CN108371609A - A kind of software driver for assisting human hand thumb stretching, extension and abduction - Google Patents
A kind of software driver for assisting human hand thumb stretching, extension and abduction Download PDFInfo
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- CN108371609A CN108371609A CN201810258913.1A CN201810258913A CN108371609A CN 108371609 A CN108371609 A CN 108371609A CN 201810258913 A CN201810258913 A CN 201810258913A CN 108371609 A CN108371609 A CN 108371609A
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- silicone tube
- software driver
- layer silicone
- finger
- thumb
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- 210000003813 thumb Anatomy 0.000 title claims abstract description 65
- 229920001296 polysiloxane Polymers 0.000 claims abstract description 48
- 210000003811 finger Anatomy 0.000 claims abstract description 41
- 239000004744 fabric Substances 0.000 claims abstract description 36
- 239000000835 fiber Substances 0.000 claims abstract description 28
- 239000011521 glass Substances 0.000 claims abstract description 26
- 210000000236 metacarpal bone Anatomy 0.000 claims abstract description 22
- 239000012530 fluid Substances 0.000 claims abstract 2
- 238000005452 bending Methods 0.000 claims description 28
- 229920001971 elastomer Polymers 0.000 claims description 24
- 210000001145 finger joint Anatomy 0.000 claims description 9
- 229920002379 silicone rubber Polymers 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 7
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 6
- 238000010276 construction Methods 0.000 claims description 6
- 239000000741 silica gel Substances 0.000 claims description 6
- 229910002027 silica gel Inorganic materials 0.000 claims description 6
- 229920006231 aramid fiber Polymers 0.000 claims description 3
- 239000003365 glass fiber Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000001771 impaired effect Effects 0.000 description 3
- 238000009958 sewing Methods 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 241000905957 Channa melasoma Species 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 241000486406 Trachea Species 0.000 description 2
- 239000004760 aramid Substances 0.000 description 2
- 229920003235 aromatic polyamide Polymers 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 230000002490 cerebral effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 210000003437 trachea Anatomy 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 210000003010 carpal bone Anatomy 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 210000002478 hand joint Anatomy 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000004898 kneading Methods 0.000 description 1
- 238000009940 knitting Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000009304 pastoral farming Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 210000002268 wool Anatomy 0.000 description 1
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
- 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
- A61H2201/16—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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5051—Control means thereof hydraulically 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
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
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 invention discloses a kind of software drivers and gloves for assisting human hand thumb stretching, extension and abduction.The software driver includes internal layer silicone tube, outer layer silicone tube, Kafra fiber line and two sections of glass fabrics；The front end of internal layer silicone tube is closed, and rear end is equipped with opening, for being connect with air pressure or fluid pressure drive device；The part that the outer wall of internal layer silicone tube corresponds to thumb metacarpal bone winds Kafra fiber line in a manner of single-screw, and the outer wall of internal layer silicone tube corresponds to the part of thumb phalanges and winds Kafra fiber line with double helix pattern；Two sections of glass fabrics be pasted on internal layer silicone tube deviate from finger side, position corresponds respectively to thumb metacarpal bone and proximal phalanx connecting joint, proximal phalanx and distal phalanx connecting joint；Kafra fiber line and glass fabric are fixed on the outer wall of internal layer silicone tube by outer layer silicone tube.By carrying the software driver on gloves, thumb can be assisted to carry out stretching, extension and abduction rehabilitation training.
Description
Technical field
The invention belongs to hand joint recovering aid robot fields, more particularly, to one kind for assisting human hand big
Thumb stretches and the software driver and gloves of abduction.
Background technology
Nowadays social population's aging aggravates, and the number of hemiplegia caused by the diseases such as cerebral apoplexy is more and more huger, together
When, the impaired number of hand movement function also increases year by year as caused by the accidents such as production accident, traffic accident.These patients are past
Toward can't take care of oneself because of hand movement function obstacle, no small pressure is all brought to family and society.Document shows greatly
There is in various degree stiff all in flexion, muscle in the finger of most of patients, this is to need to assist suffering from by external force
Person carries out the stretching, extension open movement of finger.Traditional hand rehabilitation mostly uses one-to-one doctor and carries out the machineries such as kneading drawing
Change acts, meanwhile, the rehabilitation state of patient is evaluated by doctor individual completely, and this rehabilitation training very labor intensive is controlled simultaneously
It treats costly, cannot be satisfied the demand of Most patients.Hand exoskeleton rehabilitation soft robot being capable of auxiliary rehabilitation exercise energy
A large amount of manpower and materials are enough saved, and the assessment of real-time quantization can be carried out to Rehabilitation level, according to the rehabilitation shape of patient
Condition formulates the incremental carry out rehabilitation of corresponding rehabilitation training strategy, in the hope of reaching best rehabilitation training effect, together
When reduce Rehabilitation period.
For the thumb of human hand for others four refer to, movement is increasingly complex, can be not only bent
Side-sway movement can also be carried out with stretching routine, therefore the mobility of thumb is one more than remaining four mobility referred to.In rehabilitation
In treatment, the rehabilitation training of thumb is required to be not only to carry out bending and stretching, also to go that it can be assisted to carry out abduction
Movement.But at this stage, hand healing robot can only assist it to carry out bending and stretching movement, lead to the health of thumb
Multiple progress is much slower than other four fingers, and the abduction function of thumb is difficult to effectively be trained.
Invention content
For the disadvantages described above or Improvement requirement of the prior art, the present invention provides one kind for assisting human hand thumb to stretch
The software driver of exhibition and abduction is big its object is to be wrapped up by Kafra fiber line coiling single-screw and double helix blend
The phalanges and metacarpal bone of thumb, while sticking glass fabric limits its degree of freedom, is achieved in the bending stretching, extension of simulation thumb
And abduction exercise, to solve the technical issues of existing hand healing robot cannot assist thumb abduction.
To achieve the above object, according to one aspect of the present invention, it provides a kind of for assisting human hand thumb to stretch
With the software driver of abduction, which is characterized in that including internal layer silicone tube, outer layer silicone tube, Kafra fiber line and two sections
Glass fabric；
The part that the outer wall of internal layer silicone tube corresponds to thumb metacarpal bone winds Kafra fiber line, internal layer in a manner of single-screw
The outer wall of silicone tube corresponds to the part of thumb phalanges and winds Kafra fiber line with double helix pattern；Two sections of glass fabrics are equal
Be pasted on internal layer silicone tube deviates from finger side, and position corresponds respectively to thumb metacarpal bone and proximal phalanx connecting joint, nearly section
Phalanges and distal phalanx connecting joint；Outer layer silicone tube is sleeved on outside internal layer silicone tube, is combined closely with internal layer silicone tube, by Kev
Fiber line and glass fabric is drawn to be fixed on the outer wall of internal layer silicone tube.
Further, internal layer silicone tube is located at the part of thumb metacarpal bone rear end integrally formed with flat silica gel seat, internal layer
Silicone tube is located at the part of flat silica gel seat front end and is constructed for semicolumn, and the plane of semicolumn construction is arranged back on finger, and two
End glass fabric is pasted in the plane of semicolumn construction.
Further, outer layer silicone tube is sleeved on semicolumn construction outside, and outer layer silicone tube corresponds to thumb towards finger side
Metacarpal bone, proximal phalanx, distal phalanx position integrally formed with three sections of concave silicon rubber fixed seats, adjacent concave rubber fixed seat it
Between connection cross section be semicircle, semicircular straight flange backwards to finger be arranged.
Further, the concave silicon rubber fixed seat for corresponding to thumb metacarpal bone is connect with flat silica gel seat, and conformal is set
It sets.
Further, glass fabric is rectangle, and width is consistent with finger width, and length is slightly longer than finger-joint
Movable outer diameter, to cover finger-joint scope of activities；The aperture of glass fabric is 0.4*0.4mm.
Further, which includes：Software driver fixing sleeve, flexible bending sensor, flexible bending pass
Sensor fixing sleeve, rubber fixed seat, pliable pressure sensor, pliable pressure sensor mounting sleeve and finger-stall；
Outer layer silicone tube is fixed in software driver fixing sleeve；
Flexible bending sensor is arranged in outer layer silicone tube lower surface and software driver fixing sleeve along axis direction
Between inner bottom surface, it is fixed on by flexible bending sensor mounting sleeve in the inner bottom surface of software driver fixing sleeve；
Rubber fixed seating is in the flat fixed base rear end of software driver, lower part and the software driver of rubber fixed seat
The rear end of fixing sleeve is connected；
Pliable pressure sensor is fixed on finger-stall inner bottom surface by pliable pressure sensor mounting sleeve, and finger-stall is fixed
In software driver fixing sleeve end lower surface.
Further, finger-stall, software driver fixing sleeve, flexible bending sensor mounting sleeve and pliable pressure sensor
At least one of fixing sleeve is made of aramid fiber stretch fabric.
Further, finger-stall size braces patient's thumb less than normal thumb size to provide appropriate pretightning force
The end of distal phalanx and proximal phalanx.
Further, the lower section that software driver fixing sleeve corresponds to the position of rubber fixed seat is used for equipped with snap fastener
It is connect with the snap fastener of Corresponding matching on gloves.
To achieve the goals above, the present invention also provides a kind of hands for assisting human hand thumb stretching, extension and abduction
Set, including any one foregoing software driver.
In general, the above technical scheme conceived by the present invention compared with prior art, can obtain following beneficial to effect
Fruit：
1, use software driver as executing agency in the present invention, material of main part is silicone tube, can change itself
Form adapts to current environment, will not cause to damage to the hand of wearer, safe, is driven using hydraulic pressure or air pressure,
With very high power ratio.
2, the present invention wraps up the phalanges and the palm of thumb by Kafra fiber line coiling single-screw and double helix blend
Bone, while its degree of freedom is limited in two articulations digitorum manus position sticking glass fabrics of corresponding thumb, to triumphant in double helix
Husband, which draws, generates bending motion at fiber line, beat movement is generated at single-screw Kafra fiber line, is achieved in the big thumb of simulation
The bending stretching, extension of finger and abduction exercise can drive patients with cerebral apoplexy or the finger of finger muscles impaired subjects to carry out stretching routine
With abduction exercise rehabilitation training.
Description of the drawings
Fig. 1 is human hand thumb phalanges bone structure chart；
Fig. 2 is a kind of for assisting the software device for rehabilitation of thumb completion stretching, extension and twist motion to form frame diagram；
Fig. 3 is a kind of software device for rehabilitation auxiliary structure chart for assisting thumb completion stretching, extension and twist motion, wherein 3
(a) it is exploded view, 3 (b) is assembling figure；
Fig. 4 is a kind of for assisting thumb to complete the software device for rehabilitation shape assumption diagram of stretching, extension and twist motion；
Fig. 5 is a kind of activation configuration signal of the software device for rehabilitation for assisting thumb to complete stretching, extension and twist motion
Figure；
Fig. 6 is a kind of driver principles signal of the software device for rehabilitation for assisting thumb to complete stretching, extension and twist motion
Figure；
Fig. 7 is rubber fixed seat structure figure.
In all the appended drawings, identical reference numeral is used for indicating identical element or structure, wherein：
1- software drivers, 2- flexible bending sensor mounting sleeves, 3- flexible bending sensors, 4- software drivers are fixed
Set, 5- finger-stalls, 6- pliable pressure sensor mounting sleeves, 7- pliable pressure sensors, 8- rubber fixed seats, 9-4mm tracheaes,
10- snap fasteners, 11- software drivers top, 12- class finger tip shape software drivers end, 13- software driver air pipe passways,
14- software drivers lower part concave fixed seat, 15- software driver inner walls, 16- single-screw Kafra fiber lines, 17- double helixs
Kafra fiber line, 18- glass fabrics, 19- software driver inflation figures, the signal of 20- software driver inflated elongations
Figure, 21- software drivers inflation bending and torsion schematic diagram, 22- rubber fixed seats outer ring, 23- rubber fixed seat inner rings, 24-
Rubber fixed seat bottom curved surface.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
It does not constitute a conflict with each other and can be combined with each other.
Before elaborating to the present embodiment, the biological skeletal structure of first opponent is introduced.
Fig. 1 is the skeletal structure of the left hand from dorsal side, as shown in Figure 1, what is be connected with carpal bone is thumb, greatly
There are thumb two section phalanges to constitute, and be proximal phalanx and distal phalanx respectively.Wherein proximal phalanx is connected with thumb metacarpal bone, greatly
Thumb can complete bending, stretching, extension and abduction exercise.And hand feature capability impaired patients finger is mostly in flexuosity, needs
External force is wanted to assist it to carry out stretching routine, being in for thumb inside contracts state, needs external force to assist its to carry out abduction fortune
It is dynamic.
Fig. 2 and Fig. 3 are please referred to, it is provided by the invention a kind of for assisting thumb to complete the software of stretching, extension and abduction exercise
Driver includes：Software driver 1, flexible bending sensor mounting sleeve 2, flexible bending sensor 3, software driver fixing sleeve
4, finger-stall 5, pliable pressure sensor mounting sleeve 6, pliable pressure sensor 7, rubber fixed seat 8,4mm tracheaes 9 and primary and secondary
Button 10.Wherein software driver 1 mainly has silicon rubber, Kafra fiber and glass fabric to pass through special base material mixed method
It is made, finger-stall includes finger-stall and driver fixing sleeve.
Software driver 1 is fixed on by driver fixing sleeve 4 on finger-stall, and flexible bending sensor 3 drives along software
The axis direction arrangement of dynamic device 1, is fixed on by flexible sensor fixing sleeve 2 in finger-stall middle layer, flexible tracheae 9 is inserted into soft
In the gas tube orifice of body driver 1, and certain pretightning force is generated by the silicon rubber of ontology.Software driver air pipe passway passes through
The inner wall 23 (such as Fig. 7) of rubber fixed seat 8.The aperture of the inner wall 23 of rubber fixed seat is less than outside software driver air pipe passway
Wall, can be tightly buckle up air pipe passway, prevent software internal drive gas leak.The bottom 24 of rubber fixed seat 8 and son
The top of female thread 10 is connected, and the bottom 24 of rubber fixed seat is concave curved surface, can be wanted to be bonded with human hand metacarpal bone, and comfort is improved.
Pliable pressure sensor 7 is fixed on by pliable pressure sensor mounting sleeve in finger-stall 5, and finger-stall 5 connects with the sewing of finger-stall 4
It is connected together, is all made of elastic cloth, can ensure that software driver and finger fit closely.
Fig. 4 is the outline drawing of software driver, and wherein the end 12 of software driver is flat, the top of software driver
Portion 13 is oblong-shaped, and section behavior is semicircle.The finger joint fixed seat 15 of software driver is concave curved planar, and one shares three
Section, corresponds to metacarpal bone, proximal phalanx and distal phalanx, rest part is semi-circular cross-section respectively.It coincide with the convex surface shape of human hand,
It can ensure to imitate to reach good synkinesia along finger axis runout when driver drives finger to do stretching routine again
Fruit.
The structural schematic diagram of software driver such as Fig. 5, it includes Kafra fiber lines 16 and 17, silicon rubber ontology 15, glass
Glass fiber cloth 18.Wherein glass fabric 18 is divided to for two pieces of blocks, the half of length and human hand articulations digitorum manus, according to certain
Spacing paste the bottom of flexible bending driving respectively, Kafra fiber line 16 is spirally wound on software driver with fixed
Outside, winding is primary, forms single conchoid helical wire form, the length of metacarpal bone length, fiber line 17 is with fixed spiral
Angle is wrapped in the outside of software driver, winds back and forth twice, forms bifilar helix form.
In the present embodiment, it first passes through mold pouring molding and obtains internal layer silicone tube, in internal layer silicone tube before metacarpal bone
The one circle spiral Kafra fiber line of periphery winding at end, braid angle is 4 °, and the length of thumb metacarpal bone length then proceedes to
The winding screw Kafra fiber line (to finger tip direction) forward, braid angle are 5 °, are wound into the front end (finger tip of internal layer silicone tube
Position) when, then it is wound into the end of metacarpal bone to returning.At this point, the metacarpal bone part of software driver 1 is single conchoid, phalangeal section
For bifilar helix.At single-screw, driver can twist movement, for assisting thumb to carry out abduction exercise, double helix
At line, driver can bend movement, and thumb can be assisted to carry out stretching routine.
In the present embodiment, the inner wall of software driver pastes two sections long square glass fiber cloth, width and finger width
Always, length is slightly longer than finger-joint activity outer diameter, and the scope of activities can wrap up finger-joint is advisable, glass fabric
Aperture be 0.4*0.4mm.After having wound Kafra fiber line, having pasted glass fabric, directly outside internal layer silicone tube
It encloses and pours silicon for the second time as glue, obtain outer layer silicone tube, outer layer silicone tube is closely tied with internal layer silicone tube and flat fixed seat
It is integrated.Outer wall can fix Kafra fiber line and glass fabric, while be played about in the deformation process of actuator
Shu Zuoyong, allows actuator to generate specific curvature and stretching motion, and three sections of concave silicon rubber are arranged at the four outer wall lower parts for referring to flexible dynamic device
Fixed seat 8 pours forming together with outer wall, it acts as keep driver can be preferably bonded with human hand, prevent actuator and
Patient's finger is detached from.
Finger tip fixing sleeve and finger joint fixing sleeve are made of aramid fiber super cloth, and size is less than the normal thumb ruler of people
It is very little, it is capable of providing appropriate pretightning force, braces patient's thumb, finger tip fixing sleeve is used to fix the end of distal phalanx and proximal phalanx
Portion.
Flexible bending sensor mounting sleeve 2 is made of aramid fabric, and position is located at software driver bottom, finger-stall 5
The top of middle layer, the flexible sensor are fixed on wherein, can ensure that flexible sensor moves together with finger, is used for
Acquire digital flexion angle.
Pliable pressure sensor mounting sleeve 6 is made of aramid fabric, and position is located at the top of fingertip internal layer, flexibility pressure
Force snesor is fixed on wherein, can ensure that pliable pressure sensor moves together with finger, for acquiring finger fingertip and referring to
The pressure value of point set.
The flat fixed base rear end of internal layer silicone tube passes through 8 hole of rubber fixed seat position, the size of hole position to be less than flat fixation
Base rear end can clamp flat fixed seat by own resilient, to fixed soft body driver 1.
8 bottom of rubber fixed seat is curved surface, can be bonded human hand, the cloth that bottom is extended with 5 tail portion of finger-stall very well
Material sewing connection, the sub-buckle (i.e. hook side) of 5 cloth of the finger-stall lower section sewing snap fastener 10 of 8 corresponding position of rubber fixed seat, energy
Enough to be connected with the demi glove of arbitrary dry goods, common common knitting wool demi glove also can be used on the market.
The operation principle of software driver such as Fig. 6,19 indicate that semicircle Shape closed silicon rubber inner cavities are not any about in periphery
Under beam, inflated to inside inner cavity, it can axially elongation and along being radially expanded and be upturned.20 indicate semicircle rubber
The double helix Kafra fiber line wound on the outer wall of inner cavity, then to inflation inside inner cavity, Kafra fiber line can prevent its edge
It and is radially expanded, cause software driver that can only axially extend, and be upturned.Glass fabric cannot stretch, its meeting
Adhesive surface is prevented to extend, in the state that software driver is reinflated, the place of sticking glass fabric cannot be axially elongated,
On actuator axis direction, the ratio of elongation axis lower extended amount on axis top is big, therefore will form flexuosity, in list
Helical wire portion, due to discontinuity, driver can twist deformation, final that the torsion of metacarpal bone end is presented, and distal phalanx closes
The compound motion of bent-segment and proximal phalanx bending.21 indicate in software driver bottom section sticking glass fabric.
Software driver flexible bending sensor can be adopted when software driver assists patient's finger to carry out stretching routine
Collect finger motion angle information.Flexible bending sensor is connected to voltage acquisition module and can be achieved with adopting finger bending angle information
Collection.
Software driver pliable pressure sensor can be adopted when software driver assists patient's finger to carry out stretching routine
The pressure information for collecting finger fingertip can prevent patient from spasm occurs by detecting pressure information.Pliable pressure sensor is connected to
Voltage acquisition module can be achieved with to finger pressure information collection.
When using a kind of software driver for assisting four to refer to finger joint completion stretching routine provided by the invention, patient wears
Good device, device use Grazing condition material, and therefore, after wearing, whole device can be in the flexion as patient's finger.
Finger-stall, knuckle can ensure that software driver is fitted closely with patient's finger, the software driving being worn in this way on four fingers
Device carries out under the action of power source driving again the finger of patient to stretch and abduction exercise while stretching routine, helps to suffer from
Person carries out rehabilitation training.
Conventional air pressure, hydraulic test may be used in the equipment of gas pressure in control software driver cavate, such as electricity
Dynamic air compressor machine, foot-propelled air pump, electro-hydraulic press etc..
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all within the spirits and principles of the present invention made by all any modification, equivalent and improvement etc., should all include
Within protection scope of the present invention.
Claims (10)
1. it is a kind of for assist human hand thumb stretching, extension and abduction software driver, which is characterized in that including internal layer silicone tube,
Outer layer silicone tube, Kafra fiber line and two sections of glass fabrics；
The front end of internal layer silicone tube is closed, and rear end is equipped with opening, for being connect with air pressure or fluid pressure drive device；Internal layer silicone tube
Outer wall correspond to the part of thumb metacarpal bone and wind Kafra fiber line in a manner of single-screw, the outer wall of internal layer silicone tube corresponds to big
The part of thumb phalanx winds Kafra fiber line with double helix pattern；Two sections of glass fabrics are pasted on internal layer silicone tube
Away from finger side, position corresponds respectively to thumb metacarpal bone and is connected with distal phalanx with proximal phalanx connecting joint, proximal phalanx
Joint；Outer layer silicone tube is sleeved on outside internal layer silicone tube, is combined closely with internal layer silicone tube, by Kafra fiber line and glass fibre
Cloth is fixed on the outer wall of internal layer silicone tube.
2. a kind of software driver for assisting human hand thumb stretching, extension and abduction as described in claim 1, feature exist
In internal layer silicone tube is located at the part of thumb metacarpal bone rear end integrally formed with flat silica gel seat, and internal layer silicone tube is located at flat
The part of silica gel seat front end constructs for semicolumn, and the plane of semicolumn construction is arranged back on finger, and both ends glass fabric is equal
It is pasted in the plane of semicolumn construction.
3. a kind of software driver for assisting human hand thumb stretching, extension and abduction as claimed in claim 2, feature exist
It is external to be sleeved on semicolumn construction in, outer layer silicone tube, outer layer silicone tube towards finger side correspond to thumb metacarpal bone, proximal phalanx,
Integrally formed with three sections of concave silicon rubber fixed seats, the interconnecting piece between adjacent concave rubber fixed seat is transversal for distal phalanx position
Face is semicircle, and semicircular straight flange is arranged backwards to finger.
4. a kind of software driver for assisting human hand thumb stretching, extension and abduction as claimed in claim 3, feature exist
In the concave silicon rubber fixed seat for corresponding to thumb metacarpal bone is connect with flat silica gel seat, and conformal setting.
5. a kind of software driver for assisting human hand thumb stretching, extension and abduction as described in claim 1, feature exist
In glass fabric is rectangle, and width is consistent with finger width, and length is slightly longer than finger-joint activity outer diameter, to cover
Lid finger-joint scope of activities；The aperture of glass fabric is 0.4*0.4mm.
6. a kind of for assisting the software of the stretching, extension of human hand thumb and abduction to drive as claimed in any one of claims 1 to 5, wherein
Device, which is characterized in that including：Software driver fixing sleeve, flexible bending sensor, flexible bending sensor mounting sleeve, rubber
Fixed seat, pliable pressure sensor, pliable pressure sensor mounting sleeve and finger-stall；
Outer layer silicone tube is fixed in software driver fixing sleeve；
Flexible bending sensor is arranged in the inside of outer layer silicone tube lower surface and software driver fixing sleeve along axis direction
Between bottom surface, it is fixed on by flexible bending sensor mounting sleeve in the inner bottom surface of software driver fixing sleeve；
Rubber fixed seating in the flat fixed base rear end of software driver, fix by lower part and the software driver of rubber fixed seat
The rear end of set is connected；
Pliable pressure sensor is fixed on finger-stall inner bottom surface by pliable pressure sensor mounting sleeve, and finger-stall is fixed on soft
Body driver fixing sleeve end lower surface.
7. a kind of software driver for assisting human hand thumb stretching, extension and abduction as claimed in claim 6, feature exist
In in finger-stall, software driver fixing sleeve, flexible bending sensor mounting sleeve and pliable pressure sensor mounting sleeve at least
One is made of aramid fiber stretch fabric.
8. a kind of software driver for assisting human hand thumb stretching, extension and abduction as claimed in claim 7, feature exist
In finger-stall size is less than normal thumb size, to provide appropriate pretightning force, braces patient's thumb distal phalanx and nearly section
The end of phalanges.
9. a kind of software driver for assisting human hand thumb stretching, extension and abduction as claimed in claim 6, feature exist
In the lower section that software driver fixing sleeve corresponds to the position of rubber fixed seat is equipped with snap fastener, is used for corresponding on gloves
The snap fastener connection matched.
10. a kind of gloves for assisting human hand thumb stretching, extension and abduction, which is characterized in that arbitrary including claim 1~9
Software driver described in one.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810258913.1A CN108371609B (en) | 2018-03-27 | 2018-03-27 | Soft driver for assisting extension and abduction of thumb of human hand |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810258913.1A CN108371609B (en) | 2018-03-27 | 2018-03-27 | Soft driver for assisting extension and abduction of thumb of human hand |
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| Publication Number | Publication Date |
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| CN108371609A true CN108371609A (en) | 2018-08-07 |
| CN108371609B CN108371609B (en) | 2020-02-14 |
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| CN201810258913.1A Active CN108371609B (en) | 2018-03-27 | 2018-03-27 | Soft driver for assisting extension and abduction of thumb of human hand |
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