CN114028154A

CN114028154A - Hand quick traction device assisted by soft hand exoskeleton

Info

Publication number: CN114028154A
Application number: CN202111248200.5A
Authority: CN
Inventors: 季林红; 李伟; 李翀; 孟祥尊; 杨义勇; 徐泉
Original assignee: Tsinghua University
Current assignee: Tsinghua University
Priority date: 2021-10-26
Filing date: 2021-10-26
Publication date: 2022-02-11
Anticipated expiration: 2041-10-26
Also published as: CN114028154B

Abstract

The invention discloses a hand quick traction device assisted by a soft hand exoskeleton, which comprises a soft hand exoskeleton and a control system. The soft hand exoskeleton comprises a hand back fixing device, the hand back fixing device is used for fixing one end of a soft driver on the hand back to install the soft driver, and the other end of the soft driver is connected with the fixed end of the tail end of the driver; one end of the connecting rod is connected with the fixed end at the tail end of the driver, and the other end of the connecting rod is connected with the finger tail end fixing clamp; the finger tail end fixing clamp is used for being installed on a finger tip; the control system is connected with one end of the soft driver and used for inflating and exhausting the soft driver so that the soft driver bends upwards back to back of the hand when inflated to drive the flexed fingers to extend and the soft driver restores to the original shape when exhausted so that the fingers restore to the flexed state. The hand quick traction device has the advantages of large output force, adjustable output force, high traction frequency and adjustability, and is suitable for the clinical individualized requirements of patients.

Description

Hand quick traction device assisted by soft hand exoskeleton

Technical Field

The invention relates to the technical field of exercise training and neuromuscular rehabilitation, in particular to a hand quick traction device assisted by a soft hand exoskeleton.

Background

Spasticity is a positive motor dysfunction characterized by an increase in velocity-dependent muscle tone due to increased stretch reflex excitability. Spasticity, which is one of the components of the upper motor neuron damage syndrome, is another important manifestation in motor dysfunction besides muscle weakness in patients with neurological diseases such as stroke. In the auxiliary training process of the rehabilitation robot, muscle tension is increased and muscles are stiff due to the occurrence of spasm, and the rigidity and the damping of a musculoskeletal system of the limb on the affected side are improved, so that the challenge and the difficulty of exercise rehabilitation are increased, effective exercise of coordinated exercise is limited, and rehabilitation of exercise functions is hindered. In clinic, the incidence of spasm is high, especially the range of spasm of stroke patients is very wide, from 19% to 92%, wherein the incidence of spasm after 1 month after stroke is 27%, the incidence of spasm after 3 months is 28%, the incidence of spasm after 6 months is 23% -43%, and the incidence of spasm after 18 months is 34%. The treatment cost of the spasm is also very high, which is four times higher than that of the patient without the spasm, and the pathophysiological mechanism of the spasm is complex and difficult to treat, and the long-term existence of the spasm can cause muscle contracture, joint stiffness and deformity, which all aggravate the difficulty of the exercise rehabilitation training and cause the disability of the limbs of the patient.

Currently, there are many methods for treating post-stroke spasticity, including mainly drug therapy and physical therapy. Physical therapy has fewer side effects than drug therapy and is less dependent on the physician and may be a good choice. The method currently most used in clinical practice is also muscle stretching in exercise training. At present, some spasm relieving devices such as orthoses, finger rehabilitation robots and the like appear in China.

Some orthotics mainly achieve the purpose of relaxing spastic muscles by statically drawing joints, can provide resistance for autonomous bending of a patient, and can observe the hand strength recovery condition in real time through a pressure display screen; some finger rehabilitation robots achieve the purpose of relaxing spastic muscles mainly by dynamically pulling joints. Because the number of patients with nervous system injury in China is large, the number of rehabilitation doctors is small, and urban and rural distribution is particularly uneven, the auxiliary traction device of the rehabilitation robot is concerned more and more.

Some studies found that rigid hand rehabilitation robots work to some extent for spasm relief, but lack the control group and need further confirmation. Compared with a rigid hand robot, the soft hand rehabilitation robot has better human-computer interaction, higher safety and flexibility, and is more suitable for clinical requirements of spasm relief. Although some soft hand exoskeleton robots are developed at home and abroad, the output force of the soft hand exoskeleton robots is limited, and the clinical requirement of spasm hand traction in clinic cannot be met.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention aims to provide a hand quick traction device assisted by a soft hand exoskeleton, which has the advantages of large output force, adjustable output force, high and adjustable traction frequency and is suitable for the clinical individualized requirements of patients.

The hand quick-pulling device assisted by the soft hand exoskeleton comprises the soft hand exoskeleton and a control system.

The soft hand exoskeleton comprises a hand back fixing device, a soft driver, a driver tail end fixing end, a connecting rod and a finger tail end fixing clamp; the hand back fixing device is used for fixing the hand back; one end of the soft driver is installed on the back of the hand fixing device, and the other end of the soft driver is connected with the fixed end at the tail end of the driver; one end of the connecting rod is connected with the fixed end at the tail end of the driver, and the other end of the connecting rod is connected with the finger tail end fixing clamp; the finger tail end fixing clamp is used for being installed on a finger tip;

the control system is connected with one end of the soft driver and used for inflating and exhausting the soft driver so as to enable the soft driver to bend upwards back to back of the hand during inflation to drive the flexed fingers to extend and enable the soft driver to restore the original shape during exhausting so that the fingers can restore the flexed state.

The hand quick-pulling device assisted by the soft hand exoskeleton has the advantages that firstly, the fingers accompanied with spasm can be quickly pulled by filling gas into the soft driver and extracting the gas out of the soft driver, the pulling frequency can reach over 5Hz and is high compared with the traditional slow finger pulling, and the hand spasm can be relieved by moving the finger joints of a patient at high frequency, so that the motion functions of the fingers and other joints of the patient are improved; secondly, the soft driver can generate larger bending deformation so as to generate large pulling force on the tail end of the spastic finger, and the adjustment on the pulling force can be realized to drive the hands with different spasticity degrees to extend so as to meet the clinical requirements of finger pulling with different spasticity degrees; thirdly, the tail end fixing clamp of the fingers can be adjusted in a personalized mode according to the thicknesses of different fingers, the fixing position of the back fixing device of the hand can be adjusted according to the length of the fingers of a person and the length of the soft driver, and therefore personalized wearing can be achieved according to the clinical condition of the hand of a patient, and the wearing is comfortable. Therefore, the traction device can replace a rehabilitation doctor to assist a patient to carry out quick traction rehabilitation training on the hand, relieve hand spasm of the patient with nervous system diseases, reduce finger muscle tension, improve the sensory motion function of the hand, improve the control capability of the hand of the patient for grabbing objects and the hand, achieve the purpose of improving other joint motions through rehabilitation motion of the finger, finally effectively relieve the spasm through realization, and have wide application prospect.

According to one embodiment of the invention, the soft driver comprises a driver body, an inner binding layer and an outer circumference binding layer, wherein the inner binding layer is arranged on the side, facing away from the back of the hand, of the driver body, and the outer circumference binding layer wraps the driver body and the inner binding layer.

According to a further embodiment of the present invention, the cross section of the driver body is semicircular, semi-elliptical, rectangular, a combination of semicircular and rectangular, or a combination of semi-elliptical and rectangular.

According to a further embodiment of the invention, the soft body driver further comprises an inflation head and a terminal head, wherein the inflation head is in threaded sealing connection with one end of the driver body, and the terminal head is in threaded sealing connection with the other end of the driver body.

According to a still further embodiment of the present invention, the back of the hand fixing device comprises a back of the hand fixing bracket provided with a hole groove in conformity with the extending direction of the finger, the sectional shape of the hole groove matches with the sectional shape of the soft driver, one end of the soft driver is installed in the hole groove; one end of the hand back fixing support is provided with a through hole.

According to a further embodiment of the present invention, the back of the hand fixing device further comprises a first nut and a first bolt, wherein the back of the hand fixing bracket is provided with a locking sliding groove whose extending direction is consistent with the extending direction of the fingers, the first nut is correspondingly and slidably disposed in the locking sliding groove, the first nut is limited by two side surfaces, an upper surface and a lower surface of the locking sliding groove, and the first bolt is correspondingly screwed into the first nut and locks the inflation end of the soft driver when the first bolt cannot rotate.

According to a further embodiment of the present invention, the back fixing device further comprises a bottom layer engaged with the back of the hand, the bottom layer is disposed at the bottom of the back fixing bracket, and the bottom layer is attached with a soft material layer with air holes.

According to a further embodiment of the present invention, the back of the hand fixing device further comprises a baffle fixed at the other end of the back of the hand fixing bracket and located below the soft driver for ensuring that the soft driver bends upwards back to back of the hand.

According to a further embodiment of the present invention, the dorsal fixation device further comprises a spacer for separating two adjacent soft drivers to prevent the two adjacent soft drivers from interfering with each other.

According to a further embodiment of the invention, strap holes for the straps to penetrate are further arranged on two sides of the hand back fixing support.

According to an embodiment of the invention, the end fixing end of the driver is fixedly sleeved on the other end of the soft driver, and a first mounting lug is arranged on the end fixing end of the driver and is hinged with one end of the connecting rod.

According to one embodiment of the present invention, the finger tip holding jig comprises:

the lower bracket comprises a bottom plate, a web plate and a supporting plate, the lower end of the web plate is fixed on the upper surface of the bottom plate, the upper end of the web plate is fixed with the bottom surface of the supporting plate, and the upper surface of the supporting plate is used for supporting the abdomen of fingers;

the upper bracket comprises an enclosing frame, and the bottom of the enclosing frame is provided with a mounting groove for being clamped into the web plate of the lower bracket;

the web plate of the lower bracket is clamped in the mounting groove, the bottom plate of the lower bracket is positioned below the bottom of the enclosure frame, and the supporting plate of the lower bracket is positioned in the enclosure frame;

and the bottom plate of the lower bracket is connected with the bottom of the enclosure frame through the threaded connecting piece.

According to a further embodiment of the invention, the threaded connection comprises a second bolt and a second nut, the second nut being fixed at the bottom of the enclosure frame, the second bolt passing through a hole in the bottom plate of the lower bracket to connect with the second nut.

According to a further embodiment of the present invention, a second mounting ear is provided on the top surface of the enclosure frame, and the second mounting ear is hinged to the other end of the connecting rod.

According to one embodiment of the invention, the control system can adjust the vibration frequency, the vibration amplitude and the vibration interval time of the soft body driver for pulling the finger to complete the flexion and extension actions.

According to one embodiment of the invention, the control system comprises a pneumatic circuit arrangement comprising: the pneumatic control system comprises an air compressor, a pneumatic triple piece, an electric proportional valve, an air pressure sensor, a first electromagnetic valve, vacuum generation gas and a two-position two-way electromagnetic valve; wherein the content of the first and second substances,

the gas generated by the air compressor is filtered and dried by the pneumatic triple piece and then is divided into two paths by the two-to-two conversion joint:

after the first path flows into the electric proportional valve through the first connection port of the electric proportional valve and is subjected to pressure regulation, the gas flows into the air pressure sensor from the second connection port of the electric proportional valve through the third connection port of the air pressure sensor, flows out from the fourth connection port of the air pressure sensor and flows in through the first valve port of the first electromagnetic valve, when the first valve port of the first electromagnetic valve is communicated with the second valve port of the first electromagnetic valve and the two-position two-way electromagnetic valve is closed, the gas can flow out from the second valve port of the first electromagnetic valve and then flows into the whole soft driver, the soft driver is driven to bend back to back, and the bent spastic fingers are driven to stretch;

and a second path flows in through a fifth connecting port of the two-position two-way electromagnetic valve, when the two-position two-way electromagnetic valve is opened and the second valve port of the first electromagnetic valve is communicated with the third valve port of the first electromagnetic valve, gas flows into the fourth valve port of the vacuum generator from the two-position two-way electromagnetic valve to generate vacuum, so that the gas filled in the soft driver can be pumped out, flows into the atmosphere from the sixth valve port of the vacuum generator after flowing through the second valve port of the first electromagnetic valve and the third valve port of the first electromagnetic valve and then flows into the atmosphere from the fifth valve port of the vacuum generator, the soft driver is restored to the original shape by bending, and the bent fingers are restored to the bent state, and the operation is repeated, so that the drawing purpose of the cramped fingers is achieved.

According to a further embodiment of the present invention, the second port of the first solenoid valve is connected to five soft drivers through a five-to-one interface, so as to drive five fingers to move simultaneously; or the number of the pneumatic pipeline structures is five, and the five pneumatic pipeline structures are correspondingly connected with the five soft drivers one by one so as to respectively control the movement of five fingers.

According to a further embodiment of the present invention, the control system further comprises a pipeline control system, wherein the pipeline control system comprises an upper computer, a network communication module and a lower computer;

the vibration frequency of the flexible driver for drawing the fingers to complete buckling and stretching actions is input by the upper computer and transmitted to the lower computer through the network communication module, the PLC of the lower computer controls the on-off frequency of the first electromagnetic valve and is interlocked with the on-off of the two-position two-way electromagnetic valve to complete the control of the buckling and stretching frequencies of the flexible driver, and finally the control of the rapid drawing frequency of the buckling fingers is realized;

the bending force of the soft driver is input through the upper computer and transmitted to the lower computer through a network communication module, then an air pressure value corresponding to the bending force is input into the PLC, and is converted into a target quantity of a digital quantity through an analog-to-digital conversion module of the lower computer, an actual air pressure value in an air passage of the air pressure sensor is input into the PLC through an analog quantity input module of the lower computer and is converted into an actual quantity of the digital quantity through the analog-to-digital conversion module, a PID control module in the PLC adjusts an input voltage value of the electric proportional valve through the analog quantity output module according to the difference between the actual quantity and the target quantity, so that the input air pressure value is changed, and the accurate adjustment of the output force of the soft driver is finally realized through repeated closed-loop adjustment until the target value is consistent with the actual value.

According to a still further embodiment of the present invention, the interval/duration of the soft body driver is controlled by the first solenoid valve according to the interval/duration set in the upper computer at a time.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic view of a usage scenario of the hand quick-pulling device assisted by the soft hand exoskeleton of the invention.

Fig. 2 is a schematic structural diagram of a soft body driver in the hand fast pulling device assisted by the soft body hand exoskeleton.

Fig. 3 is a first structural schematic diagram of a back hand fixing device in the soft hand exoskeleton-assisted hand quick pulling device of the present invention.

Fig. 4 is a second structural schematic diagram of the back hand fixing device in the soft hand exoskeleton auxiliary hand quick pulling device of the present invention.

Fig. 5 is a schematic structural diagram of the fixed end of the driver in the hand quick pulling device assisted by the soft hand exoskeleton of the present invention.

Fig. 6 is a schematic structural view of a connecting rod in the soft hand exoskeleton-assisted hand quick traction device of the present invention.

Fig. 7 is a schematic structural view of a finger tip fixing clamp in the soft hand exoskeleton-assisted hand quick pulling device of the present invention.

Fig. 8 is a schematic connection diagram of a pneumatic pipeline structure in the soft hand exoskeleton-assisted hand quick traction device of the present invention.

Fig. 9 is a schematic diagram of a pipeline control system in the hand quick-pulling device assisted by the soft hand exoskeleton of the present invention.

Fig. 10 is a control flow chart of the pipeline control system in the hand quick-pulling device assisted by the soft hand exoskeleton of the present invention.

Fig. 11 is a schematic diagram illustrating a relationship between an input air pressure and an output force of a software driver in the device for rapidly pulling a hand assisted by a soft hand exoskeleton according to the present invention.

Reference numerals:

soft hand exoskeleton 1

Back of hand fixing device 101

The back of hand fixing bracket 1011 hole 1012 through hole 1013 first nut 1014

First bolt 1015 catches bottom layer 1017 baffle 1018 of spout 1016

Clapboard 1019 binding belt hole 1020

Software driver 102

Inner restraint layer 1022 of driver body 1021 and outer restraint layer 1023 inflation tip 1024

End termination 1025

Actuator end fixing end 103 first mounting ear 1031 link 104

Finger tip holding jig 105

Bottom bracket 1051 bottom plate 1052 web 1053 pallet 1054

Upper bracket 1055 encloses frame 1056 mounting groove 1057 threaded connection 1058

Second bolt 1059 and second nut 1060 second mounting ear 1061

Pneumatic pipeline structure 201

First connection port 2011 second connection port 2012 third connection port 2013

Fourth connection port 2014 first port 2015 second port 2016 fifth connection port 2017

Third port 2018, fourth port 2019, fifth port 2020, sixth port 2021

Pipeline control system 202

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

The following describes a soft hand exoskeleton-assisted hand quick-pulling device according to an embodiment of the present invention with reference to fig. 1 to 11, which employs a reverse pulling finger extension to relieve hand spasm caused by nervous system diseases.

As shown in fig. 1, the hand fast pulling device assisted by the soft hand exoskeleton of the embodiment of the invention comprises a soft hand exoskeleton 1 and a control system, wherein the soft hand exoskeleton 1 comprises a hand back fixing device 101, a soft driver 102, a driver end fixing end 103, a connecting rod 104 and a finger end fixing clamp 105; the back of hand fixing device 101 is used for fixing on the back of hand; one end of the soft driver 102 is arranged on the back of the hand fixing device 101, and the other end of the soft driver 102 is connected with the end fixing end 103 of the driver; one end of a connecting rod 104 is connected with the fixed end 103 at the tail end of the driver, and the other end of the connecting rod 104 is connected with a finger tail end fixing clamp 105; the finger tip holding fixture 105 is for mounting on a finger tip; the control system is connected with one end of the soft driver 102 and is used for inflating and deflating the soft driver 102 so that the soft driver 102 bends upwards back to back of the hand when inflated to drive the flexed fingers to extend and the soft driver 102 returns to the original shape when deflated to facilitate the fingers to return to the flexed state.

In particular, the dorsum manus fixation device 101 is used for being fixed on the dorsum manus, for example, detachably fixed on the dorsum manus by a strap, and is simple and convenient to use.

One end of the soft driver 102 is installed on the back of the hand fixing device 101, that is, the back of the hand fixing device 101 provides the installation support for the soft driver 102, and only one end of the soft driver 102 is installed on the back of the hand fixing device 101, which is beneficial for the rest part of the soft driver 102 to bend upwards back to back of the hand when the soft driver is inflated; it should be noted that the back of the hand fixing device 101 can adjust the fixing position of the soft driver 102 according to the length of the soft driver 102 and the finger of the patient; the other end of the soft actuator 102 is connected to the actuator end fixing end 103, and the actuator end fixing end 103 can be conveniently connected to the connecting rod 104.

One end of the link 104 is connected to the actuator end fixing end 103, the other end of the link 104 is connected to the finger end fixing jig 105, and the finger end fixing jig 105 is used for being mounted on the finger tip. That is, in use, one end of the soft driver 102 is fixed on the back of the hand by the back of the hand fixing device 101, and the other end of the soft driver 102 is fixed at the end of the finger by the connected driver end fixing end 103, the connecting rod 104 and the finger end fixing clamp 105, thereby facilitating the pulling of the finger, moving the finger joint of the patient and relieving the hand spasm. It should be noted that the finger tip fixing jig 105 can adjust the fixing position of the finger tip according to the length of the finger of the patient.

The control system is connected with one end of the soft driver 102 and is used for inflating and deflating the soft driver 102 so that the soft driver 102 bends upwards back to back of the hand when inflated to drive the flexed fingers to extend and the soft driver 102 returns to the original shape when deflated to facilitate the fingers to return to the flexed state. It will be appreciated that the control system can control the pulling frequency by adjusting the frequency of the inflation and deflation of the soft drives 102, and the pulling force on the distal end of the patient's finger by controlling the pressure of the gas inflated into the soft drives 102, to achieve an effective and rapid pulling of the finger with spasm. That is, the control system can adjust the vibration frequency, vibration amplitude and vibration interval time for the soft body driver 102 to pull the finger to complete the flexion and extension actions. The soft body actuator 102 can be bent and deformed in an axial direction upward when inflated, and the soft body actuator 102 can be bent and deformed greatly as the pressure of the inflated air increases, and further a large pulling force is generated on the cramped finger tip, for example, as shown in fig. 11, the bending force can be about 20N at 1 atmosphere, and the bending force generated by 1.6 atmospheres can be about 36N.

In the specific use process of the soft hand exoskeleton-assisted hand quick-pulling device provided by the embodiment of the invention, the hand back fixing device 101 is fixed on the hand back, and the finger tail end fixing clamp 105 is installed on the finger tip, so that the connection between the hand and the soft hand exoskeleton-assisted hand quick-pulling device provided by the embodiment of the invention is realized. When the soft driver 102 is inflated with air, the soft driver 102 will bend and deform back to the back of the hand, and the flexed and cramped fingers will be driven to stretch during the bending process; when the gas in the soft driver 102 is exhausted, the soft driver 102 returns to its original state, and the spastic finger returns to the flexed state. Repeated inflation and deflation of the soft body actuator 102 will cause the flexed and cramped fingers to continually repeat the stretching and flexion recovery actions to move the cramped fingers and relieve the cramp.

The soft hand exoskeleton-assisted hand quick traction device has the advantages that firstly, the fingers accompanied with spasm can be quickly pulled by filling gas into the soft driver 102 and extracting the gas, the traction frequency can reach over 5Hz and is high compared with the traditional slow finger traction, and the hand spasm can be relieved by moving the finger joints of a patient at high frequency, so that the motion functions of the fingers and other joints are improved; secondly, the soft body driver 102 can generate larger bending deformation to generate large pulling force on the end of the spastic finger, and can realize the adjustment of the pulling force to drive the hand with different spasticity to stretch so as to meet the clinical requirements of finger pulling with different spasticity; thirdly, the finger end fixing clamp 105 can be adjusted individually according to the thickness of different fingers, and the fixing position of the back fixing device 101 can be adjusted according to the length of the fingers and the length of the soft driver 102, so that the back fixing device 101 can be worn individually according to the clinical condition of the hands of the patient, and is comfortable to wear. Therefore, the traction device can replace a rehabilitation doctor to assist a patient to carry out quick traction rehabilitation training on the hand, relieve hand spasm of the patient with nervous system diseases, reduce finger muscle tension, improve the sensory motion function of the hand, improve the control capability of the hand of the patient for grabbing objects and the hand, achieve the purpose of improving other joint motions through rehabilitation motion of the finger, finally effectively relieve the spasm through realization, and have wide application prospect.

According to one embodiment of the invention, the soft driver 102 comprises a driver body 1021, an inner binding layer 1022 and a peripheral binding layer 1023, wherein the inner binding layer 1022 is arranged on the side of the driver body 1021 opposite to the back of the hand, and the peripheral binding layer 1023 wraps the driver body 1021 and the inner binding layer 1022. It should be noted that the inner binding layer 1022 has greater strength and is not prone to elastic deformation, and is disposed on a surface of the driver body 1021 facing away from the back of the hand, so that when the driver body 1021 is inflated, the driver body 1021 can obtain bending deformation with greater deformation, that is, the bending force output under the same condition is greater, the bending deformation is more stable, and the influence of the reaction force of the end of the finger on the driver body 1021 is also reduced; the peripheral constraint layer 1023 is used for reducing or avoiding the deformation of the driver body 1021 along the radial direction, so that the deformation is carried out in an axial bending mode as far as possible, the bending force output on the premise of equal input pressure is larger, and the requirements of extension of different spastic hands are met.

According to a further embodiment of the present invention, the driver body 1021 has a semicircular cross-section (as shown in fig. 2), a semi-elliptical cross-section, a rectangular cross-section, a combination of a semicircular cross-section and a rectangular cross-section, or a combination of a semi-elliptical cross-section and a rectangular cross-section (not shown), and with this configuration, the output force is greater when the driver body 1021 is filled with gas of equal pressure.

According to an embodiment of the present invention, as shown in fig. 2, the soft body driver 102 further comprises an inflation head 1024 and a terminal head 1025, the inflation head 1024 is connected with one end of the driver body 1021 in a screw sealing manner, the terminal head 1025 is connected with the other end of the driver body 1021 in a screw sealing manner, and the inflation head 1024 and the terminal head 1025 are connected with the driver body 1021 in a screw connecting manner, so as to increase the sealing performance of the soft body driver 1021.

According to a further embodiment of the present invention, as shown in fig. 3 and 4, the back of the hand fixing device 101 comprises a back of the hand fixing bracket 1011, the back of the hand fixing bracket 1011 is provided with a hole 1012 which is consistent with the extending direction of the fingers, and one end of the soft driver 102 is installed in the hole 1012, so that the soft driver 102 can be consistent with the extending direction of the fingers after being arranged in the hole 1012, and can pull the fingers more smoothly; the sectional shape of the hole 1012 is matched with that of the soft driver 102, so that the soft driver 102 installed in the hole 1012 is not easy to rotate and the like to change the position, and the normal use of the soft driver 102 is ensured; one end of the back of the hand fixing bracket 1011 is provided with a through hole 1013, and the through hole 1013 is used for inserting an air pipe to supply air to the soft driver 102.

According to a further embodiment of the present invention, as shown in fig. 3 and 4, the back of the hand fixing device 101 further comprises a first nut 1014 and a first bolt 1015, the back of the hand fixing bracket 1011 is provided with a card sliding slot 1016 corresponding to the extending direction of the fingers, the first nut 1014 is correspondingly and slidably disposed in the card sliding slot 1016, the first nut 1014 is limited by two sides and upper and lower surfaces of the card sliding slot 1016, i.e. the first nut 1014 can only move along the card sliding slot 1016 to change the position and can not rotate, the first bolt 1015 is correspondingly screwed into the first nut 1014 and the first bolt 1015 locks the inflation head 1024 of the soft driver 102 when the first bolt 1015 does not rotate. That is, when the position of the inflation head 1024 of the soft driver 102 needs to be adjusted according to the lengths of different fingers of the patient's hand and the length of the soft driver 102, the inflation head 1024 of the soft driver 102 is moved to a proper position to meet the requirement of hand differentiation of the patient, the first nut 1014 in the card sliding groove 1016 is moved to be positioned above the inflation head 1024, and the first bolt 1015 is rotated until the inflation head 1024 cannot be rotated, so that the inflation head 1024 of the soft driver 102 is fixedly locked. Therefore, the hand quick-pulling device of the invention can be adjusted according to the length of the soft driver 102 and the lengths of different fingers of different people, so as to adapt to the lengths of different fingers of different people, meet the individual requirements of patients and make the wearing and use of the patients more comfortable.

According to a further embodiment of the present invention, as shown in fig. 3 and 4, the back of the hand fixing device 101 further includes a bottom layer 1017 engaged with the back of the hand, the bottom layer 1017 is disposed at the bottom of the back of the hand fixing bracket 1011, and a soft material layer with air holes is attached to the bottom layer 1017. Therefore, unnecessary movement of the hand quick traction device is reduced or avoided, and the wearing is more stable; the soft material layer is arranged on the bottom layer 1017 and is used for realizing soft contact with the back of the hand, so that the patient can wear the pillow more comfortably.

According to a further embodiment of the present invention, as shown in fig. 3 and 4, the back of the hand fixing device 101 further comprises a baffle 1018, the baffle 1018 is fixed at the other end of the back of the hand fixing bracket 1011 and is located below the soft driver 102, for ensuring the soft driver 102 to bend upwards in a back-to-back manner, and ensuring the use effect of the soft driver 102.

According to a further embodiment of the present invention, as shown in fig. 3 and 4, the back of the hand fixing device 101 further comprises a partition 1019 for separating two adjacent soft drivers 102 to prevent the two adjacent soft drivers 102 from interfering with each other, so as to ensure the use effect of the soft drivers 102.

According to a further embodiment of the present invention, as shown in fig. 3 and 4, strap holes 1020 for passing a strap are further provided on both sides of the dorsum manus-securing bracket 1011. When the fixing device is used, the binding band penetrates into the binding band hole 1020, and then the binding band is fixed on the palm, so that the fixing of the back of the hand fixing support 1011 is achieved, the fixing mode is simple, and the applicability is strong. Specifically, the strap apertures 1020 may be square apertures or apertures of other shapes.

According to one embodiment of the present invention, the end fixing end 103 of the driver is fixed to the other end of the soft driver 102, and the end fixing end 103 of the driver is provided with a first mounting ear 1031 (as shown in fig. 5), and the first mounting ear 1031 is hinged to one end of the connecting rod 104. Thus, after the soft driver 102 is bent, the connecting rod 104 can smoothly move along with the soft driver 102, thereby realizing a pulling process.

According to one embodiment of the present invention, as shown in fig. 7, the finger tip holding fixture 105 includes a lower bracket 1051, an upper bracket 1055, and a threaded connection 1058.

The lower bracket 1051 comprises a bottom plate 1052, a web 1053 and a supporting plate 1054, wherein the lower end of the web 1053 is fixed on the upper surface of the bottom plate 1052, the upper end of the web 1053 is fixed with the bottom surface of the supporting plate 1054, and the upper surface of the supporting plate 1054 is used for supporting the abdomen of fingers; specifically, the upper surface of the supporting plate 1054 may be an arc surface, which may better fit and fix with a finger.

The upper bracket 1055 comprises a surrounding frame 1056, and the bottom of the surrounding frame 1056 is provided with a mounting groove 1057 for clamping the web 1053 of the lower bracket 1051; the web 1053 of the lower bracket 1051 is clamped in the mounting slot 1057, the bottom plate 1052 of the lower bracket 1051 is positioned below the bottom of the enclosure 1056, and the support plate 1054 of the lower bracket 1051 is positioned in the enclosure 1056; a threaded connection 1058 connects the bottom plate 1052 of the lower bracket 1051 to the bottom of the enclosure 1056. During the use, place the finger in the upper surface of layer board 1054 after, through adjusting threaded connection 1058, make the height of lower bracket 1051 increase or reduce, make to enclose the distance between frame 1056 top and layer board 1054 and the finger adaptation to make terminal anchor clamps 105 of finger adjust according to the thickness of different people's finger fingertip, satisfy the individualized demand that the patient wore.

According to a further embodiment of the present invention, as shown in fig. 7, the threaded connector 1058 includes a second bolt 1059 and a second nut 1060, the second nut 1060 being fixed at the bottom of the enclosure 1056, the second bolt 1059 passing through a hole in the bottom plate 1052 of the lower bracket 1051 to connect with the second nut 1060. Specifically, the height of the lower bracket 1051 is raised or lowered by rotating the second bolt 1059, so that the finger tip fixing jig 105 can be adjusted according to the thickness of the finger tip of each person. In a preferred embodiment, the bottom of the enclosure 1056 is provided with a slot for receiving the second nut 1060, and the bottom plate 1052 is further provided with a through hole coaxially disposed with the second nut 1060 for the second bolt 1059 to pass through.

According to a further embodiment of the present invention, as shown in fig. 7, a second mounting ear 1061 is provided on the top surface of the enclosure 1056, and the second mounting ear 1061 is hinged to the other end of the connecting rod 104. The second mounting lug 1061 is provided for connecting with the connecting rod 104, and the connection is more flexible in a hinged manner, so that the connecting rod 104 moves more smoothly along with the soft driver 102.

According to one embodiment of the invention, the control system can adjust the vibration frequency, the vibration amplitude and the vibration interval time of the soft body driver 102 for pulling the fingers to complete the flexion and extension actions, so as to meet different clinical rehabilitation pulling training requirements.

According to one embodiment of the present invention, as shown in fig. 8, the control system includes a pneumatic pipeline structure 201, and the pneumatic pipeline structure 201 includes an air compressor, a pneumatic triplet, an electric proportional valve, an air pressure sensor, a first solenoid valve, a vacuum generation gas, and a two-position two-way solenoid valve.

The air generated by the air compressor is filtered and dried by the pneumatic triple piece and then is divided into two paths by the two-in-one conversion joint; wherein, utilize pneumatic trigeminy piece to filter the drying to gas, can avoid moisture or impurity to get into pneumatic pipeline structure 201 and be located the subsequent device of pneumatic trigeminy piece to play protection and increase of service life's purpose.

The first path flows into the electric proportional valve through the first connection port 2011 of the electric proportional valve, flows into the air pressure sensor from the second connection port 2012 of the electric proportional valve through the third connection port 2013 of the air pressure sensor after pressure regulation, flows out from the fourth connection port 2014 of the air pressure sensor, flows in through the first valve port 2015 of the first electromagnetic valve, and when the first valve port 2015 of the first electromagnetic valve is communicated with the second valve port 2016 of the first electromagnetic valve and the two-position two-way electromagnetic valve is closed, gas can flow out from the second valve port 2016 of the first electromagnetic valve and then flows into the whole soft driver 102 to drive the soft driver 102 to bend back to hand and drive the flexed finger spasm to stretch.

The second path flows in through the fifth connection port 2017 of the two-position two-way solenoid valve, when the two-position two-way solenoid valve is opened and the second valve port 2016 of the first solenoid valve is communicated with the third valve port 2018 of the first solenoid valve, gas flows into the fourth valve port 2019 of the vacuum generator from the two-position two-way solenoid valve to generate vacuum, so that the gas filled in the software driver 102 can be pumped out, the gas filled in the software driver 102 flows into the atmosphere from the sixth valve port 2021 of the vacuum generator after flowing through the second valve port 2016 of the first solenoid valve and the third valve port 2018 of the first solenoid valve and then flowing into the fifth valve port 2020 of the vacuum generator, the software driver 102 is restored to the original shape from bending, fingers are restored to the bent state, and the steps are repeated, so that the purpose of pulling the bent fingers is achieved. It should be noted that when gas flows into the vacuum generator, the vacuum generator is caused to generate a vacuum, so that the vacuum generator can draw out the gas filled in the soft driver 102.

According to a further embodiment of the present invention, the second valve port 2016 of the first solenoid valve is connected to five soft drivers 102 through a five-to-one interface, so as to drive five fingers to move simultaneously, which is simple and convenient to control; or five pneumatic pipeline structures 201 are correspondingly connected with the five soft drivers 102 one by one, so as to respectively control the movement of five fingers, thereby realizing the individual training of a certain spastic finger and meeting different use requirements.

According to a further embodiment of the present invention, as shown in fig. 9 and 10, the control system further includes a pipeline control system 202, where the pipeline control system 202 includes an upper computer, a network communication module, and a lower computer; the vibration frequency of the flexible driver 102 for drawing the fingers to complete the buckling and stretching actions is input by an upper computer and transmitted to a lower computer through a network communication module, the PLC of the lower computer controls the on-off frequency of the first electromagnetic valve and is interlocked with the on-off of the two-position two-way electromagnetic valve to complete the control of the buckling and stretching frequency of the flexible driver 102, and finally the control of the quick drawing frequency of the buckling fingers is realized; the bending force of the soft driver 102 is input by an upper computer and transmitted to a lower computer through a network communication module, then an air pressure value corresponding to the bending force is input into the PLC, and is converted into a target quantity of a digital quantity through an analog-to-digital conversion module of the lower computer, an actual air pressure value in an air passage of the air pressure sensor is input into the PLC through an analog quantity input module of the lower computer and is converted into an actual quantity of the digital quantity through the analog-to-digital conversion module, a PID control module in the PLC adjusts an input voltage value of the electric proportional valve through an analog quantity output module according to the difference between the actual quantity and the target quantity, so that the input air pressure value is changed, and the accurate adjustment of the output force of the soft driver 102 is finally realized through repeated closed-loop adjustment until the target value is consistent with the actual value.

Specifically, the lower computer comprises a PLC, a first electromagnetic valve, a two-position two-way electromagnetic valve, an electric proportional valve, an analog output module, an air pressure sensor and an analog input module, the PLC comprises a digital-to-analog conversion module, an analog-to-digital conversion module, a PID control module, a time control piece and the like, and the upper computer comprises a liquid crystal touch screen and an input module.

When the device works, an instruction is input through the input module, real-time display is carried out through the liquid crystal touch screen, the upper computer converts the input set frequency into time, the time is fed back to the time control of the PLC through the network communication module, the time control is output and fed back to the first electromagnetic valve and the two-position two-way electromagnetic valve, and the control of the drawing frequency is realized through the interlocking of the first electromagnetic valve and the two-position two-way electromagnetic valve;

the upper computer converts the input set pressure value into a corresponding gas target air pressure value, the corresponding gas target air pressure value is fed back to the PLC through the network communication module, the gas target air pressure value is converted into a digital target flow value through an analog-to-digital conversion module in the PLC, after the pneumatic pipeline structure 201 is opened, the air pressure sensor converts the actual air pressure value in the air path into an actual air pressure digital value through the analog input module, the PID control module in the PLC compares the set target air pressure value with the actual air pressure value, if the two are different, the PID control module transmits the adjusting instruction to the electric proportional valve through the analog output module, the electric proportional valve continuously adjusts the air pressure value in the air path by adjusting the corresponding input voltage to change the air pressure value monitored by the air pressure sensor, and repeating the steps until the PID control module finds the appropriate proportional, integral and differential values, so that the target air pressure value is equal to the actual air pressure value. The pipeline control system 202 further comprises a power management module, and the power management module is used for supplying power to the upper computer and the lower computer;

in a word, the control system adopts a control mode of air pressure closed loop adjustment, can accurately control the input air pressure of the soft driver 102 so as to adapt to the clinical requirements of finger traction forces of different spasticity degrees of different patients, and can also control the action frequency of buckling and stretching of the soft driver 102 so as to adapt to the requirement of quick traction of hand spasticity patients in clinic.

According to a still further embodiment of the invention, the interval/duration of the soft-body actuator 102 is controlled by the first solenoid valve according to the interval/duration set in the upper machine each time. That is, the interval/duration of the soft drive 102 can also be adjusted by the control system to meet different clinical traction rehabilitation training requirements.

According to some embodiments of the invention, the hand quick-pulling device assisted by the soft hand exoskeleton can stably work under the condition that the length of the output tube is more than 5m, and is suitable for working in a nuclear magnetic environment.

According to some embodiments of the present invention, the length of the link 104 can be individually designed according to different finger lengths of the user, and the presence of the link 104 can ensure that the soft driver 102 does not interfere with the movement of the corresponding finger.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

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

1. A quick hand traction device assisted by a soft hand exoskeleton comprises:

the control system is connected with one end of the soft driver and used for inflating and exhausting the soft driver so as to enable the soft driver to bend upwards back to back of the hand during inflation to drive the flexed fingers to extend and enable the soft driver to recover the original shape during exhausting so that the fingers recover the flexed state.

2. The soft hand exoskeleton assisted hand quick pulling device of claim 1, wherein the soft actuator comprises an actuator body, an inner constraining layer and a peripheral constraining layer, wherein the side of the actuator body facing away from the back of the hand is provided with the inner constraining layer, and the peripheral constraining layer wraps the actuator body and the inner constraining layer; the section of the driver body is semicircular, semielliptical, rectangular, a combination of semicircular and rectangular or a combination of semielliptical and rectangular.

3. The soft hand exoskeleton assisted hand quick pull device of claim 2 wherein the soft body actuator further comprises an inflation tip in threaded sealing connection with one end of the actuator body and a distal tip in threaded sealing connection with the other end of the actuator body.

4. The soft hand exoskeleton assisted hand quick pulling device as claimed in claim 3, wherein the back hand fixing device comprises a back hand fixing bracket, the back hand fixing bracket is provided with a hole groove which is consistent with the extending direction of the fingers, the cross section shape of the hole groove is matched with the cross section shape of the soft driver, and one end of the soft driver is installed in the hole groove; one end of the hand back fixing support is provided with a through hole.

5. The soft hand exoskeleton assisted hand quick pulling device as claimed in claim 4, wherein the back fixing device further comprises a first nut and a first bolt, the back fixing bracket is provided with a locking slot corresponding to the extending direction of the fingers, the first nut is correspondingly and slidably disposed in the locking slot, the first nut is limited by two side surfaces and upper and lower surfaces of the locking slot, and the first bolt is correspondingly screwed into the first nut and locks the inflation head of the soft driver when the first bolt cannot rotate.

6. The soft hand exoskeleton assisted hand quick pulling device as claimed in claim 5, wherein the back hand fixing device further comprises a baffle or a partition plate fixed at the other end of the back hand fixing bracket and below the soft driver for ensuring the soft driver to bend upwards back to back of hand; the back of hand fixing device still includes the baffle, is used for separating two pairwise adjacent software drivers to prevent two pairwise adjacent software drivers from interfering each other.

7. The soft hand exoskeleton assisted hand quick pulling device of claim 1, wherein the end fixing end of the driver is fixed on the other end of the soft driver, and a first mounting ear is provided on the end fixing end of the driver and hinged to one end of the connecting rod.

8. The soft-handed exoskeleton assisted hand quick pulling device of claim 1, wherein the finger tip holding clamp comprises:

the threaded connecting piece connects the bottom plate of the lower bracket with the bottom of the enclosure frame;

the threaded connecting piece comprises a second bolt and a second nut, the second nut is fixed to the bottom of the surrounding frame, and the second bolt penetrates through a hole in the bottom plate of the lower bracket to be connected with the second nut.

9. The soft hand exoskeleton assisted hand quick pulling device as claimed in claim 8, wherein a second mounting ear is provided on the top surface of the enclosure frame, and the second mounting ear is hinged to the other end of the connecting rod.

10. The soft-body hand exoskeleton-assisted hand quick pulling device of claim 1, wherein the control system can adjust the vibration frequency, vibration amplitude and vibration interval time for the soft body driver to pull the finger to complete flexion and extension.

11. The soft-handed exoskeleton assisted hand quick pull device of claim 1 wherein the control system comprises a pneumatic conduit structure comprising: the pneumatic control system comprises an air compressor, a pneumatic triple piece, an electric proportional valve, an air pressure sensor, a first electromagnetic valve, vacuum generation gas and a two-position two-way electromagnetic valve; wherein the content of the first and second substances,

12. The soft-body hand exoskeleton-assisted hand quick pulling device of claim 11, wherein the control system further comprises a pipeline control system, the pipeline control system comprises an upper computer, a network communication module and a lower computer;

13. The soft hand exoskeleton assisted hand quick pulling device of claim 12, wherein the interval/duration of the soft actuator is controlled by the first solenoid valve according to the interval/duration set in the upper computer each time.