.
For wearing middle finger joint motions assisted parts 130 to middle finger3, wear nameless joint motions assisted parts 130 to the third finger4, wear little finger of toe joint motions assisted parts 130 to little finger of toe5, also to wear forefinger joint motions assisted parts 130 with to forefinger2Same step carries out.
Its result, when joint motions auxiliary device 100 is worn on hand, it is possible to carry out individually wearing portion 110 and wearing thumb joint motion assisting section 120, movement of finger joint assisted parts 130 to as on the finger of joint motions part and metacarpus position to wearing hand as the back of the hand at the position beyond joint motions part and palmj.It addition, when wearing joint motions auxiliary device 100 to hand, it is possible to carry out thumb joint motion assisting section 120, movement of finger joint assisted parts 130 individuallyjTo wearing of corresponding finger.Therefore, when using joint motions auxiliary device, even if finger carries out contracture when bending, it is also possible to realize being easily worn around joint motions auxiliary device hand, and alleviate by the burden of wearer, alleviate the load supporting the personnel worn.
It addition, in the present embodiment, when hand being worn portion 110 and being worn on the back of the hand and palm, the hook side MF3 of bar is inserted and is pasted on anchor ring ML3 from the gap of thumb and forefinger, thus hand being worn portion 110 be configured at dorsal side.Then, 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, even if finger is when bending when contracture, it is also possible to realize alleviating by the burden of wearer and alleviating the load supporting the personnel worn, it is possible to easily and reliably when laminating, hand is worn portion 110 and be worn on the back of the hand and palm.It addition, because hand is worn portion 110 and is worn on the back of the hand and palm by the face of use fastener, therefore, it is possible to simply hand is worn portion 110 be worn on the back of the hand and palm.
It addition, in the present embodiment, when by thumb joint motion assisting section 120 and movement of finger joint assisted parts 130jWhen being worn on the finger of correspondence, first, fingerstall is worn on the finger tip of thumb, then, uses tape member to fix bone portion and the transmission fastener of finger.Therefore, it is possible to easily and reliably by thumb joint motion assisting section 120 and movement of finger joint assisted parts 130jIt is worn on the finger of correspondence.
It addition, in the present embodiment, when thumb joint motion assisting section 120 and movement of finger joint assisted parts being installed on hand and wearing portion 110, use face fastener.Therefore, it is possible to easily joint motions auxiliary device 100 is worn on hand.
Therefore, according to present embodiment, it is possible to easily joint motions auxiliary device is worn on hand.
[preferably other embodiments on basis]
<single joint motions supplementary structure>
Joint motions supplementary structure as described above, is different from part and is in that in this structure, this structure is the motion auxiliary body for single joint, namely has 1 air bag, and 2 are transmitted fasteners and 1 Wavelet piece；Wavelet piece is a part for the retractile resinous air bag with equally spaced endless groove, and 2 transmission fasteners are stuck in the two ends of air bag, and the non-card division exposed between transmission fastener is divided into Wavelet piece.Gap between two ends at the retractile resinous air bag with equally spaced endless groove snaps in transmission fastener, then air bag be snapped into transmission fastener part can be fixed on transmission fastener in, no longer move with the flexible of air bag, simultaneously, transmission fastener edge snaps in the endless groove of air bag, and the part air bag not being snapped in transmission fastener between transmission fastener is Wavelet piece.Wavelet piece is configured at and this joint shaft generally perpendicular direction along the surrounding of the joint shaft in joint.One side end clamping of one side end of Wavelet piece and a transmission fastener, and a side end clamping of the end side of Wavelet piece and another transmission fastener.The Wavelet piece being configured so that produces transmission fastener relative to the power of the joint motions of the motion and subjoint transmitting fastener.
The portion of wearing has wearable components and tape member, and wearable components can be have the fabric parts of elastic elongated shape, and the direction extended along joint is configured at joint dorsal part.The long slab portion of transmission fastener it is fixed with in wearable components.It addition, the opposition side with the part being fixed with transmission fastener in wearable components, the anchor ring of face fastener is installed.Above-mentioned tape member can be the fabric parts of elongated shape, is fixed on wearable components in the way of long slab portion substantially vertical and with transmission fastener with the direction of the long slab portion extension of transmission fastener intersects.And, when joint motions assisted parts is worn on joint, tape member uses the hook side of the face fastener being installed on end and anchor ring to fix the position of both sides, joint and the long slab portion of transmission fastener.
<the another kind of structure in adjustment portion 180>
To Wavelet piece/air bag supply air or eliminating air, can stretch thus controlling Wavelet piece/air bag in adjustment portion in above-mentioned<structure in adjustment portion 180>.But electromagnetic valve 183 therein may only select one between two entrance sides (connecting positive pressure interface and the negative port of two-way air pump respectively) to be carried out connecting and forms stream, the pipe arrangement (232,333 that therefore the electromagnetic valve other end connects2、3333、3334、3335) only can change between air, air-out in supply, without there being intermediateness.
Accordingly, as the structure improved, it is possible to install the valve of the passage break-make controlled in pipe arrangement on the pipe arrangement 185,186 connecting described two-way air pump and described electromagnetic valve additional, be controlled with the break-make of flow path；Described valve can be configured at pipe arrangement 185,186 near one end of electromagnetic valve, the twice that identical with the quantity of electromagnetic valve or described valve the quantity of the quantity of so described valve is electromagnetic valve quantity (only can also install valve in the electromagnetic valve front end needed, the quantity of such valve is indefinite), so can flow path individually control；Described valve can also be configured at pipe arrangement 185,186 and be connected near one end of two-way air pump or pipe arrangement 185,186 that (this pipe arrangement has an entrance respectively with multiple electromagnetic valves, middle through bifurcated, separate multiple outlet) crotch, so corresponding stream can be controlled simultaneously, and the valve quantity of needs is few, easy to control, pipe arrangement (185,186) can be carried out bifurcated simultaneously.
It addition, described valve can be choke valve, choke valve is connected with control portion, changes the channel cross-sectional area of described stream under the control in control portion；Described control portion is by controlling the channel cross-sectional area of choke valve and the stream currency controls the air pressure in the air bag of same flow or Wavelet piece.
As such, it is possible to realize being accurately controlled to the air pressure in air bag or Wavelet piece.
Preferably, the continuous adjustment to joint motions auxiliary device to be realized, in addition it is also necessary to 1 storage part, prestore the data needing to be adjusted, such as air bag pressure, inflationtime, evacuation time etc.；Can also be adjusted in real time by Circumscribed structure.
<Circumscribed structure>
Under normal circumstances, when applying joint motions auxiliary device, control portion controls the flexible of Wavelet piece, and then moves in assisted finger joint；But the control of Wavelet piece is needed to control data by control portion, and controls data and need to preset, and the use of joint motions auxiliary device is just caused puzzlement by this.
The use of joint motions auxiliary device is the activity in order to promote corresponding joint, how to promote, needs to stretch which joint every time, and Extensional periods and the rate of stretch etc. need to determine according to practical situation；When the control data determined not according to practical situation, the use of joint motions auxiliary device is suffered from unnecessary loss, gently then cannot arrive auxiliomotor purpose, heavy then damage is caused in auxiliomotor joint.In this case it is desirable to introducing Circumscribed structure.
This structure is the structure corresponding with above-mentioned<the another kind of structure in adjustment portion 180>, and it is combined with described joint motions auxiliary device and may make up the servo-actuated auxiliary device in joint.This Circumscribed structure can be worn on the right hand of guide, and the right hand motion conditions of detection guide real-time Transmission are to joint motions auxiliary device, and such guide can pass through the action control joint motions auxiliary device of hands, convenient, fast.
As shown in figure 13, described Circumscribed structure includes sensor 41 and data processor 42, and described sensor 41 is worn on the joint of guide, records joint motion data；This joint should need the joint assisted corresponding with joint motions auxiliary device, the identical joint of the same area with different users, such as to assist the 1st joint of other people right hand forefinger, need to be arranged on sensor 41 the 1st joint of the right hand forefinger of guide, this correspondence makes to arrange conveniently, fast.Described corresponding can also be symmetrical mapping relations, such as to assist the 1st joint of other people right hand forefinger, need to be arranged on sensor 41 the 1st joint of the left index finger of guide, so can expand the use scope (right hand underaction of such as some guide, or the left hand of oneself can be used to guide oneself the right hand by user) of this Circumscribed structure.
Described control portion 184 is connected with described data processor 42, receives described joint motion data；So so that information real-time Transmission, can reduce and postpone.Its concrete connected mode can be wire/wireless.
Described sensor 41 is potentiometer, and potentiometer along with the difference of bent upon itself angle, can produce the corresponding signal of telecommunication, measures accurately；It is preferably membrane potential device, frivolous, sensitive and soft, pliable, alleviate the load of guide's bent joint.Membrane potential device is wrapped in the outside in corresponding joint, membrane potential device bends along with the motion in joint, and along with the angle self-resistance value of bending changes, and producing corresponding output voltage/electric current, data processor record output voltage/electric current also processes/convert to storage or the data form of transmission.
Here the mapping problems between the action that the action that crucial problem is guide is assisted to joint motions auxiliary device is compared, in order to the action of envoy's exercise assist device auxiliary can reduce the action of guide truly, the mode that the present invention adopts is that percentage ratio is corresponding, namely by the joint of guide when not bending, bending angle is set to 0%, when joint is folded into maximum angle, bending angle is set to 100%, and the bending angle under other states is proportionally scaled the percentage ratio of correspondence；Simultaneously in joint motions auxiliary device, by the described joint of auxiliary when not bending, bending angle is set to 0%, when joint is folded into maximum angle, bending angle is set to 100%, and the bending angle under other states is proportionally scaled the percentage ratio of correspondence；Such control portion controls the subjoint bending of joint motions auxiliary device and bends identical percentage ratio with the corresponding joint of guide, to reach the true reduction to guide's action.
In this case, described data processor 42 records the described sensor instant signal of telecommunication when joint motion and signal of telecommunication when joint curves at utmost；And calculate joint corresponding to the described instant signal of telecommunication and curve angle and account for the percentage ratio of the maximum bendable gyration in described joint.
In normal operation, the finger of guide makes action, and this action makes the bending angle that joint bending is corresponding；Meanwhile, it is wrapped in the membrane potential device outside joint and produces corresponding output voltage；Data processor 42 is transferred to control portion 183 after receiving this magnitude of voltage and processing；Control portion 483 controls the air pressure in Wavelet piece/air bag；Air pressure makes Wavelet piece naturally flexible, drives corresponding joint to bend corresponding bending angle.Here, the bending angle making the joint of guide corresponding is identical with the bending angle of the corresponding joint of drive, need to be converted to bending angle the output voltage of correspondence, and output voltage is converted to corresponding atmospheric pressure value, finally corresponding atmospheric pressure value is converted into the bending angle in the joint of correspondence.It is thus desirable to set up the bending angle mapping to output voltage of guide, output voltage to the mapping of atmospheric pressure value, atmospheric pressure value to the mapping with diarthrodial bending angle, core is in that to set up bending angle to the mapping of output voltage, bending angle to the mapping of atmospheric pressure value.Here mapping relations adopt percentage ratio to determine.
It is mapped as example to output voltage: determine the percentage ratio of bending angle with bending angle, by membrane potential device in the joint of guide when not bending, output voltage is set to 0%, when joint is folded into maximum angle, output voltage is set to 100%, and the output voltage under other states is corresponding with bending angle to be determined according to straight line or difference is done demarcation and determined；Described straight line is determined directly output voltage is proportionally converted into percentage ratio, and assert that in this percentage ratio bending angle situation, the output voltage of membrane potential device is also this percentage ratio；Told difference is demarcated, it is that output voltage is directly proportionally converted into percentage ratio, and measure the bending angle in the joint when output voltage is this percentage ratio either directly through the method such as protractor and bending angle is converted into percentage ratio, in this case, the percentage ratio of the percentage ratio of output voltage and bending angle is carried out correspondence, now the percentages of output voltage and the percentages of bending angle all measure according to practical situation, and its concrete numerical value is likely to identical, it is also possible to differ；So, (10 degree at certain intervals, 20 degree, 30 degree etc.) the bent joint also actual output voltage measuring correspondence, middle undetermined part can be measured according to above-mentioned straight line assay method, it is also possible to carrying out correspondence according to other modes, the mapping relations so determined are as shown in figure 14, round dot therein is as the point demarcated, and is mapped as linear relationship between adjacent fixed point.So, by increasing the quantity doing the difference demarcated, it is possible to improve the accuracy that data map.
In like manner, it is possible to set up the atmospheric pressure value mapping to the bending angle of joint motions auxiliary device, as shown in figure 15.
In this case, data processor 42/ control portion 183 calculates the percentage ratio of the instant signal of telecommunication (voltage/current), and judging the value of two fixed points that this percentage ratio is adjacent and the percentage ratio of bending angle corresponding to these two fixed points, the joint calculating the percentage ratio of the instant signal of telecommunication corresponding curves angle percent.
Computing formula is:
In formula, AxFor the percentage ratio of the instant signal of telecommunication, A1、A2For with AxThe percentage ratio of the signal of telecommunication of two adjacent fixed points, B1For with A1The percentage ratio of the bending angle of same fixed point, B2For with A2The percentage ratio of the bending angle of same fixed point, BxPercentage ratio A for the instant signal of telecommunicationxCorresponding joint curves angle percent, and α is modifying factor, and β is correction value.
Concrete thought is: the relation that the signal of telecommunication percentage ratio between adjacent two fixed points and joint curve angle percent is considered as linear relationship, so determined the slope of linear relationship by two adjacent fixed points, the percentage ratio again through slope Yu the instant signal of telecommunication determines that joint curves angle percent.
Having the beneficial effect that and determine that the slope of linear relationship and the percentage ratio of the instant signal of telecommunication directly determine that joint curves angle percent by two adjacent fixed points, formula is simple, and convenience of calculation is quick；By modifying factor and correction value, result is modified, improves accuracy.
In like manner, in this case, data processor 42/ control portion 183 determines the percentage ratio of instant bending angle, and judges the value of two fixed points that this percentage ratio is adjacent and the percentage ratio of atmospheric pressure value corresponding to these two fixed points, calculates the percentage ratio of instant atmospheric pressure value.
Computing formula is:
In formula, CxFor the percentage ratio of instant bending angle, C1、C2For with CxThe percentage ratio of the bending angle of two adjacent fixed points, D1For the percentage ratio with the atmospheric pressure value of the same fixed point of C, D2For with C2The percentage ratio of the atmospheric pressure value of same fixed point, DxPercentage ratio C for instant bending anglexCorresponding atmospheric pressure value percentage ratio, γ is modifying factor, and δ is correction value.
Concrete thought is: the relation that the atmospheric pressure value percentage ratio between adjacent two fixed points and joint curve angle percent is considered as linear relationship, so determined the slope of linear relationship by two adjacent fixed points, the percentage ratio again through slope Yu the instant signal of telecommunication determines atmospheric pressure value percentage ratio.
Having the beneficial effect that and determine that the slope of linear relationship and the percentage ratio immediately curving angle directly determine atmospheric pressure value percentage ratio by two adjacent fixed points, formula is simple, and convenience of calculation is quick；By modifying factor and correction value, result is modified, improves accuracy.
In above-mentioned two formula, the joint bending angle percentage ratio of guide is identical with the bending angle percentage ratio of joint motions auxiliary device, thus may determine that the corresponding relation of the percentage ratio of the instant signal of telecommunication and instant atmospheric pressure value, the joint of guide is curved the subjoint motion that Motion mapping is joint motions auxiliary device.
In foregoing, signal of telecommunication percentage ratio, the joint bending angle percentage ratio of guide, the bending angle percentage ratio of joint motions auxiliary device and the percentage ratio of atmospheric pressure value can also be not converted into percentage ratio, directly application numerical value carries out formula calculating, so eliminate the step being converted to percentage ratio, simple, convenient, fast.But it is because the measurement data of each sensor, the size etc. of each air bag has certain error, therefore the method scope of application is narrower, each sensor is required for measuring the data of fixed point, complex steps, and after being converted into percentage ratio, then for each sensor, air bag then has only to measure the numerical value of 0% and 100% correspondence and can (be used for eliminating sensor, the error that individual difference between air bag causes), which save the measurement work of most fixed point, simply, convenient, quick and the error that Different Individual size slight change causes can be eliminated.
It addition, membrane potential device can be wrapped in different joints respectively, namely each joint to be measured all configures a membrane potential device, it is also possible to the different joints at a finger configure same membrane potential device.
Equally, joint motions auxiliary device can configure same air bag at the different joints of a finger；An air bag can also be configured at each joint.
If the different joints at a finger configure same membrane potential device；One air bag of each joint configuration in joint motions auxiliary device simultaneously, then data processor or control portion need to convert the signal of telecommunication (voltage/current) of membrane potential device to the numerical value of this finger difference joint, this conversion can be made directly partition according to certain ratio, it is also possible to converts percentage ratio to and is made directly mapping (namely the 1st joint of this finger, the 2nd joint, the 3rd joint can rotate the bending angle of same percentage simultaneously).
If all configuring a membrane potential device at each joint to be measured, meanwhile, in joint motions auxiliary device, the different joints of a finger configure same air bag；So, then data processor or control portion need the signal of telecommunication of the membrane potential device in multiple for this finger joints is integrated into a signal of telecommunication, to be mapped on the atmospheric pressure value of air bag.
Can be done in real time by the action control to joint motions auxiliary device by Circumscribed structure, simply, convenient；However, it is desirable to guide guides, so requiring higher to human resources, the professional degree without guide or guide is inadequate, it is easy to bring hidden danger to the assisted movement in joint；Therefore as shown in figure 16, data storage 43 can be installed additional on Circumscribed structure, so the action of guide can be recorded by data storage 43, follow-up can connect joint motions auxiliary device by the mode of wire/wireless and carry out the direct transmission of data, or the data of the middle user download storage for joint motions auxiliary device of being uploaded onto the server by modes such as networks, and control portion was listened to perform.In this case, Circumscribed structure can use as 1 joint motions recording equipment.
<structure of transmission fastener>
Transmission fastener can be iron and steel system or plastic parts, has long slab portion, has the connecting portion of ring-type in the one or both ends in this long slab portion, and the connecting portion of ring-type snaps in the cannelure of air bag, blocks air bag；Long slab portion is internal is hollow structure, so can be used to hold the air bag snapping in described transmission fastener.
The end in long slab portion can also be Semicircular groove, for blocking the endless groove of described air bag；In this case, transmission fastener also includes covering part, and there is Semicircular groove described covering part end, is combined with the semicircular groove in described long slab portion, is fixed by the endless groove of described air bag.As such, it is possible to first air bag to be snapped in long slab portion, then cover covering part, secure the air-bag to the inside of transmission fastener.
The inside of transmission fastener also includes at least one fixed part, and fixed part snaps in the endless groove of air bag, is fixed by air bag；Fixed part can be ring-type；Fixed part can also be Semicircular, and in this case, covering part correspondence position has Semicircular groove, is combined with fixed part and is fixed by the endless groove of air bag.First air bag can be snapped in long slab portion, then cover covering part, secure the air-bag to the inside of transmission fastener, not only fixation, and simple and convenient.
The variable-length of transmission fastener, so can be adjusted according to hand-type, adapts to the hand-type of different people, improves the scope of application.
[deformation of embodiment] the invention is not restricted to above-mentioned embodiment, it is possible to carries out various deformation.
Such as, in the above-described embodiment, according to thumb, forefinger, middle finger, the third finger, little finger of toe order by thumb joint motion assisting section 120 and movement of finger joint assisted parts 130j(being also denoted as " joint motions assisted parts " below) is worn on the finger of correspondence, but as long as after the hand portion of wearing is worn on the back of the hand and palm, the order of the finger that joint motions assisted parts is worn on correspondence can also be any.
So, when making to be worn on joint motions assisted parts the order of finger of correspondence and being any, for instance support the personnel worn and start most to use the little finger of toe that contracture is closed by the utensils such as rod to pry open and make this little finger of toe stretch, joint motions assisted parts is worn on little finger of toe.When stretching when so making little finger of toe start most, because contracture nameless, middle finger can be alleviated sometimes, then therefore joint motions assisted parts can also be worn on the third finger and middle finger.
Additionally, in the above-described embodiment, joint motions assisted parts is worn on these the five fingers of thumb, forefinger, middle finger, the third finger and little finger of toe, but joint motions assisted parts both can be worn on arbitrary 1 finger in the five fingers, alternatively, it is also possible to 2 any of the above fingers joint motions assisted parts being worn in the five fingers.
It addition, in the above-described embodiment, after fingerstall is worn on finger tip, joint motions assisted parts is pasted on hand wearing portion, support the personnel worn and make the finger extension of contracture.On the other hand, it is also possible to joint motions assisted parts is pasted on after hand wears portion, makes the Wavelet piece that this joint motions assisted parts has shrink, so that the finger extension of contracture.
It addition, in the above-described embodiment, the resinous pipe arrangement with flexibility is utilized to make to connect between Wavelet piece 241 and the Wavelet piece 242 of the structural element as thumb joint motion assisting section.On the other hand, it is also possible to utilize pipe arrangement to make directly to connect between Wavelet piece 241 and adjustment portion, and utilize other pipe arrangements make between Wavelet piece 242 and adjustment portion connect.In this case, it is possible to the joint motions in independent the 1st joint assisting thumb and the joint motions in the 2nd joint.
It addition, in the above-described embodiment, air bag is have equally spaced endless groove, and its endless groove can also be unequal-interval.In this case, for the patient of the 1st joint motion of thumb can not be made, by making the air pressure in Wavelet piece 241 become atmosphere opening state and adjust the air pressure in Wavelet piece 242, it is possible to only assist the joint motions in the 2nd joint of thumb.It addition, the patient of the 2nd joint motion for thumb can not be made, by making the air pressure in Wavelet piece 242 become atmosphere opening state and adjust the air pressure in Wavelet piece 241, it is possible to only assist the joint motions in the 1st joint of thumb.
It addition, in the above-described embodiment, make to connect between Wavelet piece 341 and the Wavelet piece 342 of the structural element as movement of finger joint assisted parts by having the resinous pipe arrangement of flexibility.On the other hand, it is also possible to utilize pipe arrangement to make directly to connect between Wavelet piece 341 and adjustment portion, and utilize other pipe arrangements make between Wavelet piece 342 and adjustment portion connect.In this case, it is possible to the joint motions in the joint motions in the 1st joint of independent assisted finger, the joint motions in the 2nd joint and the 3rd joint.
In this case, it is possible to only assist the joint motions in joint to be assisted, for instance for the patient of the 1st joint motion of finger can not be made, it is possible to carry out the joint motions in only auxiliary the 2nd joint and the 3rd joint.
It addition, in the above-described embodiment, use face fastener that the hand portion of wearing is worn on the back of the hand and palm but it also may to utilize the additive methods such as such as snap-fastener that the hand portion of wearing is worn on the back of the hand and palm.
It addition, in the above-described embodiment, use face fastener that joint motions assisted parts is installed on hand and wear portion but it also may utilize the additive methods such as such as snap-fastener that joint motions assisted parts is installed on hand and wear portion.
It addition, in the above-described embodiment, when joint motions assisted parts is worn on finger, fingerstall is utilized to fix finger tip but it also may to utilize tape member to fix finger tip.In this case, when wearing joint motions assisted parts to finger, for instance cope with due to different multiple by wearer of the old and finger thickness by fingers such as wearers that is thicker or that attenuate.
It addition, in the above-described embodiment, tape member is fixed on wearable components but it also may be not secured to wearable components.
It addition, in the above-described embodiment, support the personnel worn and joint motions auxiliary device is worn on by the hand of wearer but it also may by wearing the personnel oneself of joint motions auxiliary device and be worn on by joint motions auxiliary device oneself hand.
It addition, in the above-described embodiment, the joint motions auxiliary device of the motion of the right finger of auxiliary human body is described, naturally it is also possible to be the joint motions auxiliary device of the motion of auxiliary left-hand finger.
It addition, have employed resinous Wavelet piece in the present embodiment, but as long as being capable of expansion and contraction and not applying the raw material of the burdens such as the weight of device do not worn to human body, it is also possible to be other raw materials.
It addition, working fluid is set as air by the joint motions auxiliary device of the present invention but it also may be other gases, water or wet goods liquid.
The joint motions auxiliary device of the present invention uses in the field of nursing or welfare, serving not only as rehabilitation with wearing, strength valetudinarian, invalid can be used as the device of power-assisted and uses.It addition, the joint motions auxiliary device of the present invention is except the field of nursing or welfare, additionally it is possible to the power assist apparatus as clamping article etc. uses.
Additionally, in the above-described embodiment, apply the present invention to the joint motions auxiliary device of joint motions of auxiliary human body, even if being that the joint motions auxiliary device of the regulation object such as robot with the mammals of Endoskeleton type beyond the human body of articulation mechanism, Endoskeleton type also is able to the application present invention.
Additionally, in the above-described embodiment, refer to for each hands, normal person is when activity, 1st joint and the 2nd joint are linkages, that is to say and carry out joint motions simultaneously, 3rd joint and the 1st joint, the activity in the 2nd joint can separate, therefore, 1 air bag can be used on the 1st joint of finger and the 2nd joint, in the 3rd joint, (thumb is without the 3rd joint, then use 1 air bag) use 1 air bag, so, can by the auxiliary in the 1st joint and the 2nd joint and the auxiliary in the 3rd joint is independent, more meet the habitual movement of finger movement, accelerate finger resume speed.Wherein, close one end of 2 air bags can be blocked by same transmission fastener, it is also possible to is transmitted fastener by 2 and blocks respectively.
Additionally, in the above-described embodiment, the joint motions of user are assisted, need in the face of different situations, if the hand of user only has the specific finger just can be movable, then in above-mentioned embodiment, it is possible to according to practical situation, the finger needing auxiliary is installed and wears portion and air bag, so can avoid bringing unnecessary burden to other fingers.
It addition, in the above-described embodiment, the joint motions of user being assisted, it is necessary in the face of different situation, if the joint of user only has the specific joint just can be movable, then above-mentioned embodiment be not suitable for, it is necessary to improve；Can configuring 1 group of supplementary structure at each joint, often group supplementary structure all configures 1 air bag and 2 transmission fasteners, as such, it is possible to each joint independently carries out the auxiliary of joint motions, uses flexibly, convenient.It addition, adjacent 2 one end that air bag is adjacent to each other can be blocked by same transmission fastener, it is also possible to transmitted fastener by 2 and block respectively.It addition, the air bag quantity often organized can also be two or more, the quantity of transmission fastener and Wavelet piece also synchronizes to increase, and the quantity of increase is determined according to actual.
Additionally, in the above-described embodiment, complete air bag is used to replace originally separate multiple Wavelet pieces, solve airtight not tight problem between Wavelet piece, and complete air bag has only to a pipe arrangement and can realize extension and contraction control, do not need multiple pipe arrangements, save material, and reduce the problem because too much pipe arrangement causes air-tightness not tight.
The foregoing is only presently preferred embodiments of the present invention, be merely illustrative for the purpose of the present invention, and nonrestrictive.Those skilled in the art is understood, and it can be carried out many changes in the spirit and scope that the claims in the present invention limit, amendment, even equivalence, but falls within protection scope of the present invention.
Claims (10)
1. the joint motions auxiliary device of an independent subjoint, it is characterised in that include at least 1 group supplementary structure, often group supplementary structure includes:
At least 1 retractile air bag；
At least 2 transmission fasteners, block the part air bag of described balloon ends fixing jammed part air bag respectively；
At least 1 Wavelet piece, its on described air bag between 2 described transmission fasteners and be not snapped into the part air bag of described transmission fastener, when this Wavelet piece is configured at this joint shaft generally perpendicular direction along the surrounding of joint shaft, this Wavelet piece stretches and produces to assist the power of described joint motions；
Described transmission fastener is configured in the connecting portion being connected with described joint the power assisting described joint motions that is flexible due to described Wavelet piece to the transmission of described joint and that produce；
Pipe arrangement, its one end and described air bag removably connect, and the other end is connected with adjustment portion, to adjust the air pressure in described air bag；
The joint motions auxiliary device of described independent subjoint also includes: the 1st wears portion, and it is worn on joint motions part, and described 1st portion of wearing is fixedly mounted described transmission fastener.
2. the joint motions auxiliary device of independent subjoint as claimed in claim 1, it is characterised in that described adjustment portion includes:
Two-way air pump；At least 1 electromagnetic valve；
At least 2 pipe arrangements, its one end is connected with the positive pressure interface of described two-way air pump, negative port respectively, and the other end connects described electromagnetic valve；
Described electromagnetic valve is flow channel switching valve, and two sides of its entrance side are connected with 2 described pipe arrangements respectively；
Control portion, it is connected with described flow channel switching valve, controls described flow channel switching valve switching stream.
3. the joint motions auxiliary device of independent subjoint as claimed in claim 2, it is characterised in that the positive pressure interface of described two-way air pump produces constant malleation, negative port produces constant negative pressure.
4. the joint motions auxiliary device of independent subjoint as claimed in claim 2, it is characterized in that, described adjustment portion also includes choke valve, and described choke valve is connected in the middle of the described two-way air pump path with described electromagnetic valve by described pipe arrangement, controls the gas flowing in this path.
5. the joint motions auxiliary device of independent subjoint as claimed in claim 2, it is characterized in that, described control portion controls the gas gross of circulation by controlling the time of percentage ratio and the conducting of described choke valve that channel cross-sectional area in described choke valve accounts for maximum secting area.
6. the joint motions auxiliary device of the independent subjoint as described in arbitrary in claim 1-5, it is characterised in that described air bag has equally spaced endless groove.
7. the joint motions auxiliary device of the independent subjoint as described in arbitrary in claim 1-5, it is characterised in that described transmission fastener includes long slab portion, and there is Semicircular groove end, described long slab portion, for blocking the endless groove of described air bag.
8. the joint motions auxiliary device of independent subjoint as claimed in claim 7, it is characterised in that described long slab portion is internal is hollow structure, with the part air bag snapping in described transmission fastener with accommodation.
9. the joint motions auxiliary device of independent subjoint as claimed in claim 7, it is characterized in that, described transmission fastener also includes covering part, and there is Semicircular groove described covering part end, be combined with the semicircular groove in described long slab portion, the endless groove of described air bag is fixed.
10. the joint motions auxiliary device of the independent subjoint as described in arbitrary in claim 1-5, it is characterised in that described air bag is resinous air bag.
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| CN201610204464.3A CN105769511B (en) | 2016-04-01 | 2016-04-01 | A kind of joint motions auxiliary device in independent auxiliary joint |
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| CN201610204464.3A CN105769511B (en) | 2016-04-01 | 2016-04-01 | A kind of joint motions auxiliary device in independent auxiliary joint |
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| CN105769511B CN105769511B (en) | 2018-06-19 |
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| CN109965403A (en) * | 2017-12-27 | 2019-07-05 | 张基用 | Wrist protection band |
| CN111728814A (en) * | 2020-07-02 | 2020-10-02 | 上海司羿智能科技有限公司 | Conversion device, conversion assembly, conversion system and operation method thereof |
| CN111779860A (en) * | 2020-07-02 | 2020-10-16 | 上海司羿智能科技有限公司 | Switching device, switching assembly, switching system and operation method thereof |
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| CN205698416U (en) * | 2016-04-01 | 2016-11-23 | 北京所乐思国际商务有限公司 | A kind of joint motions auxiliary device of independent subjoint |
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| US20110118635A1 (en) * | 2009-10-05 | 2011-05-19 | Keijirou Yamamoto | Joint motion facilitation device |
| US20120059291A1 (en) * | 2010-09-03 | 2012-03-08 | Bes Rehab Ltd. | Apparatus for manipulating joints of a limb |
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| CN105769511B (en) | 2018-06-19 |
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