CN111251600B - Shape memory alloy driven soft rehabilitation glove and 3D printing preparation method thereof - Google Patents

Shape memory alloy driven soft rehabilitation glove and 3D printing preparation method thereof Download PDF

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CN111251600B
CN111251600B CN202010158468.9A CN202010158468A CN111251600B CN 111251600 B CN111251600 B CN 111251600B CN 202010158468 A CN202010158468 A CN 202010158468A CN 111251600 B CN111251600 B CN 111251600B
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joint
sleeve
printing
sma
spring
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CN111251600A (en
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王永泉
孙建宇
朱伯韬
余珊珊
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Xian Jiaotong University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/10—Processes of additive manufacturing
    • B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
    • B29C64/112—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using individual droplets, e.g. from jetting heads
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/30—Auxiliary operations or equipment
    • B29C64/386—Data acquisition or data processing for additive manufacturing
    • B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/40—Structures for supporting 3D objects during manufacture and intended to be sacrificed after completion thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y10/00—Processes of additive manufacturing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y50/00—Data acquisition or data processing for additive manufacturing
    • B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
    • 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

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Abstract

The invention relates to a shape memory alloy driving soft recovery glove and a 3D printing preparation method thereof. The glove includes three joints: unidirectional flexion joints, lateral swing joints and metacarpal joints. The front side of the unidirectional bending joint is provided with a V-shaped joint gap and an SMA spring is installed for completing the bending action, and the back side of the unidirectional bending joint is provided with the SMA spring for assisting the bent joint to recover the original shape; SMA springs are arranged on the left side and the right side of the side swing joint and used for completing side swing action; the palm joint comprises two SMA springs, one end of each spring is connected with the root of the thumb sleeve, and the other end of each spring is connected with the palm sleeve; and both ends of all the SMA springs are connected to a direct current stabilized power supply by leads. The rehabilitation gloves are prepared by adopting a method of integrated 3D printing of various materials. The rehabilitation glove has the following advantages: the dexterity is strong and the control difficulty is low; the functional integrity is good; the driving mode is simple and efficient; the comfort and the human-computer interaction safety are good; the weight is reduced, and the portability is good; advanced process and high preparation efficiency.

Description

Shape memory alloy driven soft rehabilitation glove and 3D printing preparation method thereof
Technical Field
The invention relates to a human motion rehabilitation device, in particular to a soft rehabilitation glove driven by a Shape Memory Alloy (SMA) spring and a 3D printing preparation method thereof.
Background
The human hand is a complex biological system, the function of the human hand is damaged, inconvenience is caused to daily life, and the structural complexity causes great treatment difficulty and long recovery period after the human hand is damaged.
The main causes of hand function impairment include trauma and hemiplegia (caused by cerebrovascular disease).
Hand trauma is particularly common to physical labor workers. After trauma surgery, a diseased finger needs to be fixed at a specific position for 3-4 weeks, during which blood stasis near a joint may generate fiber deformation, so that the joint and a tendon are adhered to form rigidity, and auxiliary rehabilitation therapy is important for recovering the function of the joint.
The morbidity of the hand hemiplegia sequela caused by cerebrovascular diseases is as high as 80 percent, spasm and curling edema of hand muscles occur after the disease occurs, the function is completely lost when the hand hemiplegia sequela is not treated in time, and the simple medicament treatment effect is limited and is required to depend on auxiliary rehabilitation treatment.
The theory of continuous passive motion and modern evidence-based medicine think that the affected limb is driven to do reciprocating motion: (1) relieving limb swelling and muscle atrophy caused by long-term lack of motion; (2) reducing tissue adhesion around joints and strengthening joint muscle groups; (3) the joint sensitivity is improved; (4) repairing damaged motor nerve and reconstructing the control of the brain to limbs.
Most of the traditional traction rehabilitation training is one-to-one or even many-to-one type of auxiliary treatment, which is a burden for limited medical resources, and the treatment effect depends on the experience of doctors, so that development of appropriate auxiliary rehabilitation equipment to promote hand function recovery has important practical value.
The existing auxiliary rehabilitation gloves mainly adopt rigid structures and are driven by motors or cylinders. Rigid manipulators enable precise control, but also have significant disadvantages: the structure is complicated, weight is big, and the cost of manufacture is high, and it is poor to use the travelling comfort, and above all human-computer interaction security is relatively poor. The affected finger in the early stage of recovery is in a low muscle strength state, and the movement track of the rigid equipment is fixed, so that the position of the affected finger cannot be automatically adjusted along with the deviation of the affected finger, and once the affected finger is separated from the original wearing position, secondary injury can occur.
The existing soft rehabilitation gloves generally have the defects of complex structure, insufficient functional integrity and poor size adaptability, and the air-driven rehabilitation gloves have poor portability and low precision, and the wire-driven rehabilitation gloves have complex structures and are difficult to manufacture and control. In addition, the rehabilitation gloves are often customized according to the size characteristics of the hands of individuals, the traditional process of 'manufacturing a mold → pouring → demolding' has limited capability in the aspect of preparing small-batch and personalized complex soft structures, and the process is complex, the preparation period is long, and the cost is high.
Most of the existing soft rehabilitation gloves are driven by air or wires, the structure is complex, the traditional process is adopted for preparation, the period is long, and the cost is high. The traditional process is difficult to realize personalized customization aiming at individual difference, so the obtained rehabilitation gloves can not be tightly attached to hands basically, and the rehabilitation effect, the wearing comfort and the human-computer interaction safety are improved. In addition, due to the limitation of the driving principle, the prepared rehabilitation hand has insufficient functional integrity, the control difficulty is high, and the control difficulty and the functional integrity cannot be considered at the same time.
Disclosure of Invention
In order to solve the problems, the invention provides a shape memory alloy driving soft rehabilitation glove and a 3D printing preparation method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme:
a shape memory alloy driven soft recovery glove comprises a palm sleeve, a finger sleeve with a plurality of fingers and a plurality of SMA springs;
the finger stall at least comprises a middle finger stall, an index finger stall and a thumb stall;
the middle finger sleeve and the index finger sleeve respectively comprise a base joint sleeve, a near joint sleeve and a far joint sleeve, the front sides of the three joint sleeves are provided with V-shaped joint gaps and are provided with a first SMA spring for completing unidirectional bending action, and the back sides of the three joint sleeves are integrally connected and provided with a second SMA spring for assisting the bent joint to recover the original shape;
third SMA springs are arranged on the left side and the right side of the base joint sleeve of the index finger sleeve and are used for completing side swinging;
the thumb sleeve comprises a palm joint, a base joint with a unidirectional bending function and a far joint. The front and back surfaces of the base joint and the far joint are respectively provided with a first SMA spring and a second SMA spring; one end of each of the two fourth SMA springs of the palm joint is connected with the root of the thumb sleeve, and the other end of each fourth SMA spring of the palm joint is connected with the palm sleeve;
the root of each finger sleeve is connected with the palm sleeve;
and both ends of all the SMA springs are connected to a direct current stabilized power supply by leads.
As a further improvement of the invention, the thickness of the joint of the thumb sleeve and the palm sleeve is smaller than that of the palm sleeve.
As a further improvement of the invention, the palm sleeve and the plurality of finger sleeves are of a 3D printing integrated structure.
As a further improvement of the invention, in the forming process of the 3D printing integrated forming structure, supports are required to be added to the suspended parts according to the principle of 45 degrees, and after printing is finished, the support materials are peeled off to obtain the glove substrate.
As a further improvement of the invention, the glove matrix is made of TPU material; the support material is PVA, HIPS or PLA.
As a further improvement of the invention, the direct current stabilized power supply is a 30V and 5A power supply.
As a further improvement of the invention, the parameters of the SMA spring satisfy the following conditions:
the length of the SMA spring is L when the SMA spring is not electrified and is completely contracted after the SMA spring is electrified
Figure BDA0002404925370000041
When the power is switched on and the joint is completely contracted, the joint bending angle theta reaches the maximum value. The spring parameters were calculated by:
Figure BDA0002404925370000042
Figure BDA0002404925370000043
Figure BDA0002404925370000044
Figure BDA0002404925370000045
Figure BDA0002404925370000046
Figure BDA0002404925370000047
simultaneous (5) and (6) to obtain:
Figure BDA0002404925370000048
the L, l parameter can be obtained by substituting the formula (7) into the formula (2) and the formula (3);
wherein alpha is the initial included angle between the two curved inclined planes, beta is the included angle between the curved inclined planes and the knuckle sleeve, gamma is the minimum included angle between the two curved inclined planes, L is the distance between the openings of the two curved inclined planes, and L is the distance between the two curved inclined planes0The minimum distance between the openings of the two curved inclined planes, the length of the curved inclined planes and the height h of the finger joint sleeve.
A3D printing preparation method of a shape memory alloy driven soft rehabilitation glove comprises the following steps:
establishing a three-dimensional model of the rehabilitation glove by using three-dimensional modeling software, importing the three-dimensional model into 3D printing slicing software, adding a supporting material at a suspended part of a glove substrate, setting printing parameters, and performing 3D printing;
wherein the base material is TPU, and the support material is PVA, HIPS or PLA;
after printing is finished, the model is taken out, and the support material is peeled off to obtain a TPU rehabilitation glove matrix;
connecting the SMA spring to the corresponding position of the substrate, and connecting the two ends of the spring to a direct current stabilized voltage power supply by using a lead to obtain the shape memory alloy driven soft rehabilitation glove.
Preferably, the printing layer thickness is set to be 0.1mm, the scanning speed is 10mm/s, the hot bed temperature is 50 ℃, the No. 1 nozzle TPU printing temperature is 220 ℃, and the No. 2 nozzle PVA printing temperature is 210 ℃.
Preferably, if the support material is PVA, the model is wholly immersed into water after printing is finished, and the TPU rehabilitation glove substrate is obtained after the PVA is completely dissolved in water.
Compared with the prior art, the invention has the following advantages:
(1) the dexterity is strong and the control difficulty is low. The number of driving degrees of freedom is proportional to the complexity of the structure, and is a pair of contradictions which are difficult to be coordinated. The rehabilitation glove driven by the SMA spring can control each joint independently, has stronger flexibility, can complete driving only by electrifying/powering off, and has extremely low difficulty compared with the traditional control means;
(2) the functional integrity is good. Most of the existing rehabilitation gloves realize the unidirectional bending of joints, and the rehabilitation gloves designed by the invention simultaneously realize the unidirectional bending motion, the lateral swinging motion of the base joints of the forefingers and the palmar motion of the thumbs, are closer to the real motion of hands, can obtain better rehabilitation effect and have obvious functional integrity advantage;
(3) the driving mode is more concise and efficient. The air-driven rehabilitation gloves achieve joint bending through inflation, and then stretch under the action of resilience of materials, and generally cannot stretch actively. The realization of the bending/stretching movement of the line-driven rehabilitation glove needs to control a plurality of motors, and simultaneously needs to consider a series of problems such as the design rationality of a speed reducing mechanism. In contrast, SMA actuated rehab gloves perform the same function in a more compact configuration. In addition, the rehabilitation glove designed by the invention realizes the side swing and palmar movement, does not remarkably increase the complexity of structure and control, and embodies the superiority of an SMA driving mode;
(4) the comfort and the human-computer interaction safety are good. The used base material is TPU with Shore hardness of 80A, the mechanical property of the TPU is close to human tissue, and the wearing comfort and the human-computer interaction safety in the rehabilitation process can be effectively guaranteed;
(5) light weight and good portability. The total weight of the device is only 45 grams, which is obviously lower than that of the existing various air-driven and wire-driven rehabilitation gloves. The simple and light portable rehabilitation equipment does not need a special placing place and professional guidance for use, can meet the requirement of patients on rehabilitation training at home, and effectively improves the compliance and treatment enthusiasm of the patients while relieving the pressure of medical resources;
(6) advanced process and high preparation efficiency. According to the 3D printing preparation method, two materials are integrally formed by 3D printing, and the preparation efficiency is obviously improved compared with that of the traditional process.
Drawings
FIG. 1 is a schematic view of a joint movement principle;
FIG. 2 is a schematic structural view of a unidirectional bending joint; (a) is a side surface, and (b) is a side vertical surface;
FIG. 3 is a schematic structural view of a side-swing joint; (a) is a front side, and (b) is a back side;
FIG. 4 is a 3D printed simulated human hand;
FIG. 5 is a schematic view of the general structure of a shape memory alloy driven soft rehabilitation glove;
FIG. 6 is a schematic view of the back of a middle finger glove;
FIG. 7 is a schematic view of a single direction bending motion of the middle finger;
FIG. 8 is a schematic view of the lateral swinging motion of the index finger;
fig. 9 is a schematic view of the effect of palm exercise.
Wherein 11 is a thumb sleeve, 12 is a middle sleeve, 13 is an index finger sleeve, 14 is a basal joint sleeve, 15 is a proximal joint sleeve, 16 is a distal joint sleeve, 17 is a V-shaped joint gap, 18 is a first SMA spring, 19 is a second SMA spring, 20 is a fourth SMA spring, 21 is a third SMA spring, 22 is a metacarpal joint, and 23 is a palm sleeve.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1 to 9, the rehabilitation glove of the present invention comprises a palm cover, a glove with a plurality of fingers, and a plurality of SMA springs;
the glove is provided with a middle finger sleeve 12, an index finger sleeve 13 and a thumb sleeve 14;
the middle finger sleeve 12 comprises a base joint sleeve 14, a proximal joint sleeve 15 and a distal joint sleeve 16, wherein V-shaped joint gaps 17 are formed in the front faces of the three joint sleeves, an SMA spring 18 is installed for completing unidirectional bending action, and the back faces of the three joint sleeves are integrally connected and provided with an SMA spring 19 for assisting the bent joints to recover to the original shape;
the basal joint sleeve 20 of the index finger sleeve 13 has a side-swinging function, and side-swinging SMA springs 21 are arranged on the left side and the right side of the joint except for the SMA springs on the front side and the back side for completing the side-swinging action;
the thumb sleeve 14 is provided with a palm joint 22 besides a base joint and a far joint which only have a unidirectional bending function, one end of each of two SMA springs of the palm joint is connected with the root of the thumb sleeve, and the other end of each SMA spring of the palm joint is connected with a palm sleeve 23;
the root of each finger sleeve is connected with the palm sleeve 23;
and both ends of all the SMA springs are connected to a direct current stabilized power supply by leads.
For clear expression, the palm uses the simulated human hand shown in fig. 4, and only three fingers are drawn, so that modeling can be performed based on a real human hand in actual use. The fingers at least comprise a thumb, an index finger and a middle finger which are modeled and formed by 3D printing according to the structural characteristics of joints of the human hand. Wherein, the middle finger is provided with three unidirectional bending joints, the index finger is provided with two unidirectional bending joints and a side swinging joint, and the thumb is provided with two unidirectional bending joints and a palm joint.
The modeling of the rehabilitation gloves is based on the established hand model, so that the obtained gloves can be tightly attached to hands, and the individual customization requirements for individual differences are met.
The front and the back of each unidirectional bending joint sleeve of the rehabilitation glove are provided with SMA springs; the side-sway joint is sleeved with two side-sway SMA springs on the basis of the one-way bending joint; the root of the thumb sleeve is connected with the palm sleeve 23 through two SMA springs forming a certain angle to form a palm joint 22, one ends of the two SMA springs are connected with the root of the thumb sleeve, and the other ends of the two SMA springs are respectively connected with the two parts of the palm sleeve 23.
The thickness of the joint of the thumb sleeve 11 and the palm sleeve 23 is smaller, specifically, the thickness of the joint is smaller than that of the palm sleeve 23, so that the thumb sleeve 11 can be driven by the two SMA springs in the palm joint 22 to be drawn close to the index finger and the middle finger.
The soft rehabilitation glove is integrally formed through a 3D printing process, and the soft rehabilitation glove base body is made of TPU materials.
The invention also provides a 3D printing preparation method of the shape memory alloy driven soft rehabilitation glove, which comprises the following steps:
establishing a three-dimensional model of the rehabilitation glove by using three-dimensional modeling software, importing the three-dimensional model into 3D printing slicing software, adding a support material at a suspended part of the rehabilitation glove, setting printing parameters, adding support for the suspended part according to a 45-degree angle principle, setting the thickness of a printing layer to be 0.1mm, the scanning speed to be 10mm/s, the temperature of a hot bed to be 50 ℃, the printing temperature of a No. 1 nozzle to be 220 ℃, and the printing temperature of a No. 2 nozzle to be 210 ℃, and finally importing the slicing file into a 3D printer for 3D printing;
wherein the rehabilitation hand base material is TPU, and the support material is PVA;
taking out the model after printing is finished, integrally immersing the model into water, and obtaining the TPU rehabilitation glove matrix after PVA is completely dissolved in water;
connecting the SMA spring to the corresponding position of the substrate, and connecting the two ends of the spring to a direct current stabilized voltage power supply by using a lead to obtain the shape memory alloy driven soft rehabilitation glove.
The specific preparation process of the present invention is described in detail below:
(1) establishing a model:
according to the invention, firstly, a rehabilitation glove model is established in three-dimensional modeling software according to size data obtained by surveying and mapping the hand of the patient, so that the prepared rehabilitation glove is ensured to be closely attached to the hand of the patient.
(2) Materials and process:
the TPU material is soft in texture and poor in self-supporting property, collapse is easy to occur in the 3D printing process, and the TPU material is difficult to smoothly print and form a thin wall and a suspended structure which often occur in a soft robot. The TPU is tried to be supported by itself and then peeled off manually, but the TPU is good in toughness and difficult to break, so that the surface of the part is inevitably torn and damaged in the peeling process. Therefore, when a complex soft structure is printed, a proper supporting material is required to be selected to ensure the forming quality.
Through tests, three types of polyvinyl alcohol (PVA), polystyrene (HIPS) and polylactic acid (PLA) can be well bonded with TPU in common hard FDM printing consumables. PVA is soluble in water, and can remove the support after soaking in water after printing, is ideal supporting material, but good hydroscopicity makes its humidity to the storage environment have certain requirement, and PVA that exposes to the air can continuously absorb water, becomes soft texture, and formability is poor, and the excessive water uptake is rotten promptly, can't print the shaping. HIPS has better molding performance than PVA, more stable performance, no special requirement on storage environment, complete solubility in limonene and relatively high solvent cost.
And respectively combining the TPU with PVA, HIPS and PLA, printing a uniaxial tension model, and testing the compatibility between materials, wherein the lower half part of the model is the TPU, and the upper half part is the PVA, the HIPS and the PLA. And printing a plurality of test pieces in each group of the three groups of experiments, and measuring the fracture stress of the test pieces on a stretching machine for representing the bonding strength between the two materials. After multiple experiments, invalid test pieces (obviously poor in bonding quality and extremely easy to break) are removed, and 10 valid data in each group are kept for averaging (table 1).
TABLE 1 TPU and hard material bond strength data (unit: MPa)
Figure BDA0002404925370000101
The experimental data show that the bonding quality of PLA and TPU is obviously superior to that of PVA and HIPS.
The properties of PVA and HIPS are combined, the HIPS is the best supporting material for a non-cavity structure which is convenient for manual stripping and supporting, the HIPS can be bonded with TPU in printing but has low bonding strength, stripping is convenient after printing is finished, and the TPU main body is not damaged. For the cavity type structure inconvenient for manual stripping and supporting, PVA is the most ideal supporting material, although the molding performance is lower than HIPS and has certain requirements on the storage environment, when the PVA is used as the internal support, the PVA can be soaked in water to be naturally dissolved, so that the PVA is convenient to remove and does not damage the main body structure.
(3) Selecting a driving mode:
the 3D printing of the pneumatic soft rehabilitation glove is difficult to realize, and the portability is relatively poor due to the existence of the air compressor. The line driving structure is easier to realize and has good portability, but has the following problems: a speed reducing mechanism between the motor and the driving wire needs to be designed; the anti-loosening and anti-winding of the driving wire; the driving force is not uniformly distributed in each joint, and is difficult to control to a single joint; if the control of a single joint is to be realized, two motors are required to be added to each joint, so that the weight of the equipment and the control difficulty are improved.
The SMA spring acts as an actuator in a manner similar to a human tendon, and when energized, the spring contracts, pulling the structure to deform in the corresponding direction. Has the following advantages: the system has the unique performance of generating deformation in response to external excitation, and can obviously reduce the complexity of a driving system and a control system; secondly, the phase change temperature is low, and the phase change material is easy to deform; and thirdly, the current heat effect is realized, and the driving can be realized through the current heat generation.
Based on the relevant characteristics of the linear drive and the SMA drive, the invention provides the shape memory alloy drive soft rehabilitation glove on the basis of the linear drive structure, the advantages of the linear drive structure and the SMA drive structure are fully utilized, the rehabilitation function is realized in the simplest mode, and the light weight and portability degree are further improved.
According to the property of the SMA spring, the tensile rate is set to 300%, the length of the joint inner side spring is L when the joint inner side spring is not electrified, and the joint inner side spring is completely contracted after the joint inner side spring is electrified
Figure BDA0002404925370000111
The remaining key parameters are shown in fig. 1 and 2. When the SMA spring is electrified and completely contracted, the bending angle theta of the joint reaches the maximum value, and theta is setmax90 ° is set. The spring parameters were calculated by:
Figure BDA0002404925370000112
Figure BDA0002404925370000113
Figure BDA0002404925370000114
Figure BDA0002404925370000115
Figure BDA0002404925370000121
Figure BDA0002404925370000122
simultaneous (5) and (6) to obtain:
Figure BDA0002404925370000123
Figure BDA0002404925370000124
the design parameters such as L, l can be obtained by substituting the formula (8) for the formulas (2) and (3).
Wherein alpha is the initial included angle between the two curved inclined planes, beta is the included angle between the curved inclined plane and the knuckle sleeve, and gamma isThe minimum angle of bending between the two curved inclined surfaces, L distance between the openings of the two curved inclined surfaces, L0The minimum distance between the openings of the two curved inclined planes, the length of the curved inclined planes and the height h of the finger joint sleeve.
(4) Preparation of soft rehabilitation gloves
In three-dimensional modeling software, establishing a three-dimensional model of the rehabilitation glove according to the structural characteristics and the size of the human hand;
importing the STL-format three-dimensional model into slicing software, and adding supports for suspended parts according to the principle of 45-degree angle, wherein the base material is TPU, and the support material is PVA;
setting the printing layer thickness to be 0.1mm, the scanning speed to be 10mm/s, the hot bed temperature to be 50 ℃, the No. 1 spray head TPU printing temperature to be 220 ℃, and the No. 2 spray head PVA printing temperature to be 210 ℃;
taking out the model after printing is finished, integrally immersing the model into water, and obtaining the TPU rehabilitation glove matrix after PVA is completely dissolved in water;
and (3) purchasing a shape memory alloy spring with a proper size, installing the shape memory alloy spring on the corresponding position of the substrate, and connecting the two ends of the spring to a direct current stabilized voltage power supply by using a lead to obtain the soft recovery glove.
The invention is illustrated in detail below by means of specific examples:
example 1
Base material: shore hardness of 80A and Young's modulus of about 8.83X 106A TPU of Pa;
supporting materials: PVA that is completely soluble in water;
the printing apparatus: the Titan Aero nozzle is arranged, and the double-nozzle FDM printer can smoothly extrude soft materials;
a driver: a shape memory alloy spring with a phase transition temperature of 37 ℃;
power supply: 30V 5A low-voltage direct-current power supply.
Establishing a three-dimensional model of the rehabilitation glove in three-dimensional modeling software, importing the STL-format three-dimensional model into slicing software, adding supports for suspended parts according to a 45-degree angle principle, and setting the printing layer thickness to be 0.1mm, the scanning speed to be 10mm/s, the hot bed temperature to be 50 ℃, the printing temperature of a No. 1 nozzle TPU to be 220 ℃, and the printing temperature of a No. 2 nozzle PVA to be 210 ℃;
taking out the model after printing is finished, integrally immersing the model into water, and obtaining the TPU rehabilitation glove matrix after PVA is completely dissolved in water;
connecting the SMA spring to the corresponding position of the base body, and connecting the two ends of the spring to a direct current stabilized power supply by using a lead to obtain a rehabilitation glove model shown in figures 5 and 6;
the effect of the unidirectional flexion articulation is shown in figure 7. The springs 1, 2 and 3 on the inner side of the joint are sequentially electrified and contracted to enable the joint of the rehabilitation glove to bend towards the corresponding direction and drive the joint of the hand to bend, then the spring on the inner side of the joint is powered off, and the springs 4, 5 and 6 on the outer side of the joint are sequentially electrified and contracted to drive the joint to rapidly recover the original shape, so that a bending-stretching motion cycle is completed.
The effect of the side swing articulation is shown in figure 8. The No. 7 spring on the left side of the joint is electrified and contracted to drive the joint to bend towards the left side, then the No. 7 spring is powered off, and the No. 8 spring is electrified and contracted to drive the joint to restore the original position and further bend towards the right side, so that one-time side swing movement is completed.
Besides two basic functions of bending and side swinging, the soft hand can realize palmar movement. The palmar movement is an important function of hands, and is a symbolic function of hands different from animal palms, but the existing rehabilitation gloves rarely realize the palmar function, and even if the palmar function is realized, the process is relatively complex. As shown in figure 9, the root of the thumb is provided with No. 9 and No. 10 springs, the thumb can be driven to close towards the middle finger after being electrified and contracted, the middle finger and the SMA spring on the inner side of the joint of the thumb are bent in a one-way mode, so that the finger tip of the thumb and the finger tip of the middle finger are closed, and one-time palmar movement is completed. The realization principle of the palmar movement of the thumb fingertip and the forefinger fingertip close to each other is the same, and the description is omitted.
It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided would be apparent to those of skill in the art upon reading the above description. The scope of the present teachings should, therefore, be determined not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. The disclosures of all articles and references, including patent applications and publications, are hereby incorporated by reference for all purposes. The omission in the foregoing claims of any aspect of subject matter that is disclosed herein is not intended to forego such subject matter, nor should the applicant consider that such subject matter is not considered part of the disclosed subject matter.

Claims (4)

1. A3D printing preparation method of a shape memory alloy driven soft rehabilitation glove is characterized by comprising the following steps: the shape memory alloy driving soft recovery glove comprises a palm sleeve (23), a finger sleeve with a plurality of fingers and a plurality of SMA springs; the base materials of the palm sleeve (23) and the finger sleeve are TPU;
the finger stall at least comprises a middle finger stall (12), an index finger stall (13) and a thumb stall (11);
the middle finger sleeve (12) and the index finger sleeve (13) respectively comprise a base joint sleeve (14), a proximal joint sleeve (15) and a distal joint sleeve (16), V-shaped joint gaps (17) are formed in the front faces of the three joint sleeves, a first SMA spring (18) is installed for completing unidirectional bending action, and a second SMA spring (19) is integrally connected with the back faces of the three joint sleeves and is installed for assisting in restoring the bent joints;
the left side and the right side of the base joint sleeve of the index finger sleeve (13) are provided with third SMA springs (21) for completing side swinging action;
the thumb sleeve (11) comprises a palm joint (22), a base joint with a one-way bending function and a far joint; the front and back surfaces of the base joint and the far joint are respectively provided with a first SMA spring and a second SMA spring; one end of each of two fourth SMA springs (20) of the palm joint (22) is connected with the root of the thumb sleeve (11), and the other end of each of the four fourth SMA springs is connected with the palm sleeve (23);
the root of each finger sleeve is connected with the palm sleeve (23); the palm sleeve (23) and the finger sleeves are of a 3D printing integrated structure;
two ends of all the SMA springs are connected to a direct current stabilized power supply by leads;
the 3D printing preparation method of the shape memory alloy driven soft rehabilitation glove is characterized by comprising the following steps:
establishing a three-dimensional model of the rehabilitation glove by using three-dimensional modeling software, importing the three-dimensional model into 3D printing slicing software, adding a supporting material at a suspended part of a glove substrate, setting printing parameters, and performing 3D printing;
wherein the base material is TPU, and the support material is PVA;
after printing is finished, the model is taken out, and the support material is peeled off to obtain a TPU rehabilitation glove matrix;
connecting the SMA spring to the corresponding position of the substrate, and connecting the two ends of the spring to a direct current stabilized voltage power supply by using a lead to obtain the shape memory alloy driving soft recovery glove;
setting the printing layer thickness to be 0.1mm, the scanning speed to be 10mm/s, the hot bed temperature to be 50 ℃, the No. 1 spray head TPU printing temperature to be 220 ℃, and the No. 2 spray head PVA printing temperature to be 210 ℃;
if the support material is PVA, the model is wholly immersed into water after printing is finished, and the TPU rehabilitation glove substrate is obtained after the PVA is completely dissolved in the water;
3D prints integrated into one piece structure in the forming process, need add the support for unsettled position according to 45 jiaos of angles principle, peel off supporting material after printing and obtain the gloves base member.
2. The 3D printing preparation method of the shape memory alloy driven soft rehabilitation glove of claim 1, wherein the method comprises the following steps: the thickness of the joint of the thumb sleeve (11) and the palm sleeve (23) is less than that of the palm sleeve (23).
3. The 3D printing preparation method of the shape memory alloy driven soft rehabilitation glove of claim 1, wherein the method comprises the following steps: the direct current stabilized power supply is a 30V and 5A power supply.
4. The 3D printing preparation method of the shape memory alloy driven soft rehabilitation glove of claim 1, wherein the method comprises the following steps: the parameters of the SMA spring meet the following conditions:
the length of the SMA spring is L when the SMA spring is not electrified and is completely contracted after the SMA spring is electrified
Figure FDA0003214227770000021
When fully contracted by power-onThe joint bending angle theta reaches the maximum value; the spring parameters were calculated by:
Figure FDA0003214227770000022
Figure FDA0003214227770000023
Figure FDA0003214227770000024
Figure FDA0003214227770000031
Figure FDA0003214227770000032
Figure FDA0003214227770000033
simultaneous (5) and (6) to obtain:
Figure FDA0003214227770000034
the L, l parameter can be obtained by substituting the formula (7) into the formula (2) and the formula (3);
wherein alpha is the initial included angle between the two curved inclined planes, beta is the included angle between the curved inclined planes and the knuckle sleeve, gamma is the minimum included angle between the two curved inclined planes, L is the distance between the openings of the two curved inclined planes, and L is the distance between the two curved inclined planes0The minimum distance between the openings of the two curved inclined planes, the length of the curved inclined planes and the height h of the finger joint sleeve.
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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
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