CN112545830A

CN112545830A - Flexible exoskeleton glove

Info

Publication number: CN112545830A
Application number: CN202011391097.5A
Authority: CN
Inventors: 尹华伟; 于爱萍; 吴洋春; 徐文东; 沈云东; 邱彦群; 蒋苏; 冯俊涛; 李铁
Original assignee: Huashan Hospital of Fudan University
Current assignee: Huashan Hospital of Fudan University
Priority date: 2020-12-02
Filing date: 2020-12-02
Publication date: 2021-03-26

Abstract

The invention relates to the technical field of medical rehabilitation instruments, in particular to a flexible exoskeleton glove which is made of flexible materials and comprises a dorsal side plate, a finger sleeve and an inner side plate, wherein the dorsal side plate is divided into a palm dorsal side plate and a wrist dorsal side plate, the inner side plate is divided into a palm inner side plate and a wrist inner side plate, the palm dorsal side plate is connected with the palm inner side plate through a palm annular band, and the wrist dorsal side plate is connected with the wrist inner side plate through a wrist annular band; four finger sleeves are fixedly arranged on the palm back side plate and used for controlling the corresponding fingers to move; the fingerstall comprises the reticular fingerstall and the cap-shaped head end, the wearing is comfortable, the use is convenient, the small holes are formed in the elliptical part of the thumb, the perspiration and the ventilation are convenient, the position of the thumb is easy to maintain, the stronger gripping force is provided, the latticed design is designed for other fingers, the effect similar to the bending and stretching of the fingers is generated through the deformation of the latticed design, and the cap-shaped head end at the fingertip position can provide the effect similar to the tendon power stop point.

Description

Flexible exoskeleton glove

Technical Field

The invention relates to the technical field of medical rehabilitation instruments, in particular to a flexible exoskeleton glove.

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 adopted to assist a patient to move hands, but most of the manipulators are rigid manipulators comprising rigid rods, rigid joints, rigid connecting sheets and the like, are complex to wear, heavy in structure and not beneficial to daily use.

Patent CN110063870 discloses a flexible exoskeleton glove device, in which a holding and pinching driving line is arranged on a forefinger and a middle finger for controlling the holding and pinching action of the fingers, and a guiding tube and a limiting buckle are arranged at a joint for controlling the movement of the driving line, but the patent neglects the action requirements of the ring finger and the little finger, and the guiding tube and the limiting buckle also bring about the problems of complicated wearing, such as mutual winding and knotting.

Therefore, the flexible exoskeleton glove which is simple and comfortable to wear and can provide stronger gripping force is designed.

Disclosure of Invention

The invention breaks through the difficult problems in the prior art and designs the flexible exoskeleton glove which is simple and comfortable to wear and can provide stronger gripping force.

By simple wearing, all the fingers are driven to complete the bending and stretching actions under the driving of the pulling force, and the hands of the patient with hand dysfunction are helped to finish the daily life self-care behaviors and the basic working capacity of the hands.

In order to achieve the purpose, the invention designs a flexible exoskeleton glove, which is characterized in that: the flexible exoskeleton glove is made of flexible materials and comprises a dorsal side plate, a finger sleeve and an inner side plate, wherein the dorsal side plate is divided into a palm dorsal side plate and a wrist dorsal side plate, the inner side plate is divided into a palm inner side plate and a wrist inner side plate, the palm dorsal side plate is connected with the palm inner side plate through a palm annular belt, and the wrist dorsal side plate is connected with the wrist inner side plate through a wrist annular belt;

the palm back side plate is fixedly provided with four finger sleeves, wherein the four finger sleeves are respectively a forefinger sleeve, a middle finger sleeve, a ring finger sleeve and a little finger sleeve and are used for controlling corresponding fingers to move;

the finger stall comprises a net-shaped finger stall and a cap-shaped head end, and the cap-shaped head end is positioned at the top of the net-shaped finger stall.

Furthermore, the reticular finger stall is formed by longitudinally connecting a plurality of grid components in series, the grid components comprise grid components and claw components, and the claw components are arranged on the left side and the right side of the grid components.

Furthermore, a vertical through hole I is formed in the center of the latticed component;

furthermore, a vertical through wire hole II is formed in the free end of the claw-shaped component;

furthermore, after a plurality of grid-shaped components are connected in series to form a net-shaped finger stall, the first through hole is mutually overlapped and communicated to form a vertical first through hole guide channel.

Furthermore, after a plurality of grid-shaped components are connected in series to form a reticular finger sleeve, the two through hole pairs are mutually overlapped and communicated to form a vertical through line guide channel II.

Furthermore, the invention also comprises a thumb sleeve, wherein the thumb sleeve comprises an oval part and a strip-shaped belt, and a plurality of vent holes are formed in the oval part.

Furthermore, the palm annular belt, the wrist annular belt and the strip belt are all provided with a plurality of fixing holes.

Furthermore, a first linear guide channel is formed in the back side plate, one end of the first linear guide channel is located at the position where the back side plate is connected with the finger sleeve, the end of the first linear guide channel corresponds to the first threading guide channel, and the other end of the first linear guide channel is located at the bottom of the back side plate, so that a back side connecting wire can pass through the first threading guide channel and then penetrate out of the first linear guide channel.

Furthermore, a second linear guide channel is formed in the inner side plate, one end of the second linear guide channel is located on the top end face of the inner side plate, the other end of the second linear guide channel is located on the bottom end face of the inner side plate, and in use, after the inner side plate is bent, one end of the second linear guide channel corresponds to the second linear guide channel, so that the inner side connecting wire can pass through the second linear guide channel and then penetrate out of the second linear guide channel.

Furthermore, a first fixing nail group is arranged on the outer side face of the palm back side plate, and the central point of the first fixing nail group and the central point of the fixing hole on the palm annular belt are on the same horizontal line.

Furthermore, a second fixing nail group is arranged on the outer side face of the wrist back side plate, and the central point of the second fixing nail group and the central point of the fixing hole on the wrist annular belt are on the same horizontal line.

Compared with the prior art, the exoskeleton glove made of flexible materials is comfortable to wear and convenient to use, small holes are formed in the elliptical part of the thumb, perspiration and ventilation are facilitated, the position of the thumb is easy to maintain, stronger gripping force is provided, the grid-shaped design is designed for other fingers, the effect similar to bending and stretching of the fingers is generated through deformation of the grid, and the cap-shaped end part at the fingertip position can provide the effect similar to a tendon power stop.

Drawings

Fig. 1 is a schematic structural view of a flexible exoskeleton glove in an embodiment.

Fig. 2 is a front view of a thumb sleeve of a flexible exoskeleton glove in an embodiment.

Fig. 3 is a front view of a flexible exoskeleton glove in an embodiment.

Figure 4 is a rear view of a flexible exoskeleton glove in one embodiment.

Figure 5 is a perspective view of the inner side panel of a flexible exoskeleton glove in one embodiment.

Figure 6 is a perspective view of a dorsal panel of a flexible exoskeleton glove in one embodiment.

Fig. 7 is a schematic structural view of a finger stall in a flexible exoskeleton glove in an embodiment.

Fig. 8 is a schematic structural view of a mesh component of a flexible exoskeleton glove in an embodiment.

Wherein, 1 is a dorsal plate, 2 is a finger sleeve, 3 is an inner side plate, 4 is a palm annular belt, 5 is a wrist annular belt, 6 is a thumb sleeve, 7 is a fixing hole, 8 is a dorsal connecting line, 9 is an inner connecting line, 10 is a fixing nail group I, 11 is a fixing nail group II, 12-1 is a through hole I, and 12-2 is a through hole II;

1-1 is a palm dorsal plate, 1-2 is a wrist dorsal plate, 1-3 is a linear guide channel I, 2-1 is a reticular finger stall, 2-2 is a cap-shaped head end, 2-1-1 is a grid component, 2-1-1-2 is a claw component, 3-1 is a palm inner plate, 3-2 is a wrist inner plate, 3-3 is a linear guide channel II, 6-1 is an oval part, 6-2 is a strip belt, and 6-1-1 is an air vent.

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 flexible exoskeleton glove is designed, which is made of a flexible material such as silica gel, and referring to fig. 1, the flexible exoskeleton glove comprises a dorsal plate 1, a finger stall 2, and an inner plate 3, wherein the dorsal plate 1 is divided into a palmar dorsal plate 1-1 and a wrist dorsal plate 1-2, the inner plate 3 is divided into a palmar inner plate 3-1 and a wrist inner plate 3-2, the palmar dorsal plate 1-1 and the palmar inner plate 3-1 are connected by a palmar annular band 4, and the wrist dorsal plate 1-2 and the wrist inner plate 3-2 are connected by a wrist annular band 5;

the palm back side plate 1-1 is fixedly provided with four finger sleeves 2, and the four finger sleeves 2 are respectively a forefinger sleeve, a middle finger sleeve, a ring finger sleeve and a little finger sleeve and are used for controlling corresponding fingers to move;

the finger stall 2 comprises a reticular finger stall 2-1 and a cap-shaped head end 2-2, and the cap-shaped head end 2-2 is positioned at the top of the reticular finger stall 2-1.

The dorsal side plate, the inner side plate, the finger sleeves, the palm annular band and the wrist annular band are of an integrated structure, when the patient wears the finger sleeves, the index finger, the middle finger, the ring finger and the little finger of the patient are respectively sleeved in the corresponding finger sleeves, the dorsal side plate is tightly attached to the surface of the back of the hand of the patient, the inner side plate is bent to be attached to the palm center of the patient, and then the palm annular band and the wrist annular band are wound on the hand of the patient to play a role in fixing.

Referring to fig. 3 and 4, a plurality of fixing holes 7 are formed in the palm portion annular belt 4 and the wrist portion annular belt 5, a first fixing nail group 10 is arranged on the outer side surface of the palm portion back side plate 1-1, the center point of the first fixing nail group 10 and the center point of the fixing hole 7 in the palm portion annular belt 4 are on the same horizontal line, a second fixing nail group 11 is arranged on the outer side surface of the wrist portion back side plate 1-2, and the center point of the second fixing nail group 11 and the center point of the fixing hole 7 in the wrist portion annular belt 5 are on the same horizontal line.

When the glove is fixed, the fixing holes and the fixing nail groups are buckled with each other, so that the glove is fixed, the glove is very convenient to wear, the tightness degree of the glove fixing can be controlled according to the requirements of patients, and the sizes of the hands of the patients are different, so that the glove is suitable for any patient.

Referring to fig. 2, the invention further comprises a thumb sleeve 6, wherein the thumb sleeve 6 comprises an oval part 6-1 and a strip-shaped belt 6-2, the oval part 6-1 is provided with a plurality of vent holes 6-1-1, the oval part can be wound around the thumb, and when the strip-shaped belt is fixed, the strip-shaped belt can be selectively fixed on a first fixing nail group or a second fixing nail group on the dorsal plate according to the will and the comfort degree of a patient.

Aiming at the duplication of the flexion and extension actions of fingers, the invention adopts linear driving, firstly, the invention carries out special design on the finger sleeve, referring to fig. 7 and 8, the reticular finger sleeve 2-1 of the invention is composed of a plurality of grid components 2-1-1 which are longitudinally connected in series, the grid components 2-1-1 comprise a grid component 2-1-1-1 and claw components 2-1-1-2, and the claw components 2-1-1-2 are arranged at the left side and the right side of the grid component 2-1-1-1.

Preferably, the central position of the latticed component 2-1-1-1 is provided with a vertical through line hole I12-1, and after a plurality of latticed components 2-1-1-1 are connected in series to form a reticular fingerstall 2-1, the through line holes I12-1 are mutually overlapped and communicated to form a vertical through line guide channel I.

Preferably, the free end of the claw-shaped component 2-1-1-2 is provided with a second vertical through hole 12-2, and after a plurality of grid-shaped components 2-1-1-1 are connected in series to form the reticular finger sleeve 2-1, the second through hole 12-2 are mutually overlapped and conducted to form a second vertical through guide channel.

Wear to be equipped with dorsal side connecting wire in lead wire direction passageway one, wear to be equipped with inboard connecting wire in lead wire direction passageway two, because claw shape part quantity itself is just 2, consequently the lead wire direction passageway two that forms at last also is 2, be located the position about the finger inboard respectively, 2 lead wire direction passageway two and 1 lead wire direction passageway one form the overall arrangement structure that the triangle was arranged, make behind patient's finger embolias the dactylotheca, can obtain sufficient parcel nature and stability, can not take place inhomogeneous or the skew scheduling problem of power when pulling the auxiliary motion, avoid causing the secondary injury to the finger.

Referring to fig. 5 and 6, a linear guide channel 1-3 is formed inside the dorsal plate 1, one end of the linear guide channel 1-3 is located at a position where the dorsal plate 1 is connected with the finger cot 2, the end corresponds to the through wire guide channel one, and the other end of the linear guide channel 1-3 is located at the bottom of the dorsal plate 1, so that the dorsal connection wire 8 can pass through the through wire guide channel one and then penetrate out of the linear guide channel 1-3 to be connected with an external driving mechanism.

The inner side plate 3 is internally provided with a linear guide channel II 3-3, one end of the linear guide channel II 3-3 is positioned on the top end surface of the inner side plate 3, the other end of the linear guide channel II 3-3 is positioned on the bottom end surface of the inner side plate 3, and in use, after the inner side plate 3 is bent, one end of the linear guide channel II 3-3 is corresponding to the wire guide channel II, so that the inner side connecting wire 9 can pass through the wire guide channel II and then penetrate out of the linear guide channel II 3-3 to be connected with an external driving mechanism.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that any changes or substitutions that can be easily made by those skilled in the art within the technical scope of the present invention are also included in the scope of the present invention.

Claims

1. A flexible exoskeleton glove, comprising: the flexible exoskeleton glove is made of flexible materials and comprises a dorsal plate (1), finger sleeves (2) and an inner side plate (3), wherein the dorsal plate (1) is divided into a palm dorsal plate (1-1) and a wrist dorsal plate (1-2), the inner side plate (3) is divided into a palm inner side plate (3-1) and a wrist inner side plate (3-2), the palm dorsal plate (1-1) is connected with the palm inner side plate (3-1) through a palm annular belt (4), and the wrist dorsal plate (1-2) is connected with the wrist inner side plate (3-2) through a wrist annular belt (5); the palm dorsal plate (1-1) is fixedly provided with four finger sleeves (2), wherein the four finger sleeves (2) are respectively a forefinger sleeve, a middle finger sleeve, a ring finger sleeve and a little finger sleeve and are used for controlling corresponding fingers to move;

the finger stall (2) comprises a reticular finger stall (2-1) and a cap-shaped head end (2-2), and the cap-shaped head end (2-2) is positioned at the top of the reticular finger stall (2-1).

2. The flexible exoskeleton glove of claim 1 wherein: the reticular fingerstall (2-1) is formed by longitudinally connecting a plurality of grid components (2-1-1) in series, the grid components (2-1-1) comprise grid components (2-1-1-1) and claw components (2-1-1-2), and the claw components (2-1-1-2) are arranged on the left side and the right side of the grid components (2-1-1-1).

3. A flexible exoskeleton glove as claimed in claim 2 wherein: the central position of the latticed component (2-1-1-1) is provided with a vertical through hole I (12-1).

4. A flexible exoskeleton glove as claimed in claim 2 wherein: the free end of the claw-shaped component (2-1-1-2) is provided with a second vertical through hole (12-2).

5. A flexible exoskeleton glove as claimed in claim 3 wherein: after a plurality of grid-shaped components (2-1-1-1) are connected in series to form a reticular finger stall (2-1), the first through hole (12-1) is mutually overlapped and communicated to form a vertical first through hole guide channel.

6. The flexible exoskeleton glove of claim 4 wherein: after a plurality of grid-shaped components (2-1-1-1) are connected in series to form the reticular finger stall (2-1), the through line holes II (12-2) are mutually overlapped and communicated to form a vertical through line guide channel II.

7. The flexible exoskeleton glove of claim 1 wherein: the thumb sleeve (6) comprises an oval part (6-1) and a strip-shaped belt (6-2), and a plurality of vent holes (6-1-1) are formed in the oval part (6-1).

8. A flexible exoskeleton glove as claimed in claim 1 or claim 7 wherein: the palm annular belt (4), the wrist annular belt (5) and the strip belt (6-2) are provided with a plurality of fixing holes (7).

9. The flexible exoskeleton glove of claim 1 wherein: the back side plate (1) is internally provided with a linear guide channel I (1-3), one end of the linear guide channel I (1-3) is located at the position where the back side plate (1) is connected with the finger stall (2), the end corresponds to the through line guide channel I, and the other end of the linear guide channel I (1-3) is located at the bottom of the back side plate (1), so that a back side connecting line (8) can penetrate out of the linear guide channel I (1-3) through the through line guide channel I.

10. The flexible exoskeleton glove of claim 1 wherein: the inner side plate (3) is internally provided with a second linear guide channel (3-3), one end of the second linear guide channel (3-3) is positioned on the top end face of the inner side plate (3), the other end of the second linear guide channel (3-3) is positioned on the bottom end face of the inner side plate (3), and in use, after the inner side plate (3) is bent, one end of the second linear guide channel (3-3) corresponds to the second threading guide channel, so that an inner connecting wire (9) can pass through the second threading guide channel and then penetrate out of the second linear guide channel (3-3).

11. The flexible exoskeleton glove of claim 1 wherein: a first fixing nail group (10) is arranged on the outer side face of the palm back side plate (1-1), and the central point of the first fixing nail group (10) and the central point of the fixing hole (7) in the palm annular belt (4) are on the same horizontal line.

12. The flexible exoskeleton glove of claim 1 wherein: and a second fixing nail group (11) is arranged on the outer side surface of the wrist back side plate (1-2), and the central point of the second fixing nail group (11) and the central point of the fixing hole (7) on the wrist annular belt (5) are on the same horizontal line.