CN106074074B - A kind of eccentric fiber composite elastic body and the device for healing and training with the elastomer - Google Patents
A kind of eccentric fiber composite elastic body and the device for healing and training with the elastomer Download PDFInfo
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- CN106074074B CN106074074B CN201610383612.2A CN201610383612A CN106074074B CN 106074074 B CN106074074 B CN 106074074B CN 201610383612 A CN201610383612 A CN 201610383612A CN 106074074 B CN106074074 B CN 106074074B
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Classifications
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- 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
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
-
- 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
- A61H2201/1635—Hand or arm, e.g. handle
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5056—Control means thereof pneumatically controlled
-
- 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)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention discloses a kind of eccentric composite fiber elastic body and the device for healing and training with the elastomer, the eccentric fiber composite elastic body, including elastomer tube and fibrous layer, the fibrous layer are wrapped on the outside of the elastomer tube or internal；The elastomer tube has hollow portion, the hollow portion is eccentric relative to the elastomer tube, the elastomer tube according to eccentric position is divided into thin-walled side and heavy wall side, the fibrous layer is formed by the fibrage angled with the radial direction of the elastomer tube, and the fiber wind angle of heavy wall side is less than the fiber wind angle of thin-walled side.Technical solution of the present invention is capable of providing a kind of with certain material that is flexible and having both certain degree of hardness compared with the prior art, and thus device for healing and training is made in material, the present apparatus can also be achieved the comprehensive training of hand while easy to wear, comfortable, meet the state of an illness demand of different patients.
Description
Technical field
The present invention relates to medical rehabilitation technical fields, and in particular to a kind of eccentric fiber composite elastic body and has the elasticity
The device for healing and training of body.
Background technique
Hand function device for healing and training is that patient hand joint and finger is assisted to complete the dress of flexion/extension rehabilitation training
Set, this device can be improved the flexibility of hand joint and finger, and have rebuild in recovery process hand joint and
The function of finger movement ability.
As the training tool of some strength and pressure is provided, existing hand device for healing and training uses elastomer material more
Material is used as material of main part, but if elastomeric material is excessively soft, can not play trained effect, if elastomeric material is really up to the mark,
Can not only play trained effect and will cause trainer hand it is uncomfortable or even injured, therefore it is moderate to need a kind of flexibility,
Existing certain flexibility has both the material of certain degree of hardness and tool is made with this material to help patient to complete rehabilitation training again.
In view of the above drawbacks, creator of the present invention obtains the present invention by prolonged research and practice finally.
Summary of the invention
The purpose of the present invention is aiming at the shortcomings in the prior art, provide a kind of eccentric fiber composite elastic body and have should
The device for healing and training of elastomer.
To achieve the above object, the technical solution adopted by the present invention is that: on the one hand a kind of eccentric fiber composite elastic is provided
Body, including
Elastomer tube, the elastomer tube have hollow portion, and the hollow portion is eccentric relative to the elastomer tube, according to
Elastomer tube described in eccentric position is divided into thin-walled side and heavy wall side；
Fibrous layer, the fibrous layer are wrapped on the outside of the elastomer tube or are embedded on the inside of the elastic tube；
The fibrous layer is entwined by the fibrage angled with the radial direction of the elastomer tube, the heavy wall
The fiber wind angle of side is less than the fiber wind angle of the thin-walled side.
Preferably, the fiber wind angle of the heavy wall side is 8 to 60 degree any angles, the fiber winding of the thin-walled side
Angle is 50 to 85 degree any angles, and fiber auxiliary in heavy wall side is shunk when hollow portion is ventilated, thin-walled side fiber assist extension, elasticity
Body pipe bends.
Another aspect provides a kind of device for healing and training with the eccentric fiber composite elastic body, for realizing human body
Hand rehabilitation training, comprising:
Glove body, for connecting human hands, the glove body includes one group of Bionic muscle item, and the Bionic muscle item is by described
Eccentric fiber composite elastic body is made, and the heavy wall side of the eccentric fiber composite elastic body needs bending position close to hand；
Air supply system is used to provide the described the movable power of glove body；
Circuit control system, for controlling the glove body activity.Preferably, the Bionic muscle item includes finger Bionic muscle
Item and wrist Bionic muscle item.
Preferably, the glove body includes Bionic muscle fixing piece, for fixing the Bionic muscle item composition human hands
Shape；The glove body further includes wearing fixing piece, for fixing with human hands.
Preferably, non-Bionic muscle item part is made of nylon and/or Lycra outside the glove body.
Preferably, the air supply system is connect by pneumatic hose with the glove body, the adjustable solar term of air supply system
Body input and output amount, to realize the active state of the glove body.
Preferably, the circuit control system includes one group of solenoid valve, one group of pressure-regulating valve and a set of sensor group；Institute
Stating sensor group includes bending sensor, pressure sensor and temperature sensor, and the sensor group is mounted on the Bionic muscle
On item.
Preferably, the circuit control system has control unit, to receive the feedback signal of the sensor group, control
Make the pressure-regulating valve and the solenoid valve.
Compared with prior art, eccentric fiber composite elastic body of the present invention and the device for healing and training with the elastomer,
It has the advantage that
1, the eccentric fiber composite elastic body has inner hollow eccentric structure, since the position of ventilation cavity is not in bullet
Property body tube hub, cause cavity both ends pipe thickness different, can be to heavy wall curving after ventilation, this eccentric design is convenient for imitative
True and parametrization, batch production need to only adjust the mould, and bending amplitude and power output can pass through internal layer and cladding material
To control；
2, different fiber wind angles will lead to elastomer and generate different driving effect after inflation, when hollow portion is ventilated
Elastomer tube heavy wall side fiber auxiliary is shunk, and thin-walled side fiber assist extension, elastomer tube bends to heavy wall side, can pass through
Adjust the output of different fiber wind angle control bending amplitudes and bending force；
3, the eccentric fiber composite elastic body has elastomer tube, can pass through the production work of the change elastomer tube
Skill changes the elastic strength and compressive resistance of elastomer, to meet the needs of different patients；
4, the Bionic muscle item of the device for healing and training forms human hands shape by Bionic muscle fixing piece, and passes through
Wearing fixing piece is fixed with human hands, not only tailored appearance, but also patient is facilitated to dress；
5, the finger Bionic muscle item and finger correspond, and can independently take exercise to single finger or carry out multiple fingers not
It is taken exercise with attitude integration；
6, the wrist Bionic muscle item includes controlling flesh item and left and right control flesh item up and down, and wrist can be made to carry out comprehensive turn
It is dynamic to take exercise；
7, non-pneumatic flesh item part is made of nylon and Lycra outside the glove body, so that the gas permeability of entire glove body
Well, light, easy donning；
8, the solenoid valve and the pneumatic hose, Bionic muscle item correspond, and can carry out different groups to finger and wrist
The exercise of conjunction can control the size of operating frequency, amplitude and power output；
9, the sensor group energy real-time monitoring fingers/hand wrist stress and temperature variations, convenient for patient according to itself
Situation sets training strength, can be applied to different phase hand rehabilitation training；
10, the circuit control system has visual working interface, can set on the working interface different
Operating mode, which is realized, automatically controls rehabilitation training；
11, the device for healing and training has the function of to grasp two kinds backwards to stretching and power-assisted, saves manpower supplemental training
It is uncertain to reduce the training result for leading difference cause by medical staff's experience or ability for cost.
Detailed description of the invention
Fig. 1 is the sectional view of eccentric fiber composite elastic body of the present invention；
Fig. 2 be eccentric fiber composite elastic body of the present invention fiber wind angle be 70 degree when stress diagram；
Fig. 3 be eccentric fiber composite elastic body of the present invention fiber wind angle be 30 degree when stress diagram；
Fig. 4 be the fibre splices by two groups of difference winding angles of eccentric fiber composite elastic body of the present invention stress after it is curved
Bent schematic diagram；
Fig. 5 is the back of the hand face glove structure top view of device for healing and training of the present invention；
Fig. 6 is the palmar aspect glove structure top view of device for healing and training of the present invention；
Fig. 7 is the hand side glove structure top view of device for healing and training of the present invention；
Fig. 8 is the back of the hand face gloves gas circuit and structure top view of device for healing and training of the present invention；
Fig. 9 is the palmar aspect gloves gas circuit and structure top view of device for healing and training of the present invention；
Figure 10 is the finger tip position cross section view of device for healing and training of the present invention；
Figure 11 is the circuit control system structure chart of device for healing and training of the present invention.
Specific embodiment
To understand convenient for those skilled in the art technical solution of the present invention and beneficial effect, spy is in conjunction with attached drawing pair
Specific embodiment is described below.
Embodiment one
It please refers to shown in Fig. 1, is the diagrammatic cross-section of eccentric fiber composite elastic body of the present invention, the eccentric fiber is multiple
Closing elastomer includes elastomer tube and fibrous layer, the fibrous layer 32 by two kinds with the elastomer tube radially at different angle
Fibrage be entwined, fibrous layer insertion is wrapped in inside the elastomer tube.
The elastomer tube has hollow portion 3, and the hollow portion 3 is ventilation cavity, and the hollow portion is relative to elastomer tube
It is eccentric.Since the position of ventilation cavity is not in composite elastic body tube hub, cause cavity both ends pipe thickness different, according to bias
Elastomer tube described in position is divided into thin-walled side 33 and heavy wall side 31.Composite elastic body Guan Huixiang heavy wall side 31 after cavity of ventilating is ventilated
Bending.Convenient for emulation and parametrization, batch production need to only adjust the mould this eccentric design of cavity of ventilating.
The material of the elastomer tube can be elastoplastic, elastic resin, elastic rubber, silica gel or other have
The material of certain flexibility, certain elasticity and retractility, the elasticity and compressive resistance of the eccentric fiber composite elastic body can lead to
The production technology for overregulating elastomer tube reaches, raw material proportioning, the temperature, pressure of elastomer tube as described in production, when production work
When skill condition is high temperature and pressure, the intensity of the elastomer tube produced is very big, can bear enough pressure, and when inflation can
Increase the power output of the elastomer tube, conversely, manufacturing condition is mild, the intensity one of the elastomer tube produced
As, material is soft.
It is excessively expanded to limit elastomer tube, fibrous layer 32 is wound in elastomer tube, increases the intensity of elastomer tube.
Shown in referring to figure 4., the fibrous layer is passed through by two kinds from the radial fiber at different braiding winding angles of elastomer tube can
Control processing technology is stitched together, and the fiber wind angle of heavy wall side 31 is 8 to 60 degree any angles, and the fiber of thin-walled side 33 twines
It is 50 to 85 degree any angles around angle, the fiber wind angle of heavy wall side 31 is less than 33 fiber wind angle of thin-walled side, works as bullet
Property body pipe ventilation cavity ventilation when two kinds of different winding angles fibrous elasticity body it is subject to various forces, 31 fiber of heavy wall side is auxiliary
Contraction, 33 fiber assist extension of thin-walled side are helped, elastomer tube bends.Gas in cavity of ventilating is released, elastomer tube exists
Straight configuration is restored under the action of restoring force.Therefore it can change the bending amplitude of elastomer tube by the flux of gas.
Embodiment two
It is the fibrage winding angle and bullet of eccentric fiber composite elastic body of the present invention referring to figure 2. and shown in Fig. 3
Property body pipe it is radial at 70 degree and 30 degree when structural schematic diagram: when fiber wind angle is 70 degree, elastomer tube axis after ventilation
It is circumferential slightly to shrink to elongation, generate varicose power；When fiber wind angle is 30 degree, elastomer tube axial shrinkage after ventilation is circumferential
Expansion generates convergent force.
In the present embodiment by the winding angle be 70 degree together with 30 degree of fibre splices, 30 degree of fiber is wrapped in
Heavy wall side, 70 degree of fiber are wrapped in thin-walled side, constitute the fibrous layer of the eccentric fiber composite elastic body.Do not have in ventilation cavity
When having gas, the elastomer tube is straight configuration；When the ventilation of the ventilation cavity of elastomer tube, 70 degree and 30 degree of two kinds of fibers
Elastomer tube is subject to various forces, 30 degree of winding fiber auxiliary telescopics of heavy wall side, 70 degree of fiber assist extensions of thin-walled side,
Under the action of two power, elastomer tube generates bending to heavy wall side；Gas in cavity of ventilating is released, elastomer tube is in restoring force
Under the action of be restored to straight configuration.
Embodiment three
The present embodiment and embodiment two the difference is that, the fibre for being 57.4 degree and 85 degree by winding angle in the present embodiment
Dimension is stitched together, and constitutes the fibrous layer of eccentric fiber composite elastic body.57.4 degree of fiber is wrapped in heavy wall side, 85 degree of fibre
Dimension is wrapped in thin-walled side.
When not having gas in ventilation cavity, elastomer tube is straight configuration；When the ventilation of the ventilation cavity of elastomer tube, 57.4
Degree and 85 degree of two kinds of fibrous elasticity body pipes are subject to various forces, 57.4 degree of winding fiber auxiliary telescopics of heavy wall side, thin-walled side
85 degree of fiber assist extensions, under the action of two power, elastomer tube to heavy wall side generate bending；By the gas in cavity of ventilating
It releases, elastomer tube is restored to straight configuration under the action of restoring force.
Example IV
The present embodiment and embodiment three the difference is that, the fibre for being 8 degree and 57.4 degree by winding angle in the present embodiment
Dimension is stitched together, and constitutes the fibrous layer of the eccentric fiber composite elastic body.8 degree of fiber is wrapped in heavy wall side, and 57.4 degree
Fiber be wrapped in thin-walled side.
When not having gas in ventilation cavity, elastomer tube is straight configuration；When the ventilation of the ventilation cavity of elastomer tube, 8 degree
Two kinds of fibrous elasticity body pipes with 57.4 degree are subject to various forces, 8 degree of winding fiber auxiliary telescopics of heavy wall side, thin-walled side
57.4 degree of fiber assist extensions, under the action of two power, elastomer tube generates bending to heavy wall side；By the gas in cavity of ventilating
It releases, elastomer tube is restored to straight configuration under the action of restoring force.
Embodiment five
The present embodiment and example IV the difference is that, the fiber for being 10 degree and 60 degree by winding angle in the present embodiment
It is stitched together, constitutes the fibrous layer of the eccentric fiber composite elastic body.10 degree of fiber is wrapped in heavy wall side, 60 degree of fibre
Dimension is wrapped in thin-walled side.
Embodiment six
The present embodiment and embodiment five the difference is that, the fiber for being 20 degree and 60 degree by winding angle in the present embodiment
It is stitched together, constitutes the fibrous layer of the eccentric fiber composite elastic body.20 degree of fiber is wrapped in heavy wall side, 60 degree of fibre
Dimension is wrapped in thin-walled side.
Embodiment seven
The present embodiment and embodiment six the difference is that, the fiber for being 30 degree and 60 degree by winding angle in the present embodiment
It is stitched together, constitutes the fibrous layer of the eccentric fiber composite elastic body.30 degree of fiber is wrapped in heavy wall side, 60 degree of fibre
Dimension is wrapped in thin-walled side.
Embodiment eight
The present embodiment and embodiment seven the difference is that, the fiber for being 40 degree and 60 degree by winding angle in the present embodiment
It is stitched together, constitutes the fibrous layer of the eccentric fiber composite elastic body.40 degree of fiber is wrapped in heavy wall side, 70 degree of fibre
Dimension is wrapped in thin-walled side.
Embodiment nine
The present embodiment and embodiment eight the difference is that, the fiber for being 50 degree and 60 degree by winding angle in the present embodiment
It is stitched together, constitutes the fibrous layer of the eccentric fiber composite elastic body.50 degree of fiber is wrapped in heavy wall side, 60 degree of fibre
Dimension is wrapped in thin-walled side.
Embodiment ten
The present embodiment and embodiment nine the difference is that, the fiber for being 10 degree and 70 degree by winding angle in the present embodiment
It is stitched together, constitutes the fibrous layer of the eccentric fiber composite elastic body.10 degree of fiber is wrapped in heavy wall side, 70 degree of fibre
Dimension is wrapped in thin-walled side.
Embodiment 11
The present embodiment and embodiment ten the difference is that, the fiber for being 20 degree and 70 degree by winding angle in the present embodiment
It is stitched together, constitutes the fibrous layer of the eccentric fiber composite elastic body.20 degree of fiber is wrapped in heavy wall side, 70 degree of fibre
Dimension is wrapped in thin-walled side.
Embodiment 12
The present embodiment and embodiment 11 the difference is that, the fibre for being 40 degree and 70 degree by winding angle in the present embodiment
Dimension is stitched together, and constitutes the fibrous layer of the eccentric fiber composite elastic body.40 degree of fiber is wrapped in heavy wall side, 70 degree
Fiber is wrapped in thin-walled side.
Embodiment 13
The present embodiment and embodiment 12 the difference is that, the fibre for being 50 degree and 70 degree by winding angle in the present embodiment
Dimension is stitched together, and constitutes the fibrous layer of the eccentric fiber composite elastic body.50 degree of fiber is wrapped in heavy wall side, 70 degree
Fiber is wrapped in thin-walled side.
Embodiment 13
The present embodiment and embodiment 12 the difference is that, the fibre for being 10 degree and 80 degree by winding angle in the present embodiment
Dimension is stitched together, and constitutes the fibrous layer of the eccentric fiber composite elastic body.10 degree of fiber is wrapped in heavy wall side, 80 degree
Fiber is wrapped in thin-walled side.
Embodiment 14
The present embodiment and embodiment 13 the difference is that, the fibre for being 20 degree and 80 degree by winding angle in the present embodiment
Dimension is stitched together, and constitutes the fibrous layer of the eccentric fiber composite elastic body.20 degree of fiber is wrapped in heavy wall side, 80 degree
Fiber is wrapped in thin-walled side.
Embodiment 15
The present embodiment and embodiment 14 the difference is that, the fibre for being 30 degree and 80 degree by winding angle in the present embodiment
Dimension is stitched together, and constitutes the fibrous layer of the eccentric fiber composite elastic body.30 degree of fiber is wrapped in heavy wall side, 80 degree
Fiber is wrapped in thin-walled side.
Embodiment 16
The present embodiment and embodiment 15 the difference is that, the fibre for being 40 degree and 80 degree by winding angle in the present embodiment
Dimension is stitched together, and constitutes the fibrous layer of the eccentric fiber composite elastic body.40 degree of fiber is wrapped in heavy wall side, 80 degree
Fiber is wrapped in thin-walled side.
Embodiment 17
The present embodiment and embodiment 16 the difference is that, the fibre for being 50 degree and 80 degree by winding angle in the present embodiment
Dimension is stitched together, and constitutes the fibrous layer of the eccentric fiber composite elastic body.50 degree of fiber is wrapped in heavy wall side, 80 degree
Fiber is wrapped in thin-walled side.
Referring to the present embodiment, this eccentric fiber composite elastic body is spliced by adjusting different fiber wind angles,
Elastomer tube can be caused to generate different driving effect after inflation, therefore available bending amplitude is different with bending force
Embodiment, it should be noted that should be within the scope of specification when selection fibrous layer winding angle, and the fiber wind angle of heavy wall side is wanted
The fiber wind angle surveyed less than thin-walled.
Embodiment 18
The present invention is the device for healing and training with the eccentric fiber composite elastic body.
It please refers to shown in Fig. 8 and Fig. 9, shows for the back of the hand face, palmar aspect gas circuit and the structure of device for healing and training of the present invention
It is intended to, the device for healing and training includes glove body, and glove body includes Bionic muscle item 1, air supply system and circuit control system.
It referring to figure 5., is the back of the hand face, palmar aspect and the signal of hand side structure of the glove body shown in Fig. 6 and Fig. 7
Figure, the glove body is made of one group of Bionic muscle item, one group of Bionic muscle fixing piece and one group of wearing fixing piece 2, described bionical
Flesh strip material is the eccentric fiber composite elastic body, and elastomer tube wall side is needed bending position close to hand when installation.
The Bionic muscle item includes finger Bionic muscle item 11 and wrist Bionic muscle item 12.Described 11 one end of finger Bionic muscle item
Corresponding with human finger, the other end extends to finger root from the human finger end.The wrist Bionic muscle item 12 includes upper
Lower control flesh item and left and right control flesh item, the flesh item of control up and down include: to extend to forearm top the back of the hand from finger root to imitate
Myogenic item, the lateral Bionic muscle item between the back of the hand and the back of the hand Bionic muscle item；The left and right control flesh item includes wrist or so two
Side Bionic muscle item, position extends to forearm top on wrist.The Bionic muscle item passes through the Bionic muscle fixing piece group
Adult body hand shape, and be fixed respectively with the palm of human hands and finger position by dressing fixing piece 2, it is described to wear
Wearing fixing piece 2 includes finger fixing belt and palm fixing belt, and the wearing fixing piece 2 will be described in a manner of being inserted in palm and fix
Bionic muscle item is fixed on patient hand, and non-Bionic muscle item part is made of nylon and Lycra outside the glove body.Rehabilitation training
Device not only tailored appearance, but also easily patient is facilitated to dress.When carrying out healing hand function training, the Bionic muscle item can be to human body
Hand forms radial pressure, circumferential tension and/or axial tension, and hand is driven to carry out rehabilitation training.
It please refers to shown in Fig. 8, the air supply system is connect by pneumatic hose 4 with the Bionic muscle item 1, and air supply system can
Regulating gas input and output amount, to realize the active state of the glove body.
The circuit control system includes one group of solenoid valve 931 and one group of pressure-regulating valve 921 and a set of sensor group.
It please refers to shown in Figure 11, the sensor group includes bending sensor 911, pressure sensor 912 and temperature sensing
Device 913, the sensor group are mounted on the Bionic muscle item.The solenoid valve 931 is to control gas input or output shape
State, the pressure-regulating valve 921 is to control gas input.The circuit control system has control unit, to receive
The feedback signal of the sensor group, controls the pressure-regulating valve and the solenoid valve.
There are a set of air supply system and circuit control system to be corresponding to it on each Bionic muscle item, so that the Bionic muscle
Item can not be interfere with each other with independent activities.
The convalescence device working principle is: being inflated by pneumatic hose to the Bionic muscle item, the Bionic muscle
Strip material is the eccentric fiber composite elastic body, inputs gas in cavity of ventilating, eccentric fiber composite elastic body is in compound work
It firmly bends down, the air of Bionic muscle item is released, Bionic muscle item is returned to extended state.The finger Bionic muscle item 11
It is corresponded with five fingers, five fingers can independent control bending and stretching；The wrist Bionic muscle item 12 includes control up and down
Flesh item processed and left and right control flesh item, the flesh item of control up and down pulls wrist by the back of the hand Bionic muscle item, to control wrist
It rotates upwardly and downwardly, to avoid the power pulled above wrist insufficient, the flesh item of control up and down further includes between the back of the hand and pneumatic muscles
Lateral Bionic muscle item, the transverse direction Bionic muscle item can be radially expanded, and change the vertical range of torque；The left and right control flesh item packet
Bionic muscle item at left and right sides of wrist is included, control muscle or so twisting can be bent by flesh item.
It please refers to shown in Figure 10 and Figure 11, is respectively device for healing and training finger tip cross section view of the present invention and circuit control
System structure diagram.
The device for healing and training further includes circuit control system, in rehabilitation training, the bending journey of patient's finger and wrist
Degree is directly related with the air pressure size that the gas source 6 supplies the pneumatic hose 4, and the air pressure size can pass through the circuit control
System control processed.
The circuit control system includes power supply 7, touch-control plate 8 and control unit 9.The touch-control plate 8 with it is described
Control unit 9 is connected by USB interface, and described control unit 9 is to receive the important device of feedback signal, including three connecting pins
Mouthful:
A1 connection is sensor signal conditioning circuit 91, is connected with sensor, and the sensor includes crooked sensory
Device 911, pressure sensor 912 and temperature sensor 913, in conjunction with shown in Figure 11, the bending sensor 911 is fixed at institute
It states on Bionic muscle item 1, is specifically located in the installation bag of 1 back side of Bionic muscle item, to return hand bending data；It is described
Pressure sensor 912 is fixed at the end of the Bionic muscle item 1, is specifically located at the installation of the Bionic muscle item 1
In bag, and the pressure sensor 912 is contacted with human skin surface, to turn round and stretch out the hand the pressure data of finger and wrist；The temperature
Degree sensor 913 is a film patch, is fixed in the glove body, is specifically located on the inside of finger and wrist, is used
To monitor the hand temperature information, to achieve the purpose that monitor blood samples of patients circulatory condition.In rehabilitation training, patient
The bending degree of fingers/hand wrist, act on finger tip/wrist pressure size, fingers/hand wrist temperature change size passes through pair respectively
The bending sensor 911, pressure sensor 912 and the temperature sensor 913 answered feed back hand exercise real time status in institute
The sensor signal conditioning circuit 91 stated acquires row information processing analysis of going forward side by side, by fingers/hand described under different conditions in real time
The bending degree of wrist acts on finger tip/wrist pressure and finger/wrist temperature change and is shown in the touching with accurate numerical value
It controls on plate 8, provides more comprehensively accurate information material for user.
AO connection is V-1 circuit 92, this circuit is connected with pressure-regulating valve 921, the pressure-regulating valve 921 with it is described
Gas source 6 is connected, and the gas gross that the gas source 6 supplies is adjusted.
DO connection is drive control circuit 93, this circuit is connected with solenoid valve 931, the pressure-regulating valve 921, described
Solenoid valve 931 and the pneumatic hose 4 are sequentially connected, and the solenoid valve 931 is by the gas gross tune of the pressure-regulating valve 921
It is made into different gas pressures, then is input in the ventilation cavity in the Bionic muscle item 1 by the pneumatic hose 4.Rehabilitation
In training, patient can air pressure numerical value, inflation/deflation time, inflation/deflation frequency and charge and discharge on touch-control plate 8 described in sets itself
Gas cycle-index makes the gas source 6 through the control of the pressure-regulating valve 921 and the solenoid valve 931, by the gas of certain air pressure
Body acts on the Bionic muscle item 1.
Embodiment 19
The Bionic muscle item 1, pneumatic hose 4, bending sensor 911, pressure sensor 912, temperature sensor 913, electricity
Magnet valve 931 and five fingers of patient and wrist correspond.
The present embodiment application method and working principle are: five fingers and the corresponding solenoid valve 931 of wrist will all be in work
Make state, after connecting the power supply 7, sets the pressure value on the touch-control plate 8, the inflation/deflation time, inflation/deflation frequency, follows
Ring number starts play button, and the pressure-regulating valve 921 adjusts the gas gross that the gas source 6 supplies, through the solenoid valve
931 are adjusted to after different gas pressures be transported to by the pneumatic hose 4 in ventilation cavity, and the Bionic muscle item 1 overcomes
The effect that patient's fingers/hand wrist stretches power tends to be bent.In bending process, the bending sensor 911, pressure sensor
912 and temperature sensor 913 by hand exercise real time status feed back in the sensor signal conditioning circuit 91, with accurate
The current fingers/hand wrist bending degree of records of values, finger tip/wrist pressure situation and fingers/hand wrist temperature information.When described
When the blowing pressure in Bionic muscle item 1 is not up to the pressure value set, the curvature of fingers/hand wrist has had exceeded patient's
Level of comfort, can reduce pressure value, inflation frequency or the control solenoid valve 931 makes the pneumatic hose 4 be in deflation
State.When the blowing pressure of setting is in the range of patient comfort degree, set if the blowing pressure of the Bionic muscle item 1 reaches
Fixed pressure value, fingers/hand wrist bending state reach maximum, and the bending sensor 911 and pressure sensor 913 incude
Afterwards, stop inflation；The Bionic muscle item 1 maintains inflated condition and keeps certain the blowing pressure, after reaching the time of setting,
The solenoid valve 931 is opened, and the gas in the Bionic muscle item 1 is discharged into the external world through the pneumatic hose 4, with subtracting for air pressure
Small, the Bionic muscle item 1 can drive the recovery of patient's fingers/hand wrist to stretch under elastomer restoring force effect, to realize
Two-way rehabilitation training campaign is stretched in control patient's fingers/hand wrist bending.It is recycled with this, carries out the inflation of a new round, maintain, put
Gas, make finger be in circulation stretch, state of clenching fist, wrist be in stretch, bending state.It is curved that this device can provide training process
Bent and fingers/hand wrist power degree data record, track training course quantify rehabilitation standard, are that one kind can carry out full-automatic hand
Function rehabilitation training device.
In the present embodiment, the bending degree of five fingers be may be the same or different, and wrist can be bent up and down, can also be left
Right bending can arbitrarily adjust five fingers and the corresponding pressure value of wrist, inflation/deflation time, charge and discharge according to actual needs
Gas frequency adjusts the bending degree of finger, and its physical training condition is stored one by one, every time using only need to select mode can be real
Now automation training.The hand device for healing and training not only has backwards to stretch function, but also there is power-assisted to grasp function
Can, manpower supplemental training cost can be saved, training effect is improved.
Since the finger of adduction of thumb person is more difficult separated, thumb stretching motion can also be individually tempered in training process.Ginseng
According to shown in Fig. 9, the solenoid valve 931 corresponding with the thumb is in running order, remaining solenoid valve is closed, and can individually forge
Refine the rehabilitation training of thumb.Index finger, middle finger, the third finger, any one finger in little finger can also be individually tempered, according to patient's reality
The corresponding solenoid valve of border situation control is that can reach any purpose for tempering some finger.
The present apparatus can also be combined formula training, and the solenoid valve 931 corresponding with thumb, index finger is in work shape
State, remaining solenoid valve are closed, and the rehabilitation training of the thumb, index finger can be tempered.Other any hand combination instructions can also be tempered
Practice process, corresponding solenoid valve is the purpose that can reach any combination training according to the control of patient's actual conditions, facilitates patient
Customized drill program and method.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
Member, under the premise of not departing from the method for the present invention, can also make several improvement and supplement, these are improved and supplement also should be regarded as
Protection scope of the present invention.
Claims (7)
1. a kind of device for healing and training, for realizing human hands rehabilitation training, it is characterised in that: including
Glove body, for connecting human hands, the glove body includes one group of Bionic muscle item, and the Bionic muscle item is by eccentric fiber
Composite elastic body is made, and the eccentric fiber composite elastic body includes elastomer tube and fibrous layer, during the elastomer tube has
Empty portion, the hollow portion is eccentric relative to the elastomer tube, and the elastomer tube according to eccentric position is divided into thin-walled side and thickness
Wall side, the fibrous layer are wrapped on the outside of the elastomer tube or are embedded on the inside of the elastomer tube, the fibrous layer by with
The caliber of the elastomer tube is entwined to angled fibrage, and the fiber wind angle of the heavy wall side is less than
The fiber wind angle of the thin-walled side, the fiber wind angle of the heavy wall side are 8 to 54.7 degree any angles, the thin-walled
The fiber wind angle of side is 57.4 to 85 degree any angles, and the heavy wall side of the eccentric fiber composite elastic body is close to hand
Bending position is needed on the outside of portion；
Air supply system is used to provide the described the movable power of glove body；
Circuit control system, for controlling the glove body activity.
2. device for healing and training according to claim 1, it is characterised in that: the Bionic muscle item includes finger Bionic muscle item
With wrist Bionic muscle item.
3. device for healing and training according to claim 2, it is characterised in that: the glove body includes that Bionic muscle item is fixed
Part, for fixing the Bionic muscle item composition human hands shape；The glove body further includes wearing fixing piece, is used for and human body
Hand is fixed.
4. device for healing and training according to claim 3, it is characterised in that: non-Bionic muscle item part outside the glove body
It is made of nylon and/or Lycra.
5. device for healing and training according to claim 4, it is characterised in that: the air supply system by pneumatic hose with
The Bionic muscle item connection, the air supply system adjustable gas input and output amount, to realize the active state of the glove body.
6. device for healing and training according to claim 5, it is characterised in that: the circuit control system includes one group of electromagnetism
Valve, one group of pressure-regulating valve and a set of sensor group；The sensor group includes that bending sensor, pressure sensor and temperature pass
Sensor, the sensor group are mounted on the Bionic muscle item.
7. device for healing and training according to claim 6, it is characterised in that: the circuit control system has control single
Member controls the pressure-regulating valve and the solenoid valve to receive the feedback signal of the sensor group.
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| CN201610383612.2A CN106074074B (en) | 2016-06-02 | 2016-06-02 | A kind of eccentric fiber composite elastic body and the device for healing and training with the elastomer |
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| CN201610383612.2A CN106074074B (en) | 2016-06-02 | 2016-06-02 | A kind of eccentric fiber composite elastic body and the device for healing and training with the elastomer |
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| CN106074074B true CN106074074B (en) | 2019-02-12 |
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| CN107174501A (en) * | 2017-06-26 | 2017-09-19 | 哈尔滨易奥秘科技发展有限公司 | Intelligent edema limb rehabilitating device based on soft composite material |
| CN107184364B (en) * | 2017-07-07 | 2018-04-17 | 北京恒通信佳科技发展有限公司 | A kind of bellows |
| CN107184366B (en) * | 2017-07-07 | 2018-04-17 | 北京恒通信佳科技发展有限公司 | A kind of finger joint recovery device |
| CN107397650A (en) * | 2017-08-15 | 2017-11-28 | 西安交通大学 | A kind of pneumatic software manipulator of the variation rigidity of achievable isometric exercise |
| CN108272443A (en) * | 2017-11-02 | 2018-07-13 | 穆成坡 | Wearable hand functional status monitoring system and equipment |
| CN108309692B (en) * | 2018-02-28 | 2020-06-02 | 泰安市中信科技信息工程开发中心 | Finger bone injury postoperative rehabilitation training apparatus of hand |
| CN109044724B (en) * | 2018-07-06 | 2021-03-02 | 北京京成兴华医疗科技有限公司 | Hand function training and assisting system |
| CN109702714A (en) * | 2018-11-22 | 2019-05-03 | 北京保利健医药技术发展有限责任公司 | A kind of wearable intelligent human-body articulations digitorum manus power-assisted and convalescence device |
| CN110151491B (en) * | 2019-05-20 | 2021-08-10 | 杭州电子科技大学 | Finger auxiliary exercise device |
| CN110037895A (en) * | 2019-05-23 | 2019-07-23 | 武汉轻工大学 | A kind of restoring gloves and healing hand function equipment |
| CN113647937A (en) * | 2021-08-16 | 2021-11-16 | 宁波荣勃通机电科技有限公司 | Detection device, detection method, insole, training method and identification method |
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| JP3672867B2 (en) * | 2001-12-25 | 2005-07-20 | 本田技研工業株式会社 | Landing shock absorber for legged mobile robot |
| CN2803342Y (en) * | 2005-07-05 | 2006-08-09 | 李政举 | Hemiparalysis function restoring device |
| CN201020715Y (en) * | 2006-12-01 | 2008-02-13 | 华中科技大学 | Combined type human-emulated mechanical hand based on embedded type shape memory alloy motor |
| IT1399066B1 (en) * | 2010-03-23 | 2013-04-05 | Idrogenet Srl | HAND REHABILITATION DEVICE |
| CN102366951A (en) * | 2011-09-21 | 2012-03-07 | 杭州祥生砂光机制造有限公司 | Inner tube frame type air sac clamping manipulator and clamping method |
| CN104890004A (en) * | 2015-06-09 | 2015-09-09 | 杭州南江机器人股份有限公司 | Robot bionic finger |
| CN105380773A (en) * | 2015-11-10 | 2016-03-09 | 哈尔滨工业大学 | Exercise assisting device based on elongate pneumatic muscles |
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Effective date of registration: 20190522 Address after: 150001 2V District, 2nd Floor, 7 Shunyi Street, Nangang District, Harbin City, Heilongjiang Province Patentee after: Harbin Suo Clothing Technology Development Co., Ltd. Address before: 150001 Heilongjiang Nantong, Harbin, Nangang 258 Nantong electronic world 7 level 712 Patentee before: Harbin easy secret development in science and technology company limited |