CN112515916A - Rigid-flexible hand exoskeleton based on line driving - Google Patents
Rigid-flexible hand exoskeleton based on line driving Download PDFInfo
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- CN112515916A CN112515916A CN202011394722.1A CN202011394722A CN112515916A CN 112515916 A CN112515916 A CN 112515916A CN 202011394722 A CN202011394722 A CN 202011394722A CN 112515916 A CN112515916 A CN 112515916A
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- 210000003811 finger Anatomy 0.000 claims abstract description 120
- 210000004932 little finger Anatomy 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims description 6
- 239000011148 porous material Substances 0.000 claims description 6
- 210000001015 abdomen Anatomy 0.000 claims description 3
- 238000005452 bending Methods 0.000 abstract description 7
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 239000007769 metal material Substances 0.000 abstract description 3
- 230000007547 defect Effects 0.000 abstract description 2
- 238000007493 shaping process Methods 0.000 abstract description 2
- 210000005224 forefinger Anatomy 0.000 description 11
- 238000010586 diagram Methods 0.000 description 7
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 210000001142 back Anatomy 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 241000905957 Channa melasoma Species 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 208000035475 disorder Diseases 0.000 description 2
- 230000004064 dysfunction Effects 0.000 description 2
- 238000007142 ring opening reaction Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 206010008129 cerebral palsy Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
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- 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
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/123—Linear 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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to the technical field of medical rehabilitation instruments, in particular to a rigid-flexible hand exoskeleton based on line driving, which comprises: the finger stall comprises a hand backboard, a palm board and four finger sleeves connected with the hand backboard and the palm board, wherein the four finger sleeves are respectively used for driving an index finger, a middle finger, a ring finger and a little finger to move; the fingerstall is connected with the hand back plate and the palm plate by utilizing 1 hand back driving wire and 1 palm driving wire; the invention adopts a flexible linear transmission design, utilizes a hand back plate, a palm plate and finger sleeves made of metal materials to combine flexibility and rigidity, provides rigidity required by training and is convenient for shaping to adapt to different patients, simultaneously, 1 driving wire provides flexible bending and stretching force to ensure that the finger sleeves are not influenced mutually during bending and stretching movement, solves the defects of heavy weight, inconvenient carrying and poor comfort degree of the traditional rehabilitation assisting exoskeleton glove, and designs a detachable connection with an external driving mechanism to realize free assembly and pairing.
Description
Technical Field
The invention relates to the technical field of medical rehabilitation instruments, in particular to a rigid-flexible hand exoskeleton based on line driving.
Background
The hand dysfunction is one of functional disorders caused by diseases such as cerebral apoplexy, spinal cord injury, apoplexy, cerebral palsy and the like or other injuries, the disorder causes that a patient cannot accurately control fingers, the grabbing ability is lost, some daily activities cannot be completed, the hand dysfunction is difficult to recover, and the muscle strength can be gradually recovered by a large amount of repeated training.
In the prior art, an exoskeleton manipulator is usually adopted to assist a patient to perform hand movement, but most of the mechanical structures are rigid manipulators controlled by rigid rods, so that the mechanical structures are complex to wear and heavy in structure, and are not beneficial to daily use.
Patent CN109044735A discloses a line-driven flexible exoskeleton rehabilitation manipulator, which adopts four motors to drive four traction lines to drive a knuckle sleeve and a finger tip sleeve to move so as to achieve the purpose of flexibly controlling the manipulator.
Therefore, it is necessary to design a rigid and flexible hand exoskeleton based on line driving, which is lighter, convenient to wear, small in size and convenient for daily activities.
Disclosure of Invention
Compared with the prior art, the rigid-flexible hand exoskeleton is lighter, convenient to wear, small in size and convenient for daily activities and is based on line driving.
In order to achieve the purpose, the invention designs a rigid-flexible hand exoskeleton based on line driving, which is characterized in that: the method comprises the following steps:
the hand unit comprises a hand back plate, a palm plate and four finger sleeves connected with the hand back plate and the palm plate, and the four finger sleeves are respectively used for driving an index finger, a middle finger, a ring finger and a little finger to move;
the finger back part of the finger sleeve is connected with the hand back plate by a hand back driving wire, and the finger belly part of the finger sleeve is connected with the palm plate by a palm driving wire;
the line concentration device is connected with the back drive line and the palm drive line and is used for transmitting the power of an external drive device and driving the hand unit to move;
the quantity of the back of the hand drive line and the palm drive line is 1.
Further, the finger stall comprises a near-end finger stall and a far-end finger stall.
Further, the near-end dactylotheca is guarded against circle and first U-shaped connecting piece by first ring-opening and is constituteed, first U-shaped connecting piece is located the top of circle is guarded against to first ring-opening, both formula structures as an organic whole, two through-holes have been seted up respectively at the both ends that first U-shaped connecting piece upwards perk, supply the back of the hand drive wire to pass.
Furthermore, the distal end dactylotheca is guarded against circle by the second open loop, the ring circle is guarded against by the third open loop and the second U-shaped connecting piece is constituteed, the second U-shaped connecting piece is located the second open loop and is guarded against the circle, the ring circle is guarded against by the third open loop top, links to each other the second open loop and the ring circle is guarded against by the third open loop for three formula structures as an organic whole, the both ends of second U-shaped connecting piece inwards roll up respectively and form lateral passage, supply back of the hand drive wire, palm drive wire to pass.
Furthermore, the hand back plate comprises a flat plate and four branch supporting plates arranged at the front part of the flat plate, the free ends of the four branch supporting plates are all upwards tilted, and two through wire holes are formed in the free ends of the four branch supporting plates and used for a hand back driving wire to pass through; the center of the flat plate is provided with a long hole, and two sides of the long hole are respectively provided with a first elliptical hole.
Furthermore, the palm plate is a long-strip arc-shaped plate, a pore is formed in the palm plate, and two elliptical holes II are formed in two sides of the palm plate.
Furthermore, the wire collecting device comprises a shell and a rotatable wheel shaft arranged inside the shell, a wire passing groove is formed in the rear portion of the shell, a wire inlet hole is formed in one side face of the shell, a wire outlet hole is formed in the upper portion of the wire inlet hole, a wire collecting hole is formed in the lower portion of the wire inlet hole, one end, located inside the shell, of the wire inlet hole and one end, located inside the shell, of the wire outlet hole are close to the wheel shaft, and one end, located inside the shell, of the wire collecting hole penetrates through the lower portion of the wheel shaft and is communicated with the wire passing groove.
Furthermore, the through wire groove and the external driving mechanism are detachably connected in a concave-convex clamping mode.
Furthermore, the finger sleeves are folded in a U shape and wound back and forth by utilizing the connection mode of the hand back driving line and the hand back plate.
Similarly, the fingerstall is folded in a U shape and wound back and forth by utilizing the connection mode of the palm drive line and the palm plate.
Furthermore, a connecting sleeve is respectively sleeved at the open loop position of a first open loop ring of the near-end finger cot and the open loop position of a second open loop ring of the far-end finger cot, and two rigid sleeves are arranged on the upper surface of the connecting sleeve; the through holes of the near-end finger sleeves and the transverse channels of the far-end finger sleeves are respectively provided with a rigid sleeve, and when the finger sleeves are connected with the backboard and the palm panel by using the connecting wires, the connecting wires penetrate through the corresponding rigid sleeves to be connected.
Compared with the prior art, the invention adopts a flexible linear transmission design, utilizes the hand back plate, the palm plate and the finger stall made of metal materials to provide rigidity required by training and simultaneously facilitate shaping to adapt to different patients, simultaneously, the back and the palm of the hand of the invention are respectively provided with flexible bending and stretching force by 1 driving wire so as to achieve the purposes that the finger stalls are not influenced when in bending and stretching movement and can grasp objects with different shapes, and the defects of heavy weight, inconvenient carrying and poor comfort degree of the traditional rehabilitation assisting exoskeleton glove are solved.
Drawings
Fig. 1 is a schematic structural diagram of a rigid-flexible hand exoskeleton based on line driving according to an embodiment.
Figure 2 is a side view of a rigid and flexible line drive based hand exoskeleton in one embodiment.
Fig. 3 is a schematic structural diagram of a hand back plate in a rigid-flexible hand exoskeleton based on line driving according to an embodiment.
Fig. 4 is a schematic structural diagram of a palm plate in a rigid-flexible hand exoskeleton based on line driving according to an embodiment.
Fig. 5 is a schematic structural diagram of a proximal end finger cot of a rigid-flexible hand exoskeleton based on line driving according to an embodiment.
Fig. 6 is a schematic diagram of a structure of a middle distal finger cuff of a rigid-flexible hand exoskeleton based on line driving according to an embodiment.
Fig. 7 is a side view of a wire-driven rigid-flexible hand exoskeleton center hub device in an embodiment.
Fig. 8 is a cross-sectional view of a wire-driven rigid-flexible hand exoskeleton center hub in one embodiment.
Fig. 9 is a front view of a hub device in a rigid-flexible hand exoskeleton based on a wire drive in an embodiment.
Fig. 10 is a schematic diagram of the connection between the dorsum manus driving line and the dorsum manus plate in a rigid and flexible hand exoskeleton based on line driving according to an embodiment.
Fig. 11 is a schematic diagram of the connection between the palm drive line and the palm plate in a rigid-flexible hand exoskeleton based on line drive according to an embodiment.
Detailed Description
The invention is further described with reference to the accompanying drawings, but is not to be construed as being limited thereto.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", "top", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience in describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
In a specific embodiment, a rigid-flexible hand exoskeleton based on line drive is devised, see fig. 1 and 2, comprising: the hand unit comprises a backboard 1, a palm board 2 and four finger sleeves 3 connected with the backboard and the palm board, wherein the four finger sleeves 3 are respectively used for driving an index finger, a middle finger, a ring finger and a little finger to move;
wherein, the back of the finger stall 3 is connected with the backboard 1 by a back of the hand drive line 4, and the abdomen of the finger stall 3 is connected with the palm plate 2 by a palm drive line 5;
the line concentration device 6 is connected with the hand back driving line 4 and the palm driving line 5 and is used for transmitting the power of an external driving device and driving the hand unit to move;
the number of the back of the hand drive line 4 and the palm drive line 5 is 1.
The hand unit can be made of metal materials, can provide rigidity required by training, and meanwhile is convenient for plasticity to adapt to different patients, and due to the plasticity and the portability, the comfort degree is remarkably improved compared with that of the existing rigid hand rehabilitation device.
Preferably, the finger cuff 3 comprises a proximal finger cuff 3-1 and a distal finger cuff 3-2.
Referring to fig. 5, the proximal end finger stall 3-1 is composed of a first open-loop ring 3-1-1 and a first U-shaped connecting piece 3-1-2, the first U-shaped connecting piece 3-1-2 is located above the first open-loop ring 3-1-1, the two are of an integrated structure, and two through holes are respectively formed at two ends of the first U-shaped connecting piece 3-1-2, which are tilted upwards, for a hand back driving wire 4 to pass through.
Referring to fig. 6, the distal end finger stall 3-2 is composed of a second open-loop ring 3-2-1, a third open-loop ring 3-2-2 and a second U-shaped connecting piece 3-2-3, the second U-shaped connecting piece 3-2-3 is positioned above the second open-loop ring 3-2-1 and the third open-loop ring 3-2-2, the second open-loop ring 3-2-1 and the third open-loop ring 3-2-2 are connected to form an integrated structure, and two ends of the second U-shaped connecting piece 3-2-3, which are tilted upwards, are respectively rolled inwards to form a transverse channel for a hand back 4 and a driving wire 5 to pass through.
Referring to fig. 3, preferably, the hand back plate 1 comprises a flat plate 1-1 and four branch supporting plates 1-2 arranged at the front part of the flat plate 1-1, the free ends of the four branch supporting plates 1-2 are all tilted upwards, and two through-hole holes are formed in the free ends for a hand back driving line 4 to pass through; the center of the flat plate 1-1 is provided with a long hole 1-3, and the two sides of the long hole 1-3 are respectively provided with an elliptical hole 1-4.
Referring to fig. 4, preferably, the palm plate 2 is a long arc-shaped plate, a pore passage 2-1 is formed in the palm plate 2, and two elliptical holes 2-2 are formed in two sides of the palm plate 2.
Referring to fig. 7-9, preferably, the hub 6 includes a housing 6-1 and a rotatable hub 6-2 disposed within the housing 6-1, a through wire groove 6-3 is arranged at the rear part of the shell 6-1, a wire inlet hole 6-4 is arranged on one side surface of the shell 6-1, a wire outlet hole 6-5 is arranged above the wire inlet hole 6-4, a wire collecting hole 6-6 is arranged below the wire inlet hole 6-4, one ends of the wire inlet hole 6-4 and the wire outlet hole 6-5, which are positioned in the shell 6-1, are close to the wheel shaft 6-2, one end of the line collecting hole 6-6, which is positioned in the shell 6-1, penetrates through the lower part of the wheel shaft 6-2 and is communicated with the line through groove 6-3.
Referring to fig. 9, the wire passing groove 6-3 is detachably connected with the external driving mechanism in a concave-convex clamping manner, and a structure clamped in the wire passing groove 6-3 in the drawing is a driving head structure of the external driving mechanism.
The invention adopts 1 dorsum of hand drive line and 1 palm drive line to drive the flexion and extension movement of 4 fingers, so the layout and series connection of the drive lines are very important.
The fingerstall 3 is respectively connected with the hand backboard 1 and the palm board 2 by the hand back driving wire 4 and the palm driving wire 5 in a U-shaped folding and winding way.
Moreover, a connecting sleeve 3-3 is respectively sleeved at the open loop position of a first open loop ring 3-1-1 of the near-end finger stall 3-1 and the open loop position of a second open loop ring 3-2-1 of the far-end finger stall 3-2, and two rigid sleeves 3-4 are arranged on the upper surface of the connecting sleeve 3-3; rigid sleeves 3-4 are respectively arranged on the through hole of the near-end fingerstall 3-1 and the transverse channel of the far-end fingerstall 3-2, the driving wire penetrates through the rigid sleeves, when the back stretching angle of a finger is too large, two ends of the rigid sleeve 3-4 on the first U-shaped connecting piece 3-1-2 of the near-end fingerstall 3-1 can be respectively contacted with the rear end of the far-end fingerstall and the front end of the back side plate, and the back stretching angle of each joint of the fingerstall is not more than 180 degrees through physical conflict limitation.
In the specific embodiment, for explaining the serial connection method, the finger sleeve, the rigid sleeve, the branch plate and the like are respectively numbered, and particularly, refer to fig. 10 and 11.
Referring to fig. 10, preferably, the specific method for connecting the back driving line 4 in series with the finger stall 3 and the backboard 1 is as follows: one end of the back hand driving wire 4 is fixed in the wire collecting hole 6-6 of the wire collecting device 6 and is used for connecting a driving mechanism; the other end of the back of the hand drive line 4 sequentially passes through a first through hole 301 of a first branch plate of the backboard 1, a rigid sleeve 302 of a first through hole of a forefinger near-end finger sleeve, a rigid sleeve 303 of a third through hole of the forefinger near-end finger sleeve and a rigid sleeve 304 of a first transverse channel of a forefinger far-end finger sleeve, then the back of the hand drive line 4 is folded back, a first U-shaped bend is formed at the position, the rigid sleeve 305 of a fourth through hole of the forefinger near-end finger sleeve, a rigid sleeve 306 of a second through hole of the forefinger near-end finger sleeve and a second through hole 307 of the first branch plate of the backboard 1 are sequentially passed through, so that the finger sleeve of the forefinger and the first branch plate of the backboard are connected, then the back of the hand drive line 4 is folded back, a second U-shaped bend is completed at the position, and the first through hole 308 of the second, A rigid sleeve 311 of a first transverse channel of a far-end finger sleeve of a middle finger, then the back-hand drive line 4 is folded back again, a third U-shaped bend is finished here, the back-hand drive line 4 sequentially passes through a rigid sleeve 312 of a fourth through hole of a near-end finger sleeve of a middle finger, a rigid sleeve 313 of a second through hole of the near-end finger sleeve of the middle finger and a second through hole 314 of a second branch plate of the backboard 1, then the back-hand drive line 4 enters the line collecting device 6 from the line inlet hole 6-4 to be circularly connected with the wheel shaft 6-2 and then is sent out of the line collecting device 6 through the line outlet hole 6-5, the back-hand drive line 4 is sent out of the line collecting device 6 and then sequentially passes through a first through hole 315 of a third branch plate of the backboard 1, a rigid sleeve 316 of a first through hole of a near-end finger sleeve of a ring finger, a rigid sleeve 317 of a third through hole of a, then the back of the hand driving wire 4 is folded back, a fourth U-shaped bend is completed at the position, the back of the hand driving wire 4 sequentially passes through the rigid sleeve 319 of the fourth through hole of the near-end finger sleeve of the ring finger, the rigid sleeve 320 of the second through hole of the near-end finger sleeve of the ring finger and the two-way hole 321 of the third branch plate of the back plate 1, then the back of the hand driving wire 4 is folded back, a fifth U-shaped bend is completed at the position, the fifth U-shaped bend sequentially passes through the first through hole 322 of the fourth branch plate of the back plate 1, the rigid sleeve 323 of the first through hole of the near-end finger sleeve of the little finger, the rigid sleeve 324 of the third through hole of the near-end finger sleeve of the little finger and the rigid sleeve 325 of the first transverse channel of the far-end finger sleeve of the little finger, then the back of the hand driving wire 4 is folded back again, the sixth U-shaped bend is sequentially passed, the backhand drive line 4 is then fed into the gathering holes 6-6.
When one finger extends to the maximum, the steel wires can be tightened continuously, so that other fingers can continue to move in a back extension mode until the maximum value of the back extension is reached.
Referring to fig. 11, the preferred method for connecting fingerstall 3 with palm panel 2 in series by palm drive line 5 is as follows: one end of the palm drive wire 5 is fixed in a wire collecting hole 6-6 of the wire collecting device 6, the other end of the palm drive wire 5 sequentially passes through a first hole 401 of the palm side plate, a rigid sleeve 402 of the first hole on the forefinger near-end finger stall connecting sleeve, a rigid sleeve 403 of the first hole on the forefinger far-end finger stall connecting sleeve and a rigid sleeve 404 of the second transverse channel of the forefinger far-end finger stall connecting sleeve, then the palm drive wire 5 is folded back, the first U-shaped bending is completed, then the palm drive wire 5 passes through a rigid sleeve 406 of the second hole on the forefinger far-end finger stall connecting sleeve, a rigid sleeve 407 of the second hole on the forefinger near-end finger stall connecting sleeve and a second hole 408 of the palm plate 2, a U-shaped steel wire pipeline is penetrated to complete the second U-shaped bending, and then sequentially passes through a third hole 409 of the palm plate, a, A rigid sleeve 411 of a first hole on the far end finger sleeve connecting sleeve of the middle finger, a second transverse channel 412 of the far end finger sleeve of the middle finger, a U-shaped folding back, a third U-shaped folding back, a rigid sleeve 414 of a second hole on the far end finger sleeve connecting sleeve of the middle finger, a rigid sleeve 415 of a second hole on the near end finger sleeve connecting sleeve of the middle finger, a fourth hole 416 of the palm plate, a line-collecting device 6, a wheel shaft 6-2 therein, a fifth hole 417 of the palm plate, a rigid sleeve 418 of a first hole on the near end finger sleeve connecting sleeve of the ring finger, a rigid sleeve 419 of a first hole on the far end finger sleeve connecting sleeve of the ring finger, a second transverse channel 420 of the far end finger sleeve of the ring finger, a U-shaped folding back for four times, a rigid sleeve 422 of a second hole on the far end finger sleeve connecting sleeve of the ring finger, a rigid sleeve 423 of a second hole on the near end finger connecting sleeve of the ring finger, a U, The palm plate sixth pore passage 424 is then penetrated into another U-shaped steel wire pipeline for U-shaped bending, and is sequentially penetrated into a palm plate seventh pore passage 425, a rigid sleeve 425 of a first hole on the little finger proximal end finger sleeve connecting sleeve, a rigid sleeve 427 of a first hole on the little finger distal end finger sleeve connecting sleeve and a little finger distal end finger sleeve second transverse passage 428, and then is folded back, and is penetrated through a rigid sleeve 430 of a second hole on the little finger distal end finger sleeve connecting sleeve, a rigid sleeve 431 of a second hole on the little finger proximal end finger sleeve connecting sleeve and a palm plate eighth pore passage 432, and finally the palm driving wire 5 is penetrated into the wire collecting device 6 and is fixed in the wire collecting hole 6-6.
When one finger flexes to the maximum, the palm drive line 5 can be continuously tightened, so that other fingers can continue to flex until the flexing maximum is reached.
One ends of the palm drive wire 5 and the back drive wire 4 are fixed in the wire collecting hole of the wire collecting device, the other ends of the palm drive wire and the back drive wire are wound according to the winding method, and then the palm drive wire and the back drive wire penetrate into the wire collecting hole again, so that a power transmission loop of the glove is formed.
In the specific embodiment, the motor is used as a driving mechanism, and a driving head of the motor is connected with the through line groove, so that a complete transmission system is formed, the palm driving line 5 and the back of the hand driving line 4 are driven to pull the finger stall to move, and the purpose of assisting a wearer to move is achieved.
Claims (10)
1. The utility model provides a rigid and flexible formula hand ectoskeleton based on line drive which characterized in that: the method comprises the following steps:
the hand unit comprises a backboard (1), a palm board (2) and four finger sleeves (3) connected with the backboard and the palm board, wherein the four finger sleeves (3) are respectively used for driving an index finger, a middle finger, a ring finger and a little finger to move;
the back of the finger sleeve (3) is connected with the backboard (1) by a back drive line (4), and the abdomen of the finger sleeve (3) is connected with the palm board (2) by a palm drive line (5);
the line concentration device (6) is connected with the hand back driving line (4) and the palm driving line (5) and is used for transmitting the power of an external driving device and driving the hand unit to move;
the number of the back of the hand drive lines (4) and the number of the palm drive lines (5) are both 1.
2. The line-drive based rigid-flexible hand exoskeleton of claim 1, wherein: the finger cot (3) comprises a near-end finger cot (3-1) and a far-end finger cot (3-2).
3. A line-drive based rigid-flexible hand exoskeleton as claimed in claim 2 in which: the near-end finger stall (3-1) is composed of a first open-loop ring (3-1-1) and a first U-shaped connecting piece (3-1-2), the first U-shaped connecting piece (3-1-2) is located above the first open-loop ring (3-1-1) and is of an integrated structure, two through holes are respectively formed in two ends of the first U-shaped connecting piece (3-1-2) which are tilted upwards, and a hand back driving line (4) penetrates through the through holes.
4. A line-drive based rigid-flexible hand exoskeleton as claimed in claim 2 in which: the far-end finger stall (3-2) consists of a second open-loop ring (3-2-1), a third open-loop ring (3-2-2) and a second U-shaped connecting piece (3-2-3), the second U-shaped connecting piece (3-2-3) is positioned above the second open-loop ring (3-2-1) and the third open-loop ring (3-2-2), the second open-loop ring (3-2-1) and the third open-loop ring (3-2-2) are connected, so that the second open-loop ring (3-2-1) and the third open-loop ring (3-2-2) are integrated, two ends of the second U-shaped connecting piece (3-2-3) are respectively turned inwards to form a transverse channel, and a hand back driving wire (4) and a palm driving wire (5) can pass through the transverse channel.
5. The line-drive based rigid-flexible hand exoskeleton of claim 1, wherein: the hand back plate (1) comprises a flat plate (1-1) and four branch supporting plates (1-2) arranged at the front part of the flat plate (1-1), the free ends of the four branch supporting plates (1-2) are all upwards tilted, and two through wire holes are formed in the free ends of the four branch supporting plates (1-2) and are used for a hand back driving wire (4) to pass through; the center of the flat plate (1-1) is provided with a long hole (1-3), and the two sides of the long hole (1-3) are respectively provided with an elliptical hole I (1-4).
6. The line-drive based rigid-flexible hand exoskeleton of claim 1, wherein: the palm plate (2) is a long-strip arc-shaped plate, the pore canal (2-1) is formed in the palm plate (2), and two elliptical holes (2-2) are formed in two sides of the palm plate (2).
7. The line-drive based rigid-flexible hand exoskeleton of claim 1, wherein: the line concentrator (6) comprises a shell (6-1) and a rotatable wheel shaft (6-2) arranged in the shell (6-1), a threading groove (6-3) is arranged at the rear part of the shell (6-1), a line inlet hole (6-4) is arranged on one side surface of the shell (6-1), a wire outlet hole (6-5) is arranged above the wire inlet hole (6-4), a wire collecting hole (6-6) is arranged below the wire inlet hole (6-4), one ends of the wire inlet hole (6-4) and the wire outlet hole (6-5) which are positioned in the shell (6-1) are close to the wheel shaft (6-2), one end of the line collecting hole (6-6) positioned in the shell (6-1) is communicated with the line through groove (6-3) through passing below the wheel shaft (6-2).
8. The line-drive based rigid-flexible hand exoskeleton of claim 7, wherein: the through wire groove (6-3) is detachably connected with an external driving mechanism in a concave-convex clamping mode.
9. The line-drive based rigid-flexible hand exoskeleton of claim 1, wherein: the fingerstall (3) is folded in a U shape to wind back and forth by utilizing the hand back driving wire (4) and the palm driving wire (5) to be connected with the hand back plate (1) and the palm plate (2) respectively.
10. A line-drive based rigid-flexible hand exoskeleton as claimed in claim 3 or claim 4 in which: the open loop position of a first open loop ring (3-1-1) of the near-end finger cot (3-1) and the open loop position of a second open loop ring (3-2-1) of the far-end finger cot (3-2) are respectively sleeved with a connecting sleeve (3-3), and the upper surface of the connecting sleeve (3-3) is provided with two rigid sleeves (3-4); the through hole of the near-end finger stall (3-1) and the transverse channel of the far-end finger stall (3-2) are respectively provided with a rigid sleeve (3-4).
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| CN202011394722.1A CN112515916A (en) | 2020-12-02 | 2020-12-02 | Rigid-flexible hand exoskeleton based on line driving |
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