CN109938963A - Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function - Google Patents
Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function Download PDFInfo
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- CN109938963A CN109938963A CN201910197864.XA CN201910197864A CN109938963A CN 109938963 A CN109938963 A CN 109938963A CN 201910197864 A CN201910197864 A CN 201910197864A CN 109938963 A CN109938963 A CN 109938963A
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- skeleton
- phalanges
- drawstring
- steering engine
- rehabilitation training
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Abstract
Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function, belongs to technical field of medical rehabilitation machinery.The present invention includes the arm ring and hand supports of flexible connection, and hand supports include palm skeleton, the thumb skeleton for being rotationally connected with palm skeleton and remaining four phalanges frame, and four phalanges framves include three sections of phalanges of rotation connection；At rotation connection at four phalanges framves and palm skeleton rotation connection and between adjacent phalanges, it is equipped with torsional spring；Palm skeleton side is equipped with spindle housing, and spindle housing is equipped with the shaft parallel with palm skeleton, and thumb skeleton is rotationally connected with shaft；Gear steering engine and drawstring steering engine are equipped with above palm skeleton, drawstring steering engine is connected to four phalanges framves by drawstring；Gear steering engine output end is equipped with driving gear, and shaft is equipped with driven gear.The configuration of the present invention is simple is light, and cost is relatively low, and transmission efficiently, can effectively facilitate the rehabilitation of disability old man's hand joint.
Description
Technical field
The present invention relates to technical field of medical rehabilitation machinery, more particularly to one kind to have auxiliary grasping and rehabilitation training function
The Worn type hand mechanical exoskeleton of energy.
Background technique
Currently, the patient of infirmities of age such as cerebral apoplexy has only just had more than 800 ten thousand in China, and its disability rate reaches
75%.In China, the death rate of patients with cerebral apoplexy about 30%, and in remaining survivor, disability rate is up to 70%.This means that
There is a large amount of the elderly with disability to a certain extent, there is 38% patient to suffer from the residual of hand function in these disableds
Barrier.
The hemiplegia symptom of hand mainly has: (1) specific muscle is faint；(2) muscular tone sense or muscle tone are different
Often (spasticity)；(3) locomitivity declines: the effect of (4) Coordinating Muscle is abnormal: (5) joint coordination Disability;
(6) motion range reduces;(7) finger independence reduces;(8) hand is in state of persistently holding with a firm grip.
The basic reason not instead of limbs itself that cerebral apoplexy is disabled receives injury, and the central nervous system of people is damaged
Wound, can not form effective control to limb motion, ultimately form hemiplegia.Therefore, existing to be directed to such disability situation, it needs
The motor message of needs is allowed to transmit to hand by external intervention.
The joint main Types of human hands are synovial joints, are classified according to the standard of the shape of articular surface to joint
Saddle joint, hinge joint and condyloid joint, condyloid joint can be divided into can carry out abduction/adduction movement in coronal-plane,
Flexion/extension movement is carried out in sagittal plane, that is, there are 2 freedom of movement；Saddle joint can make interior receipts/outreach in coronal-plane
It moves, makees flexion/extension movement in sagittal plane, i.e., also have 2 movable freedom degrees；Obviously, it carries out being bent/stretching in sagittal plane
Exhibition movement, only 1 freedom of movement.
Rehabilitation facility is at present on the market still in more rare state, and rehabilitation is mostly all relatively more high with Medical Devices
It is expensive, lack a kind of simple and auxiliary grasping can be completed and old man is helped to complete the high sexual valence that hand muscle is tempered in rehabilitation training
Compare facility.
Summary of the invention
The purpose of the present invention is to solve the above-mentioned problems of the prior art, provide it is a kind of have auxiliary grasp and
The Worn type hand mechanical exoskeleton of rehabilitation training function, simple and light, cost is relatively low, and transmission efficiently, can be effective
Promote the rehabilitation of disability old man hand joint.
The purpose of the present invention is what is be achieved through the following technical solutions:
Grasped with auxiliary and the Worn type hand mechanical exoskeleton of rehabilitation training function, arm ring including flexible connection and
Hand supports, the hand supports include palm skeleton, the thumb skeleton for being rotationally connected with the palm skeleton, index finger skeleton,
Middle finger skeleton, nameless skeleton, little finger of toe skeleton；
The index finger skeleton, middle finger skeleton, nameless skeleton and little finger of toe skeleton include three sections of phalanges of rotation connection；The food
At phalanges frame, middle finger skeleton, nameless skeleton and little finger of toe skeleton and the palm skeleton rotation connection and the adjacent phalanges
Between rotation connection at, be equipped with torsional spring；
Palm skeleton side is equipped with spindle housing, and the spindle housing is equipped with the shaft parallel with the palm skeleton, described
Thumb skeleton is rotationally connected with the shaft；
A gear steering engine and at least one drawstring steering engine are equipped with above the palm skeleton, the drawstring steering engine output end is equipped with
Coiling, each phalanges are connected to the coiling by drawstring；The gear steering engine output end is equipped with driving gear, institute
Shaft is stated equipped with driven gear, the driving gear is engaged in the driven gear.
Index finger skeleton, middle finger skeleton, nameless skeleton and little finger of toe skeleton of the invention can continue under the action of torsional spring
It holds with a firm grip state in bending, thumb skeleton can be cooperated to assist grasping thing.In addition, under the drive of drawstring steering engine, drawstring band
It moves each phalanges frame and does folding and unfolding movement, the movement such as opening and closing are persistently carried out with the hand to user, stretch, be bent, to reach
The effect of rehabilitation training.Certainly, whole device can be powered by way of installing battery, can also be by being directly connected to power supply
Mode power, and the start and stop of steering engine are controlled in device equipped with controller.
Preferably as the present invention, there are two the drawstring steering engine tools, a drawstring steering engine passes through described in drawstring connection
Index finger skeleton and middle finger skeleton, another described drawstring steering engine connect the nameless skeleton and little finger of toe skeleton by drawstring.Institute
The operating pressure of each drawstring steering engine can effectively be mitigated by stating design, to improve the stability of operation.
Preferably as the present invention, elastic fastener is equipped with below the phalanges.The elastic fastener generally can be rubber
Rubber band, for fixing the finger of human body with phalanges.
Control panel is preferably equipped in the arm ring as of the invention, the control panel is electrically connected to the gear steering engine
With drawstring steering engine, it is equipped with operation button on the arm ring and on the thumb skeleton, the operation button is electrically connected to institute
State control panel.The setting position of the operation button provides user and more operates selection and operating comfort.
Preferably as the present invention, the arm ring is equipped with display screen, and the display screen is electrically connected to the control panel.It is aobvious
Display screen can show the information such as electricity, working time, with user-friendly.
Preferably as the present invention, the palm skeleton is equipped with thermovent.The thermovent avoids uses this for a long time
Situations such as device, caused perspiration.
Preferably as the present invention, the phalanges downside has arc binding face.The structure meets ergonomics, energy
Enough improve comforts of use.
Preferably as the present invention, the phalanges downside is equipped with elastic layer.The elastic layer generally uses rubber, with into one
Step improves the comfort used.
Preferably as the present invention, arm ring side is equipped with telescopic mouth.The telescopic mouth improves the wearing of arm ring
Range, for example in the case where increasing and decreasing clothing, still can effectively dress fixation.
The invention has the advantages that simple and light, cost is relatively low, and transmission efficiently, can effectively facilitate disability old man's hand
The rehabilitation in portion joint.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of the present invention.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Embodiment 1
Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function, the arm ring 1 including flexible connection
And hand supports, the hand supports include palm skeleton 21, the thumb skeleton 22 for being rotationally connected with the palm skeleton 21, food
Phalanges frame 23, middle finger skeleton 24, nameless skeleton 25, little finger of toe skeleton 26；The index finger skeleton 23, middle finger skeleton 24, the third finger
Skeleton 25 and little finger of toe skeleton 26 include three sections of phalanges 201 of rotation connection；It is the index finger skeleton 23, middle finger skeleton 24, unknown
Rotation at phalanges frame 25 and little finger of toe skeleton 26 and 22 rotation connection of palm skeleton and between the adjacent phalanges 201
Junction is equipped with torsional spring；21 side of palm skeleton is equipped with spindle housing 3, and the spindle housing 3 is equipped with and the palm bone
The parallel shaft 4 of frame 21, the thumb skeleton 22 are rotationally connected with the shaft 4；One is equipped with above the palm skeleton 21
Gear steering engine 5 and at least one drawstring steering engine 6,6 output end of drawstring steering engine are equipped with coiling 61, each phalanges 201
The coiling 61 is connected to by drawstring；5 output end of gear steering engine is equipped with driving gear 51, and the shaft 4 is equipped with
Driven gear 41, the driving gear 51 are engaged in the driven gear 41.
Index finger skeleton, middle finger skeleton, nameless skeleton and little finger of toe skeleton of the invention can continue under the action of torsional spring
It holds with a firm grip state in bending, thumb skeleton can be cooperated to assist grasping thing.In addition, under the drive of drawstring steering engine, drawstring band
It moves each phalanges frame and does folding and unfolding movement, the movement such as opening and closing are persistently carried out with the hand to user, stretch, be bent, to reach
The effect of rehabilitation training.Certainly, whole device can be powered by way of installing battery, can also be by being directly connected to power supply
Mode power, and the start and stop of steering engine are controlled in device equipped with controller.
Embodiment 2
On the basis of embodiment 1, there are two the tools of drawstring steering engine 6, a drawstring steering engine 6 passes through described in drawstring connection
Index finger skeleton 23 and middle finger skeleton 24, another described drawstring steering engine 6 connect the nameless skeleton 25 and little finger of toe by drawstring
Skeleton 26.The design can effectively mitigate the operating pressure of each drawstring steering engine, to improve the stability of operation.
In addition, being equipped with control panel in the arm ring 1, the control panel is electrically connected to the gear steering engine 5 and drawstring rudder
Machine 6 is equipped with operation button on the arm ring 1 and on the thumb skeleton 22, and the operation button is electrically connected to the control
Making sheet.The control panel uses Raspberry Pi control panel in the present embodiment, and the setting position of the operation button provides
User more operates selection and operating comfort.Meanwhile the arm ring 1 is equipped with display screen, the display screen
It is electrically connected to the control panel.Display screen can show the information such as electricity, working time, with user-friendly.
As the optimization in structure, the palm skeleton 21 is equipped with thermovent 211.The thermovent avoids for a long time
Using the present apparatus, situations such as caused perspiration.Elastic fastener is equipped with below the phalanges 201.The elastic fastener is general
It can be rubber band, for fixing the finger of human body with phalanges.201 downside of phalanges has arc binding face.It is described
Structure meets ergonomics, can be improved comforts of use.201 downside of phalanges is equipped with elastic layer.The elasticity
Layer generally uses rubber, to further increase the comfort used.1 side of arm ring is equipped with telescopic mouth 11.It is described flexible
Mouth improves the wearing range of arm ring, for example in the case where increasing and decreasing clothing, still can effectively dress fixation.
Working method of the invention includes, but are not limited to, the following ways:
Grasping mode is assisted, the work of gear steering engine is first controlled, so that thumb skeleton turns to the lower section of other four phalanges framves, is formed
Grip posture；Then the positive and negative rotation of drawstring steering engine is controlled, to change drawstring for the pulling force of four phalanges framves, when tension, four phalanges framves
In horizontality；With the reduction of pulling force, and under the action of the restoring force of the torsion spring, four phalanges framves are gradually recovered bending state,
To cooperate thumb skeleton to grab object.
Passive rehabilitation training mode first controls the work of gear steering engine, so that thumb skeleton is laterally rotated to palm skeleton
Side avoids influence of the thumb skeleton for other four fingers bending amplitudes；Then control drawstring steering engine carries out lasting positive and negative rotation,
And it is adjusted to rotation amplitude appropriate and velocity of rotation, drawstring steering engine, which passes through, to be drawn in, discharges drawstring, and in the reply masterpiece of torsional spring
Under, the traction referred to user four is completed, lasting opening and closing is realized, stretches, is bent, to achieve the effect that rehabilitation training.
The foregoing is only a preferred embodiment of the present invention, the specific embodiment is whole based on the present invention
A kind of implementation under design, and scope of protection of the present invention is not limited thereto, any skill for being familiar with the art
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by art personnel, should all cover in protection of the invention
Within the scope of.Therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (9)
1. having the Worn type hand mechanical exoskeleton of auxiliary grasping and rehabilitation training function, the arm ring including flexible connection
And hand supports, which is characterized in that the hand supports include palm skeleton, the bone of thumb for being rotationally connected with the palm skeleton
Frame, index finger skeleton, middle finger skeleton, nameless skeleton, little finger of toe skeleton；
The index finger skeleton, middle finger skeleton, nameless skeleton and little finger of toe skeleton include three sections of phalanges of rotation connection；The food
At phalanges frame, middle finger skeleton, nameless skeleton and little finger of toe skeleton and the palm skeleton rotation connection and the adjacent phalanges
Between rotation connection at, be equipped with torsional spring；
Palm skeleton side is equipped with spindle housing, and the spindle housing is equipped with the shaft parallel with the palm skeleton, described
Thumb skeleton is rotationally connected with the shaft；
A gear steering engine and at least one drawstring steering engine are equipped with above the palm skeleton, the drawstring steering engine output end is equipped with
Coiling, each phalanges are connected to the coiling by drawstring；The gear steering engine output end is equipped with driving gear, institute
Shaft is stated equipped with driven gear, the driving gear is engaged in the driven gear.
2. the Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function according to claim 1,
It is characterized in that, a drawstring steering engine connects the index finger skeleton in by drawstring there are two the drawstring steering engine tools
Phalanges frame, another described drawstring steering engine connect the nameless skeleton and little finger of toe skeleton by drawstring.
3. the Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function according to claim 1,
It is characterized in that, being equipped with elastic fastener below the phalanges.
4. the Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function according to claim 1,
It is characterized in that, being equipped with control panel in the arm ring, the control panel is electrically connected to the gear steering engine and drawstring steering engine, institute
It states on arm ring and is equipped with operation button on the thumb skeleton, the operation button is electrically connected to the control panel.
5. the Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function according to claim 4,
It is characterized in that, the arm ring is equipped with display screen, the display screen is electrically connected to the control panel.
6. the Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function according to claim 1,
It is characterized in that, the palm skeleton is equipped with thermovent.
7. the Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function according to claim 1,
It is characterized in that, the phalanges downside has arc binding face.
8. the Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function according to claim 1,
It is characterized in that, the phalanges downside is equipped with elastic layer.
9. the Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function according to claim 1,
It is characterized in that, arm ring side is equipped with telescopic mouth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910197864.XA CN109938963A (en) | 2019-03-15 | 2019-03-15 | Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910197864.XA CN109938963A (en) | 2019-03-15 | 2019-03-15 | Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function |
Publications (1)
| Publication Number | Publication Date |
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| CN109938963A true CN109938963A (en) | 2019-06-28 |
Family
ID=67008911
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910197864.XA Pending CN109938963A (en) | 2019-03-15 | 2019-03-15 | Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111904783A (en) * | 2020-07-09 | 2020-11-10 | 浙江工业大学 | Hand rehabilitation device |
| IT201900019469A1 (en) | 2019-10-22 | 2021-04-22 | Euro Lugli | HAND PHYSIOTHERAPY EQUIPMENT |
| CN114177566A (en) * | 2021-11-25 | 2022-03-15 | 燕山大学 | A wearable gloves that collection was controlled integrative for training |
| CN114712153A (en) * | 2022-03-08 | 2022-07-08 | 德清县浙工大莫干山研究院 | Finger rehabilitation machine |
| CN114734427A (en) * | 2022-03-31 | 2022-07-12 | 北京大学 | Portable finger exoskeleton robot |
| CN114750130A (en) * | 2022-03-31 | 2022-07-15 | 北京大学 | Flexible driving palm exoskeleton robot for nerve rehabilitation |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT201900019469A1 (en) | 2019-10-22 | 2021-04-22 | Euro Lugli | HAND PHYSIOTHERAPY EQUIPMENT |
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| CN114177566A (en) * | 2021-11-25 | 2022-03-15 | 燕山大学 | A wearable gloves that collection was controlled integrative for training |
| CN114177566B (en) * | 2021-11-25 | 2023-03-07 | 燕山大学 | A wearable gloves that collection was controlled integrative for training |
| CN114712153A (en) * | 2022-03-08 | 2022-07-08 | 德清县浙工大莫干山研究院 | Finger rehabilitation machine |
| CN114712153B (en) * | 2022-03-08 | 2024-04-09 | 德清县浙工大莫干山研究院 | Finger rehabilitation machine |
| CN114734427A (en) * | 2022-03-31 | 2022-07-12 | 北京大学 | Portable finger exoskeleton robot |
| CN114750130A (en) * | 2022-03-31 | 2022-07-15 | 北京大学 | Flexible driving palm exoskeleton robot for nerve rehabilitation |
| CN114734427B (en) * | 2022-03-31 | 2023-09-01 | 北京大学 | Portable finger exoskeleton robot |
| CN114750130B (en) * | 2022-03-31 | 2023-12-29 | 北京大学 | Flexible driving palm exoskeleton robot for nerve rehabilitation |
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