CN109998866B - Flexible wearable hand rehabilitation robot driven by memory alloy wires - Google Patents
Flexible wearable hand rehabilitation robot driven by memory alloy wires Download PDFInfo
- Publication number
- CN109998866B CN109998866B CN201910410183.7A CN201910410183A CN109998866B CN 109998866 B CN109998866 B CN 109998866B CN 201910410183 A CN201910410183 A CN 201910410183A CN 109998866 B CN109998866 B CN 109998866B
- Authority
- CN
- China
- Prior art keywords
- memory alloy
- driver
- alloy wire
- driving
- wire
- 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.)
- Active
Links
- 229910001285 shape-memory alloy Inorganic materials 0.000 title claims abstract description 93
- 210000003811 finger Anatomy 0.000 claims abstract description 62
- 210000003813 thumb Anatomy 0.000 claims abstract description 51
- 210000004932 little finger Anatomy 0.000 claims abstract description 26
- 230000003287 optical effect Effects 0.000 claims description 10
- 230000000712 assembly Effects 0.000 claims description 9
- 238000000429 assembly Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 6
- 238000001816 cooling Methods 0.000 claims description 5
- 239000011810 insulating material Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 13
- 239000004677 Nylon Substances 0.000 description 6
- 229920001778 nylon Polymers 0.000 description 6
- 229910052802 copper Inorganic materials 0.000 description 5
- 239000010949 copper Substances 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000005224 forefinger Anatomy 0.000 description 2
- 230000017525 heat dissipation Effects 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Images
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
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention relates to medical rehabilitation training equipment, in particular to a flexible wearable hand rehabilitation robot driven by a memory alloy wire. The finger rest device comprises a driving part and an executing part, wherein the executing part comprises a thumb part, an index finger part, a middle finger part, a ring finger part, a little finger part, a connecting plate and a hand back plate, the hand back plate is connected with the driving part through the connecting plate, the thumb part, the index finger part, the middle finger part, the ring finger part and the little finger part are identical in structure and comprise wire pieces, rigid wires and finger sleeves, the wire pieces of the thumb part are connected with the executing part, the wire pieces of the other four fingers are connected with the hand back plate, one end of the rigid wires is connected with the finger sleeves, the other end of the rigid wires penetrates through guide holes in the wire pieces to be connected with the driving part, and the finger sleeves are used for being worn on fingers of a user. The invention has compact structure, light weight, good portability and wearing property, adopts the rigid wire to transmit power, so that the device has wearing flexibility, and can ensure the safety of training in the hand rehabilitation process.
Description
Technical Field
The invention relates to medical rehabilitation training equipment, in particular to a flexible wearable hand rehabilitation robot driven by a memory alloy wire.
Background
At present, clinically, rehabilitation treatment for hand functions mainly depends on rehabilitation operators to guide patients to conduct long-time repeated function rehabilitation training, and consumed time cost and labor cost are high. The robot system for hand rehabilitation can perform long-time periodic movement, so that the working strength of a rehabilitation engineer can be reduced, the efficiency of rehabilitation training can be improved, and a new scheme is provided for rehabilitation therapy of hand functions.
The existing hand rehabilitation robot mostly consists of rigid components such as a connecting rod, a gear, a motor and the like, and covers the upper part of the finger to drive the finger to synchronously move. Because the joint position of the rigid structure is fixed, the phenomenon that the robot joint and the finger joint are misplaced frequently occurs in the process of rehabilitation training, the rehabilitation effect is greatly reduced, discomfort and potential safety hazards are brought to a patient, and the training enthusiasm of the patient is influenced. Meanwhile, the volume of the rigid structure is generally larger, the weight is higher, and the safety and portability during wearing and using are greatly reduced.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a flexible wearable hand rehabilitation robot driven by a memory alloy wire, so as to meet the requirements on safety and portability in the hand rehabilitation training process.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides a flexible wearable hand rehabilitation robot of memory alloy silk drive, includes drive portion and execution portion, wherein execution portion includes thumb portion, forefinger portion, middle finger portion, ring finger portion, little finger portion, connecting plate and hand backplate, and wherein hand backplate passes through the connecting plate and is connected with drive portion, thumb portion, forefinger portion, middle finger portion, ring finger portion and little finger portion structure are the same, all include wire piece, rigidity line and dactylotheca, wherein the wire piece of thumb portion with execution portion connects, the wire piece of other four fingers with the hand backplate is connected, the one end of rigidity line with the dactylotheca is connected, the other end passes guiding hole on the wire piece with drive portion connects, the dactylotheca is used for wearing on user's finger.
The connecting plate is provided with a chute, the back of hand board with chute sliding connection, adjustable back of hand board with the hookup location between the connecting plate.
The upper end of the fingerstall is provided with a guide groove and a connecting seat, and the rigid wire penetrates through the guide groove to be connected with the connecting seat.
The driving part comprises a main body plate, a shell, a control circuit board, a thumb memory alloy wire driver and a memory alloy wire driver group, wherein the memory alloy wire driver group is arranged in a groove of the main body plate, the control circuit board and the thumb memory alloy wire driver are respectively arranged on two side surfaces of the main body plate, the control circuit board is used for supplying power and controlling the thumb memory alloy wire driver and the memory alloy wire driver group, the thumb memory alloy wire driver is used for driving the action of the thumb part, the memory alloy wire driver group is used for driving the actions of other four fingers, and the shell is buckled on the main body plate.
And a cooling fan is arranged in the shell.
The memory alloy wire driver group comprises four groups of memory alloy wire drivers which are arranged in parallel, and the four groups of memory alloy wire drivers are respectively used for driving the actions of four fingers except the thumb.
The thumb memory alloy wire driver and four groups of memory alloy wire drivers are identical in structure and comprise a driver main body plate, fixed terminals, memory alloy wires, a driving terminal, a feedback part and two groups of pulley assemblies, wherein the two groups of pulley assemblies are symmetrically arranged on two sides of the driver main body plate, the driving terminal is slidably arranged at the end part of the driver main body plate, the memory alloy wires are connected with the driving terminal, two ends of each memory alloy wire are respectively coiled on the two groups of pulley assemblies, the end parts of the two ends of each memory alloy wire are fixed on the driver main body plate through the fixed terminals, the control circuit board supplies power to the fixed terminals, the memory alloy wires are driven to shrink, the driving terminal is driven to generate linear motion, and the feedback part is arranged on the driver main body plate and connected with the driving terminal and is used for acquiring motion information of the driving terminal.
The feedback part comprises a miniature potentiometer, a pulley, an optical axis and a driver buckling piece, wherein the shell of the miniature potentiometer is embedded in the driver main body plate, an inner hole is connected with the pulley, the pulley is arranged on the optical axis through a bearing II, two ends of the optical axis are connected with the driver main body plate and the driver buckling piece, the driver buckling piece is fixedly connected with the driver main body plate, and a driving terminal is connected with the pulley through a connecting wire.
The two groups of pulley assemblies are identical in structure and comprise a plurality of groups of guide pulleys symmetrically arranged on two sides of a fixed terminal, the diameters of the plurality of groups of guide pulleys are gradually increased in the direction of the end part of the main driver body plate, the end part of the memory alloy wire is fixed on the fixed terminal and is coiled on the plurality of groups of guide pulleys from inside to outside in sequence, and the guide pulleys are made of insulating materials.
The driving terminal comprises a connecting piece and an output line, wherein one end of the connecting piece is provided with a through hole for the memory alloy wire to pass through, the other end of the connecting piece is connected with the output line, and the output line is a rigid line and is used for driving a load to move.
The invention has the advantages and positive effects that:
1. the invention adopts the memory alloy wire as the drive, so that the whole structure is more compact, the weight is greatly reduced, and the portability and the wearability are greatly improved.
2. The hand rehabilitation device adopts the rigid wire to transmit power, has wearing flexibility, and can ensure the safety of training in the hand rehabilitation process.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is an exploded view of the structure of the present invention;
FIG. 3 is a schematic view of the drive section of the present invention with the housing removed;
FIG. 4 is a schematic view of the structure of the execution part in the present invention;
FIG. 5 is a schematic diagram of a memory alloy wire driver according to the present invention;
FIG. 6 is an exploded view of a fixed terminal of the memory alloy wire driver of the present invention;
FIG. 7 is an exploded view of a guide pulley of the memory alloy wire drive of the present invention;
FIG. 8 is an exploded view of the drive terminal of the memory alloy wire driver of the present invention;
fig. 9 is an exploded view of a feedback portion of the memory alloy wire driver of the present invention.
In the figure: 1 is a driving part, 2 is an executing part, 11 is a main body plate, 12 is a cooling fan, 13 is a shell, 14 is a control circuit board, 112 is a thumb memory alloy wire driver, 113 is a memory alloy wire driver group, 114 is a connecting stud, 21 is a thumb part, 211 is a thumb wire guide plate, 212 is a thumb rigid wire, 213 is a thumb sleeve, 22 is an index finger part, 23 is a middle finger part, 24 is a ring finger part, 25 is a little finger part, 251 is a little guide post, 252 is a little finger rigid wire, 253 is a little finger sleeve, 26 is a connecting plate, and 27 is a back of hand plate; 31 is a driver main body plate, 32 is a fixed terminal, 321 is a copper sheet, 322 is a bolt, 323 is a copper ring I, 324 is a copper ring II, 33 is a guide pulley, 331 is a nylon pulley, 332 is a pin shaft, 333 is a bearing I, 334 is a clamp spring, 34 is a memory alloy wire, 35 is a driving terminal, 351 is a connecting piece, 352 is an output line, 353 is a connecting line, 36 is a feedback part, 361 is a miniature potentiometer, 362 is a pulley, 363 is a bearing II, 364 is an optical axis, 365 is a screw, 366 is a driver fastener.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the flexible wearable hand rehabilitation robot driven by the memory alloy wire provided by the invention comprises a driving part 1 and an executing part 2, wherein the executing part 2 comprises a thumb part 21, an index finger part 22, a middle finger part 23, a ring finger part 24, a little finger part 25, a connecting plate 26 and a back hand plate 27, wherein the back hand plate 27 is connected with the driving part 1 through the connecting plate 26, the thumb part 21, the index finger part 22, the middle finger part 23, the ring finger part 24 and the little finger part 25 are identical in structure and comprise lead pieces, rigid wires and finger sleeves, the lead pieces of the thumb part 21 are connected with the executing part 2, the lead pieces of the other four fingers are connected with the back hand plate 27, one end of the rigid wires is connected with the finger sleeves, the other end of the rigid wires passes through a guide hole on the lead piece to be connected with the driving part 1, and the fingers are worn on fingers of a user.
Further, a chute is arranged on the connecting plate 26, the back plate 27 is in sliding connection with the chute, and the connection position between the back plate 27 and the connecting plate 26 can be adjusted. The upper end of the fingerstall is provided with a guide groove and a connecting seat, and the rigid wire passes through the guide groove to be connected with the connecting seat.
As shown in fig. 2-3, the driving part 1 includes a main body plate 11, a housing 13, a control circuit board 14, a thumb memory alloy wire driver 112 and a memory alloy wire driver set 113, wherein the memory alloy wire driver set 113 is installed in a groove of the main body plate 11, the control circuit board 14 and the thumb memory alloy wire driver 112 are respectively disposed on two sides of the main body plate 11, the control circuit board 14 is used for supplying power to and controlling the thumb memory alloy wire driver 112 and the memory alloy wire driver set 113, the thumb memory alloy wire driver 112 is used for driving the thumb part 21, the memory alloy wire driver set 113 is used for driving the index finger part 22, the middle finger part 23, the ring finger part 24 and the little finger part 25, and the housing 13 is buckled on the main body plate 11.
Further, a heat dissipation fan 12 is installed in the housing 13, and the heat dissipation fan 12 can dissipate heat through the memory alloy wires. The memory alloy wire driver set 113 includes four sets of memory alloy wire drivers arranged in parallel, and the four sets of memory alloy wire drivers are respectively used for driving the movements of the index finger portion 22, the middle finger portion 23, the ring finger portion 24 and the little finger portion 25.
As shown in fig. 4, the thumb part 21 is composed of a thumb wire guide plate 211, a thumb rigid wire 212 and a thumb sleeve 213, wherein the thumb wire guide plate 211 is connected to the main body plate 11, the thumb rigid wire 212 is guided to pass through a hole therein, the thumb rigid wire 212 is connected to the thumb sleeve 213, the thumb rigid wire 212 is connected with the thumb memory alloy wire driver 112, and the thumb sleeve 213 is sleeved into the thumb of a wearer.
The little finger portion 25 is formed of a little finger post 251, a little finger rigid wire 252 and a little finger cuff 253, the little finger post 251 is connected to the back plate 27, the little finger rigid wire 252 is guided to pass through the hole therein, the little finger rigid wire 252 is connected to the little finger cuff 253, the little finger rigid wire 252 is connected with one driver in the memory alloy wire driver group 113, and the little finger cuff 253 is sleeved on the little finger of the wearer. The index finger portion 22, the middle finger portion 23, and the ring finger portion 24 are connected in the same manner as the little finger portion 25.
As shown in fig. 5, the thumb memory alloy wire driver 112 has the same structure as the four sets of memory alloy wire drivers, and includes a driver main body plate 31, a fixed terminal 32, a memory alloy wire 34, a driving terminal 35, a feedback portion 36 and two sets of pulley assemblies, wherein the two sets of pulley assemblies are symmetrically disposed at two sides of the driver main body plate 31, the driving terminal 35 is slidably disposed at an end of the driver main body plate 31, the memory alloy wire 34 is connected with the driving terminal 35, two ends of the memory alloy wire 34 are respectively wound on the two sets of pulley assemblies, and the two end portions are fixed on the driver main body plate 31 through the fixed terminal 32, the fixed terminal 32 is powered through the control circuit board 14, the memory alloy wire 34 is driven to shrink, thereby driving the driving terminal 35 to generate linear motion, the feedback portion 36 is mounted on the driver main body plate 31 and connected with the driving terminal 35, and the feedback portion 36 is used for acquiring motion information of the driving terminal 35. A slide groove is provided at the top of one end of the driver body plate 31 in the longitudinal direction, and the driving terminal 35 is accommodated in the slide groove.
The two groups of pulley assemblies have the same structure and comprise a plurality of groups of guide pulleys 33 symmetrically arranged on two sides of the fixed terminal 32, the diameters of the plurality of groups of guide pulleys 33 gradually increase towards the end part direction of the driver main body plate 31, the end part of the memory alloy wire 34 is fixed on the fixed terminal 32 and sequentially coiled on the plurality of groups of guide pulleys 33 from inside to outside, and the guide pulleys 33 are made of insulating materials.
As shown in fig. 6, the fixing terminal 32 includes a copper sheet 321, a bolt 322, a copper ring i 323 and a copper ring ii 324, wherein the copper ring i 323, the copper sheet 321 and the copper ring ii 324 are sequentially fastened to the driver main body plate 31 by the bolt 322, the copper sheet 321 is disposed at two sides of the driver main body plate 31, and the copper sheet 321 transmits current to the copper ring i 323 and the copper ring ii 324, thereby driving the memory alloy wire 34 to shrink. The bolt 322 is made of an insulating material, and the bolt 322 has insulation and can prevent a circuit from being shorted.
In the embodiment of the present invention, both the guide pulley 33 and the bolt 322 are made of nylon.
As shown in fig. 7, the guide pulley 33 includes a nylon pulley 331, a pin 332, a bearing i 333, and a snap spring 334, wherein the pin 332 passes through the bearing i 333 and is positioned by the snap spring 334, and the nylon Long Hualun 331 is mounted on the outer ring of the bearing i 333. The nylon pulley 331 has insulation, is used for coiling the memory alloy wire 34, and the nylon pulley 331 reduces the friction with the pin shaft 332 through the bearing I333, so that the memory alloy wire 34 is prevented from being blocked when being contracted.
As shown in fig. 8, the driving terminal 35 includes a connection member 351, a set of output lines 352, and a connection line 353, wherein one end of the connection member 351 is provided with a through hole for the memory alloy wire 34 to pass through, and the other end is connected with the output line 352 and the connection line 353, both of which are rigid lines, the output line 352 being for driving the load movement, the connection line 353 being connected with the feedback portion 36.
As shown in fig. 9, the feedback part 36 includes a micro potentiometer 361, a pulley 362, an optical axis 364, and a driver snap 366, wherein the housing of the micro potentiometer 361 is embedded in the driver main body plate 31, the inner hole is connected with the pulley 362, the pulley 362 is mounted on the optical axis 364 through a bearing ii 363, both ends of the optical axis 364 are connected with the driver main body plate 31 and the driver snap 366, the driver snap 366 is fixedly connected with the driver main body plate 31, the driving terminal 35 is connected with the pulley 362 through a connection wire 353, the linear motion generated by shrinkage of the memory alloy wire 34 is converted into rotation of the pulley 362, and the angle change information is acquired through the micro potentiometer 361 for further feedback control.
According to the invention, the thumb memory alloy wire driver 112 and the memory alloy wire driver group 113 in the driving part 1 are powered by the control circuit board 14, the memory alloy wires are heated and contracted by the thermal effect of current, so that the rigid wires in the thumb part 21, the index finger part 22, the middle finger part 23, the ring finger part 24 and the little finger part 25 are driven to move, and meanwhile, the pulling force is transmitted into the fingerstall through the rigid wires, so that the fingers of a wearer are driven to synchronously stretch. The on-off of the cooling fan 12 is also controlled by the control circuit board 14, and the cooling fan 12 can dissipate heat for the memory alloy wires, so that the recovery time is shortened.
The hand rehabilitation training device is suitable for patients needing hand rehabilitation training. The memory alloy wire is used as a drive, so that the whole structure is more compact, the weight is lighter, and the portability and the wearing performance are better. Meanwhile, the rigid wire is adopted to transmit power, so that the hand rehabilitation device has certain wearing flexibility, and the flexibility and safety of training are ensured in the hand rehabilitation process.
The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (6)
1. A memory alloy wire driven flexible wearable hand rehabilitation robot, which is characterized by comprising a driving part (1) and an executing part (2), wherein the executing part (2) comprises a thumb part (21), an index finger part (22), a middle finger part (23), a ring finger part (24), a little finger part (25), a connecting plate (26) and a back hand plate (27), wherein the back hand plate (27) is connected with the driving part (1) through the connecting plate (26), the thumb part (21), the index finger part (22), the middle finger part (23), the ring finger part (24) and the little finger part (25) are identical in structure and comprise wire pieces, rigid wires and finger sleeves, wherein the wire pieces of the thumb part (21) are connected with the executing part (2), the wire pieces of the other four fingers are connected with the back hand plate (27), one end of each rigid wire is connected with the finger sleeve, and the other end of each rigid wire sleeve penetrates through a guide hole on the wire piece to be connected with the driving part (1), and the finger sleeve is worn on the fingers of a user;
the thumb memory alloy wire driver (112) and the four groups of memory alloy wire drivers are identical in structure and comprise a driver main body plate (31), fixed terminals (32), memory alloy wires (34), driving terminals (35), a feedback part (36) and two groups of pulley components, wherein the two groups of pulley components are symmetrically arranged on two sides of the driver main body plate (31), the driving terminals (35) are slidably arranged at the end parts of the driver main body plate (31), the memory alloy wires (34) are connected with the driving terminals (35), two ends of each memory alloy wire (34) are respectively coiled on the two groups of pulley components, the two end parts of each memory alloy wire are fixed on the driver main body plate (31) through the fixed terminals (32), the fixed terminals (32) are powered through a control circuit board (14), the memory alloy wires (34) are driven to shrink, so that the driving terminals (35) are driven to generate linear motion, the feedback part (36) is arranged on the driver main body plate (31) and is connected with the driving terminals (35), and the feedback part (36) is used for acquiring motion information of the driving terminals (35).
The feedback part (36) comprises a miniature potentiometer (361), a pulley (362), an optical axis (364) and a driver buckling piece (366), wherein a shell of the miniature potentiometer (361) is embedded in the driver main body plate (31), an inner hole is connected with the pulley (362), the pulley (362) is arranged on the optical axis (364) through a bearing II (363), two ends of the optical axis (364) are connected with the driver main body plate (31) and the driver buckling piece (366), the driver buckling piece (366) is fixedly connected with the driver main body plate (31), and the driving terminal (35) is connected with the pulley (362) through a connecting wire (353);
the two groups of pulley assemblies have the same structure and comprise a plurality of groups of guide pulleys (33) symmetrically arranged on two sides of a fixed terminal (32), the diameters of the groups of guide pulleys (33) gradually increase to the end direction of a main driver body plate (31), the end parts of memory alloy wires (34) are fixed on the fixed terminal (32) and are coiled on the groups of guide pulleys (33) from inside to outside in sequence, and the guide pulleys (33) are made of insulating materials;
the driving terminal (35) comprises a connecting piece (351) and an output line (352), wherein one end of the connecting piece (351) is provided with a through hole for the memory alloy wire (34) to pass through, the other end of the connecting piece is connected with the output line (352), and the output line (352) is a rigid line and used for driving a load to move.
2. The flexible wearable hand rehabilitation robot driven by the memory alloy wires according to claim 1, characterized in that a chute is arranged on the connecting plate (26), the back plate (27) is slidably connected with the chute, and the connection position between the back plate (27) and the connecting plate (26) can be adjusted.
3. The flexible wearable hand rehabilitation robot driven by the memory alloy wires according to claim 1, wherein a guide groove and a connecting seat are arranged at the upper end of the fingerstall, and the rigid wire penetrates through the guide groove to be connected with the connecting seat.
4. The flexible wearable hand rehabilitation robot driven by a memory alloy wire according to claim 1, wherein the driving part (1) comprises a main body plate (11), a shell (13), a control circuit board (14), a thumb memory alloy wire driver (112) and a memory alloy wire driver group (113), wherein the memory alloy wire driver group (113) is installed in a groove of the main body plate (11), the control circuit board (14) and the thumb memory alloy wire driver (112) are respectively arranged on two sides of the main body plate (11), the control circuit board (14) is used for supplying and controlling the power of the thumb memory alloy wire driver (112) and the memory alloy wire driver group (113), the thumb memory alloy wire driver (112) is used for driving the action of the thumb part (21), the memory alloy wire driver group (113) is used for driving the action of the other four fingers, and the shell (13) is buckled on the main body plate (11).
5. The flexible wearable hand rehabilitation robot driven by the memory alloy wires according to claim 4, characterized in that a cooling fan (12) is installed in the shell (13).
6. The flexible wearable hand rehabilitation robot driven by memory alloy wires according to claim 4, characterized in that the memory alloy wire driver group (113) comprises four groups of memory alloy wire drivers arranged in parallel, and the four groups of memory alloy wire drivers are respectively used for driving the actions of four fingers except for thumbs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910410183.7A CN109998866B (en) | 2019-05-17 | 2019-05-17 | Flexible wearable hand rehabilitation robot driven by memory alloy wires |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910410183.7A CN109998866B (en) | 2019-05-17 | 2019-05-17 | Flexible wearable hand rehabilitation robot driven by memory alloy wires |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109998866A CN109998866A (en) | 2019-07-12 |
| CN109998866B true CN109998866B (en) | 2023-05-12 |
Family
ID=67177210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910410183.7A Active CN109998866B (en) | 2019-05-17 | 2019-05-17 | Flexible wearable hand rehabilitation robot driven by memory alloy wires |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109998866B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111685966B (en) * | 2019-10-15 | 2024-04-19 | 东北林业大学 | Finger movement function rehabilitation device driven by shape memory alloy wire |
| CN112426328B (en) * | 2020-11-17 | 2022-05-13 | 中国科学技术大学 | Intelligent flexible hand function rehabilitation glove based on shape memory alloy |
| CN113081661B (en) * | 2021-03-10 | 2022-01-07 | 北京航空航天大学 | Line-driven rehabilitation glove |
| CN113520794B (en) * | 2021-07-15 | 2022-01-11 | 东北林业大学 | Desktop-level hand function rehabilitation device driven by shape memory alloy wires |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004298573A (en) * | 2003-04-01 | 2004-10-28 | Sagaken Chiiki Sangyo Shien Center | Rehabilitation apparatus |
| CN101433491A (en) * | 2008-12-05 | 2009-05-20 | 华中科技大学 | Multiple-freedom degree wearing type rehabilitation training robot for function of hand and control system thereof |
| CN103285560A (en) * | 2013-05-20 | 2013-09-11 | 健雄职业技术学院 | Finger muscle force training recovery apparatus |
| CN103750977A (en) * | 2014-01-03 | 2014-04-30 | 哈尔滨工业大学 | Exoskeleton-type hand function rehabilitation robot |
| CN206344166U (en) * | 2016-12-14 | 2017-07-21 | 温岭市太平高级职业中学 | A kind of movable robot of finger |
| CN108927790A (en) * | 2018-08-15 | 2018-12-04 | 京东方科技集团股份有限公司 | Power-assisted gloves |
| WO2019016809A1 (en) * | 2017-07-18 | 2019-01-24 | Robotico Ltd. | Handforce augmentation apparatus |
-
2019
- 2019-05-17 CN CN201910410183.7A patent/CN109998866B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004298573A (en) * | 2003-04-01 | 2004-10-28 | Sagaken Chiiki Sangyo Shien Center | Rehabilitation apparatus |
| CN101433491A (en) * | 2008-12-05 | 2009-05-20 | 华中科技大学 | Multiple-freedom degree wearing type rehabilitation training robot for function of hand and control system thereof |
| CN103285560A (en) * | 2013-05-20 | 2013-09-11 | 健雄职业技术学院 | Finger muscle force training recovery apparatus |
| CN103750977A (en) * | 2014-01-03 | 2014-04-30 | 哈尔滨工业大学 | Exoskeleton-type hand function rehabilitation robot |
| CN206344166U (en) * | 2016-12-14 | 2017-07-21 | 温岭市太平高级职业中学 | A kind of movable robot of finger |
| WO2019016809A1 (en) * | 2017-07-18 | 2019-01-24 | Robotico Ltd. | Handforce augmentation apparatus |
| CN108927790A (en) * | 2018-08-15 | 2018-12-04 | 京东方科技集团股份有限公司 | Power-assisted gloves |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109998866A (en) | 2019-07-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109998866B (en) | Flexible wearable hand rehabilitation robot driven by memory alloy wires | |
| CN109542236B (en) | Exoskeleton glove with finger position synchronous measurement and fingertip force feedback functions | |
| TWI620559B (en) | Wearable Finger Rehabilitation Device | |
| CN111685966B (en) | Finger movement function rehabilitation device driven by shape memory alloy wire | |
| CN111643315A (en) | Flexible hand function rehabilitation device based on rope drive | |
| CN110916972A (en) | Exoskeleton hand rehabilitation training device | |
| CN210145028U (en) | Flexible wearable hand rehabilitation robot driven by memory alloy wires | |
| CN107214686B (en) | Hand exoskeleton system based on electromagnetic drive | |
| CN108041723A (en) | A kind of magnetomotive thermal energy power-assisted gloves for enhancing stability | |
| CN111045513B (en) | Wearable finger tip force feedback device | |
| CN210250477U (en) | Wearable hand rehabilitation robot | |
| CN112263437A (en) | Finger motion function rehabilitation device | |
| CN114533497B (en) | Flexible rehabilitation glove and use method and life assisting method thereof | |
| CN211326576U (en) | Recovered machine gloves | |
| CN112274388A (en) | Device for hand rehabilitation exercise | |
| CN112641595B (en) | Push-pull hand exoskeleton based on reed | |
| CN115300330B (en) | Hand dexterous rehabilitation robot driven by continuous flexible body | |
| CN217339246U (en) | Finger rehabilitation training device | |
| CN219127221U (en) | Gas-electricity combined hand function rehabilitation device | |
| CN220344698U (en) | Rehabilitation device for rehabilitation training of upper limbs and fingers | |
| CN217908300U (en) | Finger joint controllable hand function rehabilitation manipulator | |
| KR102568155B1 (en) | Flexible actuator including air cooling device, wearable robot and massage device including the same | |
| CN112828882B (en) | Distributed outer limb finger robot control system | |
| CN219593780U (en) | Naked hand operation guarantee protector in cold environment | |
| CN111888183B (en) | Wrist exoskeleton for rehabilitation robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |