CN110353940A - A kind of hand ectoskeleton based on mirror image synchronization simulation control - Google Patents
A kind of hand ectoskeleton based on mirror image synchronization simulation control Download PDFInfo
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- CN110353940A CN110353940A CN201810310524.9A CN201810310524A CN110353940A CN 110353940 A CN110353940 A CN 110353940A CN 201810310524 A CN201810310524 A CN 201810310524A CN 110353940 A CN110353940 A CN 110353940A
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- hand
- ectoskeleton
- mirror image
- mirror
- finger
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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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H2201/12—Driving means
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
- A61H2201/1269—Passive exercise driven by movement of healthy limbs
-
- 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
- A61H2205/067—Fingers
Abstract
The invention discloses a kind of hand ectoskeletons based on mirror image synchronization simulation control, and hemiplegic patient and the impaired patient for needing hand rehabilitation training of kinesitherapy nerve can be helped to carry out the rehabilitation training of hand.This hand ectoskeleton is different from traditional rigid body manipulator, also different from pneumatic type software manipulator.It is made of active hand ectoskeleton and mirror hand ectoskeleton, and overall structure is made of cartilage formula elastic material and small electrical unit, control circuit, measuring circuit, Bending Deformation sensor and wireless module.Hemiplegic patient can proper motion hand wearing active hand ectoskeleton when taking exercises, mirror hand ectoskeleton is driven by motor and bracing wire, cooperates elastic material, and mirror image simulates the movement of normal hand, to carry out rehabilitation training to disabled hand.This hand ectoskeleton not only promotes crippled hand to do mirror image rehabilitation exercise, but also can be driven by patient's sense of independence, its kinesitherapy nerve of training has more obvious advantage compared to Traditional Rehabilitation manipulator.
Description
Technical field
The invention belongs to medical health care instrument healing robots and wearable device field, are specifically designed a kind of based on mirror image
The hand ectoskeleton of synchronously simulating control, suitable for hemiplegic patient and the impaired patient for needing hand rehabilitation training of kinesitherapy nerve
The rehabilitation training and power-assisted for carrying out hand grab.
Background technique
The patient of cranial vascular disease and its sequelae, especially patients with cerebral apoplexy, finger not tensible, stretching, extension is powerless, and one
As need through drug therapy, while constantly positive motion finger is needed, to be conducive to restore.According to the system for defending planning commission's announcement
Count word, the patients with cerebral apoplexy in China in 2013 40 years old or more just has 10,360,000 people, annual cerebral apoplexy new cases about 270
Ten thousand, and disease incidence is increased with annual 13% speed.China's cerebral apoplexy disability rate is up to 75%, and western countries only have 30%.Disability
The so high main cause of rate is just the absence of timely and effectively rehabilitation.The most common sequelae shape of patients with cerebral apoplexy is exactly inclined
Paralysis is commonly called as hemiplegia.Upper limb disability patient especially mutilated hand more influences the normal life of patient, because daily routines include
Wearing the clothes, having a meal, drinking water etc. must could complete by hand, therefore the rehabilitation of hand is also particularly important.From last century 60 years
Dai Qi, a series of mechanical rehabilitation hands of patient on hand, including rigid body manipulator, pneumatic type software can be worn over by just having developed
Manipulator etc..Rigid body manipulator is generally also bigger than the rigidity of finger-joint, when the rate of bending of manipulator is too fast or bending
When angle is excessive, compressing will be generated to finger and is inhibited, cause the uncomfortable even pain of patient.Pneumatic type software manipulator is general
It all over bulky, needs be made of hollow cavity structure flexible material, and peripheral disposition is needed to limit and limitation strained layer, transmission
Pneumatic inflation driving.This manipulator not only carries and uses inconvenience, but also the hand exercise mode being able to achieve is seldom,
Finger stretches when being all inflation mostly, digital flexion when deflation.Control aspect, current manipulators in rehabilitation mostly use reciprocating electricity
Machine control is controlled with EMG electromyography signal or EEG EEG signals.Reciprocable machine control is passive exercise, although having certain
Rehabilitation training effect, but its effect be nothing like patient active consciousness driving rehabilitation training effect it is good.Pass through EMG
Although or EEG control be patient active consciousness driving, it has ignored very crucial problem: the EMG of hemiplegic patient
May be exactly with EEG signal itself it is problematic, so that it cannot correctly being driven.In addition to this, the difficulty of rehabilitation training
Degree, intensity and training mode needs are adjusted according to the real-time rehabilitation situation of patient.Current most manipulators in rehabilitation does not have
Have data acquire and analysis function, can not to patient and physiatrician feedback can track display conditions of patients development and
The data of training effect, the carry out machine learning of feedback data and system are independently to rehabilitation training when it is even more impossible to sufferer training
Difficulty, intensity and mode optimize.
Summary of the invention
The shortcomings that aiming to overcome that the above-mentioned prior art of needle of the present invention discloses a kind of based on mirror image synchronization simulation control
The hand ectoskeleton of system.
In order to achieve the above objectives, the present invention is achieved by the following scheme:
A kind of hand ectoskeleton based on mirror image synchronization simulation control, including active hand ectoskeleton and mirror hand ectoskeleton.
The active hand ectoskeleton includes active hand changing sensor 9, data line 10, measuring circuit 11 and active flashlight source
12。
Further, active hand ectoskeleton is dressed by the hand that can normally move, and can be the normal hand of hemiplegia patient,
It is also possible to the hand of medical staff；Five changing sensors 9 are respectively attached to thumb, index finger, middle finger, the third finger and little finger
The back side is stretched when normal hand is done, is held and when other movements, measured value is transferred to measurement by data line 10 by changing sensor 9
Circuit 11；Its measured value is converted angle value by measuring circuit 11, and the control of mirror hand ectoskeleton is sent to by wireless module
The wireless module of circuit 8；Active flashlight source 12 is that changing sensor 9 and measuring circuit 11 provide electric energy.Control circuit 8 and active
Flashlight source 12 is placed on the armlet of mirror hand ectoskeleton, lightweight and convenient, convenient for wearing.
The mirror hand ectoskeleton includes the finger end anchor point 1 in the back of the hand face, the back of the hand surface elastic bracing wire 2, spring 3, the palm of the hand
Finger end anchor point 4, palm of the hand face bracing wire 5, motor group 6, data line 7, control circuit 8 and the mirror hand bending deformation sensor in face
14。
Further, mirror hand ectoskeleton is dressed by the hand to rehabilitation training, that is, crippled hand；Secondary spring 1 with
When the back of the hand surface elastic bracing wire 2 applies without external force, mirror hand is in be stretched flat posture；Pass through when control circuit 8 receives measuring circuit 11
After the angle-data that wireless module is sent, motor group 6 is sent a command to by data line 7；Motor group 6 turns according to order
It is dynamic, the mobile phone end anchor point 4 in palm of the hand face is pulled by palm of the hand face bracing wire 5, to realize the movement of mirror hand；Simultaneously, lead to
The back of the hand surface elastic bracing wire 2 for receiving and distributing the fixation of finger end anchor point 1 at the back side is stretched with secondary spring 3；High auxiliary of coefficient of elasticity
The elastic deformation for helping spring 3 combined with the back of the hand surface elastic bracing wire 2 that relative resilient coefficient is low, not only can easily cope with small intensity
Movement, and the hand exercise of big intensity can be coped with；Measurement data is sent to control by the changing sensor 14 of mirror hand
Circuit 8,8 conversion data of control circuit are that the order comparison that angle is sent to motor group with it as the value of feedback of control system is counted
It calculates, to construct closed-loop control；The feedback data of mirror image hands movement is sent to mobile application by wireless module by control circuit 8
14 display of end is formulated rehabilitation in the future according to current rehabilitation intensity and patient profiles and is instructed so that patient and physiatrician refer to
Practice plan.Meanwhile difficulty and intensity with adjustment rehabilitation training can be arranged in sufferer and physiatrician by mobile application end 15.
Physiatrician can also preset the rehabilitation training mode of varying strength and difficulty, for selection.Micro process in control circuit 8
Device can establish expert system according to the empirical rule that doctor is arranged, autonomous to select rehabilitation training the case where according to patient
Difficulty, intensity and default training mode.Bending Deformation sensor 9 and the measuring circuit 11 of starting based on active flashlight source 12 provide
Electric energy is mounted on the armlet of active hand ectoskeleton with measuring circuit 11.
Compared with prior art, the invention has the following advantages:
A kind of hand ectoskeleton based on mirror image synchronization simulation control that the present invention introduces, rigidity is smaller than the rigidity of finger, disabled
Therefore finger can overcome generated oppressive force to hand soft stretch, and safety is improved.It meanwhile and not being completely soft
Property structure, there is certain rigidity, the ectoskeleton structural defence hand of wearer.Five motors mostly use mini steering engine
Or mini direct current generator, weight are generally less than 50 grams, drive with bracing wire, cooperate light and handy elastic material, structure is simple, secure side
Just, easily operated, it is suitble to medical and household.Although structure is simple, this hand ectoskeleton can complete the hand to patient
Range of motion training, exercise for power, power-assisting training and the training of finger fine movement.In addition to this, this same based on mirror image
Walk simulation hand ectoskeleton, if patient has a strong hand, although such as part hemiplegic patient's hemiplegia, have half limb
Body and finger can be with its movements of autonomous control, they can carry out the residual hand for needing rehabilitation training of oneself by the strong hand of oneself
The rehabilitation training of mirror image simulation carries out massage for a long time and a large amount of auxiliary joint motions to patient instead of nursing staff, subtracts significantly
Few medical staff's workload, alleviates the burden of medical staff, also improves the frequency and quality of rehabilitation training.Medical staff
Can dress the active hand ectoskeleton of this hand ectoskeleton, sufferer dresses mirror hand ectoskeleton, by medical staff's active control its
The movement of rehabilitation training.The case where simulation of medical staff's synchronous mirror not only can be made to experience sufferer, and can show
The various details action requests of sufferer hand rehabilitation training are taught, the quality of the autonomous rehabilitation training of sufferer is improved.Meanwhile this hand
Portion's ectoskeleton is connected by wireless module with mobile terminal application, not only intuitively, quickly and accurately can provide trouble for medical staff
The every index and history parameters of the rehabilitation training of person's hand are commented in real time conducive to rehabilitation situation of the medical staff to patient
Estimate, and difficulty, intensity and the preset mode of training can be set by medical staff.The mirror image synchronization simulation rehabilitation instruction of patient
Practice, is to be driven by patient's sense of independence, so also have trained its fortune while rehabilitation training joint motions and muscle are flexible
Dynamic nerve has more obvious rehabilitation efficacy compared to Traditional Rehabilitation manipulator.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of hand ectoskeleton based on mirror image synchronization simulation control of the invention；
Fig. 2 is a kind of mirror hand ectoskeleton structure chart of hand ectoskeleton based on mirror image synchronization simulation control of the invention；
Fig. 3 is a kind of active hand ectoskeleton structure chart of hand ectoskeleton based on mirror image synchronization simulation control of the invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with attached drawing
Step ground detailed description:
As shown in Figure 1, a kind of hand ectoskeleton based on mirror image synchronization simulation control of the invention, which is characterized in that including master
It starts ectoskeleton and mirror hand ectoskeleton.
As shown in figures 1 and 3, active hand ectoskeleton includes changing sensor 9, data line 10, measuring circuit 11 and active
Flashlight source 12；Active hand ectoskeleton is dressed by the hand that can normally move, and be can be the normal hand of hemiplegia patient, is also possible to
The hand of medical staff；Active hand ectoskeleton basic material is flexible material, is similar to gloves.Five changing sensors 9, utilize glue
Skin is separately fixed on the five fingers of the thumb of active hand ectoskeleton, index finger, middle finger, the third finger and little finger.Deformation passes
Sensor has certain rigidity, but does not influence the various movements of active hand completely.When the five fingers are opened and are held with a firm grip, deformation sensing
Device is also not easy to interfere finger movement, meanwhile, rubber can also form sensor and protect, and extend active hand ectoskeleton
Service life.Stretched when normal hand is done, hold and other movement when, changing sensor 9 passes through the flexural measurement value of each finger
Data line 10 is transferred to measuring circuit 11, and measuring circuit 11 converts digital signal i.e. angle value for its analog signal, passes through it
Wireless module is sent out.Measuring circuit 11 is placed on the armlet at the active hand ectoskeleton back side, avoids circuit and electronics member
Part interferes the movement of finger, while also avoiding squeezing circuit when finger grips, increases the longevity of measuring circuit 11
Life.Instruction of the measuring circuit 11 equipped with the corresponding wireless module and indicating operating status that switchs, can carry out data transmission
Lamp.Indicator light is bright to show that active hand ectoskeleton is in that serviceable condition is normal, and wireless module has been switched on.Active hand ectoskeleton
By wireless module, the wireless module of mirror hand ectoskeleton control circuit 8 can be transferred data to, movement can also be uploaded to
Application end 15, and recorded and analyzed and handled；Active flashlight source 12 is that changing sensor 9 and measuring circuit 11 provide electric energy.
As depicted in figs. 1 and 2, mirror hand ectoskeleton includes the finger end anchor point 1 in the back of the hand face, the back of the hand surface elastic bracing wire
2, spring 3, the finger end anchor point 4 in palm of the hand face, palm of the hand face bracing wire 5, motor group 6, data line 7, control circuit 8 and mirror hand are curved
Bent deformation-sensor 14.Mirror hand ectoskeleton is dressed by the hand to rehabilitation training, that is, crippled hand.In secondary spring 1 and hand
When back side flexible pull wire 2 applies without external force, mirror hand has certain rigidity in posture, structure is stretched flat.When control circuit 8 receives
After the angle-data sent to measuring circuit 11 by wireless module, motor group 6 is sent a command to by data line 7.Electricity
Unit 6 controls active hand ectoskeleton thumb, index finger, middle finger, the third finger and little finger there are five motor altogether respectively.Motor according to
Order rotation, the mobile phone end anchor point 4 in palm of the hand face is pulled by palm of the hand face bracing wire 5, to realize the movement of mirror hand.Work as control
When circuit 8 sends positive pwm control signal to motor group, 5 fingers of electric unit allocation curve inwardly.Meanwhile passing through the back of the hand face
The fixed the back of the hand surface elastic bracing wire 2 and secondary spring 3 of finger end anchor point 1 be stretched.When control circuit 8 is sent out to motor group
When sending reversed pwm control signal, 5 fingers of electric unit allocation are flexed outward.I.e. the bracing wire of palm of the hand face is relaxed, and the back of the hand surface elastic is drawn
3 elastic shrinkage of line 2 and secondary spring.The high secondary spring 3 of the coefficient of elasticity the back of the hand surface elastic low with relative resilient coefficient is drawn
Elastic deformation combined by line 2, not only can easily cope with the movement of small intensity, but also can cope with the hand fortune of big intensity
It is dynamic.Measurement data is sent to control circuit 8 by the changing sensor 14 of mirror hand, and 8 conversion data of control circuit is angle conduct
The value of feedback of control system is sent to the order comparing calculation of motor group with it, to construct closed-loop control.Control circuit 8 is mirror
It is shown as the feedback data of hands movement is sent to mobile application end 14 by wireless module, so that patient and physiatrician refer to,
Rehabilitation training plans in the future are formulated according to current rehabilitation intensity and patient profiles.Meanwhile sufferer and physiatrician can lead to
Cross the difficulty and intensity of the setting of mobile application end 15 with adjustment rehabilitation training.Physiatrician can also preset varying strength and difficulty
Rehabilitation training mode, it is for selection.Microprocessor in control circuit 8, the empirical rule that can be arranged according to doctor are established
Expert system, the case where according to patient, autonomous difficulty, intensity and the default training mode for selecting rehabilitation training.Active hand
Bending Deformation sensor 9 and the measuring circuit 11 of starting based on power supply 12 provide electric energy, are mounted on active hand with measuring circuit 11
On the armlet of ectoskeleton.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (7)
1. a kind of hand ectoskeleton based on mirror image synchronization simulation control, which is characterized in that including active hand ectoskeleton and mirror image
Hand ectoskeleton；The active hand ectoskeleton is dressed by the hand that can normally move；The mirror hand ectoskeleton is by rehabilitation
Trained hand, i.e. crippled hand wearing；By changing sensor, measuring circuit and wireless module, active hand ectoskeleton just
The action data of normal hand is sent to mirror hand ectoskeleton in real time；After mirror hand ectoskeleton receives data, pass through control circuit, electricity
Machine and bracing wire driving structure mirror image simulate the movement of normal hand, carry out rehabilitation training to it.
2. the hand ectoskeleton according to claim 1 based on mirror image synchronization simulation control, which is characterized in that outside active hand
Bone includes active hand changing sensor 9, data line 10, measuring circuit 11 and active flashlight source 12.
3. the hand ectoskeleton according to claim 1 based on mirror image synchronization simulation control, which is characterized in that outside mirror hand
Bone include the finger end anchor point 1 in the back of the hand face, the back of the hand surface elastic bracing wire 2, spring 3, palm of the hand face finger end anchor point 4, hand
Heart face bracing wire 5, motor group 6, data line 7, control circuit 8 and mirror hand bending deformation sensor 14.
4. the hand ectoskeleton according to claim 1 or 2 based on mirror image synchronization simulation control, which is characterized in that actively
Five changing sensors 9 of hand ectoskeleton are respectively attached to thumb, index finger, middle finger, the third finger and the little finger back side, when normal
When hand acts, measured value is transferred to measuring circuit 11 by changing sensor 9；Measuring circuit 11 is sent to mirror by wireless module
As the wireless module of the control circuit 8 of hand ectoskeleton.
5. the hand ectoskeleton according to claim 1 or 3 based on mirror image synchronization simulation control, which is characterized in that mirror image
Hand ectoskeleton original state is stretched flat for finger；When control circuit 8 receives the number that measuring circuit 11 is sent by wireless module
According to rear, the rotation of order motor group 6；Motor, which rotates forward, realizes that digital flexion, secondary spring 1 are stretched with the back of the hand surface elastic bracing wire 2；Electricity
Machine revolution, secondary spring 1 and the back of the hand surface elastic bracing wire 2 are shunk, and realize that finger is stretched flat.
6. the hand ectoskeleton according to claim 1 or 3 based on mirror image synchronization simulation control, which is characterized in that mirror image
Measurement data is sent to control circuit 8 by the changing sensor 14 of hand ectoskeleton, and 8 conversion data of control circuit is angle as control
The value of feedback of system processed is sent to the order comparing calculation of motor group with it, to construct closed-loop control.
7. the hand ectoskeleton according to claim 1 or 3 based on mirror image synchronization simulation control, which is characterized in that control
The feedback data of mirror image hands movement is sent to the storage of mobile application end 14 and display by wireless module by circuit 8, for analysis
With reference；The difficulty, intensity and formulation training mode that can be arranged simultaneously by mobile application end 15 and adjust rehabilitation training.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810310524.9A CN110353940A (en) | 2018-04-09 | 2018-04-09 | A kind of hand ectoskeleton based on mirror image synchronization simulation control |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810310524.9A CN110353940A (en) | 2018-04-09 | 2018-04-09 | A kind of hand ectoskeleton based on mirror image synchronization simulation control |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111672025A (en) * | 2020-05-29 | 2020-09-18 | 南京锐诗得医疗科技有限公司 | Hand function rehabilitation training device and method |
| CN112315747A (en) * | 2019-11-20 | 2021-02-05 | 河南水滴智能技术有限公司 | Novel exoskeleton control scheme |
| CN112370311A (en) * | 2019-12-11 | 2021-02-19 | 上海司羿智能科技有限公司 | Data glove, manufacturing method and finger joint rehabilitation training device |
| WO2023226376A1 (en) * | 2022-05-22 | 2023-11-30 | 远也科技（苏州）有限公司 | Powered exoskeleton system with distributed structure, and control method |
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