CN108371610B - A kind of modularization software restoring gloves and system for assisted finger stretching routine - Google Patents
A kind of modularization software restoring gloves and system for assisted finger stretching routine Download PDFInfo
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- CN108371610B CN108371610B CN201810259688.3A CN201810259688A CN108371610B CN 108371610 B CN108371610 B CN 108371610B CN 201810259688 A CN201810259688 A CN 201810259688A CN 108371610 B CN108371610 B CN 108371610B
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- 210000003811 finger Anatomy 0.000 claims abstract description 78
- 210000003813 thumb Anatomy 0.000 claims abstract description 24
- 238000012549 training Methods 0.000 claims abstract description 16
- 238000005452 bending Methods 0.000 claims description 89
- 239000004744 fabric Substances 0.000 claims description 23
- 239000011521 glass Substances 0.000 claims description 22
- 239000000835 fiber Substances 0.000 claims description 20
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims description 18
- 229910052710 silicon Inorganic materials 0.000 claims description 18
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- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 15
- 239000000741 silica gel Substances 0.000 claims description 15
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- 210000001145 finger joint Anatomy 0.000 claims description 7
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- 210000000236 metacarpal bone Anatomy 0.000 claims description 7
- 238000004804 winding Methods 0.000 claims description 7
- 229920002379 silicone rubber Polymers 0.000 claims description 6
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- 239000004973 liquid crystal related substance Substances 0.000 claims description 4
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- 238000010276 construction Methods 0.000 claims 2
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
-
- 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
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- 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 modularization software restoring gloves and system for assisted finger stretching routine, belong to hand exoskeleton rehabilitation robot field.Flexible finger driving assembly shape class finger in the gloves and system, can blend with manpower very well, easy to wear；Modularized design is used simultaneously, is removably mountable in gloves upper body, and the thumb drive of corresponding quantity according to the damage number of patient's finger, can be selected to carry out rehabilitation training；A variety of training modes；Own shape can be changed to adapt to the environment of patient motion, will not cause excessive shock to patient hand load, meanwhile, own shape can be changed when patient motion is by high resistance to avoid causing pull Deng secondary injuries to patient.
Description
Technical field
The invention belongs to hand exoskeleton rehabilitation robot fields, stretch more particularly, to one kind for assisted finger
The modularization software restoring gloves and system of movement.
Background technique
Nowadays social population's aging aggravates, and the number of the hemiplegia due to caused by the diseases such as cerebral apoplexy is more and more huger, together
When, the impaired number of the hand movement function as caused by the accidents such as production accident, traffic accident also increases year by year.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
The stretching, extension open movement of person's progress finger.Traditional hand rehabilitation mostly uses one-to-one doctor to carry out the machinery such as kneading drawing
Change movement, 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, is unable to satisfy the demand of Most patients.
Patent CN105496728A discloses the soft robot gloves for hand movement function rehabilitation, and the date of application is
On April 20th, 2016.The patient that the device can assist hand function impaired or lose carries out rehabilitation training, still, the dress
Set that there are the following problems:
1, the power part of the device is traction rope, and lead generally has trend from the front to the back, drawing-in motion
It is more stiff, and the skeletal form and proper motion state of human finger are not met, finger-joint is easily led in distraction procedure
Mutual extrusion, friction generate injury to patient hand；
2, the device differs larger with finger shape, poor with the matching of finger, and there is foreign body sensation in when wearing, uncomfortable.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of for assisted finger stretching routine
Modularization software restoring gloves and system, by can independently dismount the flexible finger driver used, for particular injury hand
Fingering row rehabilitation training, and meet the skeleton and proper motion form of finger, do not cause secondary injury.
To achieve the goals above, the present invention provides a kind of modularization software rehabilitations for assisted finger stretching routine
Gloves and system, including glove bulk and at least one flexible finger driving assembly；
Flexible finger driving assembly is removably mountable on glove bulk, comprising: flexible bending driver, flexible bending
Sensor, flexible bending driver big envelope, fingertip, fingertip pressure sensor, flexible bending driver fixing seat and flexibility
Tracheae；
Flexible bending driver is set in flexible bending driver big envelope, and flexible bending driver includes the sky of tail end opening
The tail end opening of heart silicone tube and silica gel seat set on hollow silica gel pipe outer wall lower part, flexible bending driver is gas tube orifice,
The quantity of silica gel seat and position are corresponding with finger finger joint, and the lower surface of silica gel seat is the cambered surface of fovea superior, refer to back with human finger
Cambered surface matches；The position that articulations digitorum manus is corresponded between adjacent silicon rubber base passes through the circular arc columnar structure connection swelled downwards, and the circle
The minimum point of bogen structure is higher than the highest point of the cambered surface of silica gel seat fovea superior；
Flexible bending sensor is arranged in the lower surface of flexible bending driver along axis direction and flexible bending drives
Between the inner bottom surface of device big envelope, and it is fixed in the inner bottom surface of flexible bending driver big envelope；Flexible tracheae insertion is flexible
It is bent in the gas tube orifice of driver, is tightly connected with gas tube orifice；Flexible bending driver fixed seating is in flexible bending driver
Tail portion, the tail portion of the lower part of flexible bending driver fixing seat and flexible bending driver big envelope is connected；Fingertip pressure sensing
Device is fixed on fingertip inner bottom surface, and fingertip is fixed on flexible bending driver envelope end lower surface.
Further, flexible bending driver is used for the rehabilitation training of thumb, including Kafra fiber line and two sections of glass
Glass fiber cloth；Hollow silicon sebific duct is double-layer structural, and cross sectional shape is semicircle, the outer wall tail end winding of internal layer hollow silicon sebific duct
Single conchoid, corresponding thumb metacarpal bone position, winding space length are thumb metacarpal bone length；The outer wall of internal layer hollow silicon sebific duct
Front end winds bifilar helix, corresponding thumb proximal phalanx and distal phalanx, and winding space length is that proximal phalanx and remote section refer to
The sum of bone；
The outer wall front bottom end of internal layer hollow silicon sebific duct pastes two sections of glass fabrics, respectively corresponds metacarpal bone and proximal phalanx
Connecting joint, the connecting joint of proximal phalanx and distal phalanx；Outer hollow silicone tube is by Kafra fiber line and glass fibers
Wei Bu is tightly fastened on internal layer hollow silicon sebific duct.
Further, rehabilitation training of the flexible bending driver for any one in four fingers, including Kafra fiber are double
Helix and three sections of glass fabrics；Hollow silicon sebific duct is double-layer structural, and it is hollow that Kafra fiber bifilar helix is wound in internal layer
The outer wall of silicone tube, the entire length for winding space is the sum of phalanx proximalis digitorum manus, middle phalanx and distal phalanx；Three sections of glass
The position that fiber cloth corresponds to three articulations digitorum manus that four refer to is pasted onto the outer wall of internal layer hollow silicon sebific duct；Outer hollow silicone tube will
Kafra fiber bifilar helix and three sections of glass fabrics are tightly fastened on internal layer hollow silicon sebific duct.
Further, the half of the four articulations digitorum manus length of length manpower of every section of glass fabric.
To achieve the goals above, the present invention also provides a kind of modularization software health for assisted finger stretching routine
Multiple gloves and system, including previously described modularization software restoring gloves, air pressure control module and wireless transmitter；
Software restoring gloves are connected by flexible tracheae with air pressure control module, finger tip pliable pressure sensor and flexibility
Bending sensor is connect with wireless transmitter；Flexible bending sensor is passed for acquiring digital flexion angle information, fingertip pressure
Sensor is used to acquire software restoring gloves and the interaction force of patient's finger fingertip obtains fingertip pressure information, wireless transmitter
The air pressure control module being sent to for digital flexion angle information and fingertip pressure information；Air pressure control module is used for basis and connects
The size of digital flexion angle information and fingertip pressure information the control output pressure received, and then control flexible bending driver
Bending degree.
Further, air pressure control module includes check valve quick coupling, gas tank, air filter, gas pressure reducer, electricity
Gas proportioning valve, STM32 main controller and wireless receiver；Check valve quick coupling, gas tank, air filter, gas pressure reducer, electricity
Gas proportioning valve is sequentially connected, and the gas vent of electric Proportion valve is connected with flexible tracheae, and the input terminal of check valve quick coupling is used
In connection external air source；The signal acquisition port of STM32 main controller connects wireless receiver, and STM32 main controller is used for basis and connects
The digital flexion angle information and fingertip pressure information received controls the driving voltage of electric Proportion valve according to preset instructions, into
And the size of output pressure is controlled, to control the bending degree of flexible bending driver.
Further, including human-computer interaction module；Human-computer interaction module includes liquid crystal touch display screen and miniature mainboard；
Miniature mainboard is connect with STM32 main controller, with swap image and control instruction；STM32 main controller will be for that will collect
Finger angle and pressure information be uploaded to miniature mainboard, miniature mainboard issues image command to touch display screen, touches display
Screen display shows the state of being presently in；Manual operation instruction is also sent to miniature mainboard with according to pre-set programs by touch display screen,
And then STM32 main controller is sent to by miniature mainboard, to accordingly be controlled gas pressure, and then adjust flexible bending
The bending degree of driver.
In general, the above technical scheme conceived by the present invention compared with prior art, can obtain following beneficial to effect
Fruit:
1, the present invention use software restoring gloves, compared with rigid exo bone, can with the hand of patient with being closely bonded,
Improve the comfort of wearer；
2, use flexible bending driver as executing agency in the present invention, it is current to adapt to change own shape
Environment will not cause to damage to the hand of wearer, highly-safe, be driven using hydraulic or air pressure, have very high power
Than.
3, the present invention in use modularization idea, design removable flexible finger driving assembly, can according to patient by
The quantity of damage finger selects the flexible finger driving assembly of identical quantity, to meet the personalized rehabilitation demands of patient.
4, refer to bend actuator using four in the present invention, be able to drive the hand of patients with cerebral apoplexy or finger muscles impaired subjects
Fingering row stretching routine, and use three sections of glass fabrics, double-layer hollow silicone tube, Kafra fiber bifilar helix mating die
Quasi- bending motion more meets four finger natural torsion states, and operation is comfortable, will not generate foreign body sensation and secondary pull.
5, the prior art can not simulate the side-sway movement of thumb, the thumb flexion torsion driving used in the present invention
Device is corresponding big in conjunction with Kafra fiber line single-screw, double helix coiling using two sections of glass fabrics, double-layer hollow silicone tube
The design of thumb difference phalanges can simulate the bending and side-sway movement of manpower thumb simultaneously, and motion state more meets greatly
The proper motion state of thumb, operation is comfortable, will not generate foreign body sensation and secondary pull.
Detailed description of the invention
Fig. 1 is a kind of modularization software restoring gloves and system schematic for assisted finger stretching routine；
Fig. 2 is software restoring gloves drive control cabinet rearview；
Fig. 3 is software restoring gloves concrete structure schematic diagram；
Fig. 4 is software restoring gloves drive control cabinet schematic diagram of internal structure；
Fig. 5 is software restoring gloves drive control cabinet system block diagram；
Fig. 6 is that software restoring gloves four refer to structural schematic diagram；
Fig. 7 is thumb schematic diagram of internal structure of the invention；
Fig. 8 is single finger structure schematic diagram of the invention.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which:
1- software restoring gloves, 2- flexibility tracheae, 3- liquid crystal display, 4- pressure control cabinet, 5- control cabinet master switch, 6-
Control cabinet scram button, 7- control cabinet state display lamp, 8- control cabinet general supply socket, the pedestal of 9- control cabinet, 10- software health
Multiple gloves gas delivery header, 11- external air source import, 12- tetra- refer to flexible actuator, 13- wireless blue tooth communication module, 14- thumb
Flexible actuator, 15- snap fastener, 16- palm fixing sleeve, 17- check valve quick coupling, 18- miniature pressure reducing valve, 19-1.5L gas
Tank, the miniature clean gas filter of 20-, 21- electric Proportion valve, the miniature mainboard of 22-, 23-STM32 master control borad, 24- control cabinet bottom
Shell, 25- thumb flexible actuator inner wall, 26- Kevlar bifilar helix, tri- sections of glass fabrics of 27-, 28- tetra- refer to flexible drive
Dynamic device inner wall, 29- Kafra fiber single conchoid, 30- Kevlar bifilar helix, two sections of glass fabrics of 31-, 32- flexibility are driven
Dynamic device outline drawing, 33- flexible sensor fixing sleeve, 34- flexible bending sensor, 35- flexible actuator big envelope, 36- fingertip,
37- fingertip pressure sensor, 38- rubber fixing sleeve, 39- flexibility tracheae, 40- snap fastener.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention 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
Not constituting a conflict with each other can be combined with each other.
Fig. 1~6 are please referred to, are a kind of modularization software rehabilitation hand for assisted finger stretching routine provided by the invention
The preferred embodiment of set system.Such as Fig. 1~2, which includes software restoring gloves 1, flexible tracheae 2, liquid crystal touch display screen 3
With pressure control cabinet 4 (i.e. strength control module).Pressure control cabinet 4 is equipped with control cabinet master switch 5, control cabinet scram button 6
With control cabinet state display lamp 7, control cabinet general supply socket 8, the pedestal 9 of control cabinet, software restoring gloves gas delivery header 10 and outer
Portion's gas source inlet 11.
Referring to figure 3. wherein the flexible exoskeleton gloves include four refer to it is flexible drive devices 12, wireless blue tooth communication module 13,
Snap fastener 15, thumb flexible actuator 14 and palm fixing sleeve 16.
Referring to figure 3.~5 and Fig. 8, the lower bottom part of the flexible actuator all sew the female thread of a snap fastener, and palm is solid
Surely the end of each finger covered sews the rim of the mouth of a snap fastener.Four refer to flexible actuator 12 and thumb flexible actuator
14 link to palm fixing sleeve 16 by snap fastener 15.Wherein wireless blue tooth communication module by cable with it is curved in flexible drive
Bent sensor 34 is connected with pressure sensor 37, and wireless blue tooth module acquires the value of bending sensor and fingertip pressure sensor,
And it is uploaded to STM32 control module.
The property bending driver finger includes flexible actuator 32, and flexible bending torsion driver is pre- by stretch fabric
Clamp force is fixed in the big envelope 35 of flexible actuator, and flexible bending sensor 34 is arranged along the axis direction of flexible actuator 32
In the upper surface of the lower section of flexible bending driver and the lower bottom part of flexible actuator big envelope, flexible tracheae 39 is inserted into flexible bending and drives
In the gas tube orifice of dynamic device 8, and certain pretightning force is generated by the silicon rubber of ontology, 38 sets of driver fixing seat in flexible bending
The lower part of the end of driver 32, driver fixing seat 38 is fixed together by the end of suture and driver big envelope 35, son
Female thread 40 is affixed to together by the end of suture and driver 11, and fingertip pressure sensor 37 is solid by pressure sensor big envelope
It connects together, is then connected in finger fingertip set 36 entirely through suture.Finger fingertip set passes through suture and driver big envelope
35 are fixed together.
As shown in figure 4, the pressure control cabinet includes check valve quick coupling 17,1.5L gas tank 19, miniature clean sky
Air filter 20, miniature pressure reducing valve 18, slim Electropneumatic proportional valve 21, STM32 main controller 24 and computer motherboard 22.
The pressure control cabinet includes air ducting system and control display system, as shown in figure 5, external air source passes through tracheae
With the quick coupling 17 with check valve, the quick coupling other end with check valve is connected with the entrance of 1.5L gas tank 19,1.5L gas
The outlet of pipe 19 is connected with the entrance of miniature clean gas filter 20, and the outlet of miniature clean gas filter 20 subtracts with miniature
The entrance of pressure valve 18 is connected, and the outlet of miniature pressure reducing valve 18 is connected with the entrance of slim Electropneumatic proportional valve 21.Slim electric-gas ratio
The outlet of example valve 21 is connected with the driver tracheae on software restoring gloves.
Quick coupling with check valve can guarantee the flow direction of compressed air, by external traffic organising cabinet.1.5L gas tank energy
Enough play the role of gas buffer, guarantee the steady of air-flow, miniature clean gas filter 20 can be in filtering compressed air
Moisture and mist of oil.Miniature pressurizing valve 18 can guarantee that the pressure value for being supplied to slim Electropneumatic proportional valve is stablized in 0.5Mpa.It is thin
Type Electropneumatic proportional valve can control its pressure value for exporting compressed air, and control range is 0~0.5MPa.
STM32 main controller includes voltage output module, wireless blue tooth communication module, voltage output module and electric Proportion valve
It is connected, controls the outlet pressure of electric Proportion valve by control output voltage values, outside wireless blue tooth communication module and software
By bluetooth connection between the wireless blue tooth communication module of bone on hand, can receive software restoring gloves motion information and
Fingertip pressure information.
It is communicated between miniature mainboard 22 and STM32 main controller by USB, STM32 main controller is sent out to miniature mainboard 22
Send the digital flexion angle information and finger fingertip pressure information received, and touch display screen can show digital flexion and
Interaction force information, miniature mainboard can control to STM32 after receiving the touch operation on touch screen and send instruction, control flexible drive
Gas pressure value in the air cavity of dynamic device.
Wherein structural schematic diagram such as Fig. 6 of the four finger flexible bending drivers, it includes Kafra fiber double helixs
25, three sections of line 26, silicon rubber inner wall glass fabrics 27.It is two pieces that glass fabric 27, which is divided to, and the length is four articulations digitorum manus of manpower
The half of length, the bottom of flexible bending driving is pasted according to certain spacing respectively, and the spacing of center line is
Four refer to the length of finger joint, and Kafra fiber line 26 is wrapped in the outside of flexible actuator with fixed helical angle, winds two back and forth
It is secondary, bifilar helix form is formed, the length is the sum of thumb proximal phalanx, middle phalanx and distal phalanxes.
Structural schematic diagram such as Fig. 7 of the thumb flexible bending driver, it includes Kafra fiber line double helixs
Line 30, single-screw Kafra fiber line 29, silicon rubber ontology 28 and two sections of glass fabrics 31.It is two that glass fabric 31, which is divided to,
Block, length are equal to the half of manpower articulations digitorum manus, paste the bottom of flexible bending driving respectively according to certain spacing
Portion, Kafra fiber line 29 are wrapped in the outside of flexible actuator with fixed helical angle, and form is single conchoid form,
Length is thumb metacarpal bone length, and the winding form of Kafra fiber line 30 is bifilar helix form, and it is long that the length is middle finger joints
The sum of the length of degree and distal end finger joint.
Wherein in the position of bifilar helix, due to the limitation of glass fabric, can bend movement.With stretching for manpower
Exhibition movement matches.In single-screw position due to stress both sides imbalance, it may occur that twist motion.With the stretching routine of manpower
It is matched.
When using a kind of modularization ectoskeleton software rehabilitation hand of assisted finger stretching routine provided by the invention, first root
According to the impaired number of the finger of patient, the flexible exoskeleton thumb drive 12 or 14 for selecting different fingers is matched, so
Afterwards according to patient's finger length, to adjust the position that every driver finger is fixed on rehabilitation hand palm portion 16, the two passes through
Snap fastener 15 is bonded, then is brought by adjusting elasticity and guaranteed that exoskeleton rehabilitation gloves can be pasted with the hand of patient always
It closes, since the finger of hemiplegic patient's hand is essentially in the state of buckling, it is being worn by exoskeleton rehabilitation gloves
When, the state of flexible actuator finger is at flexion, is able to drive trouble by being inflated to flexible actuator
Person carries out the movement of the expansion of finger, while bending angle sensor can monitor the angle change of the finger of patient, finger tip
Pressure sensor can monitor the fingertip pressure variation of each finger of patient, and wireless Bluetooth data acquisition sending module sends out information
It is sent in STM32 control and miniature mainboard, as Rehabilitation treatment information storage.
For having for the patient of certain movement ability, by dressing exoskeleton rehabilitation gloves, in the state of non-aerating,
Patient is instructed to carry out finger movement by doctor, pressure sensor flexible bending sensor can acquire patient's finger movement and defeated
The information of power output can evaluate the hand exercise ability of patient, meanwhile, the air of different pressures is filled with to flexible actuator finger,
Patient carries out the finger grip movement of different mode, passes through acquisition finger movement angle and fingertip pressure under the guidance of doctor
Locomitivity information of the patient in the case where there is loading condition can be evaluated.
Hand exoskeleton rehabilitation soft robot can auxiliary rehabilitation exercise can save a large amount of manpower and material resources, and can
The assessment that real-time quantization is carried out to Rehabilitation level formulates corresponding rehabilitation training strategy in proper order according to the rehabilitation situation of patient
Progressive carry out rehabilitation, in the hope of reaching best rehabilitation training effect.
Assisted finger stretch function exoskeleton rehabilitation robot with using software flexible actuator come auxiliary for hemiparalysis patient into
Row finger carries out stretching, extension open movement, so that patient be helped to carry out rehabilitation training.Assisted finger function ectoskeleton soft robot
Physiatrician's onerous toil can be mitigated significantly, while hand exercise merit rating module helps doctor to make optimal rehabilitation
Therapeutic scheme reduces the rehabilitation training period, has to hand rehabilitation to significantly improve the efficiency and effect of rehabilitation training
And its important meaning.The ectoskeleton soft robot of assisted finger function is combined using component modelsization.It can assist single
Finger carries out stretching routine or refers to harmony movement more, can adapt to different patient profiles.
Flexible finger driving assembly shape class finger of the invention, can blend with manpower, easy to wear, hand very well
The fixed bit of finger actuator is adjustable, can adapt to the finger of different sizes；Modularized design is used simultaneously, it can be according to trouble
The damage number of person's finger selects the thumb drive of corresponding quantity to carry out rehabilitation training；A variety of training modes；It can change
Own shape adapts to the environment of patient motion, and will not cause excessive shock to patient hand load, meanwhile, in patient motion
Own shape can be changed when by high resistance to keep that pull Deng secondary injuries will not be caused to patient.
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, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (6)
1. a kind of modularization software restoring gloves for assisted finger stretching routine, which is characterized in that including glove bulk and
At least one flexible finger driving assembly；
Flexible finger driving assembly is removably mountable on glove bulk, comprising: flexible bending driver, flexible bending sensing
Device, flexible bending driver big envelope, fingertip, fingertip pressure sensor, flexible bending driver fixing seat and flexible tracheae；
Flexible bending driver is set in flexible bending driver big envelope, and flexible bending driver includes the hollow silicon of tail end opening
The tail end opening of sebific duct and silica gel seat set on hollow silica gel pipe outer wall lower part, flexible bending driver is gas tube orifice, silica gel
The quantity and position of seat are corresponding with finger finger joint, and the lower surface of silica gel seat is the cambered surface of fovea superior, refer to the cambered surface of back with human finger
It matches；The position that articulations digitorum manus is corresponded between adjacent silicon rubber base passes through the circular arc columnar structure connection swelled downwards, and the arc-shaped
The minimum point of construction is higher than the highest point of the cambered surface of silica gel seat fovea superior；
Flexible bending sensor is arranged in the lower surface of flexible bending driver along axis direction and flexible bending driver seals
Between the inner bottom surface of set, and it is fixed in the inner bottom surface of flexible bending driver big envelope；Flexible tracheae is inserted into flexible bending
In the gas tube orifice of driver, it is tightly connected with gas tube orifice；Tail of the flexible bending driver fixed seating in flexible bending driver
Portion, the lower part of flexible bending driver fixing seat and the tail portion of flexible bending driver big envelope are connected；Fingertip pressure sensor is solid
Due to fingertip inner bottom surface, fingertip is fixed on flexible bending driver envelope end lower surface；
Flexible bending driver is used for the rehabilitation training of thumb, including Kafra fiber line and two sections of glass fabrics；It is hollow
Silicone tube is double-layer structural, and cross sectional shape is semicircle, and the outer wall tail end of internal layer hollow silicon sebific duct winds single conchoid, corresponding
Thumb metacarpal bone position, winding space length are thumb metacarpal bone length；The outer wall front end of internal layer hollow silicon sebific duct winds double spiral shells
Spin line, corresponding thumb proximal phalanx and distal phalanx, winding space length are the sum of proximal phalanx and distal phalanx；
The outer wall front bottom end of internal layer hollow silicon sebific duct pastes two sections of glass fabrics, respectively corresponds the company of metacarpal bone and proximal phalanx
Connect the connecting joint of joint, proximal phalanx and distal phalanx；Outer hollow silicone tube is by Kafra fiber line and glass fabric
It is tightly fastened on internal layer hollow silicon sebific duct.
2. a kind of modularization software restoring gloves for assisted finger stretching routine, which is characterized in that including glove bulk and
At least one flexible finger driving assembly；
Flexible finger driving assembly is removably mountable on glove bulk, comprising: flexible bending driver, flexible bending sensing
Device, flexible bending driver big envelope, fingertip, fingertip pressure sensor, flexible bending driver fixing seat and flexible tracheae；
Flexible bending driver is set in flexible bending driver big envelope, and flexible bending driver includes the hollow silicon of tail end opening
The tail end opening of sebific duct and silica gel seat set on hollow silica gel pipe outer wall lower part, flexible bending driver is gas tube orifice, silica gel
The quantity and position of seat are corresponding with finger finger joint, and the lower surface of silica gel seat is the cambered surface of fovea superior, refer to the cambered surface of back with human finger
It matches；The position that articulations digitorum manus is corresponded between adjacent silicon rubber base passes through the circular arc columnar structure connection swelled downwards, and the arc-shaped
The minimum point of construction is higher than the highest point of the cambered surface of silica gel seat fovea superior；
Flexible bending sensor is arranged in the lower surface of flexible bending driver along axis direction and flexible bending driver seals
Between the inner bottom surface of set, and it is fixed in the inner bottom surface of flexible bending driver big envelope；Flexible tracheae is inserted into flexible bending
In the gas tube orifice of driver, it is tightly connected with gas tube orifice；Tail of the flexible bending driver fixed seating in flexible bending driver
Portion, the lower part of flexible bending driver fixing seat and the tail portion of flexible bending driver big envelope are connected；Fingertip pressure sensor is solid
Due to fingertip inner bottom surface, fingertip is fixed on flexible bending driver envelope end lower surface；
Rehabilitation training of the flexible bending driver for any one in four fingers, including Kafra fiber bifilar helix and three sections of glass
Glass fiber cloth；Hollow silicon sebific duct is double-layer structural, and Kafra fiber bifilar helix is wound in the outer wall of internal layer hollow silicon sebific duct, twines
Entire length around space is the sum of phalanx proximalis digitorum manus, middle phalanx and distal phalanx；Three sections of glass fabrics correspond to four
The position of three articulations digitorum manus referred to is pasted onto the outer wall of internal layer hollow silicon sebific duct；Outer hollow silicone tube is by the double spiral shells of Kafra fiber
Spin line and three sections of glass fabrics are tightly fastened on internal layer hollow silicon sebific duct.
3. a kind of modularization software restoring gloves for assisted finger stretching routine as claimed in claim 2, feature exist
In the length of every section of glass fabric is the half of four articulations digitorum manus length.
4. a kind of modularization software rehabilitation system for assisted finger stretching routine, which is characterized in that including claim 1~
Modularization software restoring gloves, air pressure control module and wireless transmitter described in 3 any one；
Software restoring gloves are connected by flexible tracheae with air pressure control module, finger tip pliable pressure sensor and flexible bending
Sensor is connect with wireless transmitter；Flexible bending sensor is for acquiring digital flexion angle information, fingertip pressure sensor
Interaction force for acquiring software restoring gloves and patient's finger fingertip obtains fingertip pressure information, and wireless transmitter is used for
The air pressure control module that digital flexion angle information and fingertip pressure information are sent to；Air pressure control module is used for basis and receives
Digital flexion angle information and fingertip pressure information control output pressure size, and then control flexible bending driver it is curved
Qu Chengdu.
5. a kind of modularization software rehabilitation system for assisted finger stretching routine as claimed in claim 4, feature exist
In air pressure control module includes check valve quick coupling, gas tank, air filter, gas pressure reducer, electric Proportion valve, STM32
Main controller and wireless receiver；Check valve quick coupling, gas tank, air filter, gas pressure reducer, electric Proportion valve successively connect
It connects, the gas vent of electric Proportion valve is connected with flexible tracheae, and the input terminal of check valve quick coupling is for connecting external air source；
The signal acquisition port of STM32 main controller connects wireless receiver, and STM32 main controller is used for according to the digital flexion angle received
Information and fingertip pressure information are spent, according to the driving voltage of preset instructions control electric Proportion valve, and then controls output pressure
Size, to control the bending degree of flexible bending driver.
6. a kind of modularization software rehabilitation system for assisted finger stretching routine as claimed in claim 4, feature exist
In, including human-computer interaction module；Human-computer interaction module includes liquid crystal touch display screen and miniature mainboard；
Miniature mainboard is connect with STM32 main controller, with swap image and control instruction；STM32 main controller is used for the hand that will be collected
Refer to that angle and pressure information are uploaded to miniature mainboard, miniature mainboard issues image command to touch display screen, and touch display screen is aobvious
The state of being presently in is shown；Manual operation instruction is also sent to miniature mainboard with according to pre-set programs by touch display screen, in turn
It is sent to STM32 main controller by miniature mainboard, to accordingly be controlled gas pressure, and then adjusts flexible bending driving
The bending degree of device.
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| CN110076811A (en) * | 2019-05-23 | 2019-08-02 | 五邑大学 | A kind of contact force induction software finger of Coupled Rigid-flexible |
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| CN111821140B (en) * | 2020-06-30 | 2022-06-28 | 南京麦澜德医疗科技股份有限公司 | Wearable software hand function rehabilitation gloves |
| CN111888184B (en) * | 2020-07-17 | 2022-10-14 | 哈尔滨工业大学 | Hand exoskeleton for rehabilitation robot |
| CN111789745B (en) * | 2020-08-25 | 2022-11-15 | 河南科技大学 | Pneumatic rehabilitation glove |
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| CN112472526B (en) * | 2020-12-16 | 2023-05-23 | 青岛大学 | Double-layer flexible cable exoskeleton rehabilitation manipulator for driving human fingers |
| CN112999014B (en) * | 2021-02-25 | 2023-09-08 | 上海希润医疗器械有限公司 | Structural design of glove of robot for soft hand function rehabilitation |
| CN114028155B (en) * | 2021-10-26 | 2023-03-14 | 清华大学 | Soft hand robot |
| CN114028154B (en) * | 2021-10-26 | 2022-11-15 | 清华大学 | Hand quick traction device assisted by soft hand exoskeleton |
| CN113952629B (en) * | 2021-12-03 | 2024-02-13 | 固安翌光科技有限公司 | Joint phototherapy device |
| CN115192388A (en) * | 2022-07-20 | 2022-10-18 | 福州大学 | Hand function intelligent evaluation and rehabilitation training equipment |
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| CN102811690B (en) * | 2010-03-23 | 2016-11-09 | 伊德洛有限公司 | Hand rehabilitation device |
| CN105496728B (en) * | 2016-01-12 | 2018-08-31 | 上海交通大学 | Soft robot gloves for hand movement function rehabilitation |
| CN107184365B (en) * | 2017-07-07 | 2019-04-05 | 北京恒通信佳科技发展有限公司 | A kind of finger joint recovery movement auxiliary member |
| 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 |
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