CN112353642A - Wearable soft recovery glove with enhanced asymmetric cavity contact - Google Patents

Wearable soft recovery glove with enhanced asymmetric cavity contact Download PDF

Info

Publication number
CN112353642A
CN112353642A CN202011256542.7A CN202011256542A CN112353642A CN 112353642 A CN112353642 A CN 112353642A CN 202011256542 A CN202011256542 A CN 202011256542A CN 112353642 A CN112353642 A CN 112353642A
Authority
CN
China
Prior art keywords
air cavity
soft
composite cloth
glove
layer composite
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.)
Granted
Application number
CN202011256542.7A
Other languages
Chinese (zh)
Other versions
CN112353642B (en
Inventor
谷国迎
冯苗
杨德志
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Jiaotong University
Original Assignee
Shanghai Jiaotong University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shanghai Jiaotong University filed Critical Shanghai Jiaotong University
Priority to CN202011256542.7A priority Critical patent/CN112353642B/en
Publication of CN112353642A publication Critical patent/CN112353642A/en
Application granted granted Critical
Publication of CN112353642B publication Critical patent/CN112353642B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • 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
    • A61H2201/5056—Control means thereof pneumatically controlled

Abstract

The invention provides an asymmetric cavity contact enhanced wearable soft recovery glove, which comprises: the soft glove comprises a soft glove body and a soft driver, wherein the soft driver is matched with the soft glove body for use; the soft body driver comprises an air cavity upper layer composite cloth, an air cavity lower layer composite cloth and a constraint layer composite cloth, the air cavity upper layer composite cloth and the air cavity lower layer composite cloth are connected through hot pressing to form an air cavity with air tightness, the air cavity upper layer composite cloth and the air cavity lower layer composite cloth are unequal in width, an air cavity upper layer and air cavity lower layer asymmetric structure is formed, and the air cavity is folded to form a corrugated fold and one side of the corrugated fold is connected to the constraint layer composite cloth. The invention improves the gripping force output by the rehabilitation glove through the contact enhancement effect of the asymmetric air cavity and the contact pad, adopts the asymmetric cavity channels with different widths up and down to manufacture the driver, changes the section inertia moment and improves the output gripping force.

Description

Wearable soft recovery glove with enhanced asymmetric cavity contact
Technical Field
The invention relates to the technical field of soft body rehabilitation exoskeletons, in particular to a wearable soft body rehabilitation glove for enhancing asymmetric cavity contact.
Background
Hand movement dysfunction caused by stroke, spinal injury, parkinsonism, etc. can significantly reduce the patient's ability to perform daily activities, such as grasping objects, drinking water, etc., thereby reducing the patient's quality of life. The development of the rehabilitation robot provides an important tool for the rehabilitation training of the hand function of a patient.
The traditional rigid hand function rehabilitation exoskeleton has the defects of large mass, complex mechanism, joint dislocation and the like; recently developed soft rehabilitation gloves improve safety and comfort, but the gripping force provided by the gloves is insufficient, and the application of the soft rehabilitation gloves in rehabilitation training and daily life is limited.
Through retrieval, patent document CN111631904A discloses a semi-wearable type palm rehabilitation exoskeleton, which drives fingers to perform rotary motion by a driving link mechanism such as a hydraulic cylinder and a piston rod, and can assist an assistant to perform rehabilitation training; however, the components forming the exoskeleton are large in mass, various and complex in types, and the mechanism is insufficient in man-machine compatibility.
Patent document CN109223430A discloses a wearable soft rehabilitation glove and a control method and system thereof, which has better wearing comfort and safety; in the invention, the upper composite cloth and the lower composite cloth of the soft driver cavity channel have the same width to form a symmetrical cavity channel; the gripping force output by the driver is insufficient, so that the gripping capability of the rehabilitation glove and the application of the rehabilitation glove in rehabilitation training are limited.
Therefore, there is a need to design a rehabilitation exoskeleton with sufficient output gripping force while maintaining safety and comfort, and to broaden the application of the rehabilitation exoskeleton in actual rehabilitation training and auxiliary tasks.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the wearable soft rehabilitation glove with the enhanced asymmetric cavity contact function, which improves the output gripping force of the rehabilitation glove through the enhanced contact effect of the asymmetric air cavity and the contact pad.
According to the invention, the wearable soft rehabilitation glove with the enhanced asymmetric cavity contact comprises: the soft glove comprises a soft glove body and a soft driver, wherein the soft driver is matched with the soft glove body for use;
the soft driver comprises an air cavity upper layer composite cloth, an air cavity lower layer composite cloth and a restraint layer composite cloth,
the composite cloth on the upper layer of the air cavity and the composite cloth on the lower layer of the air cavity are connected through hot pressing to form the air cavity with air tightness, the composite cloth on the upper layer of the air cavity and the composite cloth on the lower layer of the air cavity are unequal in width, an asymmetric structure of the upper layer of the air cavity and the lower layer of the air cavity is formed, and the air cavity is folded to form a corrugated fold and one side of the corrugated fold is connected to the.
Preferably, the soft body driver further comprises a contact pad attached to an adjacent surface of the corrugated pleat recess of the air cavity.
Preferably, under the action of the driving air pressure, the expanded air cavity drives the contact pads to move, so that the surfaces of two adjacent contact pads are contacted with each other to generate force.
Preferably, the contact pads are glued to the adjacent surfaces of the air cavity corrugated pleat valleys, forming an inset for the valleys.
Preferably, under the action of driving air pressure, the contact pad is driven by the air cavity to move along with the upper layer composite cloth of the air cavity, and the surfaces of the adjacent contact pads are in contact with each other to form contact force, so that the grabbing force of the glove is increased.
Preferably, the soft body driver further comprises an air pipe which is connected with one end of the corrugated folds of the air cavity and communicated with the outside of the soft body glove.
Preferably, the magic subsides are dressed to software gloves body including gloves body basement, software gloves body dactylotheca and software gloves body, and the magic subsides setting is dressed in gloves body basement to software gloves body dactylotheca and software gloves body.
Preferably, the air chamber of the soft driver is formed by hot pressing of an upper composite cloth of the air chamber with low stretchability and a lower composite cloth of the air chamber with high stretchability along the direction of the fingers of the glove.
Preferably, the width of the upper composite cloth of the air cavity is larger than that of the lower composite cloth of the air cavity, so that an up-and-down asymmetric structure is formed.
Preferably, the air cavity with asymmetric channels formed by hot pressing is folded to form corrugated folds, and the corrugated folds are further connected to the constraint layer composite cloth through hot pressing.
Compared with the prior art, the invention has the following beneficial effects:
1. the wearable soft rehabilitation gloves are provided with the asymmetric channels, and the drivers are manufactured by adopting the asymmetric channels with the different widths of the upper air cavity and the lower air cavity, so that the section inertia moment is changed, and the output gripping force is improved.
2. According to the invention, the contact pads are glued to the concave parts of the corrugated folds, so that the surfaces of the contact pads are in contact with each other to form contact force during driving, and further the output gripping force is improved.
3. Under the action of driving air pressure, the expanded air cavity drives the contact pads to move, so that the surfaces of two adjacent contact pads are contacted with each other to generate force; the contact pad is driven by the air cavity to move along with the composite cloth on the upper layer of the air cavity, and the surfaces of the adjacent contact pads are contacted to form contact force, so that the function of increasing the grabbing force of the glove is achieved.
4. The invention improves the gripping force output by the rehabilitation glove through the contact enhancement effect of the asymmetric air cavity and the contact pad.
5. Compared with the rigid rehabilitation exoskeleton, the invention has the characteristics of safety, portability and simple structure, has the characteristic of large output force compared with the existing soft rehabilitation gloves, widens the application scene and has good practical capability.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of the overall structure of the back side of a rehabilitation glove according to an embodiment of the present invention;
FIG. 2 is a schematic view of the palm-side overall structure of a rehabilitation glove according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating a software driver assembly structure according to an embodiment of the present invention;
FIG. 4 is an exploded view of a soft body driver assembly structure according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating the deformation effect of the soft driver according to an embodiment of the present invention.
In the figure:
Figure BDA0002773293980000031
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in figures 1-5, the invention provides a wearable soft rehabilitation glove with enhanced asymmetric lumen contact, which comprises a soft glove body 1 and a soft driver 2, wherein the soft driver 2 is matched with the soft glove body 1 for use.
Wherein the soft glove body 1 comprises a soft glove body substrate 11, a soft glove body finger stall 12 and a soft glove body wearing magic tape 13, the soft glove body wearing magic tape 13 is directly sewn on the soft glove body substrate 11, so that the glove can be conveniently fixed on the hand of a user; the soft glove body fingerstall 12 is connected to the soft glove body substrate 11 in a sewing mode, and the number of the fingerstalls can be adjusted according to requirements.
Further, the soft driver 2 comprises an air cavity upper layer composite cloth 21, an air cavity lower layer composite cloth 22, a constraint layer composite cloth 23, a contact pad 24 and an air pipe 25, wherein the air cavity upper layer composite cloth 21 and the air cavity lower layer composite cloth 22 are connected through hot pressing to form an air cavity with air tightness, the widths of the air cavity upper layer composite cloth 21 and the air cavity lower layer composite cloth 22 are unequal to form an air cavity upper layer and air cavity lower layer asymmetric structure, the air cavity is folded to form a corrugated fold, and one side of the air cavity is connected to the constraint layer composite cloth 23; contact pads 24 are attached to the adjacent surfaces of the corrugated pleat valleys of the air cavity; the air tube 25 is connected with one end of the corrugated folds of the air cavity and is communicated with the outside of the soft glove body 1.
Still further, the contact pads 24 are glued to the adjacent surfaces of the air cavity corrugated pleat valleys, forming an inset for the valleys; under the action of the driving air pressure, the expanded air cavity drives the contact pads 24 to move, so that the surfaces of two adjacent contact pads 24 are in contact with each other to generate force; the contact pad 24 is driven by the air cavity to move along with the upper layer composite cloth 21 of the air cavity, and the surfaces of the adjacent contact pads are contacted to form contact force, so that the function of increasing the grabbing force of the glove is achieved.
Still further, the air chamber of the soft driver 2 is formed by hot-pressing an upper composite cloth 21 of the air chamber with low stretchability and a lower composite cloth 22 of the air chamber with high stretchability along the direction of the fingers of the glove, and the hot-pressing process can be performed by using a hot-press sealing machine. The width of the upper composite cloth 21 of the air cavity is larger than that of the lower composite cloth 22 of the air cavity, so that an up-and-down asymmetric structure is formed; in particular, the classic symmetrical structure is formed when the width of the air cavity upper layer composite cloth 21 is equal to the width of the air cavity lower layer composite cloth 22.
The air cavity with asymmetric cavity channels formed by the composite cloth 21 on the upper layer of the air cavity and the composite cloth 22 on the lower layer of the air cavity through hot pressing is folded to form corrugated folds and is further connected to the composite cloth 23 on the restraint layer through hot pressing, and the TPU surface of the composite cloth 23 on the restraint layer faces upwards to be connected with the corrugated folds; the constrained layer composite cloth also has low stretchability in the driver direction to sufficiently constrain the constraints of the corrugated pleats to produce bending.
Continuing further, the contact pads 24 are fabricated via a 3D printing process and are formed with a 1mm wall thickness cutout to reduce weight, and are further glued to the adjacent surfaces of the air cavity corrugated pleat recess by slow-running glue. Under the action of driving air pressure, the contact pads 24 are driven by the air cavities to move along with the upper layer composite cloth 21 of the air cavities, and the surfaces of the adjacent contact pads 24 are in contact to form contact force, so that the function of increasing the grabbing force of the glove is achieved.
According to the inventionPreferred embodiment(s) of the inventionFor further explanation.
Based on the basic embodiment, the soft glove body base 11 is made of elastic cloth through CAD modeling and laser cutting, and the size of the soft glove body base is customized by the specific size of the hand of a user.
Based on above-mentioned basic embodiment, magic subsides 13 are worn to software gloves body and infant's magic subsides can improve man-machine compatibility.
Based on the basic embodiment, the air cavity upper layer composite cloth 21, the air cavity lower layer composite cloth 22 and the restraint layer composite cloth 23 are all knitted TPU film-coated composite cloth, and the thermoplastic TPU film layer can ensure the hot pressing process and the air tightness of the air cavity.
According to the inventionVariation exampleFor further explanation.
Based on the basic embodiment, the soft glove body fingerstall 12 and the soft glove body wearing magic tape 13 can be integrally formed with the soft glove body base 11; or the magic tape 13 can be fixed by adopting all the ways of fixing on the soft glove body base 11 by the soft glove body finger sleeve 12 and the soft glove body.
Based on the basic embodiment, the number and/or arrangement positions of the finger sleeves 12, the soft drivers 2 and the touch pads 24 of the soft glove body can be adjusted according to specific requirements.
The working principle is as follows:
compressed air enters a closed air cavity formed by the upper composite cloth 21 and the lower composite cloth 22 of the air cavity through an air pipe 25, so that the air cavity is expanded; since the air chambers of the corrugated corrugations are constrained by the constraining layer 23, the air chambers will have a bending motion as shown in fig. 5, and also have a bending force, which in use will form a gripping force.
The non-equal-width upper-layer composite cloth 21 and the lower-layer composite cloth 22 of the air cavity form an upper and lower asymmetric air cavity channel, the deviation of a neutral axis and the increase of the sectional area lead to the increase of the section inertia moment, the deformation force of the air cavity for resisting the corrugated folds is improved, and the output gripping force is further improved.
The contact pads 24 are adhesively attached to the adjacent surfaces of the valleys of the corrugated corrugations, and when the air chambers expand, the adjacent contact pad surfaces contact each other to form a contact force which is transmitted and distributed along the soft body driver 2 to improve the output grip.
The invention improves the gripping force output by the rehabilitation glove through the contact enhancement effect of the asymmetric air cavity and the contact pad.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (10)

1. An asymmetric lumen contact enhanced wearable soft recovery glove, comprising: a soft glove body (1) and a soft driver (2),
the soft driver (2) is matched with the soft glove body (1) for use;
the soft driver (2) comprises an air cavity upper layer composite cloth (21), an air cavity lower layer composite cloth (22) and a restraint layer composite cloth (23),
the air cavity upper layer composite cloth (21) and the air cavity lower layer composite cloth (22) are connected through hot pressing to form an air cavity with air tightness, the width of the air cavity upper layer composite cloth (21) is not equal to that of the air cavity lower layer composite cloth (22), an air cavity upper layer and air cavity lower layer asymmetric structure is formed, the air cavity is folded to form corrugated folds, and one side of the air cavity is connected to the constraint layer composite cloth (23).
2. The asymmetric lumen contact enhanced wearable soft rehabilitation glove according to claim 1 wherein the soft driver (2) further comprises a contact pad (24), the contact pad (24) attached on the corrugated pleat valley adjacent surface of the air cavity.
3. The asymmetric lumen contact enhanced wearable soft rehabilitation glove according to claim 2, wherein under the action of the driving air pressure, the expanded air cavity drives the contact pads (24) to move, so that the surfaces of two adjacent contact pads (24) are contacted with each other to generate force.
4. The asymmetric lumen contact enhanced wearable soft rehabilitation glove according to claim 2 wherein the contact pad (24) is glued to the adjacent surface of the air cavity corrugated pleat dimple forming an inset to the dimple.
5. The asymmetric cavity contact enhanced wearable soft rehabilitation glove according to claim 2, wherein under the action of driving air pressure, the contact pads (24) are driven by the air cavity to move along with the upper composite cloth (21) of the air cavity, and the surfaces of the adjacent contact pads (24) are in contact with each other to form contact force, so that the glove gripping force is increased.
6. The asymmetric lumen contact enhanced wearable soft rehabilitation glove according to claim 1, wherein the soft body driver (2) further comprises an air tube (25), the air tube (25) is connected to one end of the corrugated folds of the air cavity and is communicated with the outside of the soft body glove (1).
7. The asymmetric lumen contact enhanced wearable soft rehabilitation glove according to claim 1, wherein the soft glove body (1) comprises a glove body base (11), soft glove body fingerstalls (12) and soft glove body wearing magic tapes (13),
the soft glove body finger stall (12) and the soft glove body wearing magic tape (13) are arranged on the glove body base (11).
8. The asymmetric cavity contact enhanced wearable soft rehabilitation glove according to claim 1, characterized in that the air cavity of the soft driver (2) is formed by hot pressing of an air cavity upper layer composite cloth (21) with low stretchability and an air cavity lower layer composite cloth (2) with high stretchability along the direction of the glove fingers.
9. The asymmetric cavity contact enhanced wearable soft rehabilitation glove according to claim 8, wherein the width of the upper composite cloth (21) of the air cavity is larger than that of the lower composite cloth (22) of the air cavity, so that an upper and lower asymmetric structure is formed.
10. The asymmetric lumen contact enhanced wearable soft rehabilitation glove according to claim 9, wherein the air cavity with asymmetric lumens formed by hot pressing is folded to form corrugated folds, and further connected to the constraint layer composite cloth (23) by hot pressing.
CN202011256542.7A 2020-11-11 2020-11-11 Wearable soft recovery glove with enhanced asymmetric cavity contact Active CN112353642B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011256542.7A CN112353642B (en) 2020-11-11 2020-11-11 Wearable soft recovery glove with enhanced asymmetric cavity contact

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011256542.7A CN112353642B (en) 2020-11-11 2020-11-11 Wearable soft recovery glove with enhanced asymmetric cavity contact

Publications (2)

Publication Number Publication Date
CN112353642A true CN112353642A (en) 2021-02-12
CN112353642B CN112353642B (en) 2022-03-25

Family

ID=74515259

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011256542.7A Active CN112353642B (en) 2020-11-11 2020-11-11 Wearable soft recovery glove with enhanced asymmetric cavity contact

Country Status (1)

Country Link
CN (1) CN112353642B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113491622A (en) * 2021-08-09 2021-10-12 东南大学 Manufacturing and control method of rehabilitation gloves based on two-way driver with honeycomb-like structure
CN113925743A (en) * 2021-10-22 2022-01-14 上海交通大学 Elbow wearable exoskeleton based on composite Bellow array

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006000347A (en) * 2004-06-17 2006-01-05 Japan Science & Technology Agency Fan shape tube actuator and membrum inferius driving device
CN109176500A (en) * 2018-10-26 2019-01-11 苏州工业园区新国大研究院 A kind of software variation rigidity driving device
CN110382171A (en) * 2017-01-23 2019-10-25 新加坡国立大学 Fluid-driven actuators and its application
CN111329713A (en) * 2020-02-13 2020-06-26 北京航空航天大学 Rigidity-variable soft driver and hand rehabilitation training robot using same
CN111529311A (en) * 2020-05-09 2020-08-14 江南大学 Integrated soft glove system for medical rehabilitation

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006000347A (en) * 2004-06-17 2006-01-05 Japan Science & Technology Agency Fan shape tube actuator and membrum inferius driving device
CN110382171A (en) * 2017-01-23 2019-10-25 新加坡国立大学 Fluid-driven actuators and its application
CN109176500A (en) * 2018-10-26 2019-01-11 苏州工业园区新国大研究院 A kind of software variation rigidity driving device
CN111329713A (en) * 2020-02-13 2020-06-26 北京航空航天大学 Rigidity-variable soft driver and hand rehabilitation training robot using same
CN111529311A (en) * 2020-05-09 2020-08-14 江南大学 Integrated soft glove system for medical rehabilitation

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113491622A (en) * 2021-08-09 2021-10-12 东南大学 Manufacturing and control method of rehabilitation gloves based on two-way driver with honeycomb-like structure
US11701289B2 (en) 2021-08-09 2023-07-18 Southeast University Method for manufacturing and controlling rehabilitation glove based on bidirectional driver of honeycomb imitating structure
CN113925743A (en) * 2021-10-22 2022-01-14 上海交通大学 Elbow wearable exoskeleton based on composite Bellow array
CN113925743B (en) * 2021-10-22 2022-09-23 上海交通大学 Elbow wearable exoskeleton based on composite Bellow array

Also Published As

Publication number Publication date
CN112353642B (en) 2022-03-25

Similar Documents

Publication Publication Date Title
CN112353642B (en) Wearable soft recovery glove with enhanced asymmetric cavity contact
US11918529B2 (en) Fluid-driven actuator and its applications
CN110998104B (en) Textile actuator
CN106309083B (en) A kind of pneumatic software manipulators in rehabilitation of EMG controls
WO2019007312A1 (en) Knuckle rehabilitation device
KR101457201B1 (en) Rehabilitation Exercise Device For Neuropathy Patient
CN110664588B (en) Cerebral apoplexy patient hand function rehabilitation robot of hard and soft coupled structure
US11497672B2 (en) Soft knee exoskeleton driven by negative-pressure linear actuator
CN107280915B (en) Soft gas-driven hand rehabilitation device
CN110497395B (en) Bidirectional movement pneumatic flexible driver and working method thereof
CN115399980B (en) Wearable glove capable of inhibiting tremors and assisting grabbing and control method thereof
CN110141456A (en) A kind of software hand restoring gloves of a variety of rehabilitation training modes of combination
WO2012120393A2 (en) Device for hand rehabilitation
Hong et al. Design of pneumatic origami muscle actuators (POMAs) for a soft robotic hand orthosis for grasping assistance
CN109938968A (en) Bionic pneumatic Opposing muscle design based on stratiform gas chamber
US20230139608A1 (en) Method for manufacturing and controlling rehabilitation glove based on bidirectional driver of honeycomb imitating structure
Liang et al. Fusing topology optimization and pseudo-rigid-body method for the development of a finger exoskeleton
CN111067753A (en) Finger and wrist integrated soft recovery glove
JP2011200447A (en) Muscular strength assisting device
CN113081688B (en) Multifunctional soft finger trainer
CN211834895U (en) Prefabricated air bag actuator structure
CN211986197U (en) Novel supplementary recovered drive of many air cavitys hand device
CN113925743B (en) Elbow wearable exoskeleton based on composite Bellow array
CN219290037U (en) Pneumatic glove for assisting joint movement
CN113304010B (en) Conveniently-assembled external anti-deformation structure for exoskeleton robot and exoskeleton robot

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
GR01 Patent grant
GR01 Patent grant