CN111991184A - Rigidity-variable soft pneumatic rehabilitation hand - Google Patents
Rigidity-variable soft pneumatic rehabilitation hand Download PDFInfo
- Publication number
- CN111991184A CN111991184A CN202010868420.7A CN202010868420A CN111991184A CN 111991184 A CN111991184 A CN 111991184A CN 202010868420 A CN202010868420 A CN 202010868420A CN 111991184 A CN111991184 A CN 111991184A
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- Prior art keywords
- soft
- driver
- finger
- cavity
- hand
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- 244000126211 Hericium coralloides Species 0.000 claims abstract description 17
- 210000001145 finger joint Anatomy 0.000 claims abstract description 11
- 239000000463 material Substances 0.000 claims description 14
- 239000002759 woven fabric Substances 0.000 claims description 9
- 238000005452 bending Methods 0.000 description 13
- 208000006011 Stroke Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 208000011092 Hand injury Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The rigidity-variable soft pneumatic rehabilitation hand comprises a glove, wherein soft drivers are arranged on five fingers of the glove and comprise soft driver cavities, cavities are formed in the bottoms of the soft driver cavities, air pumps are connected to the cavities through hoses, the upper surface of each driver cavity is in a comb shape, and the comb tooth density at the finger joints is smaller than that at the finger backs. The invention can help the hand disabled to do hand exercise.
Description
Technical Field
The invention belongs to the field of medical rehabilitation training robots, and particularly relates to a variable-rigidity soft pneumatic rehabilitation hand.
Background
In the world today, hand injuries are becoming increasingly common due to the increasing aging of the population. The prevalence of stroke and other diseases brings more and more burden to financial resources and physical therapy personnel in China. According to the survey of the world health organization, the Chinese stroke incidence rate is far higher than that of developed countries such as the United states. Patients with hand disability diseases are difficult to finish the most basic daily life behaviors of eating, dressing and the like, and great inconvenience is brought to the patients. In order to reduce the impact of stroke on the patient, it is effective to have the patient perform repetitive rehabilitation training to improve the strength, grip accuracy, range of motion, etc. of the patient's hand. The traditional rehabilitation robot is mostly composed of rigid components, such as a linear brake, a rigid connecting rod, a motor and the like. These components are capable of exerting significant forces to perform challenging rehabilitation tasks. It has however many disadvantages: the volume and the weight are large, and the carrying is inconvenient; the wearing is uncomfortable, the freedom degree and the natural movement of the joint of the patient are limited, and the secondary injury is easily caused to the patient; the cost and maintenance are expensive and it is difficult for the ordinary household to undertake such expensive treatment.
Disclosure of Invention
The invention aims to solve the technical problem of providing a variable-rigidity soft pneumatic rehabilitation hand aiming at the defects of the background technology.
The invention adopts the following technical scheme for solving the technical problems:
the variable-rigidity soft pneumatic recovery hand comprises gloves, wherein soft drivers are arranged on five fingers of each glove and comprise soft driver cavities, cavities are formed in the bottoms of the soft driver cavities, air pumps are connected to the cavities through hoses, the upper surfaces of the driver cavities are comb-shaped, and the comb tooth density at the finger joints is smaller than that at the finger backs.
Furthermore, the upper surface of the cavity of the driver is provided with a plurality of comb tooth areas and platform areas which are distributed in a staggered mode, the comb tooth areas are located at the finger joints, the platform areas are located at the back of the fingers, and the length of the comb tooth areas is gradually shortened from the finger heels to the finger tips.
Furthermore, the two ends of the driver cavity, which are located in the cavity, are provided with deformation-free limiting ends.
Further, the bottom of the cavity is provided with a bottom limiting layer and a bottom sealing layer, and the top of the soft driver cavity is provided with a top limiting layer.
Further, the bottom restriction layer and the top restriction layer are respectively composed of a non-stretchable woven fabric material and an elastic woven fabric material.
Further, the soft driver lumen is made of a superelastic material.
Furthermore, the outer sides of the fingers of the gloves are provided with soft driver sleeves, one ends of the soft driver sleeves, close to the palms of the gloves, are open, the other ends of the soft driver sleeves are closed, and the soft drivers are arranged in the soft driver sleeves.
Furthermore, the glove and the soft driver sleeve are both made of woven fabric materials.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
compared with a rigid material, the whole body of the rehabilitation training device is made of a flexible material, so that the safety of rehabilitation training is greatly improved. The whole mass is small, so that the patient can carry the medical instrument conveniently. Compared with the existing cavity type soft driver, the soft driver of the invention can be customized according to the size of the fingers of a patient, the bending characteristic of the soft driver is more consistent with the biological characteristic of a normal human hand, and the top limiting layer of the driver can avoid the over-expansion of some parts of the driver, enhance the bending capability of the driver and improve the rehabilitation training effect. In addition, the invention has the characteristic of low cost and is more convenient to popularize.
Drawings
FIG. 1 is a schematic view of the overall structure of the present embodiment;
FIG. 2 is a schematic diagram of a software driver according to the present embodiment;
fig. 3 is a schematic structural diagram of the soft driver of the present embodiment after bending.
In the figure, 110, the soft driver sleeve; 120. a software driver; 121. a soft body driver cavity; 122. a cavity; 124. a comb tooth area; 125. a platform area; 126. no deformation limiting end; 127. a bottom confinement layer; 128. a bottom sealing layer; 129. a top confinement layer; 130. a hose.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the variable-rigidity soft pneumatic rehabilitation hand comprises a glove, wherein a soft driver is arranged on five fingers of the glove and comprises a soft driver cavity, a cavity is formed in the bottom of the soft driver cavity, the cavity is connected with an air pump through a hose, the upper surface of the driver cavity is in a comb shape, and the comb tooth density at the finger joint is smaller than that at the finger back.
The upper surface of the driver cavity is provided with a plurality of comb tooth areas and platform areas which are distributed in a staggered mode, the comb tooth areas are located at finger joints, the platform areas are located at finger backs, and the length of the comb tooth areas is gradually shortened from finger heels to finger tips.
And two ends of the driver cavity, which are positioned in the cavity, are provided with deformation-free limiting ends.
The bottom of cavity is provided with bottom restriction layer and back cover layer, and the top of software driver cavity is provided with the top restriction layer.
The bottom restriction layer and the top restriction layer are respectively composed of a non-stretchable woven fabric material and an elastic woven fabric material.
The soft driver lumen is made of a superelastic material.
The outer sides of the fingers of the gloves are provided with soft driver sleeves, one ends of the soft driver sleeves, which are close to the palms of the gloves, are open, the other ends of the soft driver sleeves are closed, and the soft drivers are arranged in the soft driver sleeves.
The glove and the soft driver sleeve are both made of woven fabric materials.
Description of specific embodiments:
as shown in FIG. 2, the L1 and L2 areas are non-deformation limiting ends, L3 and L4 are platform areas, L5, L6 and L7 are comb tooth areas, and the bending degrees of the finger joints on the same finger are different, and the bending degree of the finger joints closer to the fingertip is smaller, so that the length of the comb tooth area from the finger heel to the fingertip, namely L5-L6-L7, is designed to be gradually shortened to adapt to the difference of the bending degrees of the finger joints, and the bending degree of the soft body driver at each finger joint is changed.
The invention adjusts the hardness of the region by changing the shape of the soft driver in the region corresponding to the knuckle and the back of the finger, and ensures that the bending form of the driver after being inflated is closer to the bending form of a normal hand, namely the bending form of the driver at the knuckle is larger, and the bending deformation at the non-knuckle is small or no deformation.
The bottom limiting layer limits the stretching of the bottom of the driver, so that the driver is bent and deformed along the non-stretchable bottom when inflated; the top limiting layer limits the excessive expansion of the top of the driver and enhances the bending capability of the driver; the driver sheath secures the soft driver and further limits over-inflation of the driver.
The working process of the invention is as follows:
five soft drivers are manufactured according to the actual finger size of the patient, and the actually manufactured soft drivers are ensured to be similar to the simulation analysis result and the actual bending form of the human finger. The soft driver is fixed on the woven glove through the driver sleeve, the soft driver is connected to the air pump through the five long hoses for inflation, and the inflation pressure and speed can be adjusted through arranging control devices such as an electromagnetic valve and the like, so that the active control of the soft driver is realized.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including 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. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modifications made on the basis of the technical scheme according to the technical idea of the present invention fall within the protection scope of the present invention. While the embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (8)
1. The utility model provides a become pneumatic recovered hand of rigidity software, includes gloves, its characterized in that: the gloves are characterized in that soft drivers are arranged on five fingers of each glove and comprise soft driver cavities, cavities are formed in the bottoms of the soft driver cavities and are connected with air pumps through hoses, the upper surfaces of the driver cavities are in comb-tooth shapes, and the comb tooth density at the positions of finger joints is smaller than that at the positions of finger backs.
2. The variable stiffness soft pneumatic rehabilitation hand of claim 1, wherein: the upper surface of the driver cavity is provided with a plurality of comb tooth areas and platform areas which are distributed in a staggered mode, the comb tooth areas are located at finger joints, the platform areas are located at finger backs, and the length of the comb tooth areas is gradually shortened from finger heels to finger tips.
3. The variable stiffness soft pneumatic rehabilitation hand of claim 1, wherein: and two ends of the driver cavity, which are positioned in the cavity, are provided with deformation-free limiting ends.
4. The variable stiffness soft pneumatic rehabilitation hand of claim 1, wherein: the bottom of cavity is provided with bottom restriction layer and back cover layer, and the top of software driver cavity is provided with the top restriction layer.
5. The variable stiffness soft pneumatic rehabilitation hand of claim 4, wherein: the bottom restriction layer and the top restriction layer are respectively composed of a non-stretchable woven fabric material and an elastic woven fabric material.
6. The variable stiffness soft pneumatic rehabilitation hand of claim 1, wherein: the soft driver lumen is made of a superelastic material.
7. The variable stiffness soft pneumatic rehabilitation hand of claim 1, wherein: the outer sides of the fingers of the gloves are provided with soft driver sleeves, one ends of the soft driver sleeves, which are close to the palms of the gloves, are open, the other ends of the soft driver sleeves are closed, and the soft drivers are arranged in the soft driver sleeves.
8. The variable stiffness soft pneumatic rehabilitation hand of claim 1, wherein: the glove and the soft driver sleeve are both made of woven fabric materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010868420.7A CN111991184A (en) | 2020-08-26 | 2020-08-26 | Rigidity-variable soft pneumatic rehabilitation hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010868420.7A CN111991184A (en) | 2020-08-26 | 2020-08-26 | Rigidity-variable soft pneumatic rehabilitation hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111991184A true CN111991184A (en) | 2020-11-27 |
Family
ID=73470892
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010868420.7A Pending CN111991184A (en) | 2020-08-26 | 2020-08-26 | Rigidity-variable soft pneumatic rehabilitation hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111991184A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024139904A1 (en) * | 2022-12-27 | 2024-07-04 | 上海希润医疗器械有限公司 | Enhanced soft robot driving device and use thereof |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2794193A1 (en) * | 2010-03-23 | 2011-09-29 | Idrogenet S.R.L. | A hand rehabilitation device |
| CN108638100A (en) * | 2018-05-11 | 2018-10-12 | 清华大学 | It is a kind of flexibility Apery manipulator refer to |
| US20180296419A1 (en) * | 2017-04-14 | 2018-10-18 | The Chinese University Of Hong Kong | Flexibly driven robotic hands |
| WO2019007312A1 (en) * | 2017-07-07 | 2019-01-10 | 北京恒通信佳科技发展有限公司 | Knuckle rehabilitation device |
| CN109481236A (en) * | 2018-12-27 | 2019-03-19 | 西安交通大学 | The rigid flexible system exoskeleton hand functional rehabilitation device of flexible material 3D printing manufacture |
| CN109758333A (en) * | 2018-05-09 | 2019-05-17 | 宋泽闻 | A kind of recovering aid software hand |
| CN109875850A (en) * | 2019-04-17 | 2019-06-14 | 浙江理工大学 | A kind of cerebral apoplexy hand convalescence device |
| CN110772402A (en) * | 2019-12-04 | 2020-02-11 | 大连理工大学 | Rigid-flexible combined pneumatic wearable finger rehabilitation device and manufacturing method thereof |
-
2020
- 2020-08-26 CN CN202010868420.7A patent/CN111991184A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2794193A1 (en) * | 2010-03-23 | 2011-09-29 | Idrogenet S.R.L. | A hand rehabilitation device |
| WO2011117901A1 (en) * | 2010-03-23 | 2011-09-29 | Idrogenet S.R.L. | A hand rehabilitation device |
| US20180296419A1 (en) * | 2017-04-14 | 2018-10-18 | The Chinese University Of Hong Kong | Flexibly driven robotic hands |
| WO2019007312A1 (en) * | 2017-07-07 | 2019-01-10 | 北京恒通信佳科技发展有限公司 | Knuckle rehabilitation device |
| CN109758333A (en) * | 2018-05-09 | 2019-05-17 | 宋泽闻 | A kind of recovering aid software hand |
| CN108638100A (en) * | 2018-05-11 | 2018-10-12 | 清华大学 | It is a kind of flexibility Apery manipulator refer to |
| CN109481236A (en) * | 2018-12-27 | 2019-03-19 | 西安交通大学 | The rigid flexible system exoskeleton hand functional rehabilitation device of flexible material 3D printing manufacture |
| CN109875850A (en) * | 2019-04-17 | 2019-06-14 | 浙江理工大学 | A kind of cerebral apoplexy hand convalescence device |
| CN110772402A (en) * | 2019-12-04 | 2020-02-11 | 大连理工大学 | Rigid-flexible combined pneumatic wearable finger rehabilitation device and manufacturing method thereof |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024139904A1 (en) * | 2022-12-27 | 2024-07-04 | 上海希润医疗器械有限公司 | Enhanced soft robot driving device and use thereof |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201127 |