CN112168619A - Hand rehabilitation device and method based on hybrid drive multi-mode - Google Patents
Hand rehabilitation device and method based on hybrid drive multi-mode Download PDFInfo
- Publication number
- CN112168619A CN112168619A CN202011166163.9A CN202011166163A CN112168619A CN 112168619 A CN112168619 A CN 112168619A CN 202011166163 A CN202011166163 A CN 202011166163A CN 112168619 A CN112168619 A CN 112168619A
- Authority
- CN
- China
- Prior art keywords
- memory alloy
- driver
- control system
- mode
- training
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 12
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims abstract description 57
- 238000012549 training Methods 0.000 claims abstract description 50
- 238000005452 bending Methods 0.000 claims abstract description 13
- 239000002131 composite material Substances 0.000 claims abstract description 3
- 210000000707 wrist Anatomy 0.000 claims description 27
- 238000011161 development Methods 0.000 claims description 24
- 230000001105 regulatory effect Effects 0.000 claims description 20
- 229920002379 silicone rubber Polymers 0.000 claims description 19
- 239000000835 fiber Substances 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 6
- 239000004945 silicone rubber Substances 0.000 claims description 4
- 238000011084 recovery Methods 0.000 claims description 3
- 229910045601 alloy Inorganic materials 0.000 claims 1
- 239000000956 alloy Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 6
- 210000003205 muscle Anatomy 0.000 abstract description 5
- 238000013461 design Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 210000001145 finger joint Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 238000009423 ventilation 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
- A63B21/045—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters having torsion or bending or flexion element
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or 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
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5097—Control means thereof wireless
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biophysics (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a hand rehabilitation device and method based on hybrid drive multi-mode, which comprises an interphalangeal driver pair respectively fixed between two fingers of a training glove, wherein the interphalangeal driver pair is connected with a pneumatic control system and a memory alloy control system through a driver base, and the active bending force and the passive stretching force of a palm center are realized under the control of a control terminal to control the composite drive of the pneumatic control system and the memory alloy control system. The invention realizes one-to-many driving effect by arranging the driver between the two fingers, and the hybrid driving strategy can realize passive assistance and active motion of the fingers so as to finish two training modes. Device simple structure, compact structure, multiple functional can carry out different muscle power level patients 'rehabilitation training, have that the practicality is strong, easy operation is convenient advantage, and cell-phone APP's use has greatly liberated and has doctorsed and nurses pressure, increases patient training convenience and training enthusiasm.
Description
Technical Field
The invention belongs to the technical field of rehabilitation medical robots, and particularly relates to an intelligent hand training and rehabilitation device which can be used for assisting finger joints of patients with stroke and the like and a hybrid-drive multi-mode hand rehabilitation device and method for multi-stage rehabilitation training.
Background
Among the various hand rehabilitation methods at present, sports rehabilitation training is one of the most effective methods. One-to-one massage and stretching of doctors are common exercise rehabilitation training, and the rehabilitation method is expensive, seriously occupies medical resources and cannot meet the requirements of most patients. This phenomenon stimulates the market demand for rehabilitation equipment, whereas traditional hand rehabilitation equipment is made of rigid materials and complex mechanical structures, the manufacturing process is tedious, the price is high, and the rigid materials greatly reduce the man-machine harmony, easily cause secondary damage, are not favorable to market promotion. The rehabilitation training device based on the software can overcome the defects of the traditional mechanical structure rehabilitation device, can reduce the treatment cost of the patient, enables the rehabilitation treatment to be household and personalized, and has great significance.
The existing soft body rehabilitation gloves all adopt the design of one-to-one correspondence of fingers and drivers, have complicated structures, and can only realize passive one-way gripping mostly due to the influence of soft body materials. A pneumatic rehabilitation glove of grant 201810979131.7 adopts a flexible pneumatic piece structure, and realizes the gripping of fingers to the palm direction. However, the structure is heavy, the control mode is single, and the requirements of different patients cannot be met. An EMG controlled pneumatic soft rehabilitation robot, grant 201610802331.6, wraps the fibers around the outside of the finger and cooperates with a strain limiting layer to effect finger flexion when inflated. However, the manipulator is complicated and expensive, which is not convenient for market popularization and popularization.
In summary, in the field of rehabilitation, the hand function damage conditions of people who need rehabilitation training are different, and the required training forms are different. When the hand function of the hand dysfunction crowd is recovered to the muscle strength grade above 3, the continuous passive activity can not meet the training requirement, and resistance training is required. Therefore, there is a need for a device that provides both continuous passive activity and resistance training to meet the training needs of the user in different phases of rehabilitation.
Disclosure of Invention
In order to solve the above-mentioned defects in the prior art, the present invention provides a hand rehabilitation device based on hybrid driving multiple modes, which can provide two modes of passive power-assisted training mode and active impedance training mode for the finger joints of patients with different muscle strength levels, and solves the problems in the prior art.
The invention is realized by the following technical scheme.
The invention provides a hand rehabilitation device based on hybrid drive multi-mode, which comprises a training glove, a pneumatic control system, a memory alloy control system and a control terminal, wherein the training glove is connected with the pneumatic control system through a pneumatic control system; the left and right interphalangeal drivers are respectively fixed between the two fingers of the training glove and are connected with the pneumatic control system and the memory alloy control system through the driver base, and the active bending force and the passive stretching force of the palm center are realized under the composite drive of the pneumatic control system and the memory alloy control system controlled by the control terminal.
With respect to the above technical solutions, the present invention has a further preferable solution:
preferably, the training glove comprises a glove body and a wrist fastening strap;
the glove main body is made of flexible materials and is of a palm-center-free four-finger wearing structure;
the wrist fastening belt comprises a wrist belt, a pair of pawl bases are arranged at the top of the wrist belt, a pair of pawls are fixed on the pawl bases through pawl shafts, and torsion springs are further arranged on the pawl shafts; a thorn strip is sewed on the inner side of the wrist strap.
Preferably, the inter-digital driver includes a silicon rubber driver, a memory alloy sheet and a fishing line; the silicon rubber driver is connected with the driver base through a fishing line, and the memory alloy sheet is arranged in the memory alloy chambers of the silicon rubber driver and the driver base and is connected with the memory alloy control system.
Preferably, the silicon rubber driver comprises an air bag, an air passage, a sawtooth-shaped clamping sheet and a memory alloy chamber; the air bag is connected with a pneumatic control system through an air passage to inflate the air bag, and the zigzag clamping pieces are arranged at the bottom of the air bag.
Preferably, the driver base includes a memory alloy chamber, an ABS base aperture and an air channel; the hole of the ABS base is penetrated with a fishing line, and the outer end part of the hole of the ABS base is embedded with a tension spring and a tension rod connected with the fishing line.
Preferably, the bottom and two sides of the air bag are implanted with fiber braided layers, and the fiber direction of the fiber braided layers is perpendicular to the axial direction of the air bag and is respectively parallel to the ground and the side.
Preferably, the memory alloy control system comprises a control module, a hybrid drive output module and a power supply system; control module includes Arduino development board, and Arduino development board passes through bluetooth module and is connected with control terminal.
The hybrid driving output module comprises an electromagnetic valve, an adjusting valve and a power module which are respectively connected with the Arduino development board, the electromagnetic valve, the adjusting valve and the power module are connected with an air pump, and the power module is connected with the memory alloy sheet;
and the power supply system is connected with the control module and the hybrid drive output module to supply power to the hybrid drive output module.
Preferably, the Arduino development board is internally provided with triodes connected in parallel, one end of a parallel node of each triode is connected with a 5V power supply system, the other end of each triode is grounded, the input ends and the output ends of the two pairs of triodes are connected with an electromagnetic valve and a regulating valve in parallel, the output ends of the electromagnetic valve and the regulating valve are connected with a 24V power supply module, and the memory alloy sheet is connected with the output ends of the electromagnetic valve and the regulating valve through a parallel.
The invention correspondingly provides a hybrid-drive multi-mode hand rehabilitation method, which comprises the following steps:
fixing the wrist strap on the wrist of the user in a passive exercise rehabilitation training mode; the user communicates with the Arduino development board through the control terminal, the user selects and activates an air bag driving mode, a memory alloy driving mode or a hybrid driving mode through the control terminal, the Arduino development board controls the electromagnetic valve and the regulating valve to inflate the air bag and the memory alloy state, and palm bending and back recovery of the fingertip driver are achieved;
under the active impedance rehabilitation training mode, a user actively completes the reciprocating motion of bending towards the palm center and recovering from the back, and the resistance training is formed by the elastic force of the memory alloy sheet and the silicon rubber driver.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
1. the invention adopts the design of the palmless glove, which greatly increases the air permeability and comfort when the patient wears the glove.
2. The wrist strap with the double-pawl structure can be fastened and loosened by one hand, and convenience in wearing and taking down of a user is improved.
3. The invention adopts the inter-finger driving mode, realizes the one-to-many driving effect by arranging the drivers between the two fingers, can drive four fingers by only needing two drivers, and greatly reduces the control difficulty; because the fixing mechanism is positioned between the fingers, the cross section area of the driver positioned on the back of the fingers is reduced, and the flexibility of the movement process is improved.
4. The invention adopts a strategy of hybrid drive combination control, combines active training and impedance training, can realize passive assistance and active movement of fingers so as to finish two training modes, and can meet the rehabilitation requirements of patients with different muscle strength grades.
5. The invention adopts a control mode of a control terminal (remote mobile phone APP), has good real-time performance and high efficiency, and can be automatically adjusted by a patient according to self feeling, thereby greatly relieving the pressure of medical workers.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention:
FIG. 1 is a schematic overall perspective view of an embodiment of the present invention;
FIG. 2 is a schematic view of the glove of the hand rehabilitation training device of FIG. 1;
FIG. 3 is a schematic view of the hand rehabilitation training device driver of FIG. 1;
FIG. 4 is a cross-sectional view of the silicone rubber drive of FIG. 3;
FIG. 5 is an exploded view of the hand rehabilitation training device driver of FIG. 3;
FIG. 6 is a control flow chart of the entire hand rehabilitation training device of the present invention;
fig. 7 is a schematic diagram of a control circuit of the hand training rehabilitation device in fig. 1.
In the figure, 1, training gloves, 2, right interphalangeal drivers, 3, left interphalangeal drivers, 4, a pneumatic control system, 5, a memory alloy control system, 6, a driver base, 7, a glove body, 8, a wrist fastening belt, 9, a ratchet bar, 10, a left pawl, 11, a right pawl, 12, a pawl base, 13, a pawl shaft, 14, a torsion spring, 15, a silicon rubber driver, 16, an ABS base hole, 17, a memory alloy sheet, 18, a tension spring, 19, a tension rod, 20, a fishing line, 21, an air bag, 22, an air passage, 23, a sawtooth-shaped clamping sheet, 24, a memory alloy chamber, 25, an air pump, 26, an electromagnetic valve, 27, an adjusting valve, 28, an Arduino development board, 29, a power module, 30, a Bluetooth module, 31, a control terminal, 32 and APP.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined purpose, the following detailed description will be made on the specific implementation and working principle of a hand rehabilitation device based on hybrid driving multiple modes according to the present invention with reference to the accompanying drawings and the specific implementation.
As shown in fig. 1, a hand rehabilitation device based on hybrid drive multi-mode comprises a training glove 1, a pneumatic control system 4, a memory alloy control system 5 and a computer control system 31, wherein an interphalangeal driver pair (a right interphalangeal driver 2 and a left interphalangeal driver 3) is respectively fixed between two fingers of the training glove 1, and the force of the interphalangeal driver is transmitted to the fingers of a glove wearer; the interphalangeal driver pair is connected with the driver base 6 and fixed at the joint of two fingers of the training glove; the interphalangeal driver pair is connected with the pneumatic control system 4 and the memory alloy control system 5 through the driver base 6, the pneumatic control system 4 and the memory alloy control system 5 are connected with the control terminal 31, and under the combined drive of the pneumatic control system 4 and the memory alloy control system 5, the active bending force and the passive stretching force of the palm center are achieved, and forces in two directions are applied to a user to meet different rehabilitation requirements.
As shown in fig. 2, the training glove 1 comprises a glove body 7 and a wrist fastening strap 8. The glove main body 7 is made of flexible materials, adopts a palm-center-free design and is connected with the wrist only through the back of the glove; the wrist fastening buckle 8 is composed of a ratchet bar 9, a left pawl 10, a right pawl 11, a base 12, a pawl shaft 13 and a torsion spring 14, wherein the base 12 fixes a pair of pawls through the pawl shaft 13, and the pawl shaft 13 is also provided with the torsion spring 14; the ratchet bar 9 is sewed on the inner side of the wrist strap, the base 12 is sewed on the upper side of the wrist strap, the left pawl 10 is matched with the pawl shaft 13 through a hole, the torsion spring 14 is concentric with the pawl shaft 13 through the left pawl 10 hole, and the right pawl 11 is matched with the base shaft through a hole.
As shown in fig. 3, 4 and 5, the inter-digital driver includes a silicon rubber driver 15, a driver base 6, a memory alloy sheet 17, a tension spring 18, a tension rod 19 and a fishing line 20. The silicon rubber driver comprises an air bag 21, an air passage 22, a sawtooth-shaped clamping sheet 23 and a memory alloy chamber 24, the air bag 21 is connected with the pneumatic control system 4 through the air passage 22, fiber woven layers are respectively implanted into the bottom and two sides of the air bag 21, and the fiber directions of the fiber woven layers are vertical to the axial direction and are respectively parallel to the ground and the side; the sawtooth-shaped clamping piece 23 has a sawtooth angle of 30x6 and is sewn on the inner side of the interphalangeal space; the top of the memory alloy chamber 24 is closed and is positioned at the bottom of the air bag 21; the driver base 6 comprises a memory alloy chamber 24 and an air channel 22; a tension spring 18 and a tension rod 19 are embedded into a spring hole of a driver base, one end of the tension spring 18 is connected with a through hole of the silicon rubber driver 15 through a fishing line 20, and the other end of the tension spring is connected with the tension rod 19 through an ABS base hole 16; the memory alloy embeds the silicone rubber driver 15 and the memory alloy chamber 24 of the ABS base.
As shown in fig. 6 and 7, the memory alloy control 5 system comprises a control module, a hybrid drive output module and a power supply system; the control module includes Arduino development board 28, and Arduino development board 28 is connected with control terminal 31 through bluetooth module 30. The hybrid driving output module comprises an electromagnetic valve 26, a regulating valve 27 and a power module 29 which are respectively connected with the Arduino development board 28, the electromagnetic valve 26, the regulating valve 27 and the power module 29 are connected with the air pump 25, and the power module 29 is connected with the memory alloy sheet 17. And the power supply system is connected with the control module and the hybrid drive output module to supply power to the hybrid drive output module.
The air pump 25 is connected with the air passage 22 to serve as a power source of the air bag 21, the electromagnetic valve 26 is connected with the regulating valve 27 in series and connected to the air pump 25, the Arduino development board 28 is connected with and controls the electromagnetic valve 26 and the regulating valve 27, and the Arduino development board 28 communicates with the control terminal 31 through the Bluetooth module 30; the electromagnetic valve 26 is connected with the regulating valve 27 in series and receives a control instruction of the Arduino development board 28; the power module 29 is connected with the memory alloy sheet 17 and the Arduino development board 28 to supply power to the memory alloy sheet.
As shown in FIG. 2, the palmless design of the training glove 1 maximizes the ventilation of the patient during use. The right pawl 11 of the wrist of the training glove 1 is a manual feeding pawl, the left pawl 10 is a torque spring self-locking pawl, and the wrist strap can be quickly fastened and loosened through the combination of the double pawls.
As shown in fig. 3, 4 and 5, the silicone rubber driver 15 adopts a hybrid driving strategy of memory alloy sheet 17 driving and air bag 21 driving, the woven fiber limit layer adopted by the air bag 21 limits the expansion of the bottom surface and the side surface of the air bag, simultaneously, the axial stretching of the air bag 21 is not influenced, all gas input into the air bag 21 is used for the expansion of the back of the air bag and generates bending moment towards the palm, and the fingertip clamping sheets 23 adopt a 30x6 zigzag design, so that 180-degree bending of the driver is realized, and the requirement of the finger movement range during rehabilitation training is met. The memory alloy sheet 17 provides additional palm bending moment for the driver by utilizing the property of recovering the initial state after being electrified. The silicon rubber driver 15 and the memory alloy sheet 17 provide resistance force by using the inherent elastic deformation under the non-driving working condition.
As shown in fig. 6 and 7, the air pump 25 is used as a power source of the air bag 21 to inflate the air bag 21, the electromagnetic valve 26 controls the start and stop of the inflation operation, and the regulating valve 27 controls the flow rate of the air flow during the inflation process. The Arduino development board 28 controls the action of each valve and the on-off of a memory alloy circuit; the power module 29 supplies power to the electromagnetic valve 26, the regulating valve 27, the Arduino development plate 28 and the memory alloy sheet 17.
The Arduino development board 28 is internally provided with triodes connected in parallel, one end of a parallel node of each triode is connected with a 5V power supply system, the other end of each triode is grounded, the input end and the output end of each triode are connected with an electromagnetic valve 26 and a regulating valve 27 in parallel, the output ends of the electromagnetic valve 26 and the regulating valve 27 are connected with a 24V power supply module 29, and the memory alloy 17 is connected with the output ends of the electromagnetic valve 26 and the regulating valve 27 through a parallel.
The invention relates to a control method of a hand rehabilitation device based on a hybrid drive multi-mode, which comprises the following steps:
under the passive motion rehabilitation training mode, the ratchet 9 is located below the left pawl 10, the right pawl 11 and fixed on the wrist fastening belt 8, a user penetrates the ratchet 9 through the left pawl 10 and stirs the right pawl 11 up and down in a reciprocating mode to realize feeding of the ratchet and fasten the wrist belt 8, and meanwhile, the torsion spring 14 inside the left pawl 10 is automatically locked to prevent the ratchet 9 from loosening. After wrist fastening belt 8 is fixed, the user opens the cell-phone bluetooth function and successfully communicates with Arduino bluetooth module 30, and the user selects activation gasbag drive, memory alloy drive or modes such as hybrid drive through APP32 of control terminal 31 according to patient's muscle strength grade. After activation, the amplitude and frequency of the power output curve are set. The Arduino development board 28 receives the control terminal signal and controls the electromagnetic valve 26 and the regulating valve 27 to inflate the air bag 21 and the state of the memory alloy 17, so that palm bending and back recovery of the fingertip driver are realized.
Under the active impedance rehabilitation training mode, a user penetrates the ratchet bar 9 through the left pawl 10 and stirs the right pawl 11 up and down in a reciprocating mode to realize feeding of the ratchet bar 9 and fasten the wrist fastening belt 8, and meanwhile, the torsion spring 14 in the left pawl 10 is automatically locked to prevent the ratchet bar 9 from loosening. The user actively completes the reciprocating motion of bending toward the palm center and recovering from the back, and the resistance force is formed by the elastic force of the memory alloy 17 and the silicon rubber driver 15, thereby completing the resistance training.
The present invention is not limited to the above-mentioned embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and modifications to some technical features without creative efforts according to the disclosed technical contents, and these substitutions and modifications are all within the protection scope of the present invention.
Claims (9)
1. A hand rehabilitation device based on hybrid drive multi-mode is characterized by comprising a training glove (1), a pneumatic control system (4), a memory alloy control system (5) and a control terminal (31); left and right interphalangeal drivers (3 and 2) are respectively fixed between two fingers of the training glove (1), the left and right interphalangeal drivers (3 and 2) are connected with a pneumatic control system (4) and a memory alloy control system (5) through a driver base (6), and the active bending force and the passive stretching force of the palm center are realized under the composite driving of the pneumatic control system (4) and the memory alloy control system (5) controlled by a control terminal (31).
2.A hand rehabilitation device based on hybrid drive multi-mode according to claim 1, characterized in that the training glove (1) comprises a glove body (7) and a wrist fastening strap (8);
the glove main body is made of flexible materials and is of a palm-center-free four-finger wearing structure;
the wrist fastening belt (8) comprises a wrist belt, a pair of pawl bases (12) is arranged at the top of the wrist belt, a pair of pawls (10) are fixed on the pawl bases (12) through pawl shafts (13), and torsion springs (14) are further arranged on the pawl shafts (13); a thorn strip (9) is sewed on the inner side of the wrist strap.
3. The hand rehabilitation device based on the hybrid driving multi-mode as claimed in claim 1, wherein the inter-digital driver comprises a silicon rubber driver (15), a memory alloy sheet (17) and a fishing line (20); the silicon rubber driver (15) is connected with the driver base (6) through a fishing line (20), and the memory alloy sheet (17) is arranged in the memory alloy chambers (24) of the silicon rubber driver (15) and the driver base (6) and is connected with the memory alloy control system (5).
4. A hand rehabilitation device based on hybrid drive multi-mode according to claim 3, characterized in that the silicone rubber driver (15) comprises an air bag (21), an air passage (22), a serrated clamping piece (23) and a memory alloy chamber (24); the air bag (21) is connected with the pneumatic control system (4) through an air passage (22) to inflate the air bag (21), and the sawtooth-shaped clamping pieces (23) are arranged at the bottom of the air bag (21).
5. A hybrid drive multi-mode based hand rehabilitation device according to claim 3, characterized in that the driver base (6) comprises a memory alloy chamber (24), an ABS base hole (16) and an air channel (22); a fishing line (20) penetrates through the ABS base hole (16), and a tension spring (18) and a tension rod (19) connected with the fishing line (20) are embedded in the outer end part of the ABS base hole (16).
6. The hand rehabilitation device based on the hybrid driving multiple modes as claimed in claim 4, wherein woven fiber layers are implanted at the bottom and two sides of the air bag (21), and the fiber directions of the woven fiber layers are perpendicular to the axial direction of the air bag (21) and are respectively parallel to the ground and the side.
7. The hand rehabilitation device based on the hybrid drive multi-mode is characterized in that the memory alloy control system (5) comprises a control module, a hybrid drive output module and a power supply system; the control module comprises an Arduino development board (28), and the Arduino development board (28) is connected with a control terminal (31) through a Bluetooth module (30);
the hybrid drive output module comprises an electromagnetic valve (26), a regulating valve (27) and a power module (29) which are respectively connected with the Arduino development board (28), the electromagnetic valve (26), the regulating valve (27) and the power module (29) are connected with an air pump (25), and the power module (29) is connected with the memory alloy sheet (17);
and the power supply system is connected with the control module and the hybrid drive output module to supply power to the hybrid drive output module.
8. The hand rehabilitation device based on the hybrid driving multi-mode as claimed in claim 7, wherein the Arduino development board (28) is provided with parallel connected transistors, one end of the parallel node of the transistor is connected with the 5V power supply system, the other end of the parallel node of the transistor is grounded, the input end and the output end of the two pairs of transistors are connected with the electromagnetic valve (26) and the regulating valve (27) in parallel, the output ends of the electromagnetic valve (26) and the regulating valve (27) are connected with the 24V power supply module (29), and the memory alloy sheet (17) is connected with the rear end through the parallel resistor R3.
9. A hand rehabilitation method based on hybrid-driven multi-mode of the devices of claims 1-8, comprising:
fixing the wrist strap on the wrist of the user in a passive exercise rehabilitation training mode; the user communicates with the Arduino development board (28) through the control terminal (31), the user selects and activates an air bag driving mode, a memory alloy driving mode or a hybrid driving mode through the control terminal (31), the Arduino development board (28) controls the electromagnetic valve (26) and the regulating valve (27) to inflate the air bag (21) and memorize the state of an alloy sheet (17), and palm bending and back recovery of the fingertip driver are achieved;
under the active impedance rehabilitation training mode, a user actively completes the reciprocating motion of bending towards the palm center and recovering from the back, and the resistance training is formed by the elastic force of the memory alloy sheet (17) and the silicon rubber driver (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011166163.9A CN112168619A (en) | 2020-10-27 | 2020-10-27 | Hand rehabilitation device and method based on hybrid drive multi-mode |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011166163.9A CN112168619A (en) | 2020-10-27 | 2020-10-27 | Hand rehabilitation device and method based on hybrid drive multi-mode |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112168619A true CN112168619A (en) | 2021-01-05 |
Family
ID=73923149
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011166163.9A Pending CN112168619A (en) | 2020-10-27 | 2020-10-27 | Hand rehabilitation device and method based on hybrid drive multi-mode |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112168619A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024073900A1 (en) * | 2022-10-08 | 2024-04-11 | 东南大学 | Flexible rehabilitation glove based on hybrid drivers |
-
2020
- 2020-10-27 CN CN202011166163.9A patent/CN112168619A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024073900A1 (en) * | 2022-10-08 | 2024-04-11 | 东南大学 | Flexible rehabilitation glove based on hybrid drivers |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109999429B (en) | Hand rehabilitation training system and training method | |
| CN105919772B (en) | A kind of wearable hand device for healing and training | |
| CN108371609B (en) | Soft driver for assisting extension and abduction of thumb of human hand | |
| CN106309083A (en) | EMG controlled air-operated soft body rehabilitative mechanical hand | |
| WO2019007312A1 (en) | Knuckle rehabilitation device | |
| CN106074074B (en) | A kind of eccentric fiber composite elastic body and the device for healing and training with the elastomer | |
| CN109172265B (en) | Finger exoskeleton robot | |
| CN111672025A (en) | Hand function rehabilitation training device and method | |
| CN108354779B (en) | It is a kind of for assist manpower four refer to stretching routine software driver | |
| CN104800044A (en) | Pneumatic type recovery device for intelligently training hand functions | |
| US11439565B2 (en) | Training apparatus | |
| CN110497395B (en) | Bidirectional movement pneumatic flexible driver and working method thereof | |
| CN109623779B (en) | Full-flexible driving power-assisted buffering exoskeleton system based on air bag bending principle | |
| CN109044732B (en) | Wearable knee joint intelligent power assisting device and power assisting method thereof | |
| CN215021628U (en) | Pneumatic rehabilitation glove | |
| CN110141456A (en) | A kind of software hand restoring gloves of a variety of rehabilitation training modes of combination | |
| CN108326828A (en) | Software pneumatic type joint assistance equipment | |
| CN115399980A (en) | Wearable glove capable of inhibiting tremor and assisting in grabbing and control method thereof | |
| CN112168619A (en) | Hand rehabilitation device and method based on hybrid drive multi-mode | |
| CN110151491B (en) | Finger auxiliary exercise device | |
| CN107397653A (en) | A kind of flexible knee joint power-assisted convalescence device based on lasso trick transmission | |
| CN107822835A (en) | A kind of gasbag-type hand exercise trainer | |
| CN208645318U (en) | Software pneumatic type joint assistance equipment | |
| CN2782074Y (en) | Pressure restoring gloves | |
| CN113491622A (en) | Manufacturing and control method of rehabilitation gloves based on two-way driver with honeycomb-like structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |