CN109481226A - A kind of both hands tracking mode multiple degrees of freedom software finger gymnastic robot and application method - Google Patents
A kind of both hands tracking mode multiple degrees of freedom software finger gymnastic robot and application method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims abstract description 33
- 238000002567 electromyography Methods 0.000 claims abstract description 32
- 210000000236 metacarpal bone Anatomy 0.000 claims abstract description 17
- 230000008447 perception Effects 0.000 claims abstract description 15
- 210000003811 finger Anatomy 0.000 claims description 70
- 238000011084 recovery Methods 0.000 claims description 21
- 210000004247 hand Anatomy 0.000 claims description 15
- 241000905957 Channa melasoma Species 0.000 claims description 13
- 230000036541 health Effects 0.000 claims description 6
- 210000003813 thumb Anatomy 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 210000000811 metacarpophalangeal joint Anatomy 0.000 claims description 5
- 210000000988 bone and bone Anatomy 0.000 claims description 3
- 125000004122 cyclic group Chemical group 0.000 claims description 3
- 238000010801 machine learning Methods 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 2
- 230000004044 response Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000005057 finger movement Effects 0.000 description 4
- 210000003205 muscle Anatomy 0.000 description 4
- 208000006011 Stroke Diseases 0.000 description 3
- 238000005452 bending Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 210000002745 epiphysis Anatomy 0.000 description 3
- 230000035876 healing Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 208000020538 atrophic muscular disease Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
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- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
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- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
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- Heart & Thoracic Surgery (AREA)
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- Oral & Maxillofacial Surgery (AREA)
- Dentistry (AREA)
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Abstract
The present invention provides a kind of both hands tracking mode multiple degrees of freedom software finger gymnastic robots, including normal hand flexible exoskeleton gloves, restore hand flexible exoskeleton gloves, control system, drive module, motion perception unit and Bowden cable, refers to control and driving using three；Motion perception unit includes being distributed in normal hand and restoring the multiple groups Flexiable angular transducer of hand ectoskeleton gloves and correspond to the electromyography signal sensor on arm；Restore metacarpal bone end and proximal phalanx end on the every finger of hand flexible exoskeleton gloves and motor driven is installed；Motor driven is connect by Bowden cable with the joint end or fingertip end for restoring hand flexible exoskeleton gloves.The invention also includes above-mentioned robot application methods.Present invention employs three to refer to that the both hands tracking mode rehabilitation of structure designs formula flexible exoskeleton gloves, it establishes normal hand and restores symmetrically contacting for hand, it can control multiple joints of every finger in conjunction with the multiple groups motor driven on gloves, it can control 6 freedom degrees, improve functional and comfort and save cost simultaneously.
Description
Technical field
The invention belongs to rehabilitation medical instrument field technical fields, and in particular to a kind of both hands tracking mode multiple degrees of freedom software
Finger gymnastic robot and its application method.
Background technique
As China gradually marches toward aging society, Stroke In Aged is at the social big problem of puzzlement.According to related number
According to display: China increases patients with cerebral apoplexy newly up to 1,005,000,000 every year, and patient can suffer from hemiplegia, limb mostly after post-stroke
The problems such as body dyskinesia.These problems result in that life of elderly person is of poor quality, the problems such as can't take care of oneself.And hand
Motor function is because of its dominating neural complexity, therefore it is bigger to restore difficulty, and also results in hand motion function there are also many wounds
It is impaired in addition lose.Theory of medicine and it was verified that muscle disuse atrophy in order to prevent, it is necessary to take effective finger
Rehabilitation training restores the function of hand to reach, and finger gymnastic robot can help patient preferably to reach recovery effects can also be with
Mitigate the burden of medical staff and medical expense can be reduced and mitigate household economy burden, and using multiple degrees of freedom and double tracks
The finger gymnastic robot of formula, can reach better therapeutic effect.
Chinese patent application CN105496728A discloses a kind of soft robot hand for hand movement function rehabilitation
Set, which can help patient to carry out the rehabilitation training of finger, but still come with some shortcomings, and carry out health using the device
Refreshment not can control multiple joints of finger when practicing and move freely, can only whole finger movement, reduce the effect of rehabilitation training；Hand
The control system of set is separated with gloves, and when use is inconvenient to carry to walk about.
Summary of the invention
Aiming at the shortcomings in the prior art with problem, the present invention is intended to provide a kind of both hands tracking mode multiple degrees of freedom software hand
Refer to healing robot.
The present invention is achieved by the following technical programs:
A kind of both hands tracking mode multiple degrees of freedom software finger gymnastic robot, including it is normal hand flexible exoskeleton gloves, extensive
Multiple hand flexible exoskeleton gloves, control system, drive module, motion perception unit and multiple groups Bowden cable.
Wherein, normal hand flexible exoskeleton gloves and recovery hand flexible exoskeleton gloves are all made of the control of three fingers and driving,
Specially thumb, index finger and middle finger；
The motion perception cell distribution is corresponding when normal hand is used with the ectoskeleton gloves and gloves for restoring hand
On arm, it is made of multiple groups Flexiable angular transducer and electromyography signal sensor；
Wherein, motion perception unit output end is connected to the control system, and wirelessly sends it to control
System；The output end of control system connects drive module；
Wherein, control system includes the software component elements that hardware composition part and machine learning algorithm are realized, for connecing
It receives and processing data is to control the drive module；
Wherein, drive module includes single-chip microcontroller and motor driven, controls the movement of finger for driving the Bowden cable；
Drive module is mounted at the back of the hand on the recovery hand flexible exoskeleton gloves, and motor driven is six groups, is separately mounted to extensive
The metacarpal bone end and proximal phalanx end for the close finger that multiple hand flexible exoskeleton gloves three refer to；Motor driven include direct current generator,
Worm and gear and motor controlling cabinet；
Wherein, motor driven is connect by Bowden cable with the joint end or fingertip end for restoring hand flexible exoskeleton gloves.
Further, restore that two groups of motor drivens are installed on the every finger of hand flexible exoskeleton gloves, motor driven includes difference
Be mounted on the motor driven I of the thumb metacarpal bone and motor driven II at proximal phalanx end, index finger metacarpal bone end motor driven III and
The motor driven VI of the motor driven IV at proximal phalanx end, the motor driven V at long finger metacarpals end and proximal phalanx end.
Further, the motion perception unit includes the flexible angle sensor for being mounted on normal hand flexible exoskeleton gloves
Flexiable angular transducer II on device I, recovery hand flexible exoskeleton gloves, and the electromyography signal sensing being mounted on normal arm
Electromyography signal sensor II on device I and recovery arm, for collecting normal hand and restoring the electromyography signal and angle signal of hand.
Further, restore that four groups of Bowden cables are installed on each finger-stall of hand flexible exoskeleton gloves.
Further, wherein one end connection of one group of Bowden cable restores the Fingers that the palm of the hand of hand flexible exoskeleton gloves is surveyed
Tip, the other end connect the motor-driven motor controlling cabinet at corresponding phalanx proximalis digitorum manus end, wherein one end of one group of Bowden cable
Connect the Fingers tip of the dorsal side for restoring hand flexible exoskeleton gloves, the other end connects corresponding phalanx proximalis digitorum manus end
Motor-driven motor controlling cabinet, the connection of above-mentioned two groups of Bowden cables is used to control the second joint movement of finger；Wherein one group
One end of Bowden cable connects the finger second joint end of the palm of the hand survey for restoring hand flexible exoskeleton gloves, the other end is connected to
In the motor-driven motor controlling cabinet at corresponding finger metacarpal bone end；Wherein it is flexible to connect the recovery hand for one end of one group of Bowden cable
The finger second joint end of the dorsal side of ectoskeleton gloves, the other end are connected to the motor-driven motor at corresponding finger metacarpal bone end
In control cabinet, above-mentioned two groups of Bowden cables connection is used to control metacarpophalangeal joints.
Further, fixed spool is cased on Bowden cable.
Further, electromyography signal sensor uses cyclic structure.
The application method of both hands tracking mode multiple degrees of freedom software finger gymnastic robot of the present invention, comprising the following steps:
1. system collects the action message of normal hand, made after putting on normal hand flexible exoskeleton gloves by the hand of health
Elemental motion, and I pairs of upper electromyography signal sensor I, Flexiable angular transducer I and electromyography signal sensor are covered on corresponding arm
The result of the action is measured, is exported；
2. normal manual makees the training and study of information, control system is passed by electromyography signal sensor I and flexible angle
The signal of sensor I output is analyzed, trained and is learnt；
3. detection and identification to hand is restored, electromyography signal sensor II, which restores the electromyography signal that hand generates to patient, to carry out
Measurement and output, the learning outcome before control system passes through judge that the movement of patient is intended to；
4. restoring the movement at hand end, control system gives a response according to judging result, passes through drive module and Bowden line traffic control
The second joint that system restores hand flexible exoskeleton gloves is moved with metacarpal bone section；
5. collect restore hand feedback information: Flexiable angular transducer II to the movement that patient makes measure with it is defeated
Out, and with learning outcome it compares；
6. system optimization optimizes training pattern by the way that patient is restored the comparison made manually and learnt again.
Compared with prior art, beneficial effect of the present invention includes:
(1) present invention combines the advantages of rigid exo bone finger gymnastic robot and flexible healing robot, wears patient
Multiple joints comfortable and that finger can be controlled well are worn, can control 6 freedom degrees；
(2) flexible exoskeleton gloves of the present invention refer to structure control and driving using three, can not only complete required
Function, and cost can also be saved and reduce unnecessary expense；
(3) drive module and the integrated structure of flexible exoskeleton gloves are used in the present invention, can be more preferably convenient for carrying, and are fitted
Close the rehabilitation training under several scenes；
(4) present invention resumes training model and extracts from the exercise habit of the normal hand of patient, rather than with health care workers
Subjective judgement establish, can ensure the safe and reliable of rehabilitation course to the full extent；
(5) present invention is designed using the rehabilitation of both hands tracking mode, can be restored with effective stimulus brain in patients and be established normal hand
It is contacted with the symmetrical of hand is restored, patient is helped preferably to restore finger function；
(6) present invention rotates forward, inverts and stops three kinds of states using direct current generator more effectively to draw the Bowden cable
Control finger and it is bent.
Detailed description of the invention
Fig. 1 is the normal hand flexible exoskeleton gloves schematic diagram in the present invention；
Fig. 2 is the structural schematic diagram in the recovery hand flexible exoskeleton gloves palm of the hand face in the present invention；
Fig. 3 is the structural schematic diagram of the recovery hand flexible exoskeleton gloves palmar aspect in the present invention；
Fig. 4 is the electromyography signal sensor structure schematic diagram in the present invention；
Fig. 5 is the motor-driven structural schematic diagram in the present invention.
Illustrate: the normal hand flexible exoskeleton gloves of 1-, 2 be Flexiable angular transducer I, and 3 be recovery hand flexibility dermoskeleton
Bone gloves, 4 be Flexiable angular transducer II, and 5 be Bowden cable, and 6 be fixed spool, and 7 be motor driven I, and 8 be motor driven II, 9
It is motor driven IV for motor driven III, 10,11 be motor driven V, and 12 be motor driven VI, and 13 be single-chip microcontroller, and 14 be myoelectricity
Signal transducer, 15 be direct current generator, and 16 be motor controlling cabinet, and 17 be worm and gear.
Specific embodiment
In order to which technological means, inventive features, the technical effect etc. that realize the present invention are easy to understand, below in conjunction with
It is specifically illustrating, the present invention is further explained.
In the present embodiment, metacarpal bone refers to that the epiphysis that palm connects with finger, proximal phalanx refer to the section close to finger
Epiphysis, metacarpophalangeal joints refer to the joint of palm Yu finger connecting place, and second joint refers to that finger closely saves and the pass of middle section connecting place
Section.
A kind of both hands tracking mode multiple degrees of freedom software finger gymnastic robot, including it is normal hand flexible exoskeleton gloves 1, extensive
Multiple hand flexible exoskeleton gloves 3, control system, drive module, motion perception unit and multiple groups Bowden cable 5.
Wherein, normal hand flexible exoskeleton gloves 1 are worn on health on hand, acquire joint angle when healthy hand finger movement
Degree, movement muscle signal；Recovery hand flexible exoskeleton gloves 3, which are worn on, needs rehabilitation on hand, flexible with collected normal hand
1 finger of ectoskeleton gloves, arm signal be tracking source, driving finger-joint activity；Normal hand flexible exoskeleton gloves 1 with it is extensive
Multiple hand flexible exoskeleton gloves 3 are all made of the control of three fingers and driving, specially thumb, index finger and middle finger.
Wherein, motion perception cell distribution is corresponding when normal hand is used with the ectoskeleton gloves and gloves for restoring hand
On arm, it is made of multiple groups Flexiable angular transducer and electromyography signal sensor 14；The motion perception unit includes being mounted on
The Flexiable angular transducer I2 of normal hand flexible exoskeleton gloves 1, restore flexible angle sensor on hand flexible exoskeleton gloves 3
Device II4, and the electromyography signal sensor I and electromyography signal sensor II on recovery arm being mounted on normal arm, are used to
It collects normal hand and restores the electromyography signal of muscle on arm when angle signal and the finger movement of hand.Pass through the hand of health
Elemental motion is made after putting on normal hand flexible exoskeleton gloves 1, and covers upper electromyography signal sensor I on corresponding arm, it is soft
Property angular transducer I and electromyography signal sensor I measures the result of the action, exports；Electromyography signal sensor II and flexibility
Angular transducer II is measured and is exported to the movement that hand is made is restored, its result can be carried out analysis optimization.
Wherein, motion perception unit output end is connected to the control system, and wirelessly sends it to control
System；The output end of control system connects drive module.
Wherein, control system includes the software component elements that hardware composition part and machine learning algorithm are realized, for connecing
It receives and processing data is to control the drive module.
Wherein, drive module includes single-chip microcontroller 13 and motor driven, controls the fortune of finger for driving the Bowden cable 5
It is dynamic；Wherein, drive module is mounted at the back of the hand for restoring hand flexible exoskeleton gloves 3, and drive module is placed in the back of the hand one side, this
Sample can multiple rehabilitation environments easy to carry and use；Motor driven is six groups, is separately mounted to restore hand flexible exoskeleton
The metacarpal bone end and proximal phalanx end for the close finger that gloves 3 three refer to install two on the recovery every finger of hand flexible exoskeleton gloves 3
Group motor driven, motor driven includes the motor driven I7 for being separately mounted to thumb metacarpal bone and the motor driven at proximal phalanx end
II8, the motor driven IV10 of the motor driven III9 at index finger metacarpal bone end and proximal phalanx end, long finger metacarpals end motor driven
The motor driven VI12 of V11 and proximal phalanx end.
Wherein motor driven includes direct current generator 15, worm and gear 17 and motor controlling cabinet 16, and motor controlling cabinet 16 is also
Including the multiple connection jaws being connect with Bowden cable 5.
Wherein, Bowden cable 5 is used for motor driven and restores the joint end of hand flexible exoskeleton gloves 3 or fingertip end connects
It connects, the finger gymnastic movement for restoring hand is drawn by the tracking information of normal hand.
Wherein, restore that four groups of Bowden cables 5 are installed on each finger-stall of hand flexible exoskeleton gloves 3.
Wherein one end connection of one group of Bowden cable 5 restores Fingers tip that the palm of the hand of hand flexible exoskeleton gloves 3 surveys, another
One end connects the motor-driven motor controlling cabinet 16 at corresponding phalanx proximalis digitorum manus end；Wherein one end connection of one group of Bowden cable 5
The Fingers tip of the dorsal side for restoring hand flexible exoskeleton gloves 3, the corresponding finger of other end connection other end connection are close
The motor-driven motor controlling cabinet 16 at phalanges end is saved, above-mentioned two groups of Bowden cables 5 connection is used to control the second joint fortune of finger
It is dynamic.
Wherein one end of one group of Bowden cable 5 connects the finger second that the palm of the hand for restoring hand flexible exoskeleton gloves 3 is surveyed
Joint end, the other end are connected in the motor-driven motor controlling cabinet 16 at corresponding finger metacarpal bone end；Wherein one group of Bowden cable 5
One end connects the finger second joint end of the dorsal side for restoring hand flexible exoskeleton gloves 3, the other end is connected to corresponding hand
In the motor-driven motor controlling cabinet 16 of fingers and palms epiphysis, above-mentioned two groups of Bowden cables 5 connection is used to control metacarpophalangeal joints.
Wherein, it is cased with fixed spool 6 on Bowden cable 5, for fixing Bowden cable 5, prevents it from moving left and right.
Wherein, electromyography signal sensor uses cyclic structure, and fixing sleeve is on arm when being easy to use, while can adopt comprehensively
Arm muscles motor message when collecting finger movement.
In specific implementation, signal transmits by wirelessly passing between motion perception unit, control system and drive module
Defeated mode, including but not limited to Bluetooth transmission, wireless network transmissions etc..
Patient passes through the letter of the myoelectricity on Flexiable angular transducer I2 and arm on normal hand flexible exoskeleton gloves 1 first
Number sensor I collects electromyography signal and angle signal, and the data of collection are input to control system by wireless transmission method
In analyzed, trained and learnt, then by electromyography signal sensor II to patient restore hand generate electromyography signal carry out
Measurement and output, the learning outcome before control system passes through judge that the movement of patient is intended to, and control system judges, will locate
The data managed are output in the single-chip microcontroller 13 that patient restores on hand, and then control direct current generator 15 by rotating forward, inverting and stop
Stop to control the movement of finger.Direct current generator can rotate forward, invert and stop there are three types of state, can preferably draw Bowden cable 5
With control finger and it is bent.
The present invention refers to structure using three, motor driven II8, motor driven when the bending of the second articulations digitorum manus of patient
IV10, motor driven VI12 start to work, and the Bowden cable 5 of finger tip starts to receive in the centre of the palm, and the Bowden cable 5 of finger tip starts on the back of the hand
Out, when the second articulations digitorum manus of patient opens, the Bowden cable 5 of finger tip starts in the centre of the palm, and the Bowden cable 5 of finger tip starts on the back of the hand
It receives, thus opens；When the bending of the metacarpophalangeal joints of patient, motor driven I7, motor driven III9 and motor driven V11 are opened
Beginning work, the Bowden cable 5 of the second articulations digitorum manus starts to receive in the centre of the palm, and the Bowden cable 5 of the second articulations digitorum manus starts on the back of the hand, works as patient
When second articulations digitorum manus opens, the Bowden cable 5 of the second articulations digitorum manus starts in the centre of the palm, and the Bowden cable 5 of the second articulations digitorum manus is opened on the back of the hand
Begin to receive, such second articulations digitorum manus just opens；When whole finger of patient needs dynamic, the direct current generator 15 on a finger is controlled
Start simultaneously at work.Restore Flexiable angular transducer II4 on hand, for collecting the operating angle letter restored in training on hand
Number, the data of recovery on hand and normal data comparison on hand are learnt again later, optimize training pattern.Refer to using three
It helps patient to complete a series of living skill mitigation expense and Master Cost and mitigates weight；In this way using motor driven
Mounting structure can preferably control multiple joints of patient, have better effect to recovery.Pass through two on each finger
Group motor driven and four groups of Bowden cables 5 drives finger closely save, middle section and the flexion far saved, realize two, each joint oneself
By the activity spent, and then each finger can realize that six-freedom degree bending is move freely.
The above only expresses the preferred embodiment of the present invention, and the description thereof is more specific and detailed, but can not be because
This and be interpreted as limitations on the scope of the patent of the present invention.It should be pointed out that for those of ordinary skill in the art,
Under the premise of not departing from present inventive concept, several deformations can also be made, improves and substitutes, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (8)
1. a kind of both hands tracking mode multiple degrees of freedom software finger gymnastic robot, including it is normal hand flexible exoskeleton gloves (1), extensive
Multiple hand flexible exoskeleton gloves (3), control system, drive module, motion perception unit and multiple groups Bowden cable (5)；
Wherein, the motion perception unit output end is connected to the control system, and is wirelessly sent it to described
Control system；The output end of the control system connects the drive module；The control system include hardware composition part and
The software component elements that machine learning algorithm is realized；The drive module includes single-chip microcontroller (13) and motor driven, the motor
Driving includes direct current generator (15), worm and gear (17) and motor controlling cabinet (16)；
It is characterized by: the normal hand flexible exoskeleton gloves (1) are all made of with the recovery hand flexible exoskeleton gloves (3)
Three refer to control and driving, specially thumb, index finger and middle finger；
The motion perception cell distribution corresponding arm when normal hand is used with the ectoskeleton gloves and gloves for restoring hand
On, it is made of multiple groups Flexiable angular transducer and electromyography signal sensor (14)；
The single-chip microcontroller (13) and motor driven are installed at the back of the hand on recovery hand flexible exoskeleton gloves (3)；
The motor driven is six groups, is separately mounted to the close finger that the recovery hand flexible exoskeleton gloves (3) three refer to
Metacarpal bone end and proximal phalanx end；
Joint end or fingertip end of the Bowden cable (5) by the motor driven with recovery hand flexible exoskeleton gloves (3)
Connection.
2. a kind of both hands tracking mode multiple degrees of freedom software finger gymnastic robot according to claim 1, it is characterised in that:
The motion perception unit include the Flexiable angular transducer I (2) for being mounted on normal hand flexible exoskeleton gloves 1, restore hand it is soft
Property ectoskeleton gloves (3) on Flexiable angular transducer II (4), and the electromyography signal sensor I that is mounted on normal arm with
Restore the electromyography signal sensor II on arm.
3. a kind of both hands tracking mode multiple degrees of freedom software finger gymnastic robot according to claim 2, it is characterised in that:
Two groups of motor drivens are installed, motor driven includes being separately mounted to big thumb on the every finger of the recovery hand flexible exoskeleton gloves (3)
The motor driven I (7) of the fingers and palms bone and motor driven II (8) at proximal phalanx end, index finger metacarpal bone end motor driven III (9) and
Motor driven IV (10), the motor driven V (11) at long finger metacarpals end and the motor driven VI at proximal phalanx end at proximal phalanx end
(12)。
4. a kind of both hands tracking mode multiple degrees of freedom software finger gymnastic robot according to claim 3, it is characterised in that:
Bowden cable (5) described in installing four groups on each finger-stall of the recovery hand flexible exoskeleton gloves (3).
5. a kind of both hands tracking mode multiple degrees of freedom software finger gymnastic robot according to claim 4, it is characterised in that:
The wherein finger fingertip that one end connection palm of the hand for restoring hand flexible exoskeleton gloves (3) of Bowden cable described in one group (5) is surveyed
End, the other end connect the motor-driven motor controlling cabinet (16) at corresponding phalanx proximalis digitorum manus end, wherein Bao described in one group
Step on Fingers tip, the other end connection pair of one end connection dorsal side for restoring hand flexible exoskeleton gloves (3) of line (5)
The motor-driven motor controlling cabinet (16) at phalanx proximalis digitorum manus end is answered, above-mentioned two groups of Bowden cables (5) connection is used to control
The second joint of finger moves；Wherein one end of Bowden cable described in one group (5) connects the recovery hand flexible exoskeleton gloves (3)
The finger second joint end surveyed of the palm of the hand, the other end be connected to the motor-driven motor controlling cabinet at corresponding finger metacarpal bone end
(16) in；The wherein hand of one end connection dorsal side for restoring hand flexible exoskeleton gloves (3) of Bowden cable described in one group (5)
Refer to that second joint end, the other end are connected in the motor-driven motor controlling cabinet (16) at corresponding finger metacarpal bone end, it is above-mentioned
Two groups of Bowden cable (5) connections are used to control metacarpophalangeal joints.
6. a kind of both hands tracking mode multiple degrees of freedom software finger gymnastic robot according to claim 1, it is characterised in that:
Fixed spool (6) are cased on the Bowden cable (5).
7. a kind of both hands tracking mode multiple degrees of freedom software finger gymnastic robot according to claim 1, it is characterised in that:
The electromyography signal sensor (14) uses cyclic structure.
8. a kind of a kind of both hands tracking mode multiple degrees of freedom software finger gymnastic robot arbitrarily described based on claim 1-5
Application method, which is characterized in that method includes the following steps:
1. system collects the action message of normal hand, made after putting on normal hand flexible exoskeleton gloves (1) by the hand of health
Elemental motion, and I pairs of upper electromyography signal sensor I, Flexiable angular transducer I and electromyography signal sensor are covered on corresponding arm
The result of the action is measured, is exported；
2. normal manual makees the training and study of information, control system passes through electromyography signal sensor I and Flexiable angular transducer I
(2) signal exported is analyzed, trained and is learnt；
3. detection and identification to hand is restored, electromyography signal sensor II restores the electromyography signal that hand generates to patient and measures
With output, the learning outcome before control system passes through judges that the movement of patient is intended to；
4. restoring the movement at hand end, control system gives a response according to judging result, is controlled by drive module and Bowden cable (5)
The second joint for restoring hand flexible exoskeleton gloves (3) is moved with metacarpal bone section；
5. collecting the feedback information for restoring hand, Flexiable angular transducer II (4) is measured and is exported to the movement that patient makes,
And it is compared with learning outcome；
6. system optimization optimizes training pattern by the way that patient is restored the comparison made manually and learnt again.
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| CN114111772A (en) * | 2021-11-29 | 2022-03-01 | 江苏科技大学 | Underwater robot soft operation hand position tracking method based on data gloves |
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| CN114248283A (en) * | 2021-12-30 | 2022-03-29 | 湖南农业大学 | Exoskeleton maintenance robot hand with Bluetooth sensing function |
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