CN112914957A - Flexible rehabilitation glove with multi-degree-of-freedom positive and negative pressure independent driving function - Google Patents
Flexible rehabilitation glove with multi-degree-of-freedom positive and negative pressure independent driving function Download PDFInfo
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- CN112914957A CN112914957A CN202110312871.7A CN202110312871A CN112914957A CN 112914957 A CN112914957 A CN 112914957A CN 202110312871 A CN202110312871 A CN 202110312871A CN 112914957 A CN112914957 A CN 112914957A
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- 229920000435 poly(dimethylsiloxane) Polymers 0.000 claims description 12
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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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C39/00—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor
- B29C39/003—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor characterised by the choice of material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C39/00—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor
- B29C39/02—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor for making articles of definite length, i.e. discrete articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C39/00—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor
- B29C39/02—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor for making articles of definite length, i.e. discrete articles
- B29C39/10—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor for making articles of definite length, i.e. discrete articles incorporating preformed parts or layers, e.g. casting around inserts or for coating articles
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
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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 provides a flexible rehabilitation glove with multiple degrees of freedom and independently driven by positive pressure and negative pressure.A pneumatic bending actuator for driving each finger to bend is arranged in the fabric glove corresponding to each finger one by one, and an abduction-adduction actuator for driving the fingers to abduct and adduce is arranged between two adjacent fingers; rigid phalanges are connected in series between two adjacent flexible bending joints of the pneumatic bending actuator, each section of flexible bending joint can be independently driven by positive pressure and negative pressure, and downward bending or upward bending is realized through deformation of a deformation section; the abduction adduction actuator is internally provided with a left hollow parallel air cavity and a right hollow parallel air cavity which are communicated with each other at the bottom, the parallel air cavities are expanded towards fingers on two sides to drive two adjacent fingers to abduct when being inflated, and are oppositely folded when being pumped to drive two adjacent fingers to adduce. Compared with a pure rigid device, the finger folding device has better flexibility and higher safety, and has better finger fitting performance and more degrees of freedom by introducing the abduction-adduction actuator.
Description
Technical Field
The invention relates to the technical field of pneumatic soft body rehabilitation, in particular to a flexible rehabilitation glove with multiple degrees of freedom and independent driving of positive pressure and negative pressure.
Background
According to the statistics of the world health organization, stroke is the leading cause of disability worldwide and the second leading cause of death. Many stroke survivors face significant challenges, including hand disability. The first three months after stroke is the gold period for hand functional recovery, and some studies demonstrate the ability to remodel brain motor nerves (neuroplasticity) and improve hand motor function through the same and repeated movements of the hand. However, recovery from these diseases requires long-term treatment, and the demand for medical resources is high, resulting in a shortage of professional labor. The rehabilitation robot can replace professional labor force to provide auxiliary treatment, and the problem is relieved.
To assist in hand movement, researchers have developed different hand rehabilitation devices that enable precise repetitive movements of the injured hand, which can help occupational therapists perform labor-intensive, costly, and inefficient tasks. The traditional rehabilitation robot is made of rigid materials and rigid connecting rods, although the rigid hand rehabilitation robot can perform stable track control on fingers, once problems occur in the using process, the hard rigid materials cause serious damage to hands inevitably. Due to the inherent compliance and flexibility of flexible materials, the use of soft robots in rehabilitation robots has been rapidly developed, especially in the field of medical rehabilitation.
Flexible rehabilitation gloves have many advantages over rigid rehabilitation gloves, including light weight, low cost, comfortable wearing, and safer human-computer interaction. After pressurization, the embedded cavity in the soft actuator expands towards the direction of low rigidity and generates bending, torsion and telescopic motion. Currently, a number of wearable flexible rehabilitation gloves have been developed. The pneumatic actuators in the flexible rehabilitation gloves only comprise a single air cavity, the bending shape is quasi-circular after pressurization, and the difference exists between the bending deformation and the actual movement mode of fingers. Although the bending actuator is designed in a segmented mode, one air channel drive is still used, and the bending angles of the three finger joints are the same after pressurization. However, when the human hand moves or makes a specific gesture, the bending angle and the bending direction of each joint are different. Moreover, these flexible rehabilitation gloves have a common problem of paying attention only to extension and flexion of the fingers, neglecting abduction and adduction of the fingers. Abduction and adduction of fingers also take an important position in daily life.
Disclosure of Invention
The present invention aims to solve the above technical problem at least to some extent. Therefore, the invention provides the flexible rehabilitation glove with the multi-degree-of-freedom positive and negative pressure independent driving function, the mode that the flexible bending joint and the rigid phalanx are combined to form the pneumatic bending actuator to drive the fingers to bend is adopted, compared with a pure rigid device, the flexible rehabilitation glove has better flexibility and higher safety, and meanwhile, the abduction and adduction actuator is introduced, so that the flexible rehabilitation glove has better finger fitting performance, more degrees of freedom, simple structure, low cost and high flexibility.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a flexible recovered gloves with positive negative pressure independent drive of multi freedom which structural feature is:
pneumatic bending actuators for driving the fingers to bend are arranged in the fabric gloves one by one corresponding to each finger, and an abduction-adduction actuator for driving the fingers to abduct and adduce is arranged between every two adjacent fingers;
the pneumatic bending actuator is integrally in a roughly semi-cylindrical structure, the plane end faces downwards, the arc end faces upwards, flexible bending joints are arranged at the metacarpophalangeal joints and the finger joints according to the structure corresponding to fingers, rigid phalanges of the semi-cylindrical structure are arranged at the phalanges, and the rigid phalanges are connected in series between the two adjacent flexible bending joints; each flexible bending joint is of a corrugated pipe structure, an independent cavity is formed inside the flexible bending joint, a radial inwards concave arc section is used as a deformation section, a radial outwards convex arc section is used as a fixing section, the rest parts of the flexible bending joint except the deformation section and the periphery of the rigid phalanx are tightly coated with limiting layers, and the limiting layers are used for forming the constraint on the flexible bending joint to expand along the radial direction; each section of flexible bending joint is independently provided with a first air pipe connected to a corresponding first compressed air power source, and the first air pipe extends into and is communicated with the inner cavity of the flexible bending joint; each section of flexible bending joint can be independently driven by positive and negative pressure and can be bent downwards or upwards through the deformation of the deformation section;
the abduction-adduction actuator is clamped between the joint parts of two adjacent fingers, the cross section of the abduction-adduction actuator is of a concave structure, two hollow parallel air cavities are formed inside the left and right communicated with the bottom, the outer side walls of the two sides of the fingers are tightly covered with the inextensible layers, the constraint on the expansion of the outer side walls of the two sides is formed by the inextensible layers, the two parallel air cavities are communicated with a second air pipe connected to a second compressed air power source, the two adjacent fingers are driven to abduct towards the fingers on the two sides when the second air pipe is inflated, and the two adjacent fingers are driven to contract inwards when the second air pipe is pumped.
The invention also has the structural characteristics that:
the pneumatic bending actuator driving the thumb to bend is provided with two flexible bending joints and a rigid phalanx;
the pneumatic bending actuators driving the forefinger, the middle finger, the third finger and the little finger to bend are all provided with three flexible bending joints and two rigid phalanges;
the flexible bending joint structures of the pneumatic bending actuators corresponding to the metacarpophalangeal joints are the same.
The pneumatic bending actuator is characterized in that the first air pipes configured for each section of flexible bending joint are arranged side by side, the first air pipes configured for the flexible bending joints at the finger joints sequentially penetrate through the flexible bending joints at the front end and the rigid phalanx along the finger direction, and the first air pipes penetrating through the rigid phalanx are cast in the rigid phalanx together when the rigid phalanx is cast.
The flexible bending joint of the pneumatic bending actuator is made of silicon rubber; the rigid phalanx is formed by pouring PDMS material, and is externally covered with a silicon rubber material layer; the abduction-adduction actuator is made of silicon rubber.
The limiting layer and the non-stretchable layer are both made of non-stretchable fabrics and are connected with the fabric gloves in a sewing mode.
Compared with the prior art, the invention has the beneficial effects that:
based on the structure and motion characteristics of human fingers, the pneumatic bending actuator formed by combining the flexible bending joints and the rigid phalanx is adopted to drive the fingers to perform bending motion, the metacarpophalangeal joints and the finger joints can be independently driven by positive pressure and negative pressure, the pneumatic bending actuator has multiple degrees of freedom, and the fingers can be driven to realize more complex and flexible postures. Compared with a rigid hand rehabilitation device, the hand rehabilitation device has better flexibility and safety, low cost, simple structure, simple manufacture and mass production; compared with the flexible rehabilitation gloves driven by a single air cavity, the pneumatic bending actuator disclosed by the invention has the advantages that the movement mode of the pneumatic bending actuator is more in line with the movement behaviors of human fingers, and each flexible joint can be independently driven, so that the fingers can be driven to perform rehabilitation training of a single joint. The invention also introduces an abduction and adduction actuator, which can drive the abduction and adduction of the fingers and increase the degree of freedom of the fingers.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a thumb-deployed pneumatic bending actuator;
FIG. 3 is a schematic diagram of a configuration of a pneumatic bending actuator configured for index, middle, and ring fingers;
FIG. 4 is a schematic diagram of a thumb-deployed pneumatic bending actuator;
FIG. 5 is a schematic view of the internal structure of the pneumatic bending actuator of FIG. 4;
FIG. 6 is a cross-sectional structural schematic view of the abduction-adduction actuator;
FIG. 7 is a graph showing simulation results of the movement of a pneumatic bending actuator under different air pressures;
FIG. 8 is a graph showing simulation results when the abduction-adduction actuator is inflated.
In the figure, 1 a fabric glove; 2, a pneumatic bending actuator; 3 flexible bending joints; 4, a deformation section; 5, a fixed section; 6 rigid phalanges; 7 a confinement layer; 8 a first air pipe; 9 abduction and adduction actuators; 10 parallel air cavities; 11 a second air pipe; 12 a non-stretchable layer.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 6, the flexible rehabilitation glove with multiple degrees of freedom and independent driving of positive and negative pressure of the present embodiment has the following structure:
the pneumatic bending actuator 2 is integrally in a roughly semi-cylindrical structure, the plane end faces downwards, the arc end faces upwards, flexible bending joints 3 are arranged at metacarpophalangeal joints and finger joints according to structures corresponding to fingers, rigid phalanges 6 in the semi-cylindrical structure are arranged at the finger bones, and the rigid phalanges 6 are connected between every two adjacent flexible bending joints 3 in series; each section of flexible bending joint 3 is of a corrugated pipe structure, an independent cavity is formed inside the flexible bending joint 3, a radial inwards concave arc section is used as a deformation section 4, a radial outwards convex arc section is used as a fixing section 5, the rest parts of the flexible bending joint 3 except the deformation section 4 and the periphery of the rigid phalanx 6 are tightly coated with a limiting layer 7, and the limiting layer 7 is used for forming the constraint on the flexible bending joint 3 to expand along the radial direction; each section of flexible bending joint 3 is independently provided with a first air pipe 8 connected to a corresponding first compressed air power source, and the first air pipe 8 extends into and is communicated with the inner cavity of the flexible bending joint 3; each section of flexible bending joint 3 can be independently driven by positive and negative pressure and can be bent downwards or upwards through the deformation of the deformation section 4;
the abduction-adduction actuator 9 is clamped between the joint parts of two adjacent fingers, the cross section of the abduction-adduction actuator is of a concave structure, the inside of the abduction-adduction actuator is formed by two left and right hollow parallel air cavities 10 communicated with each other at the bottom, the outer side walls of the two sides of the fingers are tightly coated with the inextensible layers 12, the constraint on the ineffective expansion of the outer side walls of the two sides is formed by relying on the inextensible layers 12, the abduction-adduction actuator is communicated with a second air pipe 11 connected to a second compressed air power source, the two adjacent fingers are driven to abduct towards the fingers on the two sides when the second air pipe 11 is.
Each section of flexible bending joint 3 of the pneumatic bending actuator 2 adopts an air cavity with a corrugated pipe structure, the air cavity deforms based on the pneumatic principle, the cross section is set to be roughly in a semi-cylindrical shape, the deformation amount can be increased, the stress is reduced, the safety performance of the device is improved, and when the air cavity is inflated, downward bending motion is generated, so that fingers are driven to generate bending behavior, and when air is pumped, the flexible bending joints 3 can be bent upwards to drive the fingers to move upwards.
The cross section of the air cavity of the abduction-adduction actuator 9 is of a rectangular structure, so that the side face of a finger can be better attached.
Fig. 7 and 8 are graphs of simulation results of the present invention under air pressure excitation, and the air pressure in the air cavity is gradually increased by using ABAQUS CAE simulation software. The flexible pneumatic actuator can realize the motion behavior of the flexible pneumatic actuator on the whole.
In specific implementation, the corresponding structural arrangement also includes:
the pneumatic bending actuator 2 driving the thumb to bend is provided with two flexible bending joints 3 and a rigid phalanx 6;
the pneumatic bending actuators 2 driving the forefinger, the middle finger, the third finger and the little finger to bend are respectively provided with three flexible bending joints 3 and two rigid phalanges 6;
the structure of each pneumatic bending actuator 2 corresponding to the flexible bending joint 3 at the metacarpophalangeal joint is the same.
The pneumatic bending actuator 2 is characterized in that the first air pipes 8 configured for each section of the flexible bending joint 3 are arranged in parallel, the first air pipes 8 configured for the flexible bending joints 3 at the finger joints sequentially penetrate through the flexible bending joints 3 and the rigid phalanx 6 at the front end along the finger direction, the first air pipes 8 penetrating through the rigid phalanx 6 are cast in the rigid phalanx 6 when PDMS is cast in the rigid phalanx 6, and mutual air exchange between the flexible bending joints 3 is prevented, so that the metacarpophalangeal joints and the finger joints can be driven independently for rehabilitation.
Each first air pipe 8 is independently provided with a set of first compressed air power source, two parallel air cavities 10 of the abduction and adduction actuator 9 are provided with a set of second compressed air power source, the first compressed air power source and the second compressed air power source are both powered by air pumps, and each air pipe is connected with a corresponding electromagnetic valve.
The flexible bending joint 3 of the pneumatic bending actuator 2 is made of silicon rubber; the rigid phalanx 6 is formed by pouring PDMS material and is covered with a silicon rubber material layer; the abduction-adduction actuator 9 is made of silicon rubber. The flexible bending joint 3 and the abduction-adduction actuator 9 are manufactured by adopting a split type pouring process.
The limiting layer 7 and the non-stretchable layer 12 are both made of non-stretchable fabrics and are connected with the fabric glove 1 in a sewing mode. The width of the limiting layer 7 coated on each flexible bending joint 3 is consistent with the width of the air cavity. The non-stretchable fabric restriction layer 7 not only restricts the radial expansion of the pneumatic bending actuator 2, but also better integrates the pneumatic bending actuator 2 on the fabric glove 1. Specifically, the non-stretchable fabric may be selected from nylon mesh.
In this embodiment, the pneumatic bending actuator integrally uses silicone rubber and PDMS as raw materials, and the preparation process mainly includes the following steps:
After the structural size parameters are determined, modeling is carried out by using 3Dmax software, an STL file is exported, the STL file is converted into a printable file format, and then a mould is printed in a 3D printer. The flexible bending actuator needs 3 molds in total, and comprises an upper mold and a lower mold for manufacturing the upper arc end in the flexible bending actuator, and a bottom mold for manufacturing the bottom surface of the lower plane end; the abduction-adduction actuator needs 3 molds in total, and comprises an upper mold for manufacturing a parallel air cavity, a lower mold and a lower mold for manufacturing a bottom layer;
(1) Preparation of silicon rubber mixed solution
According to the following steps: 1, adding the corresponding mass of the silicon rubber A and the silicon rubber B into a beaker, and fully stirring the mixture by using a glass rod to obtain silicon rubber mixed solution; placing the prepared silicon rubber mixed solution into a vacuum drying box, standing for 5min in a negative pressure environment of 0.1MPa, and eliminating bubbles in the silicon rubber;
(2) PDMS preparation
According to the following steps: 1, adding PDMS and a curing agent into a beaker, fully stirring by using a glass rod to obtain a PDMS mixed solution, putting the prepared PDMS mixed solution into a vacuum drying box, and standing for 10min in a negative pressure environment of 0.1MPa to eliminate bubbles in the PDMS mixed solution;
(1) And (3) spraying a layer of release agent on the surface of each mold for 3D printing obtained in the step (1) so as to facilitate the subsequent demolding of the silicone rubber. Standing at room temperature for a period of time to completely dry the release agent;
(2) making flexible bending actuators
Pouring a proper amount of silicon rubber mixed solution into the lower die at the upper arc end, covering the upper die at the upper arc end, and curing at room temperature. And after curing, taking out the upper die at the arc end of the upper part, pouring PDMS mixed liquid after installing a first air pipe in the hollow part reserved in the middle, pouring the first air pipe in PDMS, and then curing in a drying oven. And demolding after curing to take out the upper arc end part of the flexible bending actuator. And pouring the silicon rubber mixed solution into the bottom surface mold, and when the silicon rubber is not completely cured, putting the upper arc end part on the bottom surface mold, assembling the upper arc end part and the lower arc end part together, and curing the silicon rubber in a drying box. And then brushing a layer of silicon rubber mixed liquid at the joint of the upper layer and the lower layer and curing. Finally, a fabric limiting layer is packaged on the outer layer of the flexible bending actuator, and the pneumatic bending actuator in the embodiment can be obtained;
(3) making an abduction-adduction actuator
And pouring the silicon rubber mixed solution into the lower die with the parallel air cavities, covering the upper die with the parallel air cavities, curing at room temperature, and taking out the upper part of the actuator after curing. And pouring the silicon rubber mixed solution into the bottom layer mold, assembling the upper part of the actuator together on the upper part when the silicon rubber is not completely cured, and curing in a drying box. And then brushing a layer of silicon rubber mixed liquid at the joint of the upper layer and the lower layer and curing. And finally, installing a second air pipe, and packaging the fabric limiting layer on the periphery to obtain the abduction-adduction actuator in the embodiment.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (5)
1. The utility model provides a flexible recovered gloves with positive negative pressure independent drive of multi freedom which characterized by:
pneumatic bending actuators for driving the fingers to bend are arranged in the fabric gloves one by one corresponding to each finger, and an abduction-adduction actuator for driving the fingers to abduct and adduce is arranged between every two adjacent fingers;
the pneumatic bending actuator is integrally in a roughly semi-cylindrical structure, the plane end faces downwards, the arc end faces upwards, flexible bending joints are arranged at the metacarpophalangeal joints and the finger joints according to the structure corresponding to fingers, rigid phalanges of the semi-cylindrical structure are arranged at the phalanges, and the rigid phalanges are connected in series between the two adjacent flexible bending joints; each flexible bending joint is of a corrugated pipe structure, an independent cavity is formed inside the flexible bending joint, a radial inwards concave arc section is used as a deformation section, a radial outwards convex arc section is used as a fixing section, the rest parts of the flexible bending joint except the deformation section and the periphery of the rigid phalanx are tightly coated with limiting layers, and the limiting layers are used for forming the constraint on the flexible bending joint to expand along the radial direction; each section of flexible bending joint is independently provided with a first air pipe connected to a corresponding first compressed air power source, and the first air pipe extends into and is communicated with the inner cavity of the flexible bending joint; each section of flexible bending joint can be independently driven by positive and negative pressure and can be bent downwards or upwards through the deformation of the deformation section;
the abduction-adduction actuator is clamped between the joint parts of two adjacent fingers, the cross section of the abduction-adduction actuator is of a concave structure, two hollow parallel air cavities are formed inside the left and right communicated with the bottom, the outer side walls of the two sides of the fingers are tightly covered with the inextensible layers, the constraint on the expansion of the outer side walls of the two sides is formed by the inextensible layers, the two parallel air cavities are communicated with a second air pipe connected to a second compressed air power source, the two adjacent fingers are driven to abduct towards the fingers on the two sides when the second air pipe is inflated, and the two adjacent fingers are driven to contract inwards when the second air pipe is pumped.
2. The flexible rehabilitation glove with multiple degrees of freedom positive and negative pressure independent drive according to claim 1, wherein:
the pneumatic bending actuator driving the thumb to bend is provided with two flexible bending joints and a rigid phalanx;
the pneumatic bending actuators driving the forefinger, the middle finger, the third finger and the little finger to bend are all provided with three flexible bending joints and two rigid phalanges;
the flexible bending joint structures of the pneumatic bending actuators corresponding to the metacarpophalangeal joints are the same.
3. The flexible rehabilitation glove with multiple degrees of freedom positive and negative pressure independent drive according to claim 1, wherein: the pneumatic bending actuator is characterized in that the first air pipes configured for each section of flexible bending joint are arranged side by side, the first air pipes configured for the flexible bending joints at the finger joints sequentially penetrate through the flexible bending joints at the front end and the rigid phalanx along the finger direction, and the first air pipes penetrating through the rigid phalanx are cast in the rigid phalanx together when the rigid phalanx is cast.
4. The flexible rehabilitation glove with multiple degrees of freedom positive and negative pressure independent drive according to claim 1, wherein: the flexible bending joint of the pneumatic bending actuator is made of silicon rubber; the rigid phalanx is formed by pouring PDMS material, and is externally covered with a silicon rubber material layer; the abduction-adduction actuator is made of silicon rubber.
5. The flexible rehabilitation glove with multiple degrees of freedom positive and negative pressure independent drive according to claim 1, wherein: the limiting layer and the non-stretchable layer are both made of non-stretchable fabrics and are connected with the fabric gloves in a sewing mode.
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