CN111150602B - Rigid-flexible coupled extensible joint type soft exoskeleton glove and method - Google Patents
Rigid-flexible coupled extensible joint type soft exoskeleton glove and method Download PDFInfo
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- CN111150602B CN111150602B CN201811318487.2A CN201811318487A CN111150602B CN 111150602 B CN111150602 B CN 111150602B CN 201811318487 A CN201811318487 A CN 201811318487A CN 111150602 B CN111150602 B CN 111150602B
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- joint
- exoskeleton
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
Abstract
The invention provides a rigid-flexible coupled extensible joint type soft exoskeleton glove and a method thereof. The rigid-flexible coupling extensible soft exoskeleton glove is high in position rigidity, large in bearing capacity and large in effective driving range, and can drive a single finger to move.
Description
Technical Field
The invention belongs to the field of medical rehabilitation machinery, and particularly relates to a rigid-flexible coupling extensible joint type soft exoskeleton glove and a method.
Background
At present, many patients with limb paralysis need to carry out specific function training to promote central nerve recombination and compensation so as to achieve the purpose of recovering the limb motor function of the patients clinically. The hand is the place where the human nerves are most densely distributed, and the rehabilitation exercise of the hand can effectively stimulate the nerves of the whole upper limb and promote the rehabilitation of the upper limb.
When performing rehabilitation exercises using a conventional rehabilitation robot, the limbs of a patient may be forcefully moved along a predetermined trajectory, which brings a risk of secondary injuries. The soft body rehabilitation robot can achieve better rehabilitation treatment effect with lower cost.
Although there are also many rehabilitation gloves at present, the rehabilitation gloves generally have the following defects:
1. in order to ensure the convenience of wearing, the glove does not comprise knuckle parts at the tail ends of fingers, and the motion training of the tail ends of the fingers is lacked;
2. the relative sizes of the hands and the gloves have great influence on the rehabilitation effect, and the universality is not strong;
3. the range of joint motion which can be realized by the glove is limited, and the range of the turning angle of the joint of the hand is difficult to reach;
4. one finger cannot be controlled to move alone.
Therefore, a more reasonable rehabilitation glove is to be designed.
Disclosure of Invention
In view of the above, the present invention aims to provide a rigid-flexible coupling extensible joint type soft exoskeleton glove, which uses rigid-flexible coupling extensible joint type soft exoskeleton fingers to enable the soft exoskeleton glove to have high position rigidity, large carrying capacity, large effective driving range, and be capable of driving a single finger to move.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a rigid-flexible coupled extensible joint type soft exoskeleton glove comprises a glove body, wherein the glove body comprises a hand back area, a hand center area and a finger area, and at least one of an index finger joint recovery soft exoskeleton, a middle finger joint recovery soft exoskeleton, a ring finger joint recovery soft exoskeleton, a little finger joint recovery soft exoskeleton and a thumb joint recovery soft exoskeleton is arranged in the finger area;
a soft exoskeleton glove base is arranged in the palm area and fixed on the palm;
an inflation control module is arranged in the back area of the hand;
the index finger joint recovery soft exoskeleton, the middle finger joint recovery soft exoskeleton, the ring finger joint recovery soft exoskeleton, the little finger joint recovery soft exoskeleton and the thumb joint recovery soft exoskeleton are all fixed on the soft exoskeleton glove base through a pressure plate;
one sides, close to the palm, of the index finger joint recovery soft exoskeleton, the middle finger joint recovery soft exoskeleton, the ring finger joint recovery soft exoskeleton, the little finger joint recovery soft exoskeleton and the thumb joint recovery soft exoskeleton are communicated with an inflation control module through inflation tubes;
the index finger joint rehabilitation software exoskeleton, the middle finger joint rehabilitation software exoskeleton, the ring finger joint rehabilitation software exoskeleton and the little finger joint rehabilitation software exoskeleton respectively comprise a single-joint software driving module for simulating a metacarpophalangeal joint and a first double-joint software driving module for simulating a near interphalangeal joint and a far interphalangeal joint, the single-joint software driving module and the first double-joint software driving module are connected and supported through a hard connecting block, and the thumb joint rehabilitation software exoskeleton comprises a second double-joint software driving module for simulating a metacarpophalangeal joint and an interphalangeal joint;
the single-joint soft body driving module, the first double-joint soft body driving module and the second double-joint soft body driving module respectively comprise a corrugated pipe and a small extension layer, the small extension layer is adhered to one side of the corrugated pipe, which faces to the fingers of a patient, the corrugated pipe is a hollow pipe which is formed by connecting a plurality of wave crests and a plurality of wave troughs at intervals, and a rigid support is arranged at each wave crest.
Furthermore, a plurality of finger fixing sleeves for fixing the fingers of the patient are arranged on the index finger joint recovery software exoskeleton, the middle finger joint recovery software exoskeleton, the ring finger joint recovery software exoskeleton, the little finger joint recovery software exoskeleton and the thumb joint recovery software exoskeleton.
Further, the soft exoskeleton glove base is fixed on the palm of the patient through a nylon rope.
Further, the soft exoskeleton glove base is fixed with the palm of the patient through Y-shaped nylon buckles.
Furthermore, a pressing block matched with the mounting hole in the soft exoskeleton glove base is arranged on the pressing plate.
Further, a rigid support is provided inside and/or outside the bellows.
A finger rehabilitation training method comprises the following steps:
1) when the glove is in an uninflated natural state, the glove is taken by hands and fixed by the finger fixing sleeve and the nylon rope;
2) after the glove is worn, the air pressure is increased through the inflation control module to drive the fingers to perform buckling movement;
3) after the flexion movement is finished, reducing the air pressure in the soft exoskeleton and driving the fingers to perform extension movement;
4) and repeating the processes of 2) to 3) to realize the automatic rehabilitation training of the fingers.
Compared with the prior art, the rigid-flexible coupling extensible joint type soft exoskeleton glove has the following advantages:
the invention relates to a rigid-flexible coupling extensible joint type soft exoskeleton glove,
1. the soft exoskeleton fingers of the soft exoskeleton glove are of rigid-flexible coupling structures, can realize large-range flexible movement, have certain position rigidity, and provide bearing capacity capable of allowing a patient to grip an object in rehabilitation training.
2. The motion range of each joint of the soft exoskeleton fingers of the soft exoskeleton glove can be controlled between 0 degree and 90 degrees, wherein four soft exoskeleton fingers are provided with three soft joints and can realize the flexion and extension between 0 degree and 270 degrees, one soft exoskeleton finger is provided with two soft joints and can realize the flexion and extension between 0 degree and 180 degrees, and the motion range is close to the real motion range of the fingers of a human hand.
3. Each soft exoskeleton finger in the soft exoskeleton glove can be independently controlled, so that the movement of a single finger is realized.
4. The soft exoskeleton glove realizes the fixation of the hand by using the finger fixing sleeve, the nylon rope and the like, has small requirement on the appearance size of the hand, and improves the universality.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural view of a rigid-flexible coupled extensible articulated soft exoskeletal glove according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a rehabilitation software exoskeleton worn on an index finger, a middle finger, a ring finger and a little finger;
FIG. 3 is a schematic structural diagram of a rehabilitation software exoskeleton worn on a thumb;
FIG. 4 is a schematic view of a construction in which a rigid support is added to the interior of the bellows;
fig. 5 is a schematic structural view of adding a rigid support outside the corrugated pipe.
Description of reference numerals:
1-finger area, 2-soft exoskeleton glove base, 3-nylon rope, 4-inflation control module, 5-single joint soft driving module, 6-hard connecting block, 7-first double joint soft driving module, 8-finger fixing sleeve, 9-small extension layer, 10-pressing plate, 11-corrugated pipe, 12-wave trough, 13-wave crest, 14-rigid support, 15-hand back area, 16-palm area, 17-inflation pipe and 18-second double joint soft driving module.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In addition, the names of the joints of the fingers are as follows: joints connecting five fingers and the palm are metacarpophalangeal joints (MP), and the joint in front of the thumb is interphalangeal joint; the remaining four fingers are preceded by two joints, called the proximal interphalangeal joint (PIP) and the distal interphalangeal joint (DIP), respectively, in order to distinguish them, the distal interphalangeal joint is the joint closest to the fingertip and the proximal interphalangeal joint is between the metacarpophalangeal joint and the distal interphalangeal joint.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1-5, the rigid-flexible coupled extensible joint type soft exoskeleton glove comprises a glove body, wherein the glove body comprises a hand back region 15, a hand center region 16 and a finger region 1, and at least one of an index finger joint recovery soft exoskeleton, a middle finger joint recovery soft exoskeleton, a ring finger joint recovery soft exoskeleton, a little finger joint recovery soft exoskeleton and a thumb joint recovery soft exoskeleton is arranged in the finger region 1;
a soft exoskeleton glove base 2 is arranged in the palm area 16 and fixed on the palm;
the hand back area 15 is provided with an inflation control module 4;
the index finger joint recovery soft exoskeleton, the middle finger joint recovery soft exoskeleton, the ring finger joint recovery soft exoskeleton, the little finger joint recovery soft exoskeleton and the thumb joint recovery soft exoskeleton are all fixed on the soft exoskeleton glove base 2 through a pressure plate 10;
one sides, close to the palm, of the index finger joint rehabilitation software exoskeleton, the middle finger joint rehabilitation software exoskeleton, the ring finger joint rehabilitation software exoskeleton, the little finger joint rehabilitation software exoskeleton and the thumb joint rehabilitation software exoskeleton are communicated with the inflation control module 4 through inflation tubes 17;
the index finger joint rehabilitation software exoskeleton, the middle finger joint rehabilitation software exoskeleton, the ring finger joint rehabilitation software exoskeleton and the little finger joint rehabilitation software exoskeleton all comprise a single-joint software driving module 5 for simulating a metacarpophalangeal joint and a first double-joint software driving module 7 for simulating a near interphalangeal joint and a far interphalangeal joint, the single-joint software driving module 5 and the first double-joint software driving module 7 are connected and supported through a hard connecting block 6, the thumb joint rehabilitation software exoskeleton comprises a second double-joint software driving module 18 for simulating a metacarpophalangeal joint and an interphalangeal joint, each joint keeps a 45-degree bending state in a natural state, and the joint rotation angle range of each joint can reach 0-90 degrees by adjusting internal air pressure so as to simulate the real joint rotation angle range of a human hand;
the single-joint soft body driving module 5, the first double-joint soft body driving module 7 and the second double-joint soft body driving module 18 respectively comprise a corrugated pipe 11 and a small extension layer 9, the small extension layer 9 is adhered to one side, facing to the fingers of a patient, of the corrugated pipe 11, the corrugated pipe 11 is a hollow pipe formed by connecting a plurality of wave crests 13 and wave troughs 12 in an alternating mode, a rigid support 14 is arranged at each wave crest 13, the flexible corrugated pipe-shaped joints and the rigid supports 14 are combined to form the rigid-flexible coupling characteristic of the soft exoskeleton fingers, and the rigid supports 14 can improve the position rigidity of the soft exoskeleton gloves and increase the bearing capacity.
A plurality of finger fixing sleeves 8 for fixing the fingers of the patient are arranged on the index finger joint recovery software exoskeleton, the middle finger joint recovery software exoskeleton, the ring finger joint recovery software exoskeleton, the little finger joint recovery software exoskeleton and the thumb joint recovery software exoskeleton.
The soft exoskeleton glove base 2 is fixed on the palm of the patient hand through a nylon rope 3, or the soft exoskeleton glove base 2 is fixed with the palm of the patient hand through a Y-shaped nylon hasp.
The pressing plate 10 is provided with a pressing block matched with the mounting hole on the soft exoskeleton glove base 2, and the connection is firm and reliable.
A rigid support 14 is arranged inside and/or outside the wave crest of the corrugated pipe 11, so that the wave crest part of the soft driving joint cannot expand when being inflated, and the balloon effect is reduced; increasing the effective bending angle of the fingers; the rigidity of the finger position is improved.
The finger fixing sleeve 8 is connected to the soft body driving module through adhesion, and a patient sleeves fingers into the finger fixing sleeve to realize connection of a hand and the soft exoskeleton fingers.
The small extension layer 9 can be made of materials with different extension rates according to requirements, and the small extension layer 9 has the function of enabling fingers to bend when being inflated. The small extensible layer 9 and the rigid support 14 cooperate to increase the load bearing capacity of the finger.
The inflation control module 4 can independently control the air pressure inside each soft exoskeleton, the finger joint angle is changed by changing the air pressure inside the finger, finger movement is realized, the finger stretches when the inside of the soft exoskeleton finger 1 is negative pressure, and the finger bends when the inside of the soft exoskeleton finger is positive pressure.
The corrugated pipe 11 controls the bending angle range of the joint by adjusting the number and the distance of the wave crests 13 and the wave troughs 12, and the rigidity of the joint is adjusted by changing the pipe wall thickness of the corrugated pipe at the wave crests 13 and the wave troughs 12.
The angle in the process of inflating and inhaling the soft exoskeleton is described as follows:
under the natural state of the fingers, each joint of each finger bends 45 degrees, namely the single-joint soft driving module bends 45 degrees, the double-joint soft driving module bends 90 degrees, the thumb bends 90 degrees, and the rest four fingers bend 135 degrees;
in an inflation state, the bending range of each joint is 45-90 degrees, namely the single-joint soft driving module bends 45-90 degrees, the double-joint soft driving module bends 90-180 degrees, the thumb bends 90-180 degrees (the maximum 180 degrees), and the rest four fingers bend 135-270 degrees (the maximum 270 degrees);
in the inspiration state, the bending range of each joint is 0-45 degrees, namely the single joint soft driving module bends 0-45 degrees, the double joint soft driving module bends 0-90 degrees, the thumb bends 0-90 degrees (minimum 0 degrees), and the other four fingers bend 0-135 degrees (minimum 0 degrees).
A finger rehabilitation training method adopting a rigid-flexible coupling extensible joint type soft exoskeleton glove comprises the following steps:
1) when the glove is in an uninflated natural state, the glove is taken by hands and fixed by the finger fixing sleeve 8 and the nylon rope 3;
2) after the glove is worn, the air pressure is increased through the inflation control module 4, and the fingers are driven to perform buckling movement;
3) after the flexion movement is finished, reducing the air pressure in the soft exoskeleton and driving the fingers to perform extension movement;
4) and repeating the processes of 2-3 to realize the automatic rehabilitation training of the fingers.
In the invention, the fixing mode of the soft exoskeleton fingers and the soft exoskeleton palm with the hand is only an optional scheme, and other schemes can be selected.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. A rigid-flexible coupled extensible articulated soft exoskeleton glove, comprising: the glove body comprises a glove body, wherein the glove body comprises a hand back area (15), a hand center area (16) and a finger area (1), and at least one of an index finger joint rehabilitation soft exoskeleton, a middle finger joint rehabilitation soft exoskeleton, a ring finger joint rehabilitation soft exoskeleton, a little finger joint rehabilitation soft exoskeleton and a thumb joint rehabilitation soft exoskeleton is arranged in the finger area (1);
a soft exoskeleton glove base (2) is arranged in the palm area (16) and fixed on the palm;
an inflation control module (4) is arranged in the back area (15);
the index finger joint recovery soft exoskeleton, the middle finger joint recovery soft exoskeleton, the ring finger joint recovery soft exoskeleton, the little finger joint recovery soft exoskeleton and the thumb joint recovery soft exoskeleton are all fixed on the soft exoskeleton glove base (2) through a pressing plate (10);
one sides, close to the palm, of the index finger joint rehabilitation software exoskeleton, the middle finger joint rehabilitation software exoskeleton, the ring finger joint rehabilitation software exoskeleton, the little finger joint rehabilitation software exoskeleton and the thumb joint rehabilitation software exoskeleton are communicated with an inflation control module (4) through inflation tubes (17);
the index finger joint recovery software exoskeleton, the middle finger joint recovery software exoskeleton, the ring finger joint recovery software exoskeleton and the little finger joint recovery software exoskeleton respectively comprise a single-joint software driving module (5) for simulating a metacarpophalangeal joint and a first double-joint software driving module (7) for simulating a near interphalangeal joint and a far interphalangeal joint, the single-joint software driving module (5) and the first double-joint software driving module (7) are connected and supported through a hard connecting block (6), and the thumb joint recovery software exoskeleton comprises a second double-joint software driving module (18) for simulating a metacarpophalangeal joint and an interphalangeal joint;
the single-joint soft body driving module (5), the first double-joint soft body driving module (7) and the second double-joint soft body driving module (18) respectively comprise a corrugated pipe (11) and a small extension layer (9), the small extension layer (9) is adhered to one side, facing to the fingers of a patient, of the corrugated pipe (11), the corrugated pipe (11) is a hollow pipe with the interior formed by alternately connecting a plurality of wave crests (13) and a plurality of wave troughs (12), and a rigid support (14) is arranged at each wave crest (13);
each joint is kept in a 45-degree bending state in a natural state, the joint rotation angle range of each joint can reach 0-90 degrees by adjusting internal air pressure, and the real joint rotation angle range of a human hand is simulated.
2. The rigid-flexibly coupled extensible articulated soft exoskeletal glove of claim 1, wherein: the index finger joint recovery soft exoskeleton, the middle finger joint recovery soft exoskeleton, the ring finger joint recovery soft exoskeleton, the little finger joint recovery soft exoskeleton and the thumb joint recovery soft exoskeleton are respectively provided with a plurality of finger fixing sleeves (8) for fixing fingers of a patient.
3. The rigid-flexibly coupled extensible articulated soft exoskeletal glove of claim 2, wherein: the soft exoskeleton glove base (2) is fixed on the palm of a patient through a nylon rope (3).
4. The rigid-flexibly coupled extensible articulated soft exoskeletal glove of claim 2, wherein: the soft exoskeleton glove base (2) is fixed with the palm of the patient through a Y-shaped nylon hasp.
5. The rigid-flexibly coupled extensible articulated soft exoskeletal glove of claim 3, wherein: and a pressing block matched with the mounting hole on the soft exoskeleton glove base (2) is arranged on the pressing plate (10).
6. The rigid-flexibly coupled extensible articulated soft exoskeletal glove of claim 1, wherein: a rigid support (14) is arranged inside and/or outside the bellows (11).
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| CN201811318487.2A CN111150602B (en) | 2018-11-07 | 2018-11-07 | Rigid-flexible coupled extensible joint type soft exoskeleton glove and method |
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| CN201811318487.2A CN111150602B (en) | 2018-11-07 | 2018-11-07 | Rigid-flexible coupled extensible joint type soft exoskeleton glove and method |
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| CN111150602B true CN111150602B (en) | 2022-06-03 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111803322A (en) * | 2020-06-10 | 2020-10-23 | 上海工程技术大学 | Multifunctional hand rehabilitation exoskeleton structure |
| CN112618280B (en) * | 2020-12-01 | 2022-06-14 | 上海交通大学 | Soft body driving structure of lower limb rehabilitation robot |
| CN112641596B (en) * | 2020-12-02 | 2022-11-18 | 上海海每康智能医疗科技有限公司 | Hand action auxiliary device based on line drive |
| CN112999014B (en) * | 2021-02-25 | 2023-09-08 | 上海希润医疗器械有限公司 | Structural design of glove of robot for soft hand function rehabilitation |
| CN112914957A (en) * | 2021-03-24 | 2021-06-08 | 合肥工业大学 | Flexible rehabilitation glove with multi-degree-of-freedom positive and negative pressure independent driving function |
| CN113842295B (en) * | 2021-09-29 | 2023-08-01 | 南京锐诗得医疗科技有限公司 | Bionic bending driver and rehabilitation glove |
| CN114043458B (en) * | 2021-11-22 | 2023-03-14 | 上海交通大学 | Pneumatic soft body bending driver based on exoskeleton enhancement |
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