CN109758333A - A kind of recovering aid software hand - Google Patents
A kind of recovering aid software hand Download PDFInfo
- Publication number
- CN109758333A CN109758333A CN201810439665.0A CN201810439665A CN109758333A CN 109758333 A CN109758333 A CN 109758333A CN 201810439665 A CN201810439665 A CN 201810439665A CN 109758333 A CN109758333 A CN 109758333A
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- Prior art keywords
- finger
- ontology
- recovering aid
- software hand
- raised section
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Abstract
The invention proposes a kind of recovering aid software hands, comprising: five softwares profiling finger corresponding with human finger, the profiling finger include referring to ontology, raised section and flat segments；The raised section and flat segments are the spaced apart multistage along the length direction for referring to ontology, and are located at the finger back side for referring to ontology；Raised section described in multistage is corresponding with the joint part of human finger, and un-flexed section of the flat segments and human finger is corresponding；It is equipped with runner along the length direction for referring to ontology in the finger ontology, the runner is elongated hole shape structure；The inside of each raised section is equipped with an expansion chamber, and the expansion chamber is connected to the runner.The rehabilitation hand is process using silastic material, and is driven using gas or liquid, and structure copies manpower structure to design completely, can be only bent in joint, and non-joint cannot be bent, and can preferably be attached with manpower, is more suitable for rehabilitation.
Description
Technical field
The present invention relates to Medical Devices technologies, and in particular to a kind of recovering aid software hand.
Background technique
For the paralysed patients such as headstroke, brain extravasated blood, rehabilitation is that they can regain the desired key of life
And effective treatment method.But traditional rehabilitation appliances, in particular for the rehabilitation appliances of hand, exist structure is complicated, from
By spending less, motor pattern is few and adaptability, the deficiencies of flexibility is weaker place, and mostly uses rigid structure, and there are two
The shortcomings that can not overcoming: 1) rigid structure is easy to cause secondary injury to patient during adjuvant treatment, not only not
Can help Rehabilitation, can also making patients the state of an illness；2) rigid structure motor pattern is single, is difficult to be bonded with manpower, cannot
The movement of simulation manpower well.
In recent years, with the development of flexible robot and soft robot, occur some using Technology of Flexibility or soft
The rehabilitation hand structure of material, for example, steel wire driving software rehabilitation hand and software rehabilitation hand based on fiber reinforcement driver.Steel
Though the software hand of silk driving has certain flexibility, steel wire still can damage patient, and be driven based on fiber reinforcement
Although the software rehabilitation hand of device is using silicon rubber soft material, total can be all bent after inflation, cannot be pasted well
Attached manpower, therefore sense of discomfort can be brought to patient.
Summary of the invention
One of in order to solve the above-mentioned technical problem, the invention proposes a kind of recovering aid software hands, comprising: with human body hand
Refer to that corresponding five softwares profiling finger, the profiling finger include referring to ontology, raised section and flat segments；
The raised section and flat segments are the spaced apart multistage along the length direction for referring to ontology, and are located at
The finger back side for referring to ontology；
Raised section described in multistage is corresponding with the joint part of human finger, the flat segments and human finger it is un-flexed
Section is corresponding；
It is equipped with runner along the length direction for referring to ontology in the finger ontology, the runner is elongated hole shape structure；
The inside of each raised section is equipped with an expansion chamber, and the expansion chamber is connected to the runner.
Further, the quantity of the corresponding raised section of each joint part is 2 to 5.
Further, the gap between multiple raised sections corresponding to each joint part is greater than the raised section thickness
1/3, less than the 1/2 of the raised section thickness.
Further, the protrusion height of the raised section is greater than the 1/2 of the whole height for referring to ontology.
Further, the flat segments are equipped with the cord extended along the finger body length direction.
Further, corresponding in the software finger of human body thumb, the cross of raised section described in the multistage of root joint is corresponded to
Section is in wedge triangular arrangement, and the cross section and the length direction angle for referring to ontology are 30 ° to 60 °.
Further, the finger ontology is made and is an integral molding structure using silica gel.
Further, the recovering aid software hand further includes medium source and software hand interconnecting piece, five profiling fingers
End be fixedly connected on the software hand interconnecting piece, the runner of the medium source and five profiling fingers passes through
Pipeline is directly or indirectly connected to.
Further, the medium that the medium source provides is gas or liquid, and the recovering aid software hand further includes control
Device, the controller are electrically connected with the medium source, are flowed in the runner of each profiling finger for controlling medium
It is dynamic.
Further, the recovering aid software hand further includes the gloves worn for manpower, and the profiling finger is together with institute
State the upper surface that software hand interconnecting piece is fixedly connected on the gloves together.
A kind of beneficial effect of recovering aid software hand provided by the present invention is, not for rigid rehabilitation hand structure
Foot, line, which drives software hand potential harm and part software hand, cannot attach manpower etc., propose a kind of gas or liquid driven
Recovering aid software hand.The rehabilitation hand is process using silastic material, and is driven using gas or liquid, therefore have
Fabulous safety and flexibility, structure copy manpower structure to design completely, can only be bent in joint, non-joint cannot
Bending can be attached preferably with manpower, be more suitable for rehabilitation.
Detailed description of the invention
Fig. 1 is a kind of solid of the profiling finger of recovering aid software hand provided by the present invention under elongation state
Structural schematic diagram；
Fig. 2 is schematic cross-sectional view shown in FIG. 1；
Fig. 3 is the schematic perspective view of profiling finger shown in FIG. 1 in the bent state；
Fig. 4 is the schematic cross-sectional view under bending state shown in Fig. 3；
Fig. 5 is the schematic perspective view under the bending state of the profiling finger of corresponding thumb；
Fig. 6 is the top view structural schematic diagram under the elongation state of profiling finger shown in Fig. 5；
Fig. 7 is the schematic cross-sectional view of profiling finger shown in Fig. 6；
Fig. 8 is a kind of overall structure diagram of the specific embodiment of recovering aid software hand provided by the present invention.
Wherein, piece number indicates in figure are as follows:
1, profiling finger, 2, software hand interconnecting piece, 3, pipeline, 11, refer to ontology, 12, raised section, 13, flat segments, 14, stream
Road, 15, expansion chamber, 16, cord, d, gap, m, raised section thickness, h, protrusion height, H, whole height, S, cross section, α,
Angle.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
Fig. 1 to Fig. 8 is please referred to, Fig. 1 is that a kind of profiling finger of recovering aid software hand provided by the present invention exists
Schematic perspective view under elongation state；Fig. 2 is schematic cross-sectional view shown in FIG. 1；Fig. 3 is profiling hand shown in FIG. 1
Refer to schematic perspective view in the bent state；Fig. 4 is the schematic cross-sectional view under bending state shown in Fig. 3；Fig. 5 is pair
Answer the schematic perspective view under the bending state of the profiling finger of thumb；Fig. 6 is the elongation of profiling finger shown in Fig. 5
Top view structural schematic diagram under state；Fig. 7 is the schematic cross-sectional view of profiling finger shown in Fig. 6；Fig. 8 is provided by the present invention
A kind of recovering aid software hand specific embodiment overall structure diagram.
In a kind of specific embodiment of recovering aid software hand provided by the invention, comprising: opposite with human finger
The five software profiling fingers 1 answered, the profiling finger 1 include referring to ontology 11, raised section 12 and flat segments 13；The profiling finger
1 refers to the prosthese finger similar with the finger shape of people.
The raised section 12 and flat segments 13 are the spaced apart multistage along the length direction for referring to ontology 11, and
And it is located at the finger back side for referring to ontology 11；Due to the recovering aid software hand be people to be worn on hand, so each imitative
Shape finger 1 has a direction of the length along finger, and similar with the finger of people, which also has one
Finger back side that is to say the opposite side to bend.
Raised section 12 described in multistage is corresponding with the joint part of human finger, and the flat segments 13 are non-with human finger
It is corresponding between bending section namely joint；Multistage raised section 12 mentioned here, in particular to have that certain interval d's is convex to each other
It rises, as described in Figure, flat segments 13 are determined according to the length in the un-flexed portion of the finger of human body, and different fingers can have different
Length voluntarily can be adjusted or be customized according to different crowd.
Described refer in ontology 11 is equipped with runner 14 along the length direction for referring to ontology 11, and the runner 14 is elongated hole
Shape structure；By runner 14, compressed gas or liquid can be injected into and be referred in ontology 11.
The inside of each raised section 12 is equipped with an expansion chamber 15, and the expansion chamber 15 connects with the runner 14
It is logical.Compressed gas or liquid can be entered in each expansion chamber 15 by runner 14.
Through the invention, when being passed through compressed gas or liquid in runner 14, medium can enter the swollen of each raised section 12
In swollen chamber 15, with the increase of pressure, each meeting of raised section 12 dilatancy due to inside compression, and then make profiling finger 1
Bend, be alternatively arranged by the raised section 12 of multistage, and correspond to human finger joint part after, when profiling finger
It after 1 bending, will be moved with moving corresponding finger, realize the purpose of recovering aid treatment.And flat segments 13 then by
There is no local pressure in inside, does not occur bending and deformation, ensure that the good fit effect with the finger of people.Therefore, this is utilized
The control of the bending to profiling finger 1 may be implemented in principle, simulates the movement of manpower, meanwhile, it is capable to realize the perfection patch with manpower
It closes, solves above-mentioned problems in the prior art.
Since the size of profiling finger 1 needs the finger size with people similar, so the size and number of raised section 12
It is very crucial, in the present invention, as a preferred embodiment, 12 quantity of raised section for corresponding to each key aspect is 2 to 5
A, the size in joint is bigger at the root joint of finger, so quantity can be slightly more, the joint on corresponding finger can be less.
For in principle, 12 quantity of raised section is more, more can accurately be bonded, and is equivalent to the effect of more folds, still, often
It there is provision of expansion chamber 15 inside a raised section 12, so needing to meet certain wall thickness requirement to ensure that intensity is enough.But
It is that quantity is more, difficulty of processing is also bigger, and cost is also higher.
Specifically, the gap d between every two adjacent raised section 12 also has certain requirement, it cannot be excessive or too small,
Excessive then bending effect is inadequate, and too small then difficulty of processing is too big, as a preferred embodiment, each joint part institute is right
The gap d between multiple raised sections 12 answered is greater than the 1/3 of the raised section thickness m, less than the raised section thickness m's
1/2。
The requirement for height of raised section 12, it is also desirable to meet some requirements, it is too high or too low can not achieve well it is curved
Qu Xiaoguo, be greater than the whole height H for referring to ontology 11 with the protrusion height h of raised section 12 1/2 are preferred.
In addition, in flat segments 13, since it is without protrusion, so entire outer diameter is smaller, to meet intensity requirement, and
Better un-flexed limitation is carried out to it, can increase the cord 16 as shown in Fig. 1 or Fig. 3, the cord in flat segments 13
16 extend along the length direction of ontology 11 along referring to, are uniformly arranged multiple, and by this design, it is strong that its own not only can be improved
Degree, and can preferably limit the bending due to raised section 12 and drive the bending of generation, it preferably realizes and finger
Fitting.
In the present invention, five software fingers respectively correspond thumb, index finger, middle finger, the third finger and the little finger of people,
In, the structure of other four profiling fingers 1 in addition to thumb is similar, since there is torsion in the root of thumb, in order to improve
The adaptability of rehabilitation software hand in the present invention, profiling finger 1 corresponding for thumb, can be to corresponding to root joint
Special designing is done in raised section 12, as a preference, corresponding in the software finger of human body thumb, corresponds to the more of root joint
The cross section S of the raised section Duan Suoshu 12 is in wedge triangular arrangement, as shown in Figure 5-Figure 8.And the cross section S and the finger ontology
11 length direction angle α is 30 ° to 60 °.It so, can be due to band after being passed through compressed gas inside finger ontology 11
There is the raised section 12 of the angle of wedge to arrange, so that the profiling finger 1 at root joint corresponding to thumb is bent and is distorted together
Shi Fasheng preferably carries out rehabilitation to patient.
In order to ensure the pliability of profiling finger 1, the finger ontology 11 can be made of silica gel, can also use other bands
Flexible soft material is made.In terms of processing and manufacturing can pour or 3D printing by way of be integrally formed.
A kind of recovering aid software hand provided by the present invention, key technology are the design of five profiling fingers 1, when
It after profiling finger 1 completes, can be directly integrated on some special gloves, then medium is linked by pipeline 3
Source.
As a preferred embodiment, the recovering aid software hand further includes compressed gas source such as air pump, and
Software hand interconnecting piece 2, the root of five profiling fingers 1 are fixedly connected on the software hand interconnecting piece 2, the medium source
It can be connected by passing through the pipeline 3 of software hand interconnecting piece 2 with the runner 14 of each profiling finger 1, to provide compressed gas；Separately
In a kind of embodiment, software hand interconnecting piece 2 can be cavity structure, and the root of five profiling fingers 1 is installed on software hand company
Socket part 2 is simultaneously connected to the cavity structure, and the medium source is connect by pipeline 3 with software hand interconnecting piece 2, by medium source Jie
After matter is injected in the cavity structure, then passes through runner 14 and be injected into each profiling finger 1.
The medium that the medium source provides is gas or liquid, in order to realize accurate control, the recovering aid software hand
It further include controller, the controller is electrically connected with the medium source, for controlling medium in the institute of each profiling finger 1
State flowing in runner 14.
In a preferred embodiment, gloves included by recovering aid software hand provided by the present invention can be
Data glove passes through brain myoelectric control, and healthy Hand supplementary rehabilitation paralyzed hand may be implemented for hemiplegic patient, pass through human body
Eeg signal, to realize intelligentized rehabilitation effect, improves user experience to realize the control to medium source.
In addition, the recovering aid software hand further includes being used in order to which profiling finger 1 is preferably worn on people on hand
The gloves that manpower is worn, the profiling finger 1 are fixedly connected on the upper table of the gloves together with the software hand interconnecting piece 2
Face, back side of the raised section 12 towards finger.Patient can as band ordinary glove by above-mentioned software hand be worn on hand, with
Increase comfort.
When patient uses recovering aid software gloves provided by the present invention, controller can be first passed through and set gas supply
With the parameters such as the frequency of exhaust and flow, when inflation, 1 superstructure of profiling finger expansion elongation, lower layer limits this trend
So as to cause digital flexion, air pressure is bigger, and digital flexion degree is higher.Pass through the elasticity of profiling finger 1 itself when non-aerating
Recovery is stretched.It is achieved in the recovering aid treatment to finger.
Compared with traditional rigid rehabilitation hand, the present invention is driven, so absolutely because making finger using silica gel material with air pressure
Pair safety.Compared with the rehabilitation hand that line drives, the present invention has abandoned the lines such as steel wire and has driven mode, using pneumatic, not will cause potential
Injury.Compared with the rehabilitation hand of fiber reinforcement driver production, the present invention only sets up bending or twist and warping structure in joint, closes
It cannot be bent before section, so as to preferably attach manpower, and structure of the invention can use silica gel pouring molding, can also be with
Direct 3D printing molding, process is few, is simple to manufacture, and the present invention is low in cost, and manufacture is very fast, can be according to the specific requirement of patient
Fast custom is realized with hand-type.
A kind of recovering aid software hand provided by the present invention is described in detail above.It is used herein specifically
Principle and implementation of the present invention are described for a example, the present invention that the above embodiments are only used to help understand
Method and its core concept.It should be pointed out that for those skilled in the art, not departing from original of the invention
, can be with several improvements and modifications are made to the present invention under the premise of reason, these improvement and modification also fall into right of the present invention and want
In the protection scope asked.
Claims (10)
1. a kind of recovering aid software hand characterized by comprising five softwares profiling finger corresponding with human finger,
The profiling finger includes referring to ontology, raised section and flat segments；
The raised section and flat segments are the spaced apart multistage along the length direction for referring to ontology, and are located at described
Refer to the finger back side of ontology；
Raised section described in multistage is corresponding with the joint part of human finger, un-flexed section of phase of the flat segments and human finger
It is corresponding；
It is equipped with runner along the length direction for referring to ontology in the finger ontology, the runner is elongated hole shape structure；
The inside of each raised section is equipped with an expansion chamber, and the expansion chamber is connected to the runner.
2. recovering aid software hand according to claim 1, which is characterized in that the corresponding protrusion of each joint part
The quantity of section is 2 to 5.
3. recovering aid software hand according to claim 1, which is characterized in that multiple institutes corresponding to each joint part
The gap stated between raised section is greater than the 1/3 of the raised section thickness, less than the 1/2 of the raised section thickness.
4. recovering aid software hand according to claim 1, which is characterized in that the protrusion height of the raised section is greater than institute
State the 1/2 of the whole height for referring to ontology.
5. recovering aid software hand according to claim 1, which is characterized in that the flat segments are equipped with along the finger originally
The cord that body length direction extends.
6. recovering aid software hand according to claim 1, which is characterized in that the software finger corresponding to human body thumb
In, the cross section of raised section described in the multistage of corresponding root joint is in wedge triangular arrangement, and the cross section and the finger are originally
The length direction angle of body is 30 ° to 60 °.
7. recovering aid software hand according to claim 1, which is characterized in that the finger ontology use silica gel be made and for
Integrated formed structure.
8. recovering aid software hand according to claim 1-7, which is characterized in that the recovering aid software hand
It further include medium source and software hand interconnecting piece, the end of five profiling fingers is fixedly connected on the software hand interconnecting piece
On, the medium source is directly or indirectly connected to the runner of five profiling fingers by pipeline.
9. recovering aid software hand according to claim 8, which is characterized in that the medium that the medium source provides is gas
Or liquid, the recovering aid software hand further includes controller, and the controller is electrically connected with the medium source, is situated between for controlling
Matter flows in the runner of each profiling finger.
10. recovering aid software hand according to claim 8, which is characterized in that the recovering aid software hand further includes
For the gloves that manpower is worn, the profiling finger is fixedly connected on the upper of the gloves together with the software hand interconnecting piece
Surface.
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|---|---|---|---|
| CN201810439665.0A CN109758333A (en) | 2018-05-09 | 2018-05-09 | A kind of recovering aid software hand |
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| CN201810439665.0A CN109758333A (en) | 2018-05-09 | 2018-05-09 | A kind of recovering aid software hand |
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Cited By (5)
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| CN110269779A (en) * | 2019-07-03 | 2019-09-24 | 吉林大学 | A kind of hand convalescence device based on flexible actuator |
| CN110293582A (en) * | 2019-07-03 | 2019-10-01 | 吉林大学 | A kind of flexible actuator |
| CN110478192A (en) * | 2019-08-30 | 2019-11-22 | 哈工大机器人湖州国际创新研究院 | Software auxiliary glove and its manufacturing method |
| CN111267137A (en) * | 2020-03-23 | 2020-06-12 | 北京软体机器人科技有限公司 | Novel flexible finger and preparation method thereof |
| CN111991184A (en) * | 2020-08-26 | 2020-11-27 | 南京云上自动化科技有限公司 | Rigidity-variable soft pneumatic rehabilitation hand |
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| CN110269779A (en) * | 2019-07-03 | 2019-09-24 | 吉林大学 | A kind of hand convalescence device based on flexible actuator |
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| CN111267137B (en) * | 2020-03-23 | 2021-07-20 | 北京软体机器人科技有限公司 | Novel flexible finger and preparation method thereof |
| CN111991184A (en) * | 2020-08-26 | 2020-11-27 | 南京云上自动化科技有限公司 | Rigidity-variable soft pneumatic rehabilitation hand |
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