CN106309083B - A kind of pneumatic software manipulators in rehabilitation of EMG controls - Google Patents

A kind of pneumatic software manipulators in rehabilitation of EMG controls Download PDF

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Publication number
CN106309083B
CN106309083B CN201610802331.6A CN201610802331A CN106309083B CN 106309083 B CN106309083 B CN 106309083B CN 201610802331 A CN201610802331 A CN 201610802331A CN 106309083 B CN106309083 B CN 106309083B
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China
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finger
software
rehabilitation
deformation
thumb
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CN201610802331.6A
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Chinese (zh)
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CN106309083A (en
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张进华
洪军
李慕凡
王浩
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西安交通大学
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218Drawing-out devices
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285Hand
    • A61H1/0288Fingers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0006Exoskeletons, i.e. resembling a human figure
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165Wearable interfaces
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1657Movement of interface, i.e. force application means
    • A61H2201/1659Free spatial automatic movement of interface within a working area, e.g. Robot
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/06Arms
    • A61H2205/065Hands
    • A61H2205/067Fingers
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2230/00Measuring physical parameters of the user
    • A61H2230/08Other bio-electrical signals
    • A61H2230/085Other bio-electrical signals used as a control parameter for the apparatus

Abstract

The invention discloses a kind of pneumatic software manipulators in rehabilitation of EMG controls, can help paralytic or have the patient of hand disability to carry out hand rehabilitation.This manipulators in rehabilitation is different from traditional rigid body formula manipulator, its every finger is mainly the hollow cavity structure being made of soft material (elastic materials such as silicon rubber), peripheral disposition fiber and limitation strained layer, by the Structure Combination Design of flexural deformation, elongation strain, torsional deformation and torsion elongation strain at software finger, motion deformation is realized by pneumatic actuation.It may be implemented to be bent similar to the Multistage type arthrosis of finger, drive the bending and stretching of apoplexy finger, restore patient portion locomitivity.This pneumatic software manipulators in rehabilitation has many advantages, such as that Low rigidity, safe, comfort level is high, light weight, noise are small, has more obvious advantage compared to mechanical rigid body formula rehabilitation hand traditional at present, has great application prospect in rehabilitation field.

Description

A kind of pneumatic software manipulators in rehabilitation of EMG controls

【Technical field】

The invention belongs to medical health apparatus healing robots and industrial handgrip technical field, are specifically designed a kind of EMG controls The pneumatic software manipulators in rehabilitation of system is suitable for the elderly since the symptoms such as hand function obstacle caused by paralytic carry out health Refreshment white silk and power-assisted crawl.

【Background technology】

According to the statistics of the World Health Organization, just there is 1 people that may suffer from headstroke in every 6 people in the whole world;Just have 1 within every 6 seconds People dies of headstroke;Just there is 1 people permanently to disable because of headstroke within every 6 seconds ... in global 30,000,000 patient with cerebral apoplexies, China accounts for about 1/3, first factor that headstroke has become China human mortality death and disables.70% Patients with Stroke body It is upper to suffer from different degrees of deformity.Upper limb disability patient especially mutilated hand patient can more influence the normal life of patient, because Daily routines include wearing the clothes, having a meal, drinking water etc. to rely on hand that could complete, therefore the rehabilitation of hand is also particularly important, From the sixties in last century, a series of mechanical rehabilitation hands of patient on hand can be worn over by just having developed, including motor drive, Bracing wire drive etc., but they are rigid bodies, and also it is also bigger than the rigidity of finger-joint, when mechanical bending angle is more than When the bending angle that finger-joint can bear, this machinery rehabilitation hand will generate finger compressing and inhibit, and cause patient Pain, therefore, this mechanical rehabilitation hand has prodigious danger;And for different patients, finger can bear Bending angle otherness it is very big, therefore this manipulator cannot be widely generalized, and adjustment is also very inconvenient;Its cost and Price is all too high, and general consumer does not afford to do at all;Mechanical general weight is all heavier, therefore carries less square Just, the scope of activities of patient is limited.

【Invention content】

It is an object of the invention to overcome the above-mentioned prior art, a kind of pneumatic software rehabilitation of EMG controls is provided Manipulator.

In order to achieve the above objectives, the present invention is achieved by the following scheme:

A kind of pneumatic software manipulators in rehabilitation of EMG control, including the gloves of upper layer and lower layer structure and it is installed on software Five hollow software fingers on gloves upper layer;The lower layer of gloves is worn on user on hand, and every software finger passes through gas Pipe connects portable driving device, and portable driving device can be and right by acquiring the muscle electric signal on user's forearm It is decoded, and using obtained identification signal as trigger signal, controls solenoid valve and proportioning valve realizes the inflation/deflation speed tune of air pressure Section, to realize the active control to software finger.

The present invention, which further improves, to be:

Index finger, middle finger, the third finger and the little finger of toe of the software finger are bending elongation class formation;The thumb of software finger For software thumb class formation;

The software finger of bending elongation class formation includes 5 sections of deformations, wherein 3 sections of flexural deformations and the deformation of 2 segment elongations, 3 sections Bending angle is identical as the bending angle of finger-joint, and the deformation of 2 segment elongations is equal with the elongation of finger surface skin, and one soft Body finger becomes flexuosity after inflation, from straight configuration, can generate the multistage articulated type deformation of finger;

Software thumb structure include 5 sections deformation, wherein 1 section of torsional deformation, 1 section torsion elongation strain, 2 sections of flexural deformations and 1 segment elongation deforms;Torsional deformation is identical as the torsional deformation that the first segment joint of thumb generates, and torsion elongation strain becomes with distortion Shape is equal with the elongation on skin of thumb surface, the flexural deformation phase that second, three joints of 2 flexural deformations and thumb generate Deng;After being inflated to software thumb, the deformation of thumb can be generated.

The software finger includes ontology and is wound on the left-hand screw fiber of body surface and has spiral fiber, and ontology uses bullet Property material is made;The limitation strained layer for not generating dilatancy after inflation for limiting ontology is also bonded on ontology.

The cross section structure of the software finger is rectangle, trapezoidal, semicircle or variable cross-section type, needed for software fingers deformed Air pressure and generation driving force it is related to the cross sectional shape of software finger.

The software finger can realize that every software finger all generates flexural deformation, in by pure bending structure The muscle cramp power of wind finger and the elasticity of gloves change the motion deformation of software finger as external force, can band start Fingering row reconditioning and power-assisted crawl.

The gloves are using the soft cloth for being suitble to wearing and reconditioning.

Compared with prior art, the invention has the advantages that:

The pneumatic software manipulators in rehabilitation that the present invention introduces uses soft material, and rigidity is smaller than the rigidity of finger, therefore finger Generated oppressive force, safety can be overcome to have greatly improved.Moreover, it can be carried out by large deformation flexible sensor Realize that gesture feedback, moment monitor the deformation of software finger hand, improve the safety of pneumatic software manipulators in rehabilitation.It is pneumatic soft Body manipulators in rehabilitation uses the price of material inexpensively, its weight is also very light, easy to carry, and comfortable etc. with softness Feature can be good at interacting with patient.Such as above-mentioned advantage compensates for the deficiency of mechanical rigid body formula rehabilitation hand, is needed for hand The patient of rehabilitation is wanted to bring new hope, if it is possible to be promoted, the quality of life of patient will be promoted, mitigate family and society The burden of meeting medical staff.

【Description of the drawings】

Fig. 1 is the realization principle schematic diagram of software driver elongation strain;

Fig. 2 is the realization principle schematic diagram of software driver flexural deformation;

Fig. 3 is the sectional shape structure figure of software finger;

Fig. 4 is the structure composition schematic diagram of bending elongation class software finger;

Fig. 5 is the deformation result figure of bending elongation class software finger;

Fig. 6 is the structure composition of software thumb;

Fig. 7 is the deformation result figure of software thumb;

Fig. 8 is pneumatic software manipulators in rehabilitation structural schematic diagram;

Fig. 9 is that software finger is bonded situation schematic diagram with finger.

Wherein:1- software fingers;2- tracheaes.

【Specific implementation mode】

The present invention is described in further detail below in conjunction with the accompanying drawings:

Referring to Fig. 8, the pneumatic software manipulators in rehabilitation of EMG controls of the present invention, which is characterized in that including upper layer and lower layer structure Gloves and be installed on five hollow software fingers on software gloves upper layer;The lower layer of gloves is worn on user on hand, Every software finger connects portable driving device by tracheae, and portable driving device can be by acquiring user's forearm On muscle electric signal, and decode it, using obtained identification signal as trigger signal, control solenoid valve and proportioning valve is realized The inflation/deflation speed of air pressure is adjusted, to realize the active control to software finger.The index finger of software finger, middle finger, it is nameless with And little finger of toe is bending elongation class formation;The thumb of software finger is software thumb class formation;

The software finger of bending elongation class formation includes 5 sections of deformations, wherein 3 sections of flexural deformations and the deformation of 2 segment elongations, 3 sections Bending angle is identical as the bending angle of finger-joint, and the deformation of 2 segment elongations is equal with the elongation of finger surface skin, and one soft Body finger becomes flexuosity after inflation, from straight configuration, can generate the multistage articulated type deformation of finger;

Software thumb structure include 5 sections deformation, wherein 1 section of torsional deformation, 1 section torsion elongation strain, 2 sections of flexural deformations and 1 segment elongation deforms;Torsional deformation is identical as the torsional deformation that the first segment joint of thumb generates, and torsion elongation strain becomes with distortion Shape is equal with the elongation on skin of thumb surface, the flexural deformation phase that second, three joints of 2 flexural deformations and thumb generate Deng;After being inflated to software thumb, the deformation of thumb can be generated.

Software finger includes ontology and is wound on the left-hand screw fiber of body surface and has spiral fiber, and ontology is using elastic material Material is made;The limitation strained layer for not generating dilatancy after inflation for limiting ontology is also bonded on ontology.Software finger Cross section structure be rectangle, trapezoidal, semicircle or variable cross-section type, the driving force of air pressure and generation needed for software fingers deformed It is related to the cross sectional shape of software finger.Software finger can realize that every software finger all generates curved by pure bending structure Song deformation is used as the movement change that external force changes software finger by the muscle cramp power of apoplexy finger and the elasticity of software gloves Shape can drive finger to carry out reconditioning and power-assisted crawl.Gloves are using the soft cloth for being suitble to wearing and reconditioning Material.

The principle of the present invention:

The present invention provides one kind, and the patients such as hand is powerless, muscle deterioration or hand exercise are dumb can be helped to restore The device of hand normal kinematics.Pneumatic software manipulators in rehabilitation can be worn on the back side of hand as gloves, make hand quilt Dynamic follows the bending of software rehabilitation hand and hand is made to generate bending, for certain patients, can be relaxed by continuous passive exercise Hand nerve living, and the hand nervous network in brain is remolded, so that patient is restored hand proper motion.

The present invention can also be used as the end effector of robot, since it can be generated similar to multistage as finger Formula deforms, therefore the crawl of object can be carried out as hand, since its rigidity is smaller, when capturing general object, no Damage can be generated to object, mainly be used as the tasks such as sorting, transferring objects in industrial application, for example pick fruit, sort water Fruit will not generate damage to fruit surface;Domestic environments can then be used for doing housework (wash vegetables, massage) etc.;Civil field then may be used As aerodynamic toy, to give feeling vivid, remarkably true to life.

The present invention includes two parts of restoring gloves and software finger.When becoming flexuosity from extended configuration, pneumatically Software manipulators in rehabilitation can realize that one direction flexural deformation drives the movement of apoplexy finger gymnastic;When becoming stretch-like from flexuosity When state, apoplexy finger is withdrawn into extended configuration by the elasticity of the natural resiliency and software gloves that can rely on software finger material.

Software finger is divided into two major classes:Two kinds of bending elongation class and software thumb class.

Bending elongation class includes 5 sections:3 sections of flexural deformations and the deformation of 2 segment elongations, every section of length can be according to software hand The principle of machine is designed calculating, and the deformation of the multistage articulated type as finger may be implemented in finally obtained software finger.

Software thumb includes 5 sections:1 section of torsional deformation, 1 section of torsion elongation strain, 2 sections of flexural deformations and the deformation of 1 segment elongation, Every section of length can be designed calculating, finally obtained software finger and thumb bending according to the principle of soft body mobile phone The deformation of multistage articulated type is similar.

Every software finger all includes three parts:Ontology, fiber and limitation strained layer.Ontology is hollow cavity, fiber Including left-hand screw fiber and right-hand screw fiber, fiber is used for limiting the dilatancy of radial direction, and software finger is allow to bear Higher air pressure, limitation strained layer can change the direction of software motion deformation, achieve flexural deformation and torsional deformation.

Software finger cross section structure includes rectangle, trapezoidal, semicircle and variable cross-section type etc., wherein rectangle, it is trapezoidal and Constant curvature bending may be implemented in semicircle, and variable cross-section is accomplished that variable curvature is bent, the air pressure needed for software fingers deformed It is related to cross sectional shape to the driving force of generation.

Software finger is also designed to pure bending structure, passes through the elastic of the muscle cramp power of apoplexy finger and software gloves The motion deformation for changing software finger as external force is spent, finger can be driven to carry out reconditioning and power-assisted reason crawl.Though The software finger of right this structure could not be bonded with finger completely, but can be soft by rationally designing the elasticity improvement of gloves The compactness of body finger and apoplexy finger, such structure is convenient for manufacture, and the power exported is larger, is used convenient for patient.

The levels for designing software gloves can wrap up software finger and drive apoplexy finger motion, and selection is suitable Material so that discomfort will not be caused to patient in rehabilitation.

The structure of pneumatic software rehabilitation hand includes mainly three kinds of materials:

Ontology:It is made of elastic material, such as silastic material, cannot have injury to human body, it is non-toxic and tasteless, without pair Effect, elasticity modulus of materials are suitable with the elasticity modulus of biomaterials such as skin, muscle in 0.1~1Mpa or so.In addition material Mobility, pourability to get well, cannot have stickiness after material solidification, bright and clean softness is wanted on the surface after solidification.

As shown in figure 3, there are many shapes for software finger cross sectional shape:Such as rectangle, trapezoidal, semicircle, variable cross-section etc., The deformation effect that different cross section generates is different, for example rectangle and semicircle can generate constant curvature flexural deformation, and becomes and cut Face type but generates variable curvature flexural deformation, therefore, can be needed to design different cross sectional shapes according to function when designing finger.

Fiber:The intensity of fiber wants high, and diameter wants small, and flexibility wants small, and the intensity of the line used than ordinary sewing is high.Easily It bonds together with bulk material, is divided into left-hand screw fiber and right-hand screw fiber when in use.

Limit strained layer:Thin layer reticular fibre cloth is non-stretchable, and intensity requirement is high, and flexibility is big, such as glass layer. It is usually fenestral fabric, and medial small hole is poured convenient for liquid when manufacture, sticked to one with bulk material.

As shown in Figure 1, elongation strain principle:It includes a hollow cavity to extend driver, and body surface is wound with left-hand screw Fiber and right-hand screw fiber after being inflated to it, generate axial elongation deformation, it is radial due to limited by fiber not will produce it is swollen Bulging deformation;Wherein, a is the cavity that soft material makes, and b is fiber, that is, left-hand screw fiber of wound clockwise, and c is wrapped anti-clockwise Fiber, that is, right-hand screw fiber, d be to be wound with fiber cavity inflate after elongation strain schematic diagram.

As shown in Fig. 2, flexural deformation principle:It includes that a hollow cavity and one layer limit strained layer to be bent driver, this Body surface face is wound with left-hand screw fiber and right-hand screw fiber, after being inflated to it, is generated along the limitation strained layer for not generating strain curved Song deformation, it is radial not will produce dilatancy due to being limited by fiber;Wherein, e is limitation strained layer, and f is to being wound with Fiber and the schematic diagram for adding the flexural deformation after the cavity inflation for limiting strained layer.

What it is due to finger generation is Multistage type arthrosis bending, and software finger also should be designed so that multi-segment structure. Software rehabilitation hand includes five software fingers, and the length of every finger differs, approximate with the length of each finger respectively, in being all Hollow structure;Unlike, the deformation of index finger, middle finger, ring finger and little finger is similar, belongs to bending elongation class formation, only each hand The width and length of finger are different;Thumb is more special, and first joint of thumb is distorted-structure, need to be individually designed.

As shown in Figure 4 and Figure 5, bending elongation class formation software finger includes 5 sections, the wherein a of Fig. 41、a2、a3Become for bending The length of shape, b1、b2Length for the length of elongation strain, various pieces can be designed calculating according to the principle of soft body defonnation, Its deformation result is similar with clinodactyly as shown in figure 5, three sections of bendings and 2 segment elongations can be generated, and not will produce resistance Hinder effect.

As shown in Figure 6 and Figure 7, software thumb finger includes 5 sections, the wherein a of Fig. 61For torsional deformation length, b1For torsion Elongation strain length, a2And a3For the length of flexural deformation, b2For the length of elongation strain, the length of various pieces also can be according to The principle of soft body defonnation is designed calculating, its deformation result is as shown in fig. 7, the multistage joint similar to thumb can be generated Formula deforms.

The course of work of the present invention:

Design and manufacture five software fingers according to patient's finger size, guarantee actually produces to obtain software finger and emulation The deformation result of analysis is close, and every finger can generate the deformation of multistage Articulating and enough power drives finger fortune It is dynamic.Software finger is fitted into gloves, software finger position and elasticity are adjusted according to the actual conditions of patient hand.By every The tracheae of software finger connects portable driving device, and inflation/deflation is carried out to it.It being capable of autonomous control software rehabilitation in order to realize The movement of hand, can be by acquiring the muscle electric signal on forearm and decoding it, using obtained identification signal as trigger signal It controls solenoid valve and proportioning valve realizes that air pressure and inflation/deflation speed are adjusted, the final active control realized to software finger.

The above content is merely illustrative of the invention's technical idea, and protection scope of the present invention cannot be limited with this, every to press According to technological thought proposed by the present invention, any change done on the basis of technical solution each falls within claims of the present invention Protection domain within.

Claims (5)

1. a kind of pneumatic software manipulators in rehabilitation of EMG control, which is characterized in that gloves including upper layer and lower layer structure and It is installed on five hollow software fingers (1) on software gloves upper layer;The lower layer of gloves is worn on user on hand, every software Finger connects portable driving device by tracheae (2), and portable driving device can be by acquiring on user's forearm Muscle electric signal, and decode it, using obtained identification signal as trigger signal, controls solenoid valve and proportioning valve realizes air pressure Inflation/deflation speed adjust, to realize to the active control of software finger;
Index finger, middle finger, the third finger and the little finger of toe of the software finger (1) are bending elongation class formation;The thumb of software finger (1) It is software thumb class formation to refer to;
The software finger (1) of bending elongation class formation includes 5 sections of deformations, wherein 3 sections of flexural deformations and the deformation of 2 segment elongations, 3 sections curved Bent angle is identical as the bending angle of finger-joint, and 2 segment elongations deform a, software equal with the elongation of finger surface skin Finger becomes flexuosity after inflation, from straight configuration, can generate the multistage articulated type deformation of finger;
Software thumb structure includes 5 sections of deformations, wherein 1 section of torsional deformation, 1 section of torsion elongation strain, 2 sections of flexural deformations and 1 section Elongation strain;Torsional deformation is identical as the torsional deformation that the first segment joint of thumb generates, and reverses elongation strain and torsional deformation Flexural deformation phase equal with the elongation on skin of thumb surface, that second, three joints of 2 flexural deformations and thumb generate Deng;After being inflated to software thumb, the deformation of thumb can be generated.
2. the pneumatic software manipulators in rehabilitation of EMG controls according to claim 1, which is characterized in that the software finger (1) include ontology and be wound on the left-hand screw fiber of body surface and right-hand screw fiber, ontology are made of elastic material;On ontology Also it is bonded with the limitation strained layer for not generating dilatancy after inflation for limiting ontology.
3. the pneumatic software manipulators in rehabilitation of EMG controls according to claim 1, which is characterized in that the software finger (1) cross section structure is rectangle, trapezoidal, semicircle or variable cross-section type, and software finger (1) deforms required air pressure and generation Driving force is related to the cross sectional shape of software finger (1).
4. the pneumatic software manipulators in rehabilitation of EMG controls according to claim 1, which is characterized in that the software finger (1) it can be realized by pure bending structure, every software finger (1) all generates flexural deformation, passes through the muscle convulsion of apoplexy finger Contraction power and the elasticity of gloves change the motion deformation of software finger as external force, and finger can be driven to carry out reconditioning It is captured with power-assisted.
5. the pneumatic software manipulators in rehabilitation of EMG controls according to claim 1, which is characterized in that the gloves use It is suitble to the soft cloth of wearing and reconditioning.
CN201610802331.6A 2016-09-05 2016-09-05 A kind of pneumatic software manipulators in rehabilitation of EMG controls CN106309083B (en)

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