CN113842295B - Bionic bending driver and rehabilitation glove - Google Patents
Bionic bending driver and rehabilitation glove Download PDFInfo
- Publication number
- CN113842295B CN113842295B CN202111153609.9A CN202111153609A CN113842295B CN 113842295 B CN113842295 B CN 113842295B CN 202111153609 A CN202111153609 A CN 202111153609A CN 113842295 B CN113842295 B CN 113842295B
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- driver
- corrugated pipe
- fixing buckle
- pipe
- corrugated
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
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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 discloses a bionic bending driver and a rehabilitation glove, wherein the driver comprises: the corrugated pipe comprises a corrugated communicating cavity, and is fixed on the fiber cloth; the front end and the rear end of the corrugated pipe are provided with raised ports, the front end and the rear end of the corrugated pipe are respectively connected with the front end fixing buckle and the tail end fixing buckle through the ports, and the front end fixing buckle and the tail end fixing buckle are fixed on the fiber cloth to realize the relative fixation of the corrugated pipe and the front end fixing buckle and the tail end fixing buckle; the end-to-end connection of bellows has the trachea, the trachea passes through glue cross-linking with the bellows end, guarantees whole gas tightness, in the ripple form intercommunication cavity of bellows, is equipped with the intermediate tube between every section ripple, and a plurality of intermediate tube periphery cover is equipped with middle fixed buckle, and middle fixed buckle is fixed on the fiber cloth. The invention controls the proportional relation and the position interval of the middle fixing buckle and the corrugated pipe joint number to realize the control of the integral rigidity and the local rigidity of the driver, and is suitable for more working conditions.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a bionic bending driver and a rehabilitation glove.
Background
The flexible robot is an emerging multidisciplinary cross research direction, has excellent motion flexibility compared with the traditional mechanical rigid robot, and has ultrahigh safety as an interactive robot. The soft robot in the flexible robot branch is made of flexible materials, so that the soft robot has good environmental adaptability, the technology of the soft robot has explosive development, and the soft robot is widely applied to the fields of industrial sorting and bionic medical treatment.
The existing drivers can be divided into shape memory alloy and pneumatic soft drivers, and have the problems of short service life, complex manufacturing process, unidirectional movement and complex manufacturing. This is a key element that restricts the development of current pneumatic soft hand function rehabilitation robots.
Disclosure of Invention
The technical purpose is that: aiming at the defects of short service life, complex process and unidirectional movement of a driver in the prior art, the invention discloses a bionic bending driver and a pair of rehabilitation gloves.
The technical scheme is as follows: in order to achieve the technical purpose, the invention adopts the following technical scheme.
A bionic bending actuator, characterized by: comprises a corrugated pipe, an air pipe, a tail end fixing buckle, a front end fixing buckle, a middle fixing buckle and fiber cloth;
the corrugated pipe comprises a corrugated communicating cavity, and is fixed on the fiber cloth; the front end and the rear end of the corrugated pipe are provided with raised ports, the front end and the rear end of the corrugated pipe are respectively connected with a front end fixing buckle and a tail end fixing buckle through the ports, the front end fixing buckle seals the front end of the corrugated pipe, and the front end fixing buckle and the tail end fixing buckle are also fixed on the fiber cloth, so that the relative fixation of the corrugated pipe and the front end fixing buckle and the tail end fixing buckle is realized;
the tail end of the corrugated pipe is connected with an air pipe, the air pipe is crosslinked with the tail end of the corrugated pipe through glue, and the air pipe penetrates through the tail end fixing buckle; the tail end fixing buckle is tightly matched with the air pipe, and the air pipe and the tail end of the corrugated pipe form two layers of sealing protection;
in the corrugated communicating cavity of the corrugated pipe, a middle pipe is arranged between each section of corrugated pipe, a plurality of middle pipe peripheries are sleeved with middle fixing buckles, and the middle fixing buckles are fixed on the fiber cloth.
Preferably, the relation between the number N of the middle fixing buckles and the number M of the corrugated pipes is that N is more than or equal to 0 and less than or equal to M-1, the middle fixing buckles restrict the movement direction of the corrugated pipes, and the output force of the corrugated pipes is consistent with the axial line of the corrugated pipes; the relation between the number S of the waves between the two middle fixing buckles and the number M of the waves of the corrugated pipe is more than or equal to 1 and less than or equal to M-2.
Preferably, when the number of waves between the middle fixing buckles is the same, the rigidity of the bionic driver is the same along the axis, and when the number of waves between the middle fixing buckles is different, the rigidity of the bionic driver is along the axis, the smaller the number of waves is, the larger the rigidity is, the larger the number of waves is, and the smaller the rigidity is.
Preferably, the corrugated pipe is mainly made of modified polypropylene materials, and performs shrinkage movement under the action of negative pressure and elongation movement under the positive pressure.
Preferably, the width of the middle pipe is the same as the width of the middle fixing buckle.
Preferably, the fiber cloth is a fabric with densely woven fibers, the warp fibers and the weft fibers are non-stretchable fibers, and the fiber cloth is non-stretchable in the warp and weft directions.
The rehabilitation glove is characterized by comprising a finger driver, sponge cloth and a quick connector; the finger driver comprises a thumb driver, an index finger driver, a middle finger driver, a ring finger driver and a little finger driver, wherein a plurality of bionic bending drivers with any structure are respectively arranged in the thumb driver, the index finger driver, the middle finger driver, the ring finger driver and the little finger driver, the finger driver is fixed on sponge cloth according to the hand structure of a human body, and an air pipe of the finger driver is connected with the quick connector.
Preferably, in the thumb driver, the index finger driver, the middle finger driver, the ring finger driver and the little finger driver, the number of the bionic bending drivers is the same as the number of the knuckles of the corresponding fingers.
Preferably, in the thumb driver, the index finger driver, the middle finger driver, the ring finger driver and the little finger driver, the fixed position of the middle fixing buckle in the bionic bending driver is the middle point of the axial line of the phalangeal bone of the finger.
Preferably, the sponge cloth is in a glove shape, the sponge cloth is granular rubber, the grade of the sponge cloth is SCR5, and the super-single wire-drawing fabric is adhered to the two sides of the granular rubber, so that the rehabilitation glove and a human hand can be mutually attached.
The beneficial effects are that: according to the bionic bending driver, the bending motion is generated by controlling the pressure in the corrugated pipe, when the air pressure is positive pressure, and when the air pressure is negative pressure, the bending driver generates stretching motion to realize bidirectional motion; the bionic bending driver adjusts the position proportion relation between the fixed buckles and the wave crests of the corrugated pipe by adjusting the proportion relation between the fixed buckles and the wave crests of the corrugated pipe, so that the control of the integral rigidity and the control of part of position rigidity of the bionic bending driver are realized, and the bionic bending driver can adapt to wider use requirements.
Drawings
FIG. 1 is a schematic diagram of a bionic bend actuator according to the present invention;
FIG. 2 is a view of a bellows usage state;
FIG. 3 is a view showing the usage state of the corrugated pipe when the number N of the middle fixing buckles is equal to the number M-1 of the corrugated pipe;
FIG. 4 is a view showing the usage state of the corrugated pipe when the number N of the middle fixing buckles is smaller than the corrugated number M-1 of the corrugated pipe;
fig. 5 is a view showing a usage state of the bellows when the number n=0 of the middle fixing buckles;
FIG. 6 is a schematic structural view of a rehabilitation glove;
FIG. 7 is a schematic view of a shrimp tail structure;
FIG. 8 is a schematic diagram of the structure of a finger driver;
FIG. 9 is a schematic view of the structure of the middle fixing buckle;
FIG. 10 is a schematic view of the structure of the end fixing buckle;
FIG. 11 is a schematic view of the structure of the front end fixing buckle;
the novel plastic hose comprises a corrugated pipe 1, an air pipe 2, a tail end fixing buckle 3, a front end fixing buckle 4, a middle fixing buckle 5, a fiber cloth 6, a sponge cloth 7 and a quick connector 8.
Description of the embodiments
The invention is further illustrated and described below with reference to the drawings and examples.
As shown in fig. 1 and fig. 2, a bionic bending actuator is characterized in that: the device comprises a corrugated pipe 1, an air pipe 2, a tail end fixing buckle 3, a front end fixing buckle 4, a middle fixing buckle 5 and a fiber cloth 6;
the corrugated pipe 1 comprises a corrugated communicating cavity, and the corrugated pipe 1 is fixed on the fiber cloth 6; the front end and the rear end of the corrugated pipe 1 are provided with raised ports, the front end and the rear end of the corrugated pipe 1 are respectively connected with a front end fixing buckle 4 and a tail end fixing buckle 3 through the ports, the front end fixing buckle 4 seals the front end of the corrugated pipe 1, the front end fixing buckle 4 and the tail end fixing buckle 3 are also fixed on the fiber cloth 6, and the relative fixation of the corrugated pipe 1 and the front end fixing buckle 4 and the tail end fixing buckle 3 is realized;
the tail end of the corrugated pipe 1 is connected with an air pipe 2, the air pipe 2 is crosslinked with the tail end of the corrugated pipe 1 through glue, and the air pipe 2 passes through a tail end fixing buckle 3; the tail end fixing buckle 3 is tightly matched with the air pipe 2, and the air pipe 2 and the tail end of the corrugated pipe 1 form two layers of sealing protection; the tail end fixing buckle 3 is used for clamping the air pipe, so that the air tightness is enhanced.
In the corrugated communicating cavity of the corrugated pipe 1, a middle pipe is arranged between each section of corrugated pipe, a plurality of middle pipe peripheries are sleeved with middle fixing buckles 5, and the middle fixing buckles 5 are fixed on the fiber cloth 6.
As shown in fig. 9 to 11, the middle fixing buckle 5 is a hook-shaped structure with a base, the base is fixed on the fiber cloth 6, the middle pipe is clamped on the middle fixing buckle 5 from an opening of the hook-shaped structure, the front end fixing buckle 4 and the tail end fixing buckle 3 are cylindrical hollow cavities with bases, the bases of the middle fixing buckle are fixed on the fiber cloth 6, wherein the front end of the corrugated pipe 1 is clamped into an opening of the cylindrical hollow cavity from one side of the front end fixing buckle 4, and the front end fixing buckle 4 seals the front end of the corrugated pipe 1. The cylindrical hollow cavity of the tail end fixing buckle 3 is provided with two openings, one opening is clamped with the rear end of the corrugated pipe 1, the other opening is clamped with the air pipe 2, and the air pipe 2 penetrates through the tail end fixing buckle 3 to seal the rear end of the corrugated pipe 1.
The invention controls the proportional relation between the middle fixing buckle and the number of the corrugated pipe sections and the position interval to control the integral rigidity and the local rigidity of the driver, can be suitable for more working conditions, realizes the bidirectional bending and stretching movement of the driver by controlling the internal pressure of the corrugated pipe, combines the human hand skeleton model, optimally designs the number and the positions of the middle fixing buckle, realizes the optimal rigidity of the rehabilitation glove joint, and achieves good rehabilitation effect.
Examples
As shown in fig. 7, the bionic bending driver imitates the tail structure of lobster, the bionic exoskeleton is designed at the periphery of the flexible air bag, and the rigidity of the bending driver can be adjusted in a programmable manner by adjusting the quantity and the pitch of the bionic exoskeleton. Specifically, bellows 1 imitates lobster muscle fiber, carries out the concertina movement, and fiber cloth 6 imitates lobster belly fiber, and terminal fixed buckle 3, front end fixed buckle 4, middle fixed buckle 5 imitates lobster shell structure, and middle fixed buckle 5 corresponds the exoskeleton promptly, adjusts the rigidity of driver through adjusting exoskeleton interval and number, that is, interval and the number of middle fixed buckle 5 promptly.
As shown in fig. 3 to 5, the relation between the number N of the middle fixing buckles 5 and the number M of the corrugated pipes 1 is that N is more than or equal to 0 and M < -1 >, the middle fixing buckles 5 restrict the movement direction of the corrugated pipes 1, and the output force of the corrugated pipes 1 is consistent with the axial line of the corrugated pipes 1. Specifically, the relationship between the number N of middle fixing buckles 5 and the number M of the corrugations of the corrugated pipe 1 is:
when the rigidity of the bending actuator is maximum, the relationship is: n=m-1; the method comprises the steps of carrying out a first treatment on the surface of the
The relationship for the minimum stiffness of the bending actuator is: n=0; the method comprises the steps of carrying out a first treatment on the surface of the
The stiffness of the bending actuator, when in the middle, is related to: 0< N < M-1.
The relation between the number S of the waves between the two middle fixing buckles 5 and the number M of the waves of the corrugated pipe 1 is more than or equal to 1 and less than or equal to M-2.
When the number of the waves between the middle fixing buckles 5 is the same, the rigidity of the bionic driver is the same along the axis, namely the rigidity of the bionic driver converges along the axis; when the number of the waves between the middle fixing buckles 5 is different, the rigidity of the bionic driver is along the axis, the smaller the number of the waves is, the larger the rigidity is, the larger the number of the waves is, and the smaller the rigidity is.
The corrugated pipe 1 is mainly made of modified polypropylene materials, the corrugated pipe 1 performs shrinkage movement under the action of negative pressure, and performs elongation movement under the state of positive pressure. Can bear the air pressure of 0.3Mpa, the bending angle of the bending driver can reach 360 degrees, the output force of the tail end can reach 15N, and compared with assisting a patient to perform complete hand movement.
The width of the middle pipe is the same as that of the middle fixing buckle 5.
The fiber cloth 6 is a fabric with densely woven fibers, the warp fibers and the weft fibers are non-stretchable fibers, and the fiber cloth 6 is non-stretchable in the warp and weft directions.
As shown in fig. 6 and 8, a rehabilitation glove comprises a finger driver, a sponge cloth 7 and a quick connector 8; the finger driver comprises a thumb driver, an index finger driver, a middle finger driver, a ring finger driver and a little finger driver, wherein a plurality of bionic bending drivers with any structure are respectively arranged in the thumb driver, the index finger driver, the middle finger driver, the ring finger driver and the little finger driver, the finger driver is fixed on the sponge cloth 7 according to the hand structure of a human body, an air pipe of the finger driver is connected with a quick connector 8, the quick connector 8 can be used for connecting the air pipe with air source equipment and inflating the bionic bending drivers, and the bellows is controlled to realize positive pressure or negative pressure. The bending driver is applied to the cloth glove, the glove is easy to wear, and is similar to wearing the glove in daily life, and professional guidance is not needed by professionals. Convenient to use, the patient can independently accomplish hand function exercise training.
In thumb driver, forefinger driver, middle finger driver, ring finger driver and little finger driver, the bionic bending driver's number is the same with the knuckle number of corresponding finger, through the fixed trachea that blocks the intercommunication of terminal fixed buckle between the bionic bending driver to seal through glue. If the thumb driver comprises two sections of corrugated pipes, the index finger driver comprises three sections of corrugated pipes, the thumb driver is taken as an example, the corrugated pipes close to fingertips are buckled at the front ends of the other corrugated pipes directly by the tail end fixing buckles, the corrugated pipes are connected through air pipes, glue is coated at the two ends of each corrugated pipe, and the glue ensures tight contact between the corrugated pipes and the air pipes.
In the thumb driver, the index finger driver, the middle finger driver, the ring finger driver and the little finger driver, the fixed position of the middle fixing buckle 5 in the bionic bending driver is the middle point of the finger phalangeal axis. The bottom of the tail end fixing buckle 3 is mutually fixed with the sponge cloth 7 through strong glue, and the fiber cloth 6 is arranged on the sponge cloth 7.
In addition, the length S of the tail end fixing buckle 3 and the length L of the knuckle bone of the human hand are 1/3L or more and 2/3L or less, and the tail end fixing buckle can be adjusted according to actual needs.
The sponge cloth 7 is in a glove shape, the sponge cloth is granular rubber, the grade of the sponge cloth is SCR5, fiber cloth is adhered to the surface of the granular rubber, and super-single wire-drawing fabric is adhered to the lower surface of the granular rubber, so that the rehabilitation glove and a human hand can be mutually adhered.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (10)
1. A bionic bending actuator, characterized by: comprises a corrugated pipe (1), an air pipe (2), a tail end fixing buckle (3), a front end fixing buckle (4), a middle fixing buckle (5) and a fiber cloth (6);
the corrugated pipe (1) comprises a corrugated communicating cavity, and the corrugated pipe (1) is fixed on the fiber cloth (6); the front end and the rear end of the corrugated pipe (1) are provided with raised ports, the front end and the rear end of the corrugated pipe (1) are respectively connected with a front end fixing buckle (4) and a tail end fixing buckle (3) through the ports, the front end fixing buckle (4) seals the front end of the corrugated pipe (1), the front end fixing buckle (4) and the tail end fixing buckle (3) are fixed on the fiber cloth (6), and the relative fixation of the corrugated pipe (1) and the front end fixing buckle (4), the fiber cloth and the tail end fixing buckle (3) is realized;
the tail end of the corrugated pipe (1) is connected with an air pipe (2), the air pipe (2) is crosslinked with the tail end of the corrugated pipe (1) through glue, and the air pipe (2) penetrates through the tail end fixing buckle (3); the tail end fixing buckle (3) is tightly matched with the air pipe (2), and the air pipe (2) and the tail end of the corrugated pipe (1) form two layers of sealing protection;
in the corrugated communicating cavity of the corrugated pipe (1), a middle pipe is arranged between each two sections of the corrugated pipes, a plurality of middle pipe peripheries are sleeved with middle fixing buckles (5), and the middle fixing buckles (5) are fixed on the fiber cloth (6).
2. A biomimetic bending actuator according to claim 1, wherein: the relation between the number N of the middle fixing buckles (5) and the number M of the corrugations of the corrugated pipe (1) is that N is more than or equal to 0 and less than or equal to M-1, the middle fixing buckles (5) restrict the movement direction of the corrugated pipe (1), and the output force of the corrugated pipe (1) is consistent with the axial line of the corrugated pipe (1); the relation between the number S of the waves between the two middle fixing buckles (5) and the number M of the waves of the corrugated pipe (1) is more than or equal to 1 and less than or equal to M-2.
3. A biomimetic bending actuator according to claim 1, wherein: when the number of the waves between the middle fixing buckles (5) is the same, the rigidity of the bionic driver is the same along the axis, and when the number of the waves between the middle fixing buckles (5) is different, the smaller the number of the waves is, the larger the rigidity is, the larger the number of the waves is, and the smaller the rigidity is.
4. A biomimetic bending actuator according to claim 1, wherein: the corrugated pipe (1) is mainly made of modified polypropylene materials, the corrugated pipe (1) performs shrinkage movement under the action of negative pressure, and performs elongation movement under the state of positive pressure.
5. A biomimetic bending actuator according to claim 1, wherein: the width of the middle pipe is the same as that of the middle fixing buckle (5).
6. A biomimetic bending actuator according to claim 1, wherein: the fiber cloth (6) is a fabric with densely woven fibers, the warp fibers and the weft fibers are non-stretchable fibers, and the fiber cloth (6) is non-stretchable in the warp and weft directions.
7. A pair of rehabilitation gloves is characterized by comprising a finger driver, a sponge cloth (7) and a quick connector (8); the finger driver comprises a thumb driver, an index finger driver, a middle finger driver, a ring finger driver and a little finger driver, wherein a plurality of bionic bending drivers with structures as set forth in any one of claims 1-6 are respectively arranged in the thumb driver, the index finger driver, the middle finger driver, the ring finger driver and the little finger driver, the finger drivers are fixed on a sponge cloth (7) according to the hand structure of a human body, and an air pipe of each finger driver is connected with a quick connector (8).
8. A rehabilitation glove according to claim 7, wherein: in the thumb driver, the index finger driver, the middle finger driver, the ring finger driver and the little finger driver, the number of the bionic bending drivers is the same as the number of the knuckles of the corresponding fingers, and the bionic bending drivers are connected through terminal fixed buckles and sealed through glue.
9. A rehabilitation glove according to claim 7, wherein: in the thumb driver, the index finger driver, the middle finger driver, the ring finger driver and the little finger driver, the fixed position of the middle fixing buckle (5) in the bionic bending driver is the middle point of the axial line of the finger phalanges.
10. A rehabilitation glove according to claim 7, wherein: the sponge cloth (7) is in a glove shape, the sponge cloth (7) is granular rubber, the grade of the sponge cloth is SCR5, and the super-single wire-drawing fabric is adhered to the two sides of the granular rubber, so that the rehabilitation glove and a human hand can be mutually attached.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111153609.9A CN113842295B (en) | 2021-09-29 | 2021-09-29 | Bionic bending driver and rehabilitation glove |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111153609.9A CN113842295B (en) | 2021-09-29 | 2021-09-29 | Bionic bending driver and rehabilitation glove |
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| CN113842295B true CN113842295B (en) | 2023-08-01 |
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| CN116374143A (en) * | 2023-03-24 | 2023-07-04 | 哈尔滨工程大学 | Pneumatic bistable fluctuation unit, propeller and manufacturing method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204050221U (en) * | 2014-09-15 | 2014-12-31 | 孙建波 | The neural rehabilitation training glove of a kind of joints of hand |
| CN107088884B (en) * | 2017-05-19 | 2024-02-13 | 南京理工大学 | Wearable hooped pneumatic inflatable bending flexible driver |
| CN209422384U (en) * | 2018-07-06 | 2019-09-24 | 北京京成兴华医疗科技有限公司 | A kind of pneumatic joint structure and joint training aids |
| CN111150602B (en) * | 2018-11-07 | 2022-06-03 | 哈尔滨工业大学 | Rigid-flexible coupled extensible joint type soft exoskeleton glove and method |
| CN110842962B (en) * | 2019-12-02 | 2021-03-12 | 深圳忆海原识科技有限公司 | 32-degree-of-freedom bionic flexible hand with flexible inner skeleton |
| CN111821144A (en) * | 2020-08-05 | 2020-10-27 | 深圳扶林科技发展有限公司 | Oval bellows bending actuator and wearable finger bending and stretching rehabilitation device |
| CN112842823A (en) * | 2021-02-08 | 2021-05-28 | 合肥工业大学 | Oval corrugated pipe shaped software actuating module and hand rehabilitation training device |
| CN113427503B (en) * | 2021-06-25 | 2024-04-02 | 西安交通大学 | Ripple pneumatic soft driver and soft manipulator |
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