CN111685964A - Hand rehabilitation device driven by shape memory alloy wires - Google Patents
Hand rehabilitation device driven by shape memory alloy wires Download PDFInfo
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- CN111685964A CN111685964A CN201910228169.5A CN201910228169A CN111685964A CN 111685964 A CN111685964 A CN 111685964A CN 201910228169 A CN201910228169 A CN 201910228169A CN 111685964 A CN111685964 A CN 111685964A
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- sma wire
- sma
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- control block
- wire fixing
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- 229910001285 shape-memory alloy Inorganic materials 0.000 title claims abstract description 27
- 239000000758 substrate Substances 0.000 claims description 8
- 238000004804 winding Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 4
- 239000004677 Nylon Substances 0.000 claims description 2
- 210000001015 abdomen Anatomy 0.000 claims description 2
- 229920001778 nylon Polymers 0.000 claims description 2
- 239000007787 solid Substances 0.000 abstract 1
- 210000003811 finger Anatomy 0.000 description 44
- 208000006011 Stroke Diseases 0.000 description 5
- 229920001746 electroactive polymer Polymers 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 101100384865 Neurospora crassa (strain ATCC 24698 / 74-OR23-1A / CBS 708.71 / DSM 1257 / FGSC 987) cot-1 gene Proteins 0.000 description 1
- 101100505735 Neurospora crassa (strain ATCC 24698 / 74-OR23-1A / CBS 708.71 / DSM 1257 / FGSC 987) cot-2 gene Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 239000002520 smart material Substances 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
A hand rehabilitation device driven by shape memory alloy wires comprises a finger stall, a palm stall, an arm device and a fixing ring; wherein the finger stall comprises distance section finger stall, well section finger stall and nearly section finger stall, and wherein palm cover palm side of the hand heart of the hand and back of the hand side respectively have ten through-holes and are used for wearing the SMA silk, and wherein the arm device comprises upper and lower arm, and the upper arm comprises SMA silk base plate, SMA silk fixed block and SMA silk fixed control block, and the underarm is the same reason, wherein solid fixed ring fixed arm device front and back end and palm cover are terminal. The palm sleeve and the arm device are connected through magic paste and are reinforced through a fixing ring. The hand rehabilitation device controls the current duty ratio through the single chip microcomputer, further controls the SMA wire to contract, further drives the hand to contract and extend, and achieves the purpose of rehabilitation.
Description
Technical Field
The invention relates to the field of finger rehabilitation, in particular to a hand rehabilitation device driven by a shape memory alloy wire.
Background
Stroke, also known as stroke, is characterized by high morbidity, disability rate, mortality and recurrence rate. According to study statistics, 80% of patients with stroke leave with upper limb or hand motor dysfunction. For this reason, many rehabilitation devices and auxiliary power assistance apparatuses have been produced.
The rehabilitation device and the auxiliary power assisting instrument are divided into pneumatic drive, stay wire drive, SMA drive and EAP drive according to the drive modes. Pneumatic driving is common, but is generally complex, so that the flexibility of fingers can be limited, and the rehabilitation effect is influenced; the structure driven by the pull wire is generally compact, so that the large flexion and extension of the hand can be realized; the SMA drive utilizes the electrification and contraction of the SMA wire to drive the actuator to achieve the purpose of operating the finger. The SMA wire can be controlled by the current pulse and can conveniently change the duty ratio of the current pulse so as to meet different driving requirements; electroactive polymers (EAPs) are flexible smart materials that deform under the action of an electric field, but many failure modes exist in the EAPs, so the EAPs are less used in rehabilitation devices and auxiliary power-assisted instruments.
The SMA wire has the characteristics that the performance of the SMA wire is closer to that of muscles, and the control effect can be better achieved by changing the duty ratio of current, so the hand rehabilitation device driven by the memory alloy wire is a hot point of research.
Disclosure of Invention
The invention aims to design a hand rehabilitation device driven by a shape memory alloy wire, which can better help a stroke patient to bend and stretch fingers through the contraction of an SMA wire so as to achieve the aim of rehabilitation.
A hand rehabilitation device driven by shape memory alloy wires is characterized by comprising finger sleeves, palm sleeves, arm devices and fixing rings; the finger sleeves are composed of a far-section finger sleeve, a middle-section finger sleeve and a near-section finger sleeve, and two holes for the SMA wire to pass through are formed in the finger belly and two sides of the finger back of each finger sleeve; the back side of the palm sleeve palm center is provided with ten through holes for the SMA wires to pass through, and each two holes form a group for one SMA wire to pass through; the arm device consists of an upper arm and a lower arm, the upper arm consists of an SMA wire substrate, an SMA wire fixing block and an SMA wire fixing control block, the SMA wire fixing block and the SMA wire fixing control block are respectively arranged at the front end and the rear end of the upper arm, the SMA wire is wound between the SMA wire fixing block and the SMA wire fixing control block in a reciprocating manner, and the lower arm is in the same manner; the three fixing rings are nylon buckles and are used for fixing the front end and the rear end of the arm device and the palm sleeve.
A hand rehabilitation device driven by shape memory alloy wires is characterized in that: the distal finger sleeve, the middle finger sleeve, the proximal finger sleeve and the palm sleeve are connected in series through SMA wires to form a whole; the palm sleeve and the arm device are connected into a whole through magic paste.
A hand rehabilitation device driven by shape memory alloy wires is characterized in that: grooves for mounting an SMA wire fixing block and an SMA wire fixing control block are formed in the front and rear parts of the SMA wire substrate; the SMA wire fixing block and the SMA wire fixing control block main body are placed in the groove, and the position of the SMA wire fixing block and the position of the SMA wire fixing control block main body in the groove are limited by the protrusions on the two sides of the SMA wire fixing block and the SMA wire fixing control block.
A hand rehabilitation device driven by shape memory alloy wires is characterized in that: the fixing ring at the front end of the arm device compresses and positions the SMA wire fixing blocks of the upper arm and the lower arm, and the fixing ring at the rear end of the arm device compresses and positions the SMA wire fixing control blocks of the upper arm and the lower arm.
A hand rehabilitation device driven by shape memory alloy wires is characterized in that: five SMA wires are needed on the back side of the hand and are respectively responsible for stretching five fingers; five SMA wires are needed on the palm side and are responsible for the flexion of five fingers respectively.
A hand rehabilitation device driven by shape memory alloy wires is characterized in that: the SMA wire fixed control block and the SMA wire fixed block are respectively provided with two cylinders for the back-and-forth reciprocating winding of the SMA wire, the two cylinders are arranged up and down, and the center distance is 3 mm; the SMA wire fixed control block and the SMA wire fixed block are oppositely arranged at a distance of 150 mm; the upper part of the SMA wire fixing control block is used for fixing the head end and the tail end of the SMA wire, and the lower part of the cylindrical rod of the SMA wire fixing block is provided with ten parallel through holes.
A hand rehabilitation device driven by shape memory alloy wires is characterized in that: the SMA wire on the back side of the hand is wound on the two cylinders of the SMA wire fixed control block and the SMA wire fixed block back and forth and sequentially downwards, and after the SMA wire is wound around the cylinder on the lower part of the SMA wire fixed control block, the SMA wire penetrates through the through hole on the lower part of the SMA wire fixed block and continues to penetrate through the palm sleeve, the proximal finger sleeve, the middle finger sleeve and the distal finger sleeve sequentially; the SMA wire penetrates into the other side hole in the distal finger sleeve, sequentially penetrates through the distal finger sleeve, the middle finger sleeve, the proximal finger sleeve and the palm sleeve, then penetrates through a through hole in the lower part of the SMA wire fixing block, is sequentially and repeatedly wound upwards on two cylinders of the SMA wire fixing control block and the SMA wire fixing block in a reciprocating manner, and finally, after bypassing the cylinder in the upper part of the SMA wire fixing block, the tail end of the SMA wire is fixed on the upper part of the SMA wire fixing control block; the dorsal side SMA wire winding method is the same.
According to the rehabilitation glove driven by the shape memory alloy wire, due to the characteristics of the shape memory alloy wire, compared with the traditional pneumatic and mechanical rehabilitation hand, the overall mass of the rehabilitation hand is greatly reduced, and the smaller mass and volume are more beneficial to rehabilitation of stroke patients; the end and the tail end of the SMA wire are connected with the anode and the cathode of the SMA wire, and the pulse of the current can be controlled by the single chip microcomputer, so that the duty ratio of the current pulse can be conveniently changed to meet different driving requirements of a rehabilitation hand.
Drawings
FIG. 1 is a schematic diagram of a hand rehabilitation device driven by shape memory alloy wires;
FIG. 2 is a schematic diagram of a finger glove configuration;
FIG. 3 is a schematic view of the arm device;
FIG. 4 is a schematic structural view of an SMA wire fixing block;
FIG. 5 is a schematic structural view of an SMA wire fixing control block;
FIG. 6 is a schematic structural diagram of an SMA wire substrate;
FIG. 7 is a schematic view of a shape memory alloy wire-winding process;
number designation in the figures: 1. finger stall, 2, palm cover, 3, arm device, 101, proximal finger stall, 102, middle finger stall, 103, distal finger stall, 301, hook face magic paste, 302, SMA wire fixed block, 303, shape memory alloy wire, 304, SMA wire base plate, 305, SMA wire fixed control block, 311, SMA wire base plate front end groove, 312, SMA wire base plate rear end groove, 01, SMA wire fixed block upper end cylinder, 02, SMA wire fixed block lower end cylinder, 03, SMA wire fixed control block upper end cylinder, 04, SMA wire fixed control block lower end cylinder. 303. 401, 402, 411, 412, 411,
Detailed Description
The following describes a specific technical solution of the shape memory alloy wire driven hand rehabilitation device of the present invention with reference to the accompanying drawings.
As shown in fig. 1, the shape memory alloy wire driven hand rehabilitation device of the present invention is composed of a finger cot 1, a palm cot 2, an arm device 3 and a fixing ring 4. As shown in fig. 2, the finger sleeves other than the thumb are composed of a distal finger sleeve 103, a middle finger sleeve 102, and a proximal finger sleeve 101. Two holes are formed in the two sides of the palm and the back of the hand of each finger sleeve and used for allowing the SMA wires to penetrate through. As shown in fig. 3, the back side of the palm glove palm center hand is respectively provided with ten through holes for the SMA wires to pass through, and each two holes are a group for passing through one SMA wire. The back side of the hand is provided with five SMA wires which are respectively responsible for stretching five fingers; five SMA wires are arranged on the palm side and are responsible for the flexion of five fingers. The arm device 3 is composed of an upper arm and a lower arm, the upper arm is composed of an SMA wire substrate 304, an SMA wire fixing block 302 and an SMA wire fixing control block 305, the SMA wire fixing block and the SMA wire fixing control block are respectively arranged at the front end and the rear end of the upper arm, and the structure of the lower arm is the same as that of the upper arm. As shown in fig. 4 and 5, the SMA wire fixing block is provided with an upper cylinder 01 and a lower cylinder 02 for the SMA wire to reciprocally wind back and forth, and the two cylinders are arranged up and down and are 3mm apart; the SMA wire holding control block also has an upper cylinder 03 and a lower cylinder 04. As shown in fig. 6, the SMA wire fixing block and the SMA wire fixing control block are oppositely arranged with a distance of 150 mm; the upper part of the SMA wire fixing control block is used for fixing the head end and the tail end of the SMA wire.
As shown in fig. 6, the SMA wire fixing block and the SMA wire fixing control block are respectively placed in the SMA wire substrate front end groove 311 and the SMA wire substrate rear end groove 312, and the protrusions at the two sides of the SMA wire fixing block and the SMA wire fixing control block limit the positions thereof in the grooves.
As shown in fig. 7, the head end of the SMA wire at the back of the hand is fixed on the upper part of the SMA wire fixed control block, then goes around the upper cylinder 01 of the SMA wire fixed control block, then goes around the upper cylinder 03 of the SMA wire fixed control block, then goes around the lower cylinder 02 of the SMA wire fixed control block, and finally goes around the lower cylinder 04 of the SMA wire fixed control block. After bypassing the cylinder at the lower part of the SMA wire fixed control block, the SMA wire passes through a through hole at the lower part of the SMA wire fixed block and continues to sequentially pass through the palm sleeve 2, the proximal finger sleeve 101, the middle finger sleeve 102 and the distal finger sleeve 103; the SMA wire penetrates into the other side hole in the distal finger sleeve, sequentially penetrates through the distal finger sleeve, the middle finger sleeve, the proximal finger sleeve and the palm sleeve, then penetrates through a through hole in the lower part of the SMA wire fixing block, sequentially and reciprocally winds upwards on two cylinders of the SMA wire fixing control block and the SMA wire fixing block in sequence, and finally, after bypassing the cylinder 01 in the upper part of the SMA wire fixing block, the tail end of the SMA wire is fixed on the upper part of the SMA wire fixing control block; the other four SMA wires on the back side of the hand and the five SMA wires on the palm side are wound by the same method.
As shown in fig. 3, after the arm device winds the SMA wire, the hook and loop fastener is first adhered to the arm device and the palm sleeve, and then the hook and loop fastener 301 is used to firmly adhere the arm device and the palm sleeve. After the hand rehabilitation device is sleeved on the hand, the fixing ring 4 is used for pressing the magic tape 301 to prevent the magic tape from loosening; the front end and the rear end of the arm device are fixed by using the fixing rings.
Claims (7)
1. A hand rehabilitation device driven by shape memory alloy wires is characterized by comprising finger sleeves, palm sleeves, arm devices and fixing rings;
the finger sleeves are composed of a far-section finger sleeve, a middle-section finger sleeve and a near-section finger sleeve, and two holes for the SMA wire to pass through are formed in the finger belly and two sides of the finger back of each finger sleeve;
the back side of the palm sleeve palm center is provided with ten through holes for the SMA wires to pass through, and each two holes form one group;
the arm device consists of an upper arm and a lower arm, the upper arm consists of an SMA wire substrate, an SMA wire fixing block and an SMA wire fixing control block, the SMA wire fixing block and the SMA wire fixing control block are respectively arranged at the front end and the rear end of the upper arm, the SMA wire is wound between the SMA wire fixing block and the SMA wire fixing control block in a reciprocating manner, and the lower arm is in the same manner;
the three fixing rings are nylon buckles and are used for fixing the front end and the rear end of the arm device and the palm sleeve.
2. The shape memory alloy wire driven hand rehabilitation device according to claim 1, characterized in that: the distal finger sleeve, the middle finger sleeve, the proximal finger sleeve and the palm sleeve are connected in series through SMA wires to form a whole; the palm sleeve and the arm device are connected into a whole through magic paste.
3. The shape memory alloy wire driven hand rehabilitation device according to claim 1, characterized in that: grooves for mounting an SMA wire fixing block and an SMA wire fixing control block are formed at the front end and the rear end of the SMA wire substrate; the SMA wire fixing block and the SMA wire fixing control block main body are placed in the groove, and the position of the SMA wire fixing block and the position of the SMA wire fixing control block main body in the groove are limited by the protrusions on the two sides of the SMA wire fixing block and the SMA wire fixing control block.
4. The shape memory alloy wire driven hand rehabilitation device according to claim 1, characterized in that: the fixing ring at the front end of the arm device compresses and positions the SMA wire fixing blocks of the upper arm and the lower arm, and the fixing ring at the rear end of the arm device compresses and positions the SMA wire fixing control blocks of the upper arm and the lower arm.
5. The shape memory alloy wire driven hand rehabilitation device according to claim 1, characterized in that: five SMA wires are needed on the back side of the hand and are respectively responsible for stretching five fingers; five SMA wires are needed on the palm side and are responsible for the flexion of five fingers respectively.
6. The shape memory alloy wire driven hand rehabilitation device according to claim 1, characterized in that: the SMA wire fixed control block and the SMA wire fixed block are respectively provided with two cylinders for the back-and-forth reciprocating winding of the SMA wire, and the two cylinders are arranged up and down and are 3mm apart; the SMA wire fixed control block and the SMA wire fixed block are oppositely arranged at a distance of 150 mm; the upper part of the SMA wire fixing control block is used for fixing the head end and the tail end of the SMA wire, and ten parallel through holes are formed in the lower part of the SMA wire fixing block.
7. The shape memory alloy wire driven hand rehabilitation device according to claim 6, characterized in that: the SMA wire on the back side of the hand is wound on the two cylinders of the SMA wire fixed control block and the SMA wire fixed block back and forth and sequentially downwards, and after the SMA wire is wound around the cylinder on the lower part of the SMA wire fixed control block, the SMA wire penetrates through the through hole on the lower part of the SMA wire fixed block and continues to penetrate through the palm sleeve, the proximal finger sleeve, the middle finger sleeve and the distal finger sleeve sequentially; the SMA wire penetrates into the other side hole in the distal finger sleeve, sequentially penetrates through the distal finger sleeve, the middle finger sleeve, the proximal finger sleeve and the palm sleeve, then penetrates through a through hole in the lower part of the SMA wire fixing block, sequentially and reciprocally winds upwards on two cylinders of the SMA wire fixing control block and the SMA wire fixing block in sequence, and finally, after bypassing the cylinder in the upper part of the SMA wire fixing block, the tail end of the SMA wire is fixed on the upper part of the SMA wire fixing control block; the hand core side SMA wire winding method is the same.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910228169.5A CN111685964A (en) | 2019-03-25 | 2019-03-25 | Hand rehabilitation device driven by shape memory alloy wires |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910228169.5A CN111685964A (en) | 2019-03-25 | 2019-03-25 | Hand rehabilitation device driven by shape memory alloy wires |
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| CN111685964A true CN111685964A (en) | 2020-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910228169.5A Pending CN111685964A (en) | 2019-03-25 | 2019-03-25 | Hand rehabilitation device driven by shape memory alloy wires |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112263437A (en) * | 2020-10-26 | 2021-01-26 | 东北林业大学 | Finger motion function rehabilitation device |
| CN112426328A (en) * | 2020-11-17 | 2021-03-02 | 中国科学技术大学 | Intelligent flexible hand function rehabilitation glove based on shape memory alloy |
| WO2024073900A1 (en) * | 2022-10-08 | 2024-04-11 | 东南大学 | Flexible rehabilitation glove based on hybrid drivers |
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| CN109044735A (en) * | 2018-08-17 | 2018-12-21 | 上海理工大学 | A kind of line driving flexible exoskeleton manipulators in rehabilitation |
| CN209933404U (en) * | 2019-03-25 | 2020-01-14 | 东北林业大学 | Hand rehabilitation device driven by shape memory alloy wires |
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2019
- 2019-03-25 CN CN201910228169.5A patent/CN111685964A/en active Pending
Patent Citations (7)
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|---|---|---|---|---|
| CN206822761U (en) * | 2016-12-21 | 2018-01-02 | 东华大学 | Glove-type function accessory carrier for stroke hemiplegia upper limbs Dynamizable orthopedic device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112263437A (en) * | 2020-10-26 | 2021-01-26 | 东北林业大学 | Finger motion function rehabilitation device |
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| WO2024073900A1 (en) * | 2022-10-08 | 2024-04-11 | 东南大学 | Flexible rehabilitation glove based on hybrid drivers |
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