CN108478384A - A kind of wearable hand function rehabilitation training device - Google Patents
A kind of wearable hand function rehabilitation training device Download PDFInfo
- Publication number
- CN108478384A CN108478384A CN201810087596.1A CN201810087596A CN108478384A CN 108478384 A CN108478384 A CN 108478384A CN 201810087596 A CN201810087596 A CN 201810087596A CN 108478384 A CN108478384 A CN 108478384A
- Authority
- CN
- China
- Prior art keywords
- bowden
- bowden cable
- vertical panel
- fixed
- reducing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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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
- A61H1/0274—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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
Abstract
A kind of wearable healing hand function training device of the present invention, is related to technique of medical rehabilitation field.Including mechanism supports mounting (1), Bowden cable draft gear (2) and software restoring gloves (3)；The mechanism supports mounting (1) is made of the first vertical panel (11), the second vertical panel (12), third vertical panel (13), is fixed on device pedestal (14) by screw；The Bowden cable draft gear (2) has five groups.Apparatus of the present invention compared with prior art, have the characteristics that：First, it is driven, is driven compared to air source, control effect is more preferably accurate, and the synchronism and real-time of rehabilitation training are more preferable using DC speed-reducing.Secondly, power is conducted using Bowden cable, cooperation flexible end mode of traction control patient's finger carries out rehabilitation training, and comfortableness and security are more preferable.Again, compared to exoskeleton type finger convalescence device, the configuration of the present invention is simple, light weight is convenient for carrying and dresses.
Description
Technical field
The present invention relates to technique of medical rehabilitation fields, refer specifically to a kind of wearable healing hand function training device.
Background technology
According to statistics, the patients with cerebral apoplexy in existing 40 years old of China or more has reached 10,360,000 people, and annual all on the rise,
Cerebral apoplexy is most common one of the disease that disables, and wherein the patient of 70%-85% is with hemiplegia, in the upper extremity function health of hemiplegic patient
In multiple, but it is the most difficult with the rehabilitation of hand function.
With the development of robot technology and rehabilitation medical, in order to improve Traditional Rehabilitation treatment means and improve rehabilitation training
Effect, recovery exercising robot come into being.The part physical work that therapist is replaced by robot, can not only mitigate treatment
The working strength of teacher, and training parameter is reproducible, ensure that trained efficiency and intensity, realizes rehabilitation that is long-term, stablizing
Training, can effectively accelerate rehabilitation process.But rehabilitation product on the market is not applied to clinically at present, most important problem
It is that current most product is all based on exoskeleton-type, complicated in mechanical structure, volume is big, heavier, wearing and instruction
Practice has inconvenience more.
Invention content
It is an object of the invention to overcome the shortcomings of the prior art, a kind of wearable hand function rehabilitation training cartridge is proposed
It sets, the rehabilitation training of the patients with cerebral apoplexy for hand function obstacle and daily auxiliary device.
A kind of wearable healing hand function training device concrete scheme of the present invention is as follows：
A kind of wearable healing hand function training device, including mechanism supports mounting, Bowden cable draft gear and software
Restoring gloves；Wherein, the mechanism supports mounting is led to by the first vertical panel, the second vertical panel, third vertical panel composition
Screw is crossed to be fixed on device pedestal；
Equipped with the first DC speed-reducing, the second DC speed-reducing and the transmission of the first disk on first vertical panel
Mechanism, the second disk transmission mechanism；Equipped with third DC speed-reducing, the 4th DC speed-reducing and the on second vertical panel
Three disk transmission mechanisms, the 4th disk transmission mechanism；Third vertical panel is passed equipped with the 5th DC speed-reducing and the 5th disk
Motivation structure；All DC speed-reducings and disk transmission mechanism have five groups altogether, and model, all is the same size parameter, right respectively
Thumb, index finger, middle finger, nameless and little finger are answered, in this manner it is possible to carry out independent control to five fingers.
The Bowden cable draft gear one shares five groups, and one end of every group of Bowden cable draft gear is separately fixed at disk biography
On motivation structure, other end is all separately fixed at the end of each finger of software restoring gloves.In this way, the rotation of motor
Realize the traction to finger tips.
The disk transmission mechanism is all made of the consistent ring baffle of size and rotary shaft, rotary shaft and direct current deceleration electricity
Machine is separately fixed at the both sides of vertical panel by the shaft coupling of DC speed-reducing, and the rotation of such motor can drive rotation
The rotation of shaft, wherein there are the annular groove of 2mm depths and column type mounting hole, column type mounting holes to be used for solid for the outer ring of rotary shaft
Determine Bowden the end of a thread, such rotary shaft can drive Bowden cable to move.Ring baffle is mounted on the outside of rotary shaft, is used for Bao
Line card is stepped in the annular groove of rotary shaft, in addition, there are Bowden cable manhole appendixes on ring baffle.
The Bowden cable draft gear, by Bowden the end of a thread, Bowden cable, aluminium alloy pipe cap and Bowden thread casing composition；Wherein,
Bowden the end of a thread is used for the column type mounting hole by Bowden cable fixation on the rotary shaft, and Bowden thread casing is sleeved on Bowden cable, and
One end of Bowden thread casing is fixed to by aluminium alloy pipe cap at from Bowden cable manhole appendix 7mm, and aluminium alloy pipe cap and annular
Baffle is tangent, in this way, greatly reducing frictional force when Bowden cable disengaging, the other end of Bowden thread casing is fixed on software health
On multiple gloves.Wherein, the heart of the Bowden cable uses martensitic stain less steel, enough toughness can be provided, in this way in rehabilitation
It is not susceptible to be bent in the process.
The software restoring gloves are made of software gloves, 5 finger tip fixed modules and 5 pairs of Bowden spool fixed modules,
Wherein each finger tip fixed module is fixed on the finger tips of software gloves, and each pair of Bowden spool fixed module is separately fixed at soft
The body gloves back side；One finger tip fixed module and the equidistant fixed module of a pair of of Bowden spool are point-blank.
In conclusion the present invention has simple in structure, light weight, it is convenient for carrying and dresses, comfortableness and security and health
The features such as synchronism and more preferable real-time that refreshment is practiced.
Description of the drawings
Fig. 1 is a kind of stereogram of wearable healing hand function training device of the present invention；
Fig. 2 is rotary shaft schematic diagram of the embodiment of the present invention；
Fig. 3 is ring baffle schematic diagram of the embodiment of the present invention；
Fig. 4 is Bowden cable draft gear schematic diagram of the embodiment of the present invention；
Fig. 5 software gloves bending effect figures of the embodiment of the present invention.
Reference numeral number explanation：
1：Mechanism supports mounting
2：Bowden cable draft gear：
3：Software restoring gloves
11：First vertical panel
12：Second vertical panel
13：Third vertical panel
14：Device pedestal
11-1：First DC speed-reducing
11-2：Second DC speed-reducing
11-1-1：First disk transmission mechanism
11-1-2：Second disk transmission mechanism
12-3：Third DC speed-reducing
12-4：4th DC speed-reducing
12-3-1：Third disk transmission mechanism
12-4-1：4th disk transmission mechanism
13-1：5th DC speed-reducing
13-2：5th disk transmission mechanism
2-1：Bowden cable
2-2：Bowden the end of a thread
2-3：Aluminium alloy pipe cap
2-4：Bowden thread casing
3-1：Software gloves
3-2：Finger tip fixed module
3-3：Bowden spool fixed module
Specific implementation mode
Below in conjunction with drawings and examples, the invention will be further described.
A kind of wearable hand function rehabilitation training device (as shown in Fig. 1) of the present invention, including mechanism supports mounting 1,
Bowden cable draft gear 2 and software restoring gloves 3；Wherein, the mechanism supports mounting 1 is erected by the first vertical panel 11, second
Face plate 12 directly, third vertical panel 13 is formed, is fixed on 14 on device pedestal by screw；
Equipped with the first DC speed-reducing 11-1, the second DC speed-reducing 11-2 and the on first vertical panel 11
One disk transmission mechanism 11-1-1, the second disk transmission mechanism 11-1-2；Slow down equipped with third direct current on second vertical panel 12
Motor 12-3, the 4th DC speed-reducing 12-4 and third disk transmission mechanism 12-3-1, the 4th disk transmission mechanism 12-4-1；
Third vertical panel 13 is equipped with the 5th DC speed-reducing 13-1 and the 5th disk transmission mechanism 13-2；All direct currents slow down
Motor and disk transmission mechanism have five groups altogether, and model, all is the same size parameter, correspond to thumb, index finger, middle finger, the third finger respectively
And little finger, in this manner it is possible to carry out independent control to five fingers.
The Bowden cable draft gear 2 shares five groups (as shown in Fig. 2), one end of every group of Bowden cable draft gear 2
It is separately fixed at the first disk transmission mechanism 11-1-1, the second disk transmission mechanism 11-1-2；Third disk transmission mechanism 12-3-
1, on the 4th disk transmission mechanism 12-4-1 and the 5th disk transmission mechanism 13-2, other end is all separately fixed at software rehabilitation
The end of 3 each finger of gloves.In this way, the rotation of motor can realize the traction to finger tips.
Described disk transmission mechanism 11-1-1,11-1-2,12-3-1,12-4-1,13-2 are kept off by the consistent annular of size
Plate and rotary shaft composition, rotary shaft are separately fixed at the both sides of vertical panel by the shaft coupling of DC speed-reducing, electric in this way
The rotation of machine can drive the rotation of rotary shaft, wherein (as shown in Fig. 3), there are the annulars of 2mm depths for the outer ring of rotary shaft
Groove and column type mounting hole, column type mounting hole are used for fixing Bowden the end of a thread 2-2 in Bowden cable draft gear 2.Ring baffle is pacified
Mounted in the outside of rotary shaft, for Bowden cable 2-1 to be stuck in the annular groove of rotary shaft, in addition, annular (as shown in Fig. 4)
There are Bowden cable 2-1 manhole appendixes, Bowden cable 2-1, and the hole to be passed through to pass in and out disk transmission mechanism, when mounted, Bowden cable 2- on baffle
1 is then passed through Bowden cable manhole appendix on annular groove after half revolution, the Bowden cable stayed in disk transmission mechanism is made to have
The length of 14cm, in this manner it is possible to ensure that Bowden cable can recycle or promote 14cm.
The Bowden cable draft gear 2, by Bowden the end of a thread 2-2, Bowden cable 2-1, aluminium alloy pipe cap 2-3 and Bowden thread casing
2-4 is formed；Wherein, Bowden the end of a thread 2-2 is used for the column type mounting hole by Bowden cable 2-1 fixations on the rotary shaft, Bowden cable set
Pipe 2-4 is sleeved on Bowden cable 2-1, and one end of Bowden thread casing 2-4 by aluminium alloy pipe cap 2-3 be fixed to from Bowden cable into
Portal at 7mm, and aluminium alloy pipe cap and ring baffle are tangent, in this way, greatly reducing frictional force when Bowden cable disengaging, Bao
The other end for stepping on thread casing 2-4 is fixed on software restoring gloves 3.Wherein, the heart of the Bowden cable uses martensite not
Become rusty steel, can provide enough toughness, be not susceptible to be bent during rehabilitation in this way.
The software restoring gloves 3 are by software gloves 3-1,5 finger tip fixed module 3-2 and 5 pairs of Bowden spool stents
Block 3-3 compositions, wherein each finger tip fixed module 3-2 is fixed on the finger tips of software gloves 3-1, each pair of Bowden spool is fixed
Module 3-3 is separately fixed at the back sides software gloves 3-1；One finger tip fixed module and a pair of of Bowden spool are equidistantly fixed
Module is point-blank.
As described above, when DC speed-reducing 11-1,11-2,12-3,12-4,13-1 are powered and rotate forward, disk driver
Bowden cable 2-1 is promoted corresponding distance by structure 11-1-1,11-1-2,12-3-1,12-4-1,13-2 outward, due to Bowden cable set
One end of pipe 2-4 is fixed on software restoring gloves 3, and the fixed point and Bowden cable 2-1 are constant in the fixed point of finger tip, this
Sample, the Bowden cable 2-1 being pushed into can in this 2 points toward arch (as shown in Fig. 5), due to Bowden cable 2-1 have it is enough tough
Property and rigidity, thus may be implemented bending finger effect, the Bowden cable 2-1 being pushed into is more, and bending effect is just brighter
It is aobvious.Similarly, when DC speed-reducing 11-1,11-2,12-3,12-4,13-1 are powered reversion, disk transmission mechanism 11-1,11-
2, Bowden cable 2-1 is inwardly withdrawn corresponding distance by 12-3,12-4,13-2, to which finger is retracted starting position, by because every
A finger is all individually controlled by five DC speed-reducings 11-1,11-2,12-3,12-4,13-1, it is possible to be completed to finger
Rehabilitation training in all directions.
In conclusion compared with prior art, the present invention having the characteristics that：
(1) use DC speed-reducing drive, compared to air source drive, control effect is more preferably accurate, rehabilitation training it is same
Step property and real-time are more preferable.
(2) power is conducted using Bowden cable, cooperation flexible end mode of traction control patient's finger carries out rehabilitation instruction
Practice, comfortableness and security are more preferable.
(3) compared to exoskeleton type finger convalescence device, the configuration of the present invention is simple, light weight is convenient for carrying and dresses.
Claims (4)
1. a kind of wearable healing hand function training device, which is characterized in that led including mechanism supports mounting (1), Bowden cable
Leading-in device (2) and software restoring gloves (3)；
Wherein, the mechanism supports mounting (1) is by the first vertical panel (11), the second vertical panel (12), third vertical panel
(13) it forms, is fixed on device pedestal (14)；
Be arranged on first vertical panel (11) the first DC speed-reducing (11-1), the second DC speed-reducing (11-2) and
First disk transmission mechanism (11-1-1), the second disk transmission mechanism (11-1-2)；
Third DC speed-reducing (12-3), the 4th DC speed-reducing (12-4) and third are set on the second vertical panel (12)
Disk transmission mechanism (12-3-1), the 4th disk transmission mechanism (12-4-1)；
5th DC speed-reducing (13-1) and the 5th disk transmission mechanism (13-2) are set on third vertical panel (13)；
(2) five groups of the Bowden cable draft gear, one end of every group of Bowden cable draft gear (2) is separately fixed at disk driver
On structure (11-1-1), (11-1-2), (12-3-1), (12-4-1) and (13-2), the other end is separately fixed at software restoring gloves
(3) end of each finger.
2. a kind of wearable healing hand function training device as described in claim 1, which is characterized in that the disk transmission
Mechanism (11-1-1), (11-1-2), (12-3-1), (12-4-1) and (13-2) are the consistent ring baffle and rotary shaft group of size
At；
The rotary shaft and DC speed-reducing are separately fixed at the both sides of vertical panel by DC speed-reducing shaft coupling；
Wherein, there are annular groove and column type mounting hole, column type mounting hole is used for fixing Bowden cable traction dress for the outer ring of rotary shaft
Set Bowden the end of a thread (2-2) in (2)；
Ring baffle is mounted on the outside of rotary shaft, and Bowden cable (2-1) is stuck in the annular groove of rotary shaft, is stayed on ring baffle
There is Bowden cable (2-1) manhole appendix.
3. a kind of wearable healing hand function training device as claimed in claim 1 or 2, which is characterized in that the Bowden
Line draft gear (2), by Bowden the end of a thread (2-2), Bowden cable (2-1), aluminium alloy pipe cap (2-3) and Bowden thread casing (2-4) group
At；
The Bowden the end of a thread (2-2) is used to fix Bowden cable (2-1) on the rotary shaft, and Bowden thread casing (2-4) is sleeved on Bowden
On line (2-1), and one end of Bowden thread casing (2-4) is fixed to by aluminium alloy pipe cap (2-3) from Bowden cable manhole appendix 7mm
Place, other end are fixed on software restoring gloves (3).
4. a kind of wearable healing hand function training device as described in claim 1, which is characterized in that the software rehabilitation
Gloves (3) are made of software gloves (3-1), 5 finger tip fixed modules (3-2) and 5 pairs of Bowden spool fixed modules (3-3),
In each finger tip fixed module (3-2) be fixed on the finger tips of software gloves (3-1), each pair of Bowden spool fixed module (3-
3) it is separately fixed at the back side software gloves (3-1)；
One finger tip fixed module and a pair of of Bowden spool fixed module are point-blank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810087596.1A CN108478384A (en) | 2018-01-29 | 2018-01-29 | A kind of wearable hand function rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810087596.1A CN108478384A (en) | 2018-01-29 | 2018-01-29 | A kind of wearable hand function rehabilitation training device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108478384A true CN108478384A (en) | 2018-09-04 |
Family
ID=63343820
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810087596.1A Pending CN108478384A (en) | 2018-01-29 | 2018-01-29 | A kind of wearable hand function rehabilitation training device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108478384A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109445618A (en) * | 2018-11-19 | 2019-03-08 | 上海掌门科技有限公司 | Motion detection method and wearable device for wearable device |
| CN109481226A (en) * | 2018-09-27 | 2019-03-19 | 南昌大学 | A kind of both hands tracking mode multiple degrees of freedom software finger gymnastic robot and application method |
| CN110946741A (en) * | 2019-12-23 | 2020-04-03 | 吉林大学 | Bidirectional actuator for hand function device |
| CN112912040A (en) * | 2018-10-22 | 2021-06-04 | 艾比力泰克医疗公司 | Auxiliary hand corrector |
| CN113305828A (en) * | 2021-07-29 | 2021-08-27 | 法罗适(上海)医疗技术有限公司 | Wire drive controller of soft robot |
| RU206844U1 (en) * | 2021-06-08 | 2021-09-29 | Федеральное государственное автономное образовательное учреждение высшего образования "Белгородский государственный национальный исследовательский университет" (НИУ "БелГУ") | Device for upper limb finger rehabilitation procedures |
| CN113940856A (en) * | 2021-10-22 | 2022-01-18 | 燕山大学 | Hand rehabilitation training device and method based on myoelectricity-inertia information |
| CN115300857A (en) * | 2022-08-02 | 2022-11-08 | 北京航空航天大学 | Rehabilitation training device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113305828A (en) * | 2021-07-29 | 2021-08-27 | 法罗适(上海)医疗技术有限公司 | Wire drive controller of soft robot |
| CN113940856A (en) * | 2021-10-22 | 2022-01-18 | 燕山大学 | Hand rehabilitation training device and method based on myoelectricity-inertia information |
| CN115300857A (en) * | 2022-08-02 | 2022-11-08 | 北京航空航天大学 | Rehabilitation training device |
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Application publication date: 20180904 |