CN114533497B - Flexible rehabilitation glove and use method and life assisting method thereof - Google Patents

Abstract

The invention discloses a flexible rehabilitation glove and a use method and a life assisting method thereof, wherein the flexible rehabilitation glove comprises a base, a glove and a main control assembly arranged on the base, the glove comprises a palm sleeve and a finger sleeve which are connected, an extension finger pull wire and a bending finger pull wire are arranged on the finger sleeve, a first driving piece connected with the extension finger pull wire and a second driving piece connected with the bending finger pull wire are arranged on the base, the first driving piece and the second driving piece are respectively a shape memory alloy spring, the shape memory alloy spring is electrically connected with the main control assembly, a fulcrum part is arranged on the base, the glove further comprises a driving pull wire, one end of the driving pull wire is connected with the first driving piece, and the other end bypasses the fulcrum part and is connected with the second driving piece; the glove is provided with a Hall sensor component which is electrically connected with the main control component corresponding to the joints of the human hand. The flexible rehabilitation glove has the advantages of simple structure, safety, reliability, high portability, strong functionality, strong man-machine interaction capability, easy manufacture, comfortable wearing and the like.

Description

Flexible rehabilitation gloves and methods of use and assisted living methods

Technical field

The present invention relates to the technical field of hand function rehabilitation equipment, and in particular to flexible rehabilitation gloves and their use methods and life assistance methods.

Background technique

Nowadays, there are more and more patients with hand dysfunction caused by stroke, trauma or congenital disability every year. With the development of technology, rehabilitation treatment methods have transitioned from manual-assisted training to machine-assisted rehabilitation, which has greatly reduced the cost of rehabilitation. And the recovery efficiency is higher.

Currently, there are many types of rehabilitation gloves on the market. Rigid rehabilitation gloves are generally driven by motors and have high control accuracy. However, they require a high degree of matching with the patient's fingers and are large in mass. They are prone to secondary injuries to the patient and have poor rehabilitation effects. Not good. Flexible rehabilitation gloves have strong adaptability, and their mainstream driving methods include gas driving and shape memory alloy spring driving. Flexible rehabilitation gloves using gas driving have complex driving structures, larger volumes, lack of sensing, insufficient perception capabilities, and poor controllability. Poor and very inconvenient to carry, which greatly limits the working scenarios of recovery gloves. In the flexible rehabilitation gloves driven by shape memory alloy springs, there are ten groups of shape memory alloy springs. Each two groups of shape memory alloy springs constitute a matching group, and the two groups of shape memory alloy springs in each matching group are set separately. In order to bend the finger spring and extend the finger spring, the five finger sleeves of the flexible rehabilitation glove are respectively matched with a different set of matching groups. Each of the finger sleeves is provided with a bending finger pull cord and an extension finger pull cord. The bending finger spring is connected to the bending finger spring. Finger pull cord, stretch finger spring connects the stretch finger pull cord. However, the flexible rehabilitation gloves with this structure will directly transmit the opposing force between the bent finger spring and the extended finger spring to the bent finger cable and the extended finger cable, causing the bent finger cable and the extended finger cable to be continuously tightened and squeezed. The patient's fingers may cause discomfort to the patient's fingers, or even cause secondary damage to the patient's fingers.

Contents of the invention

The technical problem to be solved by the present invention is to provide a new type of flexible rehabilitation glove that is comfortable to use and its use method and life assistance method.

In order to solve the above technical problems, the first technical solution adopted by the present invention is: a flexible rehabilitation glove, including a connected base, a glove, and a main control component located on the base. The glove includes a connected palm cuff and a finger cuff. The cover is provided with a stretching finger pull cord and a bending finger pull cord. The base is provided with a first driving member connected to the stretching finger pull cord and a second driving member connected to the bent finger pull cord. The first driving member and the second driving member are respectively shape memory Alloy spring, the shape memory alloy spring is electrically connected to the main control component. The base is provided with a fulcrum part and also includes a driving pull wire. One end of the driving pull wire is connected to the first driving part, and the other end bypasses the fulcrum part and is connected to the second driving part. ; Hall sensor components electrically connected to the main control component are respectively provided on the gloves corresponding to the joints of the human hand.

In order to solve the above technical problems, the second technical solution adopted by the present invention is: a method of using flexible rehabilitation gloves. Based on the above-mentioned flexible rehabilitation gloves, it includes the following steps:

Set training mode;

Generate the expected value of finger movement for the above training mode;

Obtain the actual movement status of the finger;

Train according to the set training mode.

In order to solve the above technical problems, the third technical solution adopted by the present invention is: a life assistance method. Based on the above-mentioned flexible rehabilitation gloves, the base of the flexible rehabilitation gloves is also provided with an intention to be electrically connected to the main control component. Identify components, including the following steps,

Obtain the patient's movement intention;

Generate instructions to drive the patient's finger movements;

Obtain the actual movement status of the finger;

Follow exercise instructions for assisted living;

System protection or repeat the above steps.

The beneficial effects of the present invention are:

Compared with traditional rehabilitation gloves that use cylinders/power push rods as driving parts, this flexible rehabilitation glove uses shape memory alloy springs as driving parts. It not only has a simple structure and is lightweight, but also makes the flexible rehabilitation gloves smaller and more portable. It can also reduce the chance of failure of flexible rehabilitation gloves and help enhance the patient's experience.

The first driving member and the second driving member made of a shape memory alloy spring are connected through a driving wire, and the driving wire is wound around the fulcrum of the base. When the first/second elastic member contracts through current, the driving wire can Effectively transmits the output force between the first driving member and the second driving member, preventing the confrontation force between the first driving member and the second driving member from being transmitted to the finger pull wire, affecting the driving accuracy of the driving member and resulting in rehabilitation and training effects. Not as expected; more importantly, the setting of the driving wire can ensure that the stretched finger wire and the bent finger wire are not in a state of exerting tension at the same time, thereby ensuring that the finger cot will not pull the finger from both sides of the patient's finger at the same time and cause squeezing of the finger. , greatly improving the patient’s wearing comfort.

Description of drawings

Figure 1 is a schematic structural diagram of a flexible rehabilitation glove according to an embodiment of the present invention;

Figure 2 is a schematic structural diagram of the flexible rehabilitation glove from another perspective according to the embodiment of the present invention;

Figure 3 is a schematic structural diagram of a partial structure of a flexible rehabilitation glove according to an embodiment of the present invention;

Figure 4 is a schematic structural diagram of part of the structure shown in Figure 3;

Figure 5 is a top view of the Hall sensor assembly in the flexible rehabilitation glove according to the embodiment of the present invention;

Figure 6 is a step diagram of a method of using flexible rehabilitation gloves according to Embodiment 2 of the present invention;

Figure 7 is a step diagram of a method of using flexible rehabilitation gloves according to Embodiment 3 of the present invention;

Figure 8 is a step diagram of the living assistance method in Embodiment 4 of the present invention.

Label description:

1. Base; 11. Fulcrum; 12. Arm holder; 121. First strap; 13. Heat insulation board; 131. Divider plate; 14. Transmission seat; 141. First hole; 142. Second Perforation; 143. Second strap; 15. Cover plate; 151. Heat dissipation hole; 152. Heat dissipation component; 153. Installation slot; 16. Fixing strap; 161. Battery;

2. Main control component;

31. Palm cuff; 311. Upper beam-shaped boss; 312. Lower beam-shaped boss; 32. Finger cot; 321. Upper cable boss; 322. Lower cable boss; 323. Joint folds; 324. Third binding Belt; 331, stretch finger hose; 332, bend finger hose;

41. Stretch your fingers to pull the wire; 42. Bend your fingers to pull the wire; 43. First driving member; 44. Second driving member; 45. Drive the wire; 46. Stretch your fingers to amplify the wire; 47. Bend your fingers to amplify the wire;

5. Hall sensor assembly; 51. Housing; 52. Magnet pull wire; 53. Magnetic block; 54. First linear Hall sensor; 55. Second linear Hall sensor.

Detailed ways

In order to describe the technical content, achieved objectives and effects of the present invention in detail, the following description will be made in conjunction with the embodiments and the accompanying drawings.

Please refer to Figures 1 to 8. Flexible rehabilitation gloves include a connected base 1, gloves and a main control component 2 located on the base 1. The gloves include connected palm cuffs 31 and finger cuffs 32. The finger cuffs 32 The base 1 is provided with a stretching finger pull wire 41 and a bending finger pull wire 42. The base 1 is provided with a first driving member 43 connected to the stretching finger pull wire 41 and a second driving member 44 connected to the bending finger pull wire 42. The first driving member 43 and the The two driving parts 44 are respectively shape memory alloy springs. The shape memory alloy springs are electrically connected to the main control component 2. The base 1 is provided with a fulcrum part 11 and also includes a driving pull wire 45. One end of the driving pull wire 45 is connected to the first driving part. 43. The other end bypasses the fulcrum part 11 and is connected to the second driving member 44; Hall sensor assemblies 5 electrically connected to the main control assembly 2 are respectively provided on the gloves corresponding to the human hand joints.

As can be seen from the above description, the beneficial effects of the present invention are: the flexible rehabilitation gloves use shape memory alloy springs as driving parts, which not only have a simple structure and are light in weight, but also can make the flexible rehabilitation gloves smaller and more portable, and can also reduce the cost of flexible rehabilitation gloves. The chance of glove failure improves the patient’s experience. During the process of bending and extending the patient's fingers, the finger cot 32 will not squeeze the patient's fingers, which effectively improves the patient's wearing comfort.

Furthermore, it also includes a stretching finger amplifying wire 46 and a bending finger amplifying wire 47. The stretching finger wire 41 and the bending finger wire 42 are closed-loop structures respectively. One end of the stretching finger amplifying wire 46 is fixed on the base 1 , the other end of the extension finger amplification wire 46 passes through the closed loop structure formed by the extension finger wire 41 and is connected to the first driving member 43; one end of the bending finger amplification wire 47 is fixed on the base 1, the other end of the bent finger amplification wire 47 penetrates the closed loop structure formed by the bent finger wire 42 and is connected to the second driving member 44.

It can be seen from the above description that the elastic member, the amplified pull cord and the finger pull cord of the closed-loop structure can form a moving pulley effect, so that the elastic member can transmit greater force to the fingers to assist/train the fingers to bend and extend, making the application of flexible rehabilitation gloves possible. Scenarios are expanded.

Further, the base 1 is provided with a fixed belt 16 , and the fixed belt 16 is provided with a battery 161 electrically connected to the main control assembly 2 .

It can be seen from the above description that the battery 161 is used to supply power to electrical components. The flexible rehabilitation gloves have their own power supply, which allows the flexible rehabilitation gloves to achieve long-term battery life. The patient can wear the flexible rehabilitation gloves to enter and exit environments without external power supply, which overcomes the problem of patients being in an environment without external power supply. Space limitations when using flexible rehabilitation gloves.

Furthermore, a pressure sensor electrically connected to the main control assembly 2 is provided at the fingertip of the finger cot 32 .

Further, the base 1 includes a heat insulation plate 13, the first driving member 43 and the second driving member 44 are both provided on the same side of the heat insulation plate 13, and the heat insulation plate 13 is provided with There is a partition plate 131 between any two adjacent shape memory alloy springs.

As can be seen from the above description, the existence of the heat shield 13 can reduce or even prevent the heat generated by the electrical components (including but not limited to the first driving member 43 and the second driving member 44) on the flexible rehabilitation glove from being transferred to the patient's arm. It will help further improve the patient’s experience. The first driving member 43 and the second driving member 44 are disposed on the same side of the heat shield 13 to make it more convenient for patients to wear. The main control component 2 manages the power supply on and off of the shape memory alloy spring to realize the expansion and contraction of the shape memory alloy spring. Since the shape memory alloy spring is powered by converting electrical energy into heat energy to achieve contraction, when the shape memory alloy spring is heated, the partition plate 131 can separate two adjacent shape memory alloy springs, thereby effectively preventing the two adjacent shape memory alloy springs from interfering with each other, and helping to ensure the working stability of the flexible rehabilitation gloves.

Further, the base 1 further includes a cover plate 15 that blocks the shape memory alloy spring. The cover plate 15 is provided with a temperature sensor for monitoring the temperature of the shape memory alloy spring. The temperature sensor is connected to the shape memory alloy spring. The main control component 2 is electrically connected.

As can be seen from the above description, the temperature sensor detects the temperature of the shape memory alloy spring in real time and inputs the data to the main control component 2. When overheating, the main control component 2 in the flexible rehabilitation glove can provide overheating protection to prevent accidents.

Further, the cover 15 is provided with heat dissipation holes 151 and/or heat dissipation components 152 .

It can be seen from the above description that the provision of the heat dissipation holes 151 and/or the heat dissipation components 152 can improve the heat dissipation performance of the flexible rehabilitation gloves, so that the flexible rehabilitation gloves can work stably for a long time.

Further, the base 1 is provided with a first through hole 141 and a second through hole 142. The fulcrum portion 11 is formed between the first through hole 141 and the second through hole 142. The other part of the driving pull wire 45 is One end passes through the first through hole 141 and the second through hole 142 in sequence and is connected to the second driving member 44 .

It can be seen from the above description that the fulcrum portion 11 on the base 1 is formed in a simple manner and is easy to process and manufacture.

Furthermore, the base 1 is also provided with an intention recognition component electrically connected to the main control component 2 .

It can be seen from the above description that the intention recognition component identifies the patient's intention, so that the flexible rehabilitation gloves can not only assist the patient in finger recovery training, but also assist the patient's life, making the flexible rehabilitation gloves multi-functional.

The method of using flexible rehabilitation gloves, based on the above-mentioned flexible rehabilitation gloves, includes the following steps:

Set training mode;

Generate the expected value of finger movement for the above training pattern;

Obtain the actual movement status of the finger;

Train according to the set training mode.

The life assistance method is based on the above-mentioned flexible rehabilitation gloves. The base 1 of the flexible rehabilitation gloves is also provided with an intention recognition component electrically connected to the main control component 2, including the following steps:

Obtain the patient's movement intention;

Generate instructions to drive the patient's finger movements;

Obtain the actual movement status of the finger;

Follow exercise instructions for assisted living;

System protection or repeat the above steps.

Embodiment 1

Please refer to Figures 1 to 5. Embodiment 1 of the present invention is a flexible rehabilitation glove. Each part can be manufactured by 3D printing or pouring. The flexible rehabilitation gloves simulate the muscles and tendons of the human hand, and have excellent bionic effects. It has the advantages of simple structure, safety and reliability, high portability, strong functionality, strong human-computer interaction ability, and easy manufacturing. It has broad application prospects as hand function rehabilitation equipment and life assistive devices for patients with hand dysfunction.

Please refer to Figures 1 to 4. Flexible rehabilitation gloves include a connected base 1, gloves and a main control component 2 located on the base 1. The gloves include connected palm cuffs 31 and finger cuffs 32. The palm cuffs 31 and The finger cot 32 is preferably manufactured by a casting process. The finger cot 32 is provided with a stretching finger pull wire 41 and a bending finger pull wire 42. The base 1 is provided with a first driving member 43 connected to the extension finger pull wire 41 and a first driving member 43 connected to the bent finger pull wire 42. The second driving member 44, the first driving member 43 and the second driving member 44 are respectively shape memory alloy springs. The shape memory alloy springs are electrically connected to the main control assembly 2. The base 1 is provided with a fulcrum portion 11, which also includes a driving member. Pull wire 45, one end of the drive pull wire 45 is connected to the first driving member 43, and the other end bypasses the fulcrum part 11 and is connected to the second driving member 44; Halls electrically connected to the main control assembly 2 are respectively provided on the gloves corresponding to the human hand joints. Sensor assembly 5.

Optionally, the fingertip of the finger cot 32 is provided with a pressure sensor electrically connected to the main control assembly 2 , and the pressure sensor is used to detect the fingertip pressure value. Preferably, the pressure sensor is provided on the front side of the fingertip of the finger cuff 32 .

Please refer to Figures 1 and 3. Specifically, the base 1 includes an arm holder 12, a heat shield 13 and a transmission seat 14 that are connected and fixed in sequence. Five groups of the first arm holder 12 are fixed on the One driving member 43 and five groups of the second driving members 44. The five groups of the first driving members 43 correspond to the five groups of the second driving members 44, forming a total of five groups of driving assemblies to be connected to the five groups respectively. The finger cots 32 correspond one to one. Each shape memory alloy spring is symmetrically folded, and its two ends are respectively fixed on the arm holder 12; the base 1 is provided with five first through holes 141 and five second through holes 142. The fulcrum portion 11 is formed between a through hole 141 and the second through hole 142 , that is, five fulcrum portions 11 are formed on the base 1 to respectively correspond to the five driving pull wires 45 . In detail, the other end of the driving pull wire 45 passes through the first through hole 141 and the second through hole 142 in sequence and is connected to the second driving member 44. Optionally, the driving pull wire 45 and the first driving The connection point of the member 43 is located at the folded position of the first driving member 43 , and the connection point of the driving pull wire 45 and the second driving member 44 is located at the folded position of the second driving member 44 . Preferably, the first through hole 141 is provided corresponding to the first driving member 43, and the second through hole 142 is provided corresponding to the second driving member 44. In this way, the action of the driving pull wire 45 can be made smoother. , further preferably, the transition between the fulcrum part 11 and the first through hole 141 and the second through hole 142 is provided with an arc surface, so that the end of the first through hole 141 and the end of the second through hole 142 can be effectively prevented from being damaged. Scratching the driving cable 45 will help ensure the service life of the driving cable 45 .

The main control component 2 controls the power on and off of the shape memory alloy spring. When the shape memory alloy spring is energized, the shape memory alloy spring will shrink. When the first driving member 43 is energized and contracts, the driving pull wire 45 directly drives the second driving member 44 to expand, and the interaction force between the first driving member 43 and the second driving member 44 will not be transmitted to the bending finger pull wire 42 and Stretch the finger pull cord 41 to ensure that the bending finger pull cord 42 and the extension finger pull cord 41 will not be in a tight state at any time, ensuring that the finger cot 32 will not overly compress the patient's fingers, which will help improve the patient's wearing comfort.

In this embodiment, the arm holder 12 is provided with ten sets of fitting holes, and each set of fitting holes has two fitting through holes. The two ends of the shape memory alloy spring The shape memory alloy spring can be well fixed on the arm holder 12 by fitting into a set of fitting holes through an aluminum buckle. Of course, it is also feasible for the shape memory alloy spring to be fixed on the arm holder 12 through other fixing methods. It should be noted that in other embodiments, the shape memory alloy spring can also be folded asymmetrically. In this case, one end of the shape memory alloy spring is fixed on the arm holder 12 and the other end is connected to the extension finger pull wire 41 Or bend your finger to pull the wire 42.

Optionally, the fulcrum part 11 is provided on the transmission base 14 , that is, the first through hole 141 and the second through hole 142 are provided on the transmission base 14 .

In order to facilitate the patient's use and allow the patient to rest his arms comfortably on the table while ensuring the ventilation effect of the flexible rehabilitation gloves, preferably, the first driving member 43 and the second driving member 44 are both located on the On the same side of the heat shielding plate 13, when the patient uses the heat shielding plate 13, the side away from the first driving member 43 is close to the patient's arm.

Further, a partition plate 131 is provided on the heat insulation plate 13, and the partition plate 131 is provided between any two adjacent shape memory alloy springs. Since in this embodiment, the first driving parts 43 and the second driving parts 44 on the base 1 are arranged alternately, there is a gap between the adjacent first driving parts 43 and the second driving parts 44. The partition plate 131.

In order to improve the use safety of the flexible rehabilitation gloves and ensure the working stability of the flexible rehabilitation gloves, the base 1 also includes a cover plate 15 that blocks the shape memory alloy spring. The cover plate 15 is connected with the arm holder 12 and the spacer. At least one of the hot plate 13 and the transmission base 14 is connected, that is, a cavity is formed inside the base 1, and the first driving member 43 and the second driving member 44 are both located in the cavity. When the cover 15 is not removed, the shape memory alloy spring cannot be touched from the outside.

In this embodiment, the cover plate 15 is provided with a temperature sensor for monitoring the temperature of the shape memory alloy spring, and the temperature sensor is electrically connected to the main control component 2 . Specifically, the five groups of first driving members 43 and the five groups of second driving members 44 respectively correspond to different temperature sensors. In this way, the main control component 2 can more accurately collect the temperature of each group of shape memory alloy springs. data. It is easy to understand that in other embodiments, the temperature sensor can also be provided on other components (such as the heat shield 13, the arm holder 12, etc.). The temperature sensor detects and feeds back the temperature of the shape memory alloy spring to the main control component 2 in real time. When the temperature value measured by the temperature sensor is greater than the set temperature threshold, the main control component 2 immediately cuts off the power supply to the shape memory alloy spring, and the flexible rehabilitation gloves enter protection status.

In order to improve the heat dissipation performance of the flexible rehabilitation gloves, the cover plate 15 is provided with heat dissipation holes 151 and/or heat dissipation components 152. In this embodiment, the cover plate 15 is provided with both the heat dissipation holes 151 and the heat dissipation component 152. , the heat dissipation component 152 adopts a cooling fan. Specifically, the heat dissipation fan serves as the heat dissipation component 152 and is electrically connected to the main control component 2. When the temperature sensor detects that the temperature of the shape memory alloy spring exceeds the preset heat dissipation value, the heat dissipation fan is started to heat the shape memory alloy spring. Carry out heat dissipation and cooling. More specifically, the heat dissipation hole 151 is provided near one end of the cover 15 , and the cooling fan is provided near the other end of the cover 15 . In this embodiment, the cover 15 is provided with ten The heat dissipation holes 151, ten of the heat dissipation holes 151 and the ten groups of the shape memory alloy springs are arranged in one-to-one correspondence. In other embodiments, the heat dissipation component 152 can also be a fluid heat dissipation device, such as a liquid cooling device; it is easy to understand that the cover plate 15 can also be provided with only one of the heat dissipation holes 151 and the heat dissipation component 152 kind.

Please refer to Figure 1 and Figure 2. The arm holder 12 is provided with a first strap 121 with adjustable tightness, and the transmission seat 14 is provided with a second strap 143 with adjustable tightness. The patient can use The first strap 121 and the second strap 143 fix the base 1 of the flexible rehabilitation glove on the arm.

Optionally, the base 1 is provided with a fixed belt 16 , the fixed belt 16 is provided with a battery 161 electrically connected to the main control assembly 2 , and the fixed belt 16 is located on the arm holder 12 Between the transmission seat 14 and the fixed belt 16, the fixed belt 16 can provide installation positions for a large number of batteries 161, which is beneficial to extending the endurance of the flexible rehabilitation gloves. A plurality of the batteries 161 can be arranged in series according to different needs. into multiple groups or one group, or multiple groups or one group in parallel. As a preferred embodiment, the fixation strap 16 is made of breathable material, such as knitted fabric, etc., which can effectively enhance the breathability performance of the flexible rehabilitation gloves, thereby improving the comfort of wearing the flexible rehabilitation gloves. When the first strap 121 and the second strap 143 are Velcro, the fixing strap 16 can be directly connected and fixed on the first strap 121 and the second strap 143; of course, the fixation One side of the strap 16 is fixed on the base 1, and the opposite side of the strap 16 is detachably connected to the base 1. Alternatively, the opposite sides of the strap 16 are respectively connected to the base 1. Removable connections are also possible. It should be noted that in some other embodiments, it is also feasible to not provide the fixing strap 16 . In this case, the battery 161 can be directly provided on the base 1 (for example, the heat shield 13 ). Alternatively, it is also feasible that the structure used to install and fix the battery 161 is not a belt structure, for example, a mounting plate or an additional battery 161 package is used to fix the battery 161 .

As a preferred embodiment, the main control assembly 2 is provided on the cover 15 . Specifically, the cover 15 is provided with a mounting slot 153, and the main control component 2 is located in the mounting slot 153. Preferably, a touch display module is provided at the opening of the mounting slot 153. The touch display module is electrically connected to the main control component 2, and the patient can operate the flexible rehabilitation gloves through the touch display module. Alternatively, a sealing plate is provided at the opening of the installation slot 153, and a control key electrically connected to the main control assembly 2 is provided on the sealing plate. The patient can perform operations on the flexible rehabilitation glove through the control key. Operation, the control keys include but are not limited to buttons and knobs.

Optionally, the base 1 is also provided with an intention recognition component electrically connected to the main control component 2. In this embodiment, the intention recognition component is provided in the installation slot 153. The recognition component is used to identify the patient's intention, so that the flexible rehabilitation gloves can effectively interact with the patient and achieve the purpose of assisting the patient's life. Specifically, the base 1 is also provided with a signal conversion component electrically connected to the intention recognition component. The input end of the signal conversion component is connected to the intention recognition component, and the output end of the signal conversion component is connected to the intention recognition component. Connected to the main control component 2. The intention recognition component is used to obtain the patient's movement intention. The intention recognition component is an ultrasonic detection intention recognition system, an electromyography detection intention recognition system, an EEG detection intention recognition system, a voice control detection intention recognition system or a skin pressure detection intention recognition system. An explanation is required. It should be noted that the intention recognition component includes but is not limited to the above-mentioned several intention recognition systems. At the same time, the intention recognition component can also be a combination of multiple intention recognition systems. The signal conversion component can convert human body biological signals into electrical signals and send them to the main control component 2 to generate instructions for driving the movement of the patient's fingers to control the movements of the flexible rehabilitation gloves.

Please combine Figure 3 and Figure 4. Further, the flexible rehabilitation glove also includes an extension finger amplification wire 46 and a bending finger amplification wire 47. The extension finger wire 41 and the bending finger wire 42 are closed-loop structures respectively. One end of the amplification wire 46 is fixed on the base 1, and the other end of the extension finger amplification wire 46 penetrates the closed loop structure formed by the extension finger wire 41 and is connected to the first driving member 43; One end of the bent-finger amplifying wire 47 is fixed on the base 1 , and the other end of the bent-finger amplifying wire 47 penetrates the closed-loop structure formed by the bent-finger wire 42 and is connected to the second driving member 44 . Stretching the finger to amplify the pull wire 46, the base 1, the first driving member 43 and extending the finger pull wire 41 form a moving pulley effect, which can amplify the output pulling force of the first driving member 43; while bending the finger to amplify the pull wire 47, the base 1, the second drive The member 44 and the bent finger pull wire 42 can also form a moving pulley effect, which can amplify the output pulling force of the second driving member 44. In this way, the training effect and life assistance effect of the flexible rehabilitation glove can be effectively improved. As a preferred embodiment, the end of the extending finger amplification cable 46 that is not fixed to the base 1 passes through the first through hole 141 and is connected to the first driving member 43 ; the bending finger amplification cable 47 The end that is not fixed to the base 1 passes through the second through hole 142 and is connected to the second driving member 44 . Optionally, one end of the extending finger amplification cable 46 can be fixed on the base 1 through a fixed snap ring. Similarly, one end of the bent finger amplification cable 47 can also be fixed on the base through a fixed snap ring. On seat 1.

A plurality of hollow upper pull wire bosses 321 are respectively provided on both sides of the back of the finger cot 32. One end of the extension finger pull wire 41 passes through the plurality of hollow upper pull wire bosses 321 on one side of the back of the finger cot 32 in sequence from the finger root. The pull-up wire boss 321 penetrates the pull-up wire boss 321 on the other side near the fingertip at the fingertip and passes through the other pull-up wires on the other side in sequence toward the finger base. The boss 321 is connected to the other end of the extension finger cable 41 to form the closed loop structure; similarly, a plurality of hollow pull-down bosses 322 are respectively provided on both sides of the front of the finger sleeve 32, and the bending finger One end of the pull cord 42 passes through the plurality of pull cord bosses 322 on one side of the front surface of the finger sleeve 32 in sequence from the finger base, and passes through the pull cord bosses 322 on the other side near the finger tip at the finger tip. The boss 322 passes through the other lower pull wire bosses 322 on the other side in a direction close to the finger base, and then is connected to the other end of the bent finger pull wire 42 to form the closed loop structure.

As a preferred embodiment, the opening on the lower cable boss 322 for the bent finger cable 42 to pass through is located away from the back of the finger cuff 32 . In this way, the bent finger cable 42 can be better directed toward the finger. The sleeve 32 applies force to assist the patient's finger bending. In detail, there is at least one set of two opposite pull-down wire bosses 322 connected through a third strap 324. The tightness of the third strap 324 is adjustable. The setting of the third strap 324 can make the finger cot 32 better. Fits patient's fingers snugly.

Please refer to Figure 1 and Figure 2. The palm cover 31 is provided with an upper beam-shaped boss 311 and a lower beam-shaped boss 312. The upper beam-shaped boss 311 and the lower beam-shaped boss 312 are respectively provided with beam-shaped bosses. -shaped through hole, optionally, the upper beam-shaped boss 311 is provided on the back of the palm cover 31, and the lower beam-shaped boss 312 is provided on the front of the palm cover 31. In this embodiment, the A partial area of the extension finger pull wire 41 passes through the beam-shaped through hole of the upper beam-shaped boss 311 to the rear of the upper beam-shaped boss 311, and the extension finger amplification pull wire 46 is not fixed to the base 1 One end of the upper end first penetrates into the closed loop structure formed by the extended finger pull wire 41 behind the upper beam-shaped boss 311, and then penetrates into the first through hole 141 to connect to the first driving member 43; A part of the bending finger pull wire 42 passes through the beam-shaped through hole of the lower beam-shaped boss 312 to the rear of the lower beam-shaped boss 312 , and the bending finger amplifying pull wire 47 is not fixed to the base 1 The upper end first penetrates into the closed loop structure formed by the bent finger pull wire 42 behind the lower beam-shaped boss 312 , and then penetrates into the second through hole 142 to connect to the second driving member 44 .

In order to ensure the working stability of the flexible rehabilitation gloves and prevent foreign objects from interfering with the amplification cable/finger cable, preferably, the flexible rehabilitation gloves also include an extension finger hose 331 and a bending finger hose 332. The extension finger hose 331 One end is inserted into the first through hole 141, and the other end of the extension finger hose 331 is inserted into the bundle-shaped through hole of the upper bundle-shaped boss 311. The extension finger enlarges the partial area of the pull wire 46 and the extension Partial areas of the finger pull wires 41 are located in the extended finger hose 331; one end of the curved finger hose 332 is inserted into the second through hole 142, and the other end of the curved finger hose 332 is inserted into the lower bundle. In the bundle-shaped through hole of the shaped boss 312 , a partial area of the bent finger amplification wire 47 and a partial area of the bent finger wire 42 are located in the bent finger hose 332 .

The gloves are provided with joint folds 323 corresponding to each joint of the human hand. Of course, since the joint where the thumb connects to the palm does not bend too much, the finger cuff 32 corresponding to the thumb connects to the joint of the palm cuff 31 The joint folds 323 may not be provided.

Please combine Figure 1 and Figure 5. The Hall sensor assembly 5 includes a housing 51, a magnet wire 52, a magnet block 53, a reset component, a first linear Hall sensor 54 and a second linear Hall sensor 55. The reset Components include but are not limited to tension springs, silicone, etc., the first linear Hall sensor 54 and the second linear Hall sensor 55 are respectively provided in the housing 51, and the first linear Hall sensor 54 is close to The second linear Hall sensor 55 is disposed at one end of the housing 51 , the magnetic block 53 is slidably disposed in the housing 51 , and the reset member is connected to the other end of the housing 51 . The magnet block 53 and the housing 51 drive the magnet block 53 to reset in a direction close to the palm cover 31. One end of the magnet pull wire 52 is connected to the magnet block 53, and the other end of the magnet pull wire 52 is connected to the magnet block 53. The housing 51 is stretched out. When the Hall sensor assembly 5 is installed on the glove, the housing 51 of the Hall sensor assembly 5 is fixed on the side of the finger cot 32 corresponding to the human hand joint. The other end of the magnet pull wire 52 is connected to the other side of the finger cot 32 corresponding to the joint of the human hand. When the finger cot 32 is provided with the joint fold 323 at a position corresponding to the joint of the human hand, the joint fold 323 is provided with a wire hole for the magnet pull wire 52 to pass through. At this time, optionally, the magnet The other end of the pull wire 52 can be fixed on the fold of the joint fold 323 away from the palm cover 31 , and the fixing method includes but is not limited to adhesive connection, binding connection, etc. This Hall sensor assembly 5 has a bilinear Hall sensor, which ensures that the bending degree of the finger is within the measurement range of the Hall sensor assembly 5, which is beneficial to ensuring the sensing accuracy of the Hall sensor assembly 5. In addition, in the Hall sensor assembly 5 The magnet pull wire 52 is set independently from the extended finger pull wire 41/bent finger pull wire 42, which can reduce interference, further improve the sensing accuracy of the Hall sensor assembly 5, and enable the flexible rehabilitation glove to achieve more precise motion control.

It should be noted that although the Hall sensor assembly 5 in this embodiment has a bilinear Hall sensor, it does not mean that the Hall sensor assembly 5 must have the above structure. The purpose of this embodiment using the Hall sensor assembly 5 with the above structure is It is to expand the measuring range. In other embodiments, the Hall sensor assembly 5 may also have only one linear Hall sensor, because for the third joint of the thumb or for the finger joints of children, the bending range is not too large, and a linear Hall sensor The detection range of the sensor is enough to cover its bending range. At this time, the cost and small size advantages of the Hall sensor assembly 5 composed of a single linear Hall sensor are highlighted. Moreover, when the detection range of a single Hall sensor is large enough, at this time, the Hall sensor assembly 5 may also have only one Hall sensor.

Embodiment 2

Please refer to Figures 1 to 6. Embodiment 2 of the present invention is: a method for using flexible rehabilitation gloves, specifically a functional training method for precise hand movement based on the flexible rehabilitation gloves described in Embodiment 1, which includes the following steps:

S101. Set the rehabilitation training mode;

S102. Generate the expected value of finger movement in the above-mentioned rehabilitation training mode;

S103. Obtain the actual movement state of the finger;

S104. Carry out hand function rehabilitation exercise training according to the set rehabilitation training mode;

S105. System protection or repeat the above process.

In S101, the rehabilitation training mode includes a single training mode of a finger movement position training mode and a finger movement speed training mode or a combination of the two training modes. Among them, the finger movement position training mode includes fist movement position training, thumb adduction and abduction movement position training, five-finger sequential movement position training, and finger movement position training between the thumb and index finger, middle finger, ring finger, and little finger. The finger movement speed training mode includes fist movement speed training, thumb adduction and abduction movement speed training, five finger sequential movement speed training, and finger movement speed training between the thumb and index finger, middle finger, ring finger and little finger. Among them, the finger movement position training mode and the finger movement speed training mode include the above-mentioned training actions but are not limited to the above-mentioned training actions.

In S102, the expected value of finger movement in the rehabilitation training mode is generated through the power supply and main control component 2.

In S103, the Hall sensor component 5 obtains the actual movement state of the finger. Specifically, when the finger moves, the change in the distance between the magnetic block 53 and the first linear Hall sensor 54 and the second linear Hall sensor 55 causes the first linear Hall sensor 54 and the second linear Hall sensor 55 to output As the potential sum changes, the main control component 2 calculates the actual movement state of each finger in real time based on the potential sum output by the first linear Hall sensor 54 and the second linear Hall sensor 55 .

In S104, the main control component 2 calculates the difference between the expected value of the finger movement and the actual movement state of the finger in real time, and uses the difference to control the shape memory alloy spring to drive the finger amplification wire, and the finger wire to drive the finger to complete the above setting in S101. Specific hand function rehabilitation training.

In S105, the temperature sensor detects and feeds back the temperature of the shape memory alloy spring in real time. When the temperature value measured by the temperature sensor is greater than the set temperature threshold or the Hall sensor component 5 detects that the finger bending angle is greater than the threshold, the shape memory alloy spring stops immediately. drive, the system enters the protection state. Or repeat the above process to perform the next action. Among them, the temperature threshold can be set according to the temperature of the shape memory alloy spring when it is working, and the threshold of the finger bending angle is the angle range that the finger movement can reach.

Embodiment 3

Please refer to Figures 1 to 5 and 7. The third embodiment of the present invention is: a method of using flexible rehabilitation gloves, specifically an intelligent rehabilitation training method for hand finger muscle strength compensation based on the flexible rehabilitation gloves described in the first embodiment. Including the following steps,

S201. Set the finger muscle strength rehabilitation training mode;

S202. Generate the expected value of finger movement in the above-mentioned rehabilitation training mode;

S203. Obtain the actual movement state of the finger;

S204. Perform finger muscle strength compensatory rehabilitation exercise training according to the set finger muscle strength rehabilitation training mode;

S205. System protection or repeat the above process.

In S201, the finger muscle strength rehabilitation training model includes finger muscle strength compensatory training with clenched fist movements, finger muscle strength compensatory training with thumb adduction and abduction movements, finger muscle strength compensatory training with five-finger sequential movements, and finger muscle strength compensatory training with the thumb, index finger, and middle finger. , the finger movement between the ring finger and the little finger refers to a single training or a combination of multiple trainings for muscle strength compensation training, and the finger muscle strength compensation rehabilitation training actions of each finger include but are not limited to the above-mentioned muscle strength compensation rehabilitation training for each finger. movements, and the finger muscle strength compensation rehabilitation training actions include finger movement speed finger muscle strength compensation and movement position finger muscle strength compensation. The above-mentioned finger muscle strength compensation methods are the preferred finger muscle strength compensation methods of the present invention. The present invention can analyze the various special needs of different patients and carry out combined settings or single settings of multiple finger muscle strength compensation methods. .

In S202, the main control component 2 obtains the expected value of the finger movement according to the middle finger muscle strength compensation rehabilitation training mode in S201, including the expected value of the finger bending angle and the expected value of the fingertip pressure value.

In S203, the actual motion state of the finger is obtained through the Hall sensor component 5 and the pressure sensor, including the actual finger bending angle and the actual value of the fingertip pressure. When the finger moves, the change of the distance between the first linear Hall sensor 54 and the second linear Hall sensor 55 of the magnetic block 53 causes the sum of the potentials output by the first linear Hall sensor 54 and the second linear Hall sensor 55 to changes, the main control component 2 calculates the actual movement state of each finger in real time based on the potential sum output by the first linear Hall sensor 54 and the second linear Hall sensor 55 . The pressure sensor can detect the pressure value of the fingertip.

In S204, the main control component 2 calculates in real time the difference between the expected value of finger movement in S202 and the actual movement state of the finger in S203, and uses the difference to control the shape memory alloy spring to drive the finger amplification wire, and the finger wire to drive the finger to complete the above. Intelligent rehabilitation training for hand finger muscle strength compensation set in S201.

In S205, the temperature sensor detects and feeds back the temperature of the shape memory alloy spring in real time. When the temperature value measured by the temperature sensor is greater than the set temperature threshold or the Hall sensor component 5 detects that the finger bending angle is greater than the threshold, the shape memory alloy spring stops immediately. drive, the system enters the protection state. Or repeat the above process to perform the next action. Among them, the temperature threshold can be set according to the temperature of the shape memory alloy spring when it is working, and the threshold of the finger bending angle is the angle range that the finger movement can reach.

Embodiment 4

Please refer to Figures 1 to 5 and 8. Embodiment 4 of the present invention is: a life assistance method for patients with hand dysfunction, based on the flexible rehabilitation gloves described in Embodiment 1, including the following steps:

S301. Obtain the patient's movement intention;

S302. Generate instructions to drive the patient's finger movement;

S303. Obtain the actual movement state of the finger;

S304. Provide life assistance according to the exercise instructions in S302;

S305. System protection or repeat the above process.

In S301, the patient's movement intention is obtained through the intention recognition component. The intention recognition component includes ultrasonic detection intention recognition, electromyography detection intention recognition, EEG detection intention recognition, voice control detection intention recognition and skin pressure detection intention recognition. The patient's intention recognition component includes But it is not limited to the above several intent recognition methods. Specifically, for different patients with different degrees of illness, intention recognition through ultrasound detection, intention recognition through electromyography detection, intention recognition through electroencephalography detection, intention recognition through voice control detection, and intention recognition through skin pressure detection are used to identify the actions the patient wants to make. Prejudgment in advance, based on which the flexible rehabilitation gloves can be further controlled. The above-mentioned intention recognition methods are the preferred intention recognition methods of the present invention. The present invention can analyze the various special needs of different patients and carry out a variety of intention recognition methods. A combination of settings or a single setting.

In S302, the human biological signal is converted into an electrical signal through the signal conversion component, and is sent to the main control component 2 to generate an instruction to drive the patient's finger movement. Since biological signals are relatively weak, machine learning algorithms are added to the signal conversion component to convert biological signals into usable electrical signals through pattern recognition.

In S303, the actual movement state of the finger, including the finger bending angle and the fingertip pressure value, is obtained through the Hall sensor component 5 and the pressure sensor. When the finger moves, the change of the distance between the first linear Hall sensor 54 and the second linear Hall sensor 55 of the magnetic block 53 causes the change of the potential sum output by the first linear Hall sensor 54 and the second linear Hall sensor 55 , the main control component 2 calculates the actual movement state of each finger in real time based on the sum of potentials output by the first linear Hall sensor 54 and the second linear Hall sensor 55 . The pressure sensor can detect the pressure value of the fingertip.

In S304, the shape memory alloy spring receives the finger movement command in S302, and drives the finger amplification wire and the finger wire to drive the finger to move according to the patient's intention.

In S305, the temperature sensor detects and feeds back the temperature of the shape memory alloy spring in real time. When the temperature value measured by the temperature sensor is greater than the set temperature threshold or the Hall sensor component 5 detects that the finger bending angle is greater than the threshold, the shape memory alloy spring stops immediately. drive, the system enters the protection state. Or repeat the above process to perform the next action. Among them, the temperature threshold can be set according to the working temperature of the shape memory alloy spring, and the finger bending angle threshold is the angle range that the finger movement can reach.

In summary, the present invention provides flexible rehabilitation gloves, methods of using them, and life assistance methods. The flexible rehabilitation gloves integrate multiple functions and can not only realize multi-mode hand rehabilitation exercises for patients with hand dysfunction, but also assist Patients' daily activities combine hand rehabilitation with patients' lives, which enhances the effect of rehabilitation training, realizes rehabilitation in life, and improves rehabilitation efficiency; this flexible rehabilitation glove can maximize the subjective initiative of patients with hand dysfunction, according to the patient's different The hand movement characteristics during the recovery period are used to compensate for different sizes of finger muscle strength; this flexible rehabilitation glove can be made of flexible materials, has strong environmental adaptability, can avoid secondary injuries to the patient's hands, and is safe and reliable; Flexible rehabilitation gloves can monitor the working status of hands and equipment in real time, have an emergency stop mode, and are highly safe and reliable. This flexible rehabilitation glove has a novel design, is comfortable to wear, has high medical value, is low in cost, and can be used for Mass production and easy industrialization.

The above are only embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent transformations made using the contents of the description and drawings of the present invention, or directly or indirectly applied in related technical fields, are equally included in within the scope of patent protection of this invention.

Claims (6)

1. Flexible rehabilitation gloves, including a connected base, gloves and a main control component located on the base. The gloves include connected palm cuffs and finger cuffs. The finger cuffs are equipped with stretching finger pull cords and bending finger pull cords. The seat is provided with a first driving part connected to the extension finger pull wire and a second driving part connected to the bending finger pull wire. The first driving part and the second driving part are shape memory alloy springs respectively. The shape memory alloy spring is electrically connected to the main control component. The connection is characterized in that: there is a fulcrum part on the base, and also includes a driving cable. One end of the driving cable is connected to the first driving part, and the other end bypasses the fulcrum part and is connected to the second driving part; the gloves are respectively provided with joints corresponding to the human hand. There is a Hall sensor component electrically connected to the main control component; it also includes a stretching finger amplification wire and a bending finger amplification wire. The stretching finger wire and the bending finger wire are closed-loop structures respectively. One end of the stretching finger amplification wire is fixed on On the base, the other end of the extension finger amplification wire penetrates the closed loop structure formed by the extension finger wire and is connected to the first driving member; one end of the bending finger amplification wire is fixed on the base. On the base, the other end of the curved finger amplification wire penetrates the closed loop structure formed by the curved finger wire and is connected to the second driving member; the base is provided with a first through hole and a second through hole, so The fulcrum portion is formed between the first through hole and the second through hole. The other end of the driving pull wire passes through the first through hole and the second through hole in sequence and is connected to the second driving member. The fulcrum portion A curved surface is provided at the transition between the first through hole and the second through hole; each of the shape memory alloy springs is symmetrically folded, and the connection between the driving pull wire and the shape memory alloy spring is located at the edge of the shape memory alloy spring. Fold in half; when the first driving member drives the finger cuff to extend, the overall contraction length of the first driving member is equal to the overall extension length of the second driving member, and the overall contraction speed of the first driving member is equal to the second driving member. The overall extension speed of the driving member; when the second driving member drives the finger cuff to bend, the overall contraction length of the second driving member is equal to the overall extension length of the first driving member, and the overall contraction speed of the second driving member is equal to the The overall extension speed of the first driving member. 2. The flexible rehabilitation glove according to claim 1, characterized in that: a pressure sensor electrically connected to the main control component is provided at the fingertip of the finger glove. 3. The flexible rehabilitation glove according to claim 1, wherein the base includes a heat insulation plate, and the first driving member and the second driving member are both located on the same side of the heat insulation plate. , a partition plate is provided on the heat insulation board, and the partition plate is provided between any two adjacent shape memory alloy springs. 4. The flexible rehabilitation glove according to claim 3, characterized in that: the base further includes a cover plate to block the shape memory alloy spring, and the cover plate is provided with a sensor for monitoring the shape memory alloy spring. A temperature sensor, which is electrically connected to the main control component. 5. The flexible rehabilitation glove according to claim 4, characterized in that: the cover plate is provided with a heat dissipation component. 6. The flexible rehabilitation glove according to claim 1, wherein the base is further provided with an intention recognition component electrically connected to the main control component.