CN114533497B - Flexible rehabilitation glove and use method and life assisting method thereof - Google Patents
Flexible rehabilitation glove and use method and life assisting method thereof Download PDFInfo
- Publication number
- CN114533497B CN114533497B CN202210447390.1A CN202210447390A CN114533497B CN 114533497 B CN114533497 B CN 114533497B CN 202210447390 A CN202210447390 A CN 202210447390A CN 114533497 B CN114533497 B CN 114533497B
- Authority
- CN
- China
- Prior art keywords
- finger
- driving piece
- base
- driving
- shape memory
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title abstract description 32
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims abstract description 68
- 238000005452 bending Methods 0.000 claims abstract description 37
- 230000017525 heat dissipation Effects 0.000 claims description 22
- 238000009413 insulation Methods 0.000 claims description 13
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 3
- 238000000926 separation method Methods 0.000 claims 2
- 230000008901 benefit Effects 0.000 abstract description 5
- 230000003993 interaction Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 210000003811 finger Anatomy 0.000 description 204
- 238000012549 training Methods 0.000 description 56
- 230000033001 locomotion Effects 0.000 description 33
- 230000005057 finger movement Effects 0.000 description 24
- 210000003205 muscle Anatomy 0.000 description 21
- 230000000694 effects Effects 0.000 description 13
- 238000001514 detection method Methods 0.000 description 12
- 210000003813 thumb Anatomy 0.000 description 10
- 230000009471 action Effects 0.000 description 9
- 230000009286 beneficial effect Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 7
- 238000005192 partition Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000011084 recovery Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 6
- 230000004064 dysfunction Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 244000060701 Kaempferia pandurata Species 0.000 description 4
- 235000016390 Uvaria chamae Nutrition 0.000 description 4
- 208000014674 injury Diseases 0.000 description 4
- 241000203475 Neopanax arboreus Species 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000002708 enhancing effect Effects 0.000 description 3
- 210000004932 little finger Anatomy 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010010356 Congenital anomaly Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000003183 myoelectrical effect Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/369—Electroencephalography [EEG]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F7/00—Heating or cooling appliances for medical or therapeutic treatment of the human body
- A61F7/007—Heating or cooling appliances for medical or therapeutic treatment of the human body characterised by electric heating
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F7/00—Heating or cooling appliances for medical or therapeutic treatment of the human body
- A61F2007/0001—Body part
- A61F2007/0029—Arm or parts thereof
- A61F2007/0036—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F7/00—Heating or cooling appliances for medical or therapeutic treatment of the human body
- A61F2007/0001—Body part
- A61F2007/0029—Arm or parts thereof
- A61F2007/0037—Finger
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/02—Characteristics of apparatus not provided for in the preceding codes heated or cooled
- A61H2201/0207—Characteristics of apparatus not provided for in the preceding codes heated or cooled heated
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/10—Characteristics of apparatus not provided for in the preceding codes with further special therapeutic means, e.g. electrotherapy, magneto therapy or radiation therapy, chromo therapy, infrared or ultraviolet therapy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/10—Electroencephalographic signals
- A61H2230/105—Electroencephalographic signals used as a control parameter for the apparatus
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/50—Temperature
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Physics & Mathematics (AREA)
- Pathology (AREA)
- Biophysics (AREA)
- Vascular Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Psychiatry (AREA)
- Psychology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Rehabilitation Tools (AREA)
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
Technical Field
The invention relates to the technical field of hand function rehabilitation equipment, in particular to a flexible rehabilitation glove and a use method and a life assisting method thereof.
Background
At present, more and more patients with hand dysfunction caused by cerebral apoplexy, trauma or congenital disability annually, and along with the development of technology, rehabilitation treatment means have been transited from manual auxiliary training to machine auxiliary rehabilitation, which greatly reduces the rehabilitation cost and has higher rehabilitation efficiency.
There are multiple types of rehabilitation gloves on the market at present, and the rigid rehabilitation glove generally adopts motor drive, and control accuracy is high, but requires to have higher degree of matching with patient's finger, and the quality is great, causes secondary injury to the patient easily, and rehabilitation effect is not good enough. The flexible rehabilitation glove has strong adaptability, the main driving mode of the flexible rehabilitation glove comprises gas driving and shape memory alloy spring driving, the flexible rehabilitation glove adopting gas driving has complex driving structure and large volume, the sensing and sensing capabilities are not enough, the controllability is poor, the flexible rehabilitation glove is not convenient to carry, and the working scene of the rehabilitation glove is greatly limited. In the flexible rehabilitation glove driven by the shape memory alloy springs, ten groups of shape memory alloy springs are arranged, wherein every two groups of shape memory alloy springs form a matched group, two groups of shape memory alloy springs in each matched group are respectively arranged into a bent finger spring and an extended finger spring, five finger sleeves of the flexible rehabilitation glove are respectively matched with different matched groups, each finger sleeve is provided with a bent finger stay and an extended finger stay, the bent finger springs are connected with the bent finger stay, and the extended finger springs are connected with the extended finger stay. However, the flexible rehabilitation glove with the structure can enable the opposing force between the bending finger spring and the stretching finger spring to be directly transmitted to the bending finger pulling line and the stretching finger pulling line, so that the bending finger pulling line and the stretching finger pulling line are always tightened to squeeze the fingers of a patient, discomfort of the fingers of the patient is caused, and even secondary injury is caused to the fingers of the patient.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: provides a novel flexible rehabilitation glove comfortable to use, a use method and a life assisting method thereof.
In order to solve the technical problems, the first technical scheme adopted by the invention is as follows: the flexible rehabilitation glove comprises a base, a glove and a main control assembly, wherein the base is connected with the glove, the main control assembly is arranged on the base, the glove comprises a palm sleeve and a finger sleeve which are connected with each other, an extending finger pull wire and a bending finger pull wire are arranged on the finger sleeve, a first driving piece connected with the extending 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 springs are 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 of the driving pull wire 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.
In order to solve the technical problems, the second technical scheme adopted by the invention is as follows: the application method of the flexible rehabilitation glove is based on the flexible rehabilitation glove and comprises the following steps,
Setting a training mode;
generating an expected value of finger movement of the training mode;
acquiring an actual motion state of a finger;
training is carried out according to a set training mode.
In order to solve the technical problems, the third technical scheme adopted by the invention is as follows: the life assisting method is based on the flexible rehabilitation glove, the base of the flexible rehabilitation glove is also provided with an intention recognition component which is electrically connected with the main control component, and comprises the following steps,
acquiring the exercise intention of a patient;
generating a finger movement command for driving the patient;
acquiring an actual motion state of a finger;
performing life assistance according to the exercise instructions;
the system protects or repeats the above steps.
The invention has the beneficial effects that:
compared with the traditional recovery glove which adopts an air cylinder/power push rod as a driving piece, the flexible recovery glove adopts the shape memory alloy spring as the driving piece, has the advantages of simple structure, light weight, smaller volume and portability, can reduce the failure probability of the flexible recovery glove, and is beneficial to enhancing the use experience of patients.
The first driving piece and the second driving piece which are made of the shape memory alloy spring are connected through the driving stay wire, the driving stay wire is wound around the fulcrum part of the base, when the first elastic piece/the second elastic piece is contracted through current, the driving stay wire can effectively transmit the output force between the first driving piece and the second driving piece, the situation that the opposite force between the first driving piece and the second driving piece is transmitted to the finger stay wire, and the driving precision of the driving piece is influenced to cause the rehabilitation effect and the training effect to be less than expected is avoided; more importantly, the setting of drive acting as go-between can ensure that the extension finger acts as go-between and crooked finger act as go-between can not be in the state of exerting pulling force simultaneously to guarantee that the dactylotheca can not follow patient's finger two sides simultaneously handle the finger and lead to the fact the extrusion to the finger, improved the travelling comfort that the patient wore greatly.
Drawings
FIG. 1 is a schematic view of a flexible rehabilitation glove according to an embodiment of the present invention;
FIG. 2 is a schematic view of a flexible rehabilitation glove according to an embodiment of the present invention from another perspective;
FIG. 3 is a schematic structural view of a portion of a flexible rehabilitation glove according to an embodiment of the present invention;
FIG. 4 is a schematic view of a portion of the structure shown in FIG. 3;
FIG. 5 is a top view of a Hall sensor assembly in a flexible rehabilitation glove of an embodiment of the present invention;
FIG. 6 is a step diagram of a method of using a flexible rehabilitation glove according to a second embodiment of the present invention;
FIG. 7 is a step diagram of a method of using a flexible rehabilitation glove according to a third embodiment of the present invention;
fig. 8 is a step diagram of a life support method according to a fourth embodiment of the present invention.
Description of the reference numerals:
1. a base; 11. a fulcrum portion; 12. an arm fixing seat; 121. a first strap; 13. a heat insulating plate; 131. a partition plate; 14. a transmission seat; 141. a first perforation; 142. a second perforation; 143. a second strap; 15. a cover plate; 151. a heat radiation hole; 152. a heat dissipation assembly; 153. a mounting groove; 16. a fixing belt; 161. a battery;
2. a master control assembly;
31. a palm sleeve; 311. a upper beam-shaped boss; 312. a lower beam-shaped boss; 32. a finger stall; 321. a pull-up line boss; 322. a pull-down line boss; 323. joint folds; 324. a third strap; 331. stretching the finger hose; 332. bending the finger hose;
41. Stretching the finger pull wire; 42. bending the finger pull line; 43. a first driving member; 44. a second driving member; 45. driving the stay wire; 46. stretching the finger to enlarge the stay wire; 47. bending the finger to enlarge the stay wire;
5. a hall sensor assembly; 51. a housing; 52. a magnet pull wire; 53. a magnetic block; 54. a first linear hall sensor; 55. and a second linear hall sensor.
Detailed Description
In order to describe the technical contents, the achieved objects and effects of the present invention in detail, the following description will be made with reference to the embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 to 8, a flexible rehabilitation glove comprises a base 1, a glove and a main control assembly 2 arranged on the base 1, wherein the base 1 is connected with the glove, the glove comprises a palm sleeve 31 and a finger sleeve 32 which are connected with each other, an extending finger pull wire 41 and a bending finger pull wire 42 are arranged on the finger sleeve 32, a first driving piece 43 for connecting the extending finger pull wire 41 and a second driving piece 44 for connecting the bending finger pull wire 42 are arranged on the base 1, the first driving piece 43 and the second driving piece 44 are respectively a shape memory alloy spring, the shape memory alloy springs are electrically connected with the main control assembly 2, a fulcrum part 11 is arranged on the base 1, the glove further comprises a driving pull wire 45, one end of the driving pull wire 45 is connected with the first driving piece 43, and the other end bypasses the fulcrum part 11 and is connected with the second driving piece 44; the glove is respectively provided with a Hall sensor component 5 which is electrically connected with the main control component 2 corresponding to the joints of the human hand.
From the above description, the beneficial effects of the invention are as follows: the flexible recovery glove adopts the shape memory alloy spring as a driving piece, has a simple structure and light weight, can ensure that the flexible recovery glove is smaller and more portable, can reduce the failure probability of the flexible recovery glove, and is beneficial to enhancing the use experience of patients. During the bending and stretching processes of the fingers of the patient, the finger sleeve 32 can not squeeze the fingers of the patient, so that the wearing comfort of the patient is effectively improved.
Further, the device further comprises an extended finger amplifying pull line 46 and a bent finger amplifying pull line 47, wherein the extended finger pull line 41 and the bent finger pull line 42 are respectively in a closed loop structure, one end of the extended finger amplifying pull line 46 is fixed on the base 1, and the other end of the extended finger amplifying pull line 46 penetrates through the closed loop structure formed by the extended finger pull line 41 and then is connected with the first driving piece 43; one end of the bent finger amplifying cord 47 is fixed on the base 1, and the other end of the bent finger amplifying cord 47 penetrates through the closed loop structure formed by the bent finger cord 42 and then is connected with the second driving member 44.
As can be seen from the above description, the elastic member, the amplifying pull wire and the finger pull wire with the closed loop structure can form a movable pulley block effect, so that the elastic member can transmit a larger force to the fingers to assist/train the fingers to bend and stretch, and the application scene of the flexible rehabilitation glove is expanded.
Further, the base 1 is provided with a fixing strap 16, and the fixing strap 16 is provided with a battery 161 electrically connected with the main control assembly 2.
As can be seen from the above description, the battery 161 is configured to supply power to the power-consuming components, and the flexible rehabilitation glove is self-powered, so that the flexible rehabilitation glove can achieve long-time cruising, and the patient can wear the flexible rehabilitation glove to enter and exit the environment without external power supply, thereby overcoming the space limitation of the patient when using the flexible rehabilitation glove.
Further, a pressure sensor electrically connected to the main control assembly 2 is disposed at the tip of the finger stall 32.
Further, the base 1 includes a heat insulation board 13, the first driving member 43 and the second driving member 44 are both disposed on the same side of the heat insulation board 13, a partition board 131 is disposed on the heat insulation board 13, and the partition board 131 is disposed between any two adjacent shape memory alloy springs.
As can be seen from the above description, the presence of the heat insulation plate 13 can reduce or even avoid the heat generated by the electric 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 arm of the patient, which is beneficial to further improving the use experience of the patient. The first driving piece 43 and the second driving piece 44 are arranged on the same side of the heat insulation plate 13, so that the heat insulation plate is more convenient for a patient to wear. The main control component 2 is used for carrying out power supply on-off management on the shape memory alloy springs so as to realize the expansion and contraction of the shape memory alloy springs, and as the shape memory alloy springs are powered by converting electric energy into heat energy to realize the expansion and contraction, when the shape memory alloy springs are heated, the partition plate 131 can separate two adjacent shape memory alloy springs, thereby effectively preventing the two adjacent shape memory alloy springs from forming mutual interference with each other and being beneficial to ensuring the working stability of the flexible rehabilitation glove.
Further, the base 1 further includes a cover plate 15 for shielding the shape memory alloy spring, and a temperature sensor for monitoring the temperature of the shape memory alloy spring is disposed on the cover plate 15, and the temperature sensor is electrically connected with the main control assembly 2.
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 data to the main control assembly 2, and when the temperature is overheated, the main control assembly 2 in the flexible rehabilitation glove can perform overheat protection to prevent accidents.
Further, the cover plate 15 is provided with a heat dissipation hole 151 and/or a heat dissipation component 152.
As can be seen from the above description, the heat dissipation holes 151 and/or the heat dissipation components 152 can improve the heat dissipation performance of the flexible rehabilitation glove, so that the flexible rehabilitation glove can stably work 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, and the other end of the driving wire 45 sequentially passes through the first through hole 141 and the second through hole 142 and then is connected with the second driving member 44.
As is clear from the above description, the fulcrum portion 11 of the base 1 is formed in a simple manner, and is easy to manufacture.
Further, the base 1 is further provided with an intention recognition component electrically connected with the main control component 2.
From the above description, the intention recognition component can recognize the intention of the patient, so that the flexible rehabilitation glove not only can assist the patient in finger rehabilitation training, but also can assist the patient in life, and the flexible rehabilitation glove realizes multiple functions.
The application method of the flexible rehabilitation glove is based on the flexible rehabilitation glove and comprises the following steps,
setting a training mode;
generating an expected value of finger movement of the training mode;
acquiring an actual motion state of a finger;
training is carried out according to a set training mode.
The life assisting method is based on the flexible rehabilitation glove, the base 1 of the flexible rehabilitation glove is also provided with an intention recognition component which is electrically connected with the main control component 2, and comprises the following steps,
acquiring the exercise intention of a patient;
generating a finger movement command for driving the patient;
acquiring an actual motion state of a finger;
performing life assistance according to the exercise instructions;
the system protects or repeats the above steps.
Example 1
Referring to fig. 1 to 5, a first embodiment of the present invention is as follows: the flexible rehabilitation glove can be manufactured by adopting a 3d printing or pouring method, and has excellent bionic effect by simulating muscle and tendon tissues of a human hand. The portable hand functional rehabilitation device has the advantages of simple structure, safety, reliability, high portability, strong functionality, strong man-machine interaction capability, easiness in manufacturing and the like, and has wide application prospect as a hand functional rehabilitation device and a life auxiliary device for patients with hand dysfunction.
Referring to fig. 1 to 4, the flexible rehabilitation glove comprises a base 1, a glove and a main control assembly 2 arranged on the base 1, wherein the base 1 is connected with the glove, the glove comprises a palm sleeve 31 and a finger sleeve 32 which are connected with each other, the palm sleeve 31 and the finger sleeve 32 are preferably manufactured by casting, the finger sleeve 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 piece 43 connected with the stretching finger pull wire 41 and a second driving piece 44 connected with the bending finger pull wire 42, the first driving piece 43 and the second driving piece 44 are respectively a shape memory alloy spring, the shape memory alloy spring is electrically connected with the main control assembly 2, the base 1 is provided with a fulcrum part 11, and the flexible rehabilitation glove further comprises a driving pull wire 45, one end of the driving pull wire 45 is connected with the first driving piece 43, and the other end bypasses the fulcrum part 11 and is connected with the second driving piece 44; the glove is respectively provided with a Hall sensor component 5 which is electrically connected with the main control component 2 corresponding to the joints of the human hand.
Optionally, a pressure sensor electrically connected to the main control assembly 2 is disposed at a fingertip position of the finger cuff 32, and the pressure sensor is used for detecting a fingertip pressure value. Preferably, the pressure sensor is located on the front of the fingertip of the finger cuff 32.
Referring to fig. 1 and 3, specifically, the base 1 includes an arm fixing seat 12, a heat insulation board 13, and a transmission seat 14, which are sequentially connected and fixed, five groups of first driving members 43 and five groups of second driving members 44 are fixedly arranged on the arm fixing seat 12, the five groups of first driving members 43 and the five groups of second driving members 44 are in one-to-one correspondence, and five groups of driving assemblies are formed in a conformal manner so as to be in one-to-one correspondence with the five finger cots 32 respectively. Each shape memory alloy spring is symmetrically folded, and two ends of each shape memory alloy spring are respectively fixed on the arm fixing seat 12; five first through holes 141 and five second through holes 142 are formed in the base 1, and the fulcrum portions 11 are formed between the first through holes 141 and the second through holes 142, that is, five fulcrum portions 11 are formed in the base 1 to correspond to the five driving wires 45, respectively. In detail, the other end of the driving wire 45 sequentially passes through the first through hole 141 and the second through hole 142 and then is connected with the second driving member 44, and optionally, the connection between the driving wire 45 and the first driving member 43 is located at the folded position of the first driving member 43, and the connection between the driving 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 disposed corresponding to the first driving member 43, and the second through hole 142 is disposed corresponding to the second driving member 44, so that the driving wire 45 can be driven more smoothly, and more preferably, the transition between the supporting point 11 and the first through hole 141 and the transition between the supporting point 11 and the second through hole 142 are provided with cambered surfaces, so that the end of the first through hole 141 and the end of the second through hole 142 can be effectively prevented from scratching the driving wire 45, which is beneficial to ensuring the service life of the driving wire 45.
The main control component 2 is used for controlling the power supply on-off of the shape memory alloy spring, and when the shape memory alloy spring is electrified, the shape memory alloy spring can shrink. When the first driving piece 43 is electrified to shrink, the driving pull wire 45 directly drives the second driving piece 44 to stretch, and the interaction force between the first driving piece 43 and the second driving piece 44 is not transmitted to the bending finger pull wire 42 and the stretching finger pull wire 41, so that the bending finger pull wire 42 and the stretching finger pull wire 41 are not in a state of being simultaneously stretched at any time, the finger stall 32 is ensured not to excessively press the fingers of a patient, and the comfort of wearing of the patient is improved.
In this embodiment, ten sets of engaging holes are provided on the arm fixing base 12, each set of engaging holes has two engaging holes, and two ends of the shape memory alloy spring are engaged in one set of engaging holes through an aluminum buckle, so that the shape memory alloy spring can be well fixed on the arm fixing base 12. Of course, it is also possible that the shape memory alloy spring is fixed to the arm fixing base 12 by other fixing means. It should be noted that, in other embodiments, the shape memory alloy spring may be asymmetrically folded, where one end of the shape memory alloy spring is fixed on the arm fixing base 12 and the other end is connected to the stretching finger pull line 41 or the bending finger pull line 42.
Optionally, the supporting point 11 is disposed on the transmission seat 14, that is, the first through hole 141 and the second through hole 142 are disposed on the transmission seat 14.
For the convenience of patient's use, let the patient can be comfortable place the arm on the desktop, simultaneously, guarantee the ventilation effect of flexible rehabilitation gloves, preferably, first driving piece 43 with second driving piece 44 all locates the same side of heat insulating board 13, the patient is in use, and the heat insulating board 13 is kept away from the side of first driving piece 43 is close to patient's arm.
Further, the heat insulation plate 13 is provided with a partition plate 131, and the partition plate 131 is arranged between any two adjacent shape memory alloy springs. Since the first driving members 43 and the second driving members 44 on the base 1 are alternately arranged in order in this embodiment, the partition plate 131 is disposed between the adjacent first driving members 43 and second driving members 44.
In order to improve the use safety of the flexible rehabilitation glove and ensure the working stability of the flexible rehabilitation glove, the base 1 further comprises a cover plate 15 for shielding the shape memory alloy spring, the cover plate 15 is connected with at least one of the arm fixing seat 12, the heat insulation plate 13 and the transmission seat 14, that is, a cavity is formed in the base 1, and the first driving piece 43 and the second driving piece 44 are both positioned in the cavity, so that the shape memory alloy spring cannot be touched from the outside when the cover plate 15 is not detached.
In this embodiment, a temperature sensor for monitoring the temperature of the shape memory alloy spring is disposed on the cover 15, and the temperature sensor is electrically connected with the main control assembly 2. Specifically, the five sets of the first driving members 43 and the five sets of the second driving members 44 respectively correspond to the different temperature sensors, so that the master control assembly 2 can more accurately collect the temperature data of the shape memory alloy springs in each set. It will be readily appreciated that in other embodiments, the temperature sensor may be provided on other components (e.g., the heat shield 13, the arm mount 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, and when the temperature value measured by the temperature sensor is larger than a set temperature threshold value, the main control component 2 immediately cuts off the power on of the shape memory alloy spring, and the flexible rehabilitation glove enters a protection state.
In order to improve the heat dissipation performance of the flexible rehabilitation glove, 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 the heat dissipation holes 151 and the heat dissipation components 152, and the heat dissipation components 152 are heat dissipation fans. Specifically, the heat dissipating fan is electrically connected to the main control assembly 2 as the heat dissipating assembly 152, and when the temperature sensor detects that the temperature of the shape memory alloy spring exceeds the heat dissipating preset value, the heat dissipating fan is started to dissipate heat and cool the shape memory alloy spring. More specifically, the heat dissipation holes 151 are disposed near one end of the cover plate 15, the heat dissipation fan is disposed near the other end of the cover plate 15, in this embodiment, ten heat dissipation holes 151 are disposed on the cover plate 15, and ten heat dissipation holes 151 are disposed in one-to-one correspondence with ten groups of shape memory alloy springs. In other embodiments, the heat dissipation assembly 152 may also select a fluid heat dissipation device, such as a liquid cooling device, etc.; it is easy to understand that only one of the heat dissipation holes 151 and the heat dissipation assembly 152 may be provided on the cover 15.
Referring to fig. 1 and 2, the arm fixing base 12 is provided with a first strap 121 for adjusting tightness, the transmission base 14 is provided with a second strap 143 for adjusting tightness, and the patient can fix the base 1 of the flexible rehabilitation glove on the arm by using the first strap 121 and the second strap 143.
Optionally, the base 1 is provided with a fixing belt 16, the fixing belt 16 is provided with a battery 161 electrically connected with the main control assembly 2, the fixing belt 16 is located between the arm fixing seat 12 and the transmission seat 14, the fixing belt 16 can provide mounting positions for a large number of batteries 161, which is beneficial to prolonging the cruising ability of the flexible rehabilitation glove, wherein a plurality of batteries 161 can be serially connected into a plurality of groups or a group according to different requirements, and a plurality of groups or a group of batteries can be parallelly arranged. As a preferred embodiment, the fixing band 16 is made of a breathable material, such as knitted fabric, so that the breathability of the flexible rehabilitation glove can be effectively enhanced, thereby improving the wearing comfort of the flexible rehabilitation glove. When the first strap 121 and the second strap 143 are respectively velcro, the fixing strap 16 may be directly connected and fixed to the first strap 121 and the second strap 143; of course, it is also possible that one side of the fixing strap 16 is fixed on the base 1, and the other opposite side of the fixing strap 16 is detachably connected to the base 1, or it is also possible that the opposite sides of the fixing strap 16 are detachably connected to the base 1. It should be noted that, in other embodiments, it is also possible to not provide the fixing belt 16, and in this case, the battery 161 may be directly provided on the base 1 (e.g., the heat insulation board 13). Alternatively, a structure for mounting and fixing the battery 161 is not a belt structure, and it is also possible to use a mounting plate or an additional battery 161 package to fix the battery 161, for example.
As a preferred embodiment, the main control assembly 2 is provided on the cover plate 15. Specifically, the cover plate 15 is provided with a mounting groove 153, the main control assembly 2 is arranged in the mounting groove 153, preferably, a touch display module is arranged at the opening of the mounting groove 153, the touch display module is electrically connected with the main control assembly 2, and a patient can operate the flexible rehabilitation glove through the touch display module. Or, the opening of the mounting groove 153 is provided with a sealing plate, the sealing plate is provided with a control key electrically connected with the main control assembly 2, and the patient can operate the flexible rehabilitation glove through the control key, and the control key includes but is not limited to a button and a knob.
Optionally, the base 1 is further provided with an intention recognition component electrically connected with the main control component 2, in this embodiment, the intention recognition component is disposed in the mounting groove 153, and the intention recognition component is used for recognizing an intention of a patient, so that the flexible rehabilitation glove can effectively perform man-machine interaction with the patient, and further achieve the purpose of assisting the life of the patient. Specifically, the base 1 is further provided with a signal conversion component electrically connected with the intention recognition component, an input end of the signal conversion component is connected with the intention recognition component, and an output end of the signal conversion component is connected with the main control component 2. The intention recognition component is used for acquiring the movement intention of the patient, and the intention recognition component is an ultrasonic detection intention recognition system, an electromyographic detection intention recognition system, an electroencephalogram detection intention recognition system, a sound control detection intention recognition system or a skin pressure detection intention recognition system, and it should be noted that the intention recognition component comprises but is not limited to the above-mentioned several intention recognition systems, and meanwhile, the intention recognition component can also be a combination arrangement of various intention recognition systems. The signal conversion component can convert the human body biological signals into electric signals and send the electric signals to the main control component 2 to generate instructions for driving the fingers of the patient to move so as to control the flexible rehabilitation glove to act.
Referring to fig. 3 and 4, further, the flexible rehabilitation glove further includes an extended finger amplifying pull wire 46 and a bent finger amplifying pull wire 47, wherein the extended finger pull wire 41 and the bent finger pull wire 42 are respectively in a closed loop structure, one end of the extended finger amplifying pull wire 46 is fixed on the base 1, and the other end of the extended finger amplifying pull wire 46 penetrates through the closed loop structure formed by the extended finger pull wire 41 and then is connected with the first driving member 43; one end of the bent finger amplifying cord 47 is fixed on the base 1, and the other end of the bent finger amplifying cord 47 penetrates through the closed loop structure formed by the bent finger cord 42 and then is connected with the second driving member 44. The stretching finger amplifying stay 46, the base 1, the first driving piece 43 and the stretching finger stay 41 form a movable pulley block effect, and the output tension of the first driving piece 43 can be amplified; the bending finger amplifying pull wire 47, the base 1, the second driving member 44 and the bending finger pull wire 42 can also form a movable pulley block effect, and the output tension of the second driving member 44 can be amplified, so that the training effect and the life auxiliary effect of the flexible rehabilitation glove can be effectively improved. As a preferred embodiment, the end of the extended finger amplifying cord 46 not fixed to the base 1 passes through the first through hole 141 and is connected to the first driving member 43; the end of the bent finger-amplifying cord 47, which is not fixed to the base 1, passes through the second through hole 142 and is connected to the second driving member 44. Alternatively, one end of the extended finger amplifying wire 46 may be fixed to the base 1 by a fixing clip, and similarly, one end of the bent finger amplifying wire 47 may be fixed to the base 1 by a fixing clip.
A plurality of hollow pull-up wire bosses 321 are respectively arranged on two sides of the back surface of the fingerstall 32, one end of the extended finger pull wire 41 sequentially penetrates through the plurality of pull-up wire bosses 321 on one side of the back surface of the fingerstall 32 from a finger root, penetrates through the pull-up wire bosses 321 on the other side close to the fingertips at the fingertips, sequentially penetrates through the other pull-up wire bosses 321 on the other side towards the direction close to the finger root, and then is connected with the other end of the extended finger pull wire 41 to form the closed loop structure; similarly, a plurality of hollow pull-down line bosses 322 are respectively disposed on two sides of the front surface of the fingerstall 32, one end of the bent finger pull line 42 sequentially passes through the plurality of pull-down line bosses 322 on one side of the front surface of the fingerstall 32 from the finger root, penetrates into the pull-down line bosses 322 on the other side near the fingertip at the fingertip, sequentially passes through the other pull-down line bosses 322 on the other side towards the direction near the finger root, and then is connected with the other end of the bent finger pull line 42 to form the closed loop structure.
As a preferred embodiment, the opening in the pull-down wire boss 322 through which the curved finger pull 42 passes is located away from the back of the fingerstall 32 so that the curved finger pull 42 can better apply force to the fingerstall 32 to assist in bending the patient's finger. In detail, at least one set of two oppositely disposed pull-down line bosses 322 are connected by a third strap 324, the third strap 324 being of adjustable tightness, the third strap 324 being configured to allow the finger cuff 32 to better fit the patient's finger.
Referring to fig. 1 and 2, an upper beam-shaped boss 311 and a lower beam-shaped boss 312 are disposed on the palm sleeve 31, beam-shaped through holes are respectively disposed on the upper beam-shaped boss 311 and the lower beam-shaped boss 312, and optionally, the upper beam-shaped boss 311 is disposed on the back surface of the palm sleeve 31, the lower beam-shaped boss 312 is disposed on the front surface of the palm sleeve 31, in this embodiment, a partial region of the stretching finger pull wire 41 passes through the beam-shaped through holes of the upper beam-shaped boss 311 to the rear of the upper beam-shaped boss 311, and one end of the stretching finger amplifying pull wire 46, which is not fixed on the base 1, passes through the first through hole 141 to connect the first driving member 43 after penetrating into a closed loop structure formed by the stretching finger pull wire 41 at the rear of the upper beam-shaped boss 311; the partial area of the bent finger pull line 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 end of the bent finger pull line 47, which is not fixed on the base 1, passes through the closed loop structure formed by the bent finger pull line 42 at the rear of the lower beam-shaped boss 312, and then passes through the second through hole 142 to connect the second driving member 44.
In order to ensure the working stability of the flexible rehabilitation glove and prevent foreign objects from interfering with the amplifying wire/finger wire, it is preferable that the flexible rehabilitation glove further comprises an extending finger hose 331 and a bending finger hose 332, wherein one end of the extending finger hose 331 is inserted into the first through hole 141, the other end of the extending finger hose 331 is inserted into the beam-shaped through hole of the upper beam-shaped boss 311, and both a partial area of the extending finger amplifying wire 46 and a partial area of the extending finger wire 41 are located in the extending finger hose 331; one end of the bent finger tube 332 is inserted into the second through hole 142, the other end of the bent finger tube 332 is inserted into the bundle-shaped through hole of the lower bundle-shaped boss 312, and both the partial region of the bent finger enlarged string 47 and the partial region of the bent finger string 42 are located in the bent finger tube 332.
The glove is provided with joint folds 323 corresponding to the joints of the human hand, and of course, the joint folds 323 are not required to be arranged at the joints of the finger sleeve 32 corresponding to the thumb and the palm sleeve 31 because the bending degree of the joints of the thumb and the palm is not too great.
Referring to fig. 1 and 5, the hall sensor assembly 5 includes a housing 51, a magnet pull wire 52, a magnetic block 53, a reset member, a first linear hall sensor 54 and a second linear hall sensor 55, where the reset member includes, but is not limited to, a tension spring, a silica gel body, etc., the first linear hall sensor 54 and the second linear hall sensor 55 are respectively disposed in the housing 51, and the first linear hall sensor 54 is disposed near one end of the housing 51, the second linear hall sensor 55 is disposed near the other end of the housing 51, the magnetic block 53 is slidably disposed in the housing 51, the reset member connects the magnetic block 53 with the housing 51 to drive the magnetic block 53 to reset toward a direction near the palm sleeve 31, one end of the magnet pull wire 52 is connected with the magnetic block 53, and the other end of the magnet pull wire 52 extends out of the housing 51, and after the hall sensor assembly 5 is mounted on the glove, the housing 51 of the hall sensor assembly 5 is fixedly disposed near one side of the finger sleeve 32 corresponding to the finger sleeve 32, and the other end of the magnet pull wire 52 is connected with the finger sleeve 32 corresponding to the other side of the finger sleeve 32. When the finger sleeve 32 is provided with the joint fold 323 at a position corresponding to a joint of a human hand, the joint fold 323 is provided with a wire hole for the magnet stay wire 52 to pass through, and at this time, optionally, the other end of the magnet stay wire 52 may be fixed on a fold of the joint fold 323 far away from the palm sleeve 31, and the fixing manner includes, but is not limited to, adhesive connection, binding connection, and the like. The hall sensor assembly 5 is provided with a bilinear hall sensor, ensures that the bending degree of fingers is in the measuring range of the hall sensor assembly 5, is favorable for ensuring the sensing precision of the hall sensor assembly 5, and in addition, the magnet stay wire 52 in the hall sensor assembly 5 is independent of the extending finger stay wire 41/bending finger stay wire 42, so that the interference can be reduced, the sensing precision of the hall sensor assembly 5 can be further improved, and the flexible rehabilitation glove can realize more accurate motion control.
Although the hall sensor assembly 5 in the present embodiment has a bilinear hall sensor, this does not indicate that the hall sensor assembly 5 must have the above-described structure, and the purpose of the hall sensor assembly 5 in the present embodiment is to expand the range. In other embodiments, the hall sensor assembly 5 may have only one linear hall sensor, because the bending range of the third joint of the thumb or the finger joint of the child is not too large, and the detection range of one linear hall sensor is enough to cover the bending range of the third joint of the thumb, so that the cost advantage and the small volume advantage of the hall sensor assembly 5 formed by the single linear hall sensor are obvious. Moreover, when the detection range of a single hall sensor itself is sufficiently large, the hall sensor assembly 5 may have only one hall sensor at this time.
Example two
Referring to fig. 1 to 6, a second embodiment of the present invention is as follows: the application method of the flexible rehabilitation glove, in particular to a functional training method for accurate hand movement of the flexible rehabilitation glove based on the embodiment one, comprises the following steps,
s101, setting a rehabilitation training mode;
S102, generating expected values of finger movements of the rehabilitation training modes;
s103, acquiring an actual motion state of the finger;
s104, performing hand function rehabilitation exercise training according to a set rehabilitation training mode;
s105, system protection or repeating 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 velocity training mode or a combination of both training modes. The finger movement position training mode comprises fist-making movement position training, thumb adduction abduction movement position training, five-finger sequential movement position training and finger opposite movement position training between the thumb and the index finger, the middle finger, the ring finger and the little finger. The finger movement speed training mode comprises fist-making movement speed training, thumb adduction abduction movement speed training, five-finger sequential movement speed training and finger opposite movement speed training between the thumb and the index finger, the middle finger, the ring finger and the little finger. The finger movement position training mode and the finger movement speed training mode comprise the training actions but are not limited to the training actions.
In S102, the power supply and the main control unit 2 generate a desired value of the finger movement in the rehabilitation training mode.
In S103, the actual movement state of the finger is acquired by the hall sensor assembly 5. Specifically, when the finger moves, the change of the distance between the magnetic block 53 and the first linear hall sensor 54 and the second linear hall sensor 55 causes the change of the sum of the electric potentials output by the first linear hall sensor 54 and the second linear hall sensor 55, and the main control component 2 calculates the actual movement state of each finger according to the sum of the electric potentials output by the first linear hall sensor 54 and the second linear hall sensor 55.
In S104, the difference between the expected value of the finger movement and the actual movement state of the finger is calculated in real time through the main control component 2, and the shape memory alloy spring is controlled according to the difference to drive the finger to enlarge the stay wire, and the finger stay wire drives the finger to finish the hand function rehabilitation training set in S101.
In S105, the temperature sensor detects and feeds back the temperature of the shape memory alloy spring in real time, and when the temperature value measured by the temperature sensor is greater than a set temperature threshold value or the hall sensor assembly 5 detects that the finger bending angle is greater than the threshold value, the shape memory alloy spring immediately stops driving, and the system enters a protection state. Or repeating the above process to execute the next action. The temperature threshold can be set according to the temperature of the shape memory alloy spring when the shape memory alloy spring works, and the threshold of the finger bending angle is an angle range which can be reached by finger movement.
Example III
Referring to fig. 1 to 5 and 7, a third embodiment of the present invention is as follows: the application method of the flexible rehabilitation glove, in particular to an intelligent rehabilitation training method for compensating finger muscle strength of the hand of the flexible rehabilitation glove based on the embodiment one, which comprises the following steps,
s201, setting a muscle strength rehabilitation training mode;
s202, generating expected values of finger movements in the rehabilitation training modes;
s203, acquiring an actual motion state of the finger;
s204, performing finger muscle force compensation rehabilitation exercise training according to a set finger muscle force rehabilitation training mode;
s205, system protection or repeating the above process.
In S201, the finger muscle strength rehabilitation training mode includes fist movement finger muscle strength compensation training, thumb adduction abduction movement finger muscle strength compensation training, five-finger sequential movement finger muscle strength compensation training and single training or multiple training combinations of finger movement finger muscle strength compensation training between thumb and index finger, middle finger, ring finger and little finger, and finger muscle strength compensation rehabilitation training actions of each finger include but are not limited to the above finger muscle strength compensation rehabilitation training actions, 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 each finger muscle force compensation mode is the preferred finger muscle force compensation mode of the invention, the invention can analyze according to various special demands of different patients, and carry out the combination setting or single setting of a plurality of finger muscle force compensation modes.
In S202, the main control component 2 obtains the expected value of the finger movement according to the middle finger muscle force 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, including the actual finger bending angle and the actual fingertip pressure, is obtained by the hall sensor assembly 5 and the pressure sensor. When the finger moves, the change of the distance between the magnetic block 53 and the first linear hall sensor 54 and the second linear hall sensor 55 causes the change of the sum of the electric potentials output by the first linear hall sensor 54 and the second linear hall sensor 55, and the main control component 2 calculates the actual movement state of each finger according to the sum of the electric potentials output by the first linear hall sensor 54 and the second linear hall sensor 55. The pressure sensor is capable of detecting a fingertip pressure value.
In S204, the main control component 2 calculates the difference between the expected value of the finger movement in S202 and the actual movement state of the finger in S203, and controls the shape memory alloy spring to drive the finger to enlarge the pull wire, and the finger to pull the finger to drive the finger to complete the intelligent rehabilitation training of finger muscle force compensation set in S201.
In S205, the temperature sensor detects and feeds back the temperature of the shape memory alloy spring in real time, and when the temperature value measured by the temperature sensor is greater than the set temperature threshold value or the hall sensor assembly 5 detects that the finger bending angle is greater than the threshold value, the shape memory alloy spring immediately stops driving, and the system enters a protection state. Or repeating the above process to execute the next action. The temperature threshold can be set according to the temperature of the shape memory alloy spring when the shape memory alloy spring works, and the threshold of the finger bending angle is an angle range which can be reached by finger movement.
Example IV
Referring to fig. 1 to 5 and 8, a fourth embodiment of the invention is as follows: the life assisting method for the patients with hand dysfunction is based on the flexible rehabilitation glove of the first embodiment, and comprises the following steps,
s301, acquiring the exercise intention of a patient;
s302, generating a finger movement instruction for driving a patient;
s303, acquiring an actual motion state of a finger;
s304, performing life assistance according to the movement instruction in S302;
s305, system protection or repeating the above process.
In S301, the patient movement intention is acquired by an intention recognition component including, but not limited to, ultrasonic, electromyographic, electroencephalographic, acoustic control, and skin pressure intention recognition. Specifically, according to different patient's disease degree, the ultrasonic detection intention recognition, the myoelectric detection intention recognition, the electroencephalogram detection intention recognition, the sound control detection intention recognition and the skin pressure detection intention recognition are the advance judgment of the action which the patient wants to make, so that the flexible rehabilitation glove is further controlled, and the intention recognition modes are the preferable intention recognition modes of the invention, and the invention can analyze according to various special requirements of different patients and carry out the combined setting or single setting of the modes of various intention recognition.
In S302, the signal conversion component converts the human body biological signal into an electrical signal, and sends the electrical signal to the main control component 2 to generate a finger movement instruction for driving the patient. Because the biological signals are weak, the biological signals are converted into usable electric signals through pattern recognition by adding a machine learning algorithm into the signal conversion component.
In S303, the actual motion state of the finger, including the finger bending angle and the fingertip pressure value, is obtained by the hall sensor assembly 5 and the pressure sensor. When the finger moves, the change of the distance between the magnetic block 53 and the first linear Hall sensor 54 and the second linear Hall sensor 55 causes the change of the sum of the electric potentials output by the first linear Hall sensor 54 and the second linear Hall sensor 55, and the main control component 2 calculates the actual movement state of each finger according to the sum of the electric potentials output by the first linear Hall sensor 54 and the second linear Hall sensor 55. The pressure sensor is capable of detecting a fingertip pressure value.
In S304, the shape memory alloy spring receives the finger movement instruction in S302, and drives the finger to enlarge the stay wire and the finger to drive the finger to move according to the intention of the patient.
In S305, the temperature sensor detects and feeds back the temperature of the shape memory alloy spring in real time, and when the temperature value measured by the temperature sensor is greater than the set temperature threshold value or the hall sensor assembly 5 detects that the finger bending angle is greater than the threshold value, the shape memory alloy spring immediately stops driving, and the system enters a protection state. Or repeating the above process to execute the next action. The temperature threshold can be set according to the temperature of the shape memory alloy spring during operation, and the finger bending angle threshold is an angle range which can be reached by finger movement.
In summary, the flexible rehabilitation glove, the use method and the life assisting method thereof integrate multiple functions, not only can realize the multi-mode rehabilitation exercise of the hands of patients with hand dysfunction, but also can assist the daily activities of the patients, and combines the hand rehabilitation with the life of the patients, thereby enhancing the rehabilitation training effect, realizing rehabilitation in life and improving the rehabilitation efficiency; the flexible rehabilitation glove can exert subjective motility of patients with hand dysfunction to the greatest extent, and compensates finger muscle forces with different magnitudes according to hand movement characteristics of the patients in different recovery periods; the flexible rehabilitation glove can be made of flexible materials, has strong environmental adaptability, can avoid secondary injury to hands of patients, and is safe and reliable; the flexible rehabilitation glove can monitor the working states of the hand and equipment in real time, has an emergency stop mode, and has higher safety and reliability; the flexible rehabilitation glove has novel design, comfortable wearing, higher medical value, lower cost, mass production and easy industrialization.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent changes made by the specification and drawings of the present invention, or direct or indirect application in the relevant art, are included in the scope of the present invention.
Claims (6)
1. The utility model provides a flexible rehabilitation glove, includes continuous base, gloves and locates master control subassembly on the base, the gloves include continuous palm cover and dactylotheca, are equipped with on the dactylotheca and extend the finger and act as go-between with crooked finger, are equipped with the first driving piece that connects the extension finger and act as go-between and connect crooked finger on the base and act as go-between, and first driving piece and second driving piece are shape memory alloy spring respectively, shape memory alloy spring and master control subassembly electric connection, its characterized in that: the base is provided with a fulcrum part and also comprises a driving stay wire, one end of the driving stay 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 assembly which is electrically connected with the main control assembly corresponding to the joints of the human hand respectively; the stretching finger amplifying stay wire and the bending finger amplifying stay wire are respectively in a closed-loop structure, one end of the stretching finger amplifying stay wire is fixed on the base, and the other end of the stretching finger amplifying stay wire penetrates through the closed-loop structure formed by the stretching finger stay wire and then is connected with the first driving piece; one end of the bent finger amplifying stay wire is fixed on the base, and the other end of the bent finger amplifying stay wire penetrates through the closed loop structure formed by the bent finger stay wire and then is connected with the second driving piece; the base is provided with a first perforation and a second perforation, the fulcrum part is formed between the first perforation and the second perforation, the other end of the driving stay wire sequentially passes through the first perforation and the second perforation and then is connected with the second driving piece, and the transition part of the fulcrum part and the first perforation and the second perforation is provided with an arc surface; each shape memory alloy spring is symmetrically folded, and the joint of the driving stay wire and the shape memory alloy spring is positioned at the folded position of the shape memory alloy spring; when the first driving piece drives the fingerstall to extend, the whole shrinkage length of the first driving piece is equal to the whole extension length of the second driving piece, and the whole shrinkage speed of the first driving piece is equal to the whole extension speed of the second driving piece; when the second driving piece drives the fingerstall to bend, the whole shrinkage length of the second driving piece is equal to the whole extension length of the first driving piece, and the whole shrinkage speed of the second driving piece is equal to the whole extension speed of the first driving piece.
2. The flexible rehabilitation glove according to claim 1, wherein: and a pressure sensor electrically connected with the main control component is arranged at the fingertip of the fingerstall.
3. The flexible rehabilitation glove according to claim 1, wherein: the base comprises a heat insulation plate, the first driving piece and the second driving piece are arranged on the same side of the heat insulation plate, a separation plate is arranged on the heat insulation plate, and the separation plate is arranged between any two adjacent shape memory alloy springs.
4. A flexible rehabilitation glove according to claim 3, wherein: the base also comprises a cover plate for shielding the shape memory alloy spring, a temperature sensor for monitoring the temperature of the shape memory alloy spring is arranged on the cover plate, and the temperature sensor is electrically connected with the main control assembly.
5. The flexible rehabilitation glove according to claim 4, wherein: and the cover plate is provided with a heat dissipation assembly.
6. The flexible rehabilitation glove according to claim 1, wherein: the base is also provided with an intention recognition component which is electrically connected with the main control component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210447390.1A CN114533497B (en) | 2022-04-27 | 2022-04-27 | Flexible rehabilitation glove and use method and life assisting method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210447390.1A CN114533497B (en) | 2022-04-27 | 2022-04-27 | Flexible rehabilitation glove and use method and life assisting method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114533497A CN114533497A (en) | 2022-05-27 |
| CN114533497B true CN114533497B (en) | 2024-03-01 |
Family
ID=81666853
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210447390.1A Active CN114533497B (en) | 2022-04-27 | 2022-04-27 | Flexible rehabilitation glove and use method and life assisting method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114533497B (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004298573A (en) * | 2003-04-01 | 2004-10-28 | Sagaken Chiiki Sangyo Shien Center | Rehabilitation apparatus |
| JP2005073714A (en) * | 2003-08-29 | 2005-03-24 | Hitachi Medical Corp | Bending and stretching type arthrogryposis treatment device |
| JP2012249674A (en) * | 2011-05-31 | 2012-12-20 | Univ Of Electro-Communications | Finger extension exercise support device |
| WO2014045433A1 (en) * | 2012-09-24 | 2014-03-27 | Yamamoto Keijirou | Joint movement device |
| CN107224669A (en) * | 2017-05-24 | 2017-10-03 | 上海理工大学 | The control system of the submissive exoskeleton rehabilitation manipulator of adaptive Wearable |
| CN109009883A (en) * | 2018-09-20 | 2018-12-18 | 麦志邦 | A kind of Multifunctional hand device for healing and training |
| CN109833185A (en) * | 2017-11-29 | 2019-06-04 | 湖南能手科技有限公司 | A kind of stroke rehabilitation gloves |
| CN110063870A (en) * | 2018-01-24 | 2019-07-30 | 中国科学院沈阳自动化研究所 | A kind of flexible exoskeleton gloves apparatus |
| CN110270988A (en) * | 2019-07-17 | 2019-09-24 | 灭霸世纪机器人装备(湖北)有限公司 | A kind of reciprocating bidirectional driving apparatus of double memory spring tractions |
| CN211244403U (en) * | 2019-09-23 | 2020-08-14 | 深圳乐普智能医疗器械有限公司 | Rehabilitation manipulator |
| CN111685966A (en) * | 2019-10-15 | 2020-09-22 | 东北林业大学 | Finger motion function rehabilitation device driven by shape memory alloy wire |
| CN111700773A (en) * | 2020-06-30 | 2020-09-25 | 江苏理工学院 | Finger rehabilitation training device |
| CN112426328A (en) * | 2020-11-17 | 2021-03-02 | 中国科学技术大学 | Intelligent flexible hand function rehabilitation glove based on shape memory alloy |
| CN113520806A (en) * | 2021-08-20 | 2021-10-22 | 电子科技大学 | Bionic stretching integral multi-degree-of-freedom self-supporting flexible ankle joint wearing power assisting device |
| CN113730837A (en) * | 2021-08-26 | 2021-12-03 | 西安交通大学 | Rescue expanding device and method based on shape memory alloy |
-
2022
- 2022-04-27 CN CN202210447390.1A patent/CN114533497B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004298573A (en) * | 2003-04-01 | 2004-10-28 | Sagaken Chiiki Sangyo Shien Center | Rehabilitation apparatus |
| JP2005073714A (en) * | 2003-08-29 | 2005-03-24 | Hitachi Medical Corp | Bending and stretching type arthrogryposis treatment device |
| JP2012249674A (en) * | 2011-05-31 | 2012-12-20 | Univ Of Electro-Communications | Finger extension exercise support device |
| WO2014045433A1 (en) * | 2012-09-24 | 2014-03-27 | Yamamoto Keijirou | Joint movement device |
| CN107224669A (en) * | 2017-05-24 | 2017-10-03 | 上海理工大学 | The control system of the submissive exoskeleton rehabilitation manipulator of adaptive Wearable |
| CN109833185A (en) * | 2017-11-29 | 2019-06-04 | 湖南能手科技有限公司 | A kind of stroke rehabilitation gloves |
| CN110063870A (en) * | 2018-01-24 | 2019-07-30 | 中国科学院沈阳自动化研究所 | A kind of flexible exoskeleton gloves apparatus |
| CN109009883A (en) * | 2018-09-20 | 2018-12-18 | 麦志邦 | A kind of Multifunctional hand device for healing and training |
| CN110270988A (en) * | 2019-07-17 | 2019-09-24 | 灭霸世纪机器人装备(湖北)有限公司 | A kind of reciprocating bidirectional driving apparatus of double memory spring tractions |
| CN211244403U (en) * | 2019-09-23 | 2020-08-14 | 深圳乐普智能医疗器械有限公司 | Rehabilitation manipulator |
| CN111685966A (en) * | 2019-10-15 | 2020-09-22 | 东北林业大学 | Finger motion function rehabilitation device driven by shape memory alloy wire |
| CN111700773A (en) * | 2020-06-30 | 2020-09-25 | 江苏理工学院 | Finger rehabilitation training device |
| CN112426328A (en) * | 2020-11-17 | 2021-03-02 | 中国科学技术大学 | Intelligent flexible hand function rehabilitation glove based on shape memory alloy |
| CN113520806A (en) * | 2021-08-20 | 2021-10-22 | 电子科技大学 | Bionic stretching integral multi-degree-of-freedom self-supporting flexible ankle joint wearing power assisting device |
| CN113730837A (en) * | 2021-08-26 | 2021-12-03 | 西安交通大学 | Rescue expanding device and method based on shape memory alloy |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114533497A (en) | 2022-05-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109999429B (en) | Hand rehabilitation training system and training method | |
| CN105476822A (en) | Myoelectricity-controlled exoskeleton assistant robot | |
| CN108578173B (en) | Flexible upper limb assistance exoskeleton | |
| CN112426328B (en) | Intelligent flexible hand function rehabilitation glove based on shape memory alloy | |
| CN108014001B (en) | Flexible walking aid exoskeleton | |
| CN108927790B (en) | Power-assisted glove | |
| CN108186293B (en) | A kind of negative pressure shrinks the flexible knee joint ectoskeleton of elastomer driving | |
| EP3706702B1 (en) | Hand exoskeleton device | |
| CN105326629A (en) | Walking-assist robot adapting to adjustment and interaction | |
| CN109998866B (en) | Flexible wearable hand rehabilitation robot driven by memory alloy wires | |
| US20210196555A1 (en) | Wearable robot for assisting upper limb movement by using artificial muscle | |
| JP2020526244A (en) | Rehabilitation assistance hand with hand movement aids and aids | |
| WO2019203732A1 (en) | Wearable hand assistive device and system | |
| CN115399980B (en) | Wearable glove capable of inhibiting tremors and assisting grabbing and control method thereof | |
| CN211272064U (en) | Sensor device and finger joint rehabilitation glove | |
| CN109107082A (en) | A kind of intelligence assist exercise trousers | |
| CN114533497B (en) | Flexible rehabilitation glove and use method and life assisting method thereof | |
| CN113101139A (en) | Self-adaptive control hand exoskeleton rehabilitation device and method combining pressure sensor | |
| CN211512540U (en) | Concave-convex type resettable multi-section flexible rehabilitation glove | |
| CN205108273U (en) | Adaptation is adjusted and is assisted walking robot with interdynamic | |
| CN110478195A (en) | A kind of sensor device and integral type finger joint recovery gloves | |
| CN110974600A (en) | Wearable cerebral apoplexy rehabilitation device based on flexible touch | |
| CN216318756U (en) | Intelligent glove | |
| CN216496397U (en) | Pneumatic rehabilitation robot glove with wrist driver | |
| CN108608445B (en) | Robot arm and intelligent service assistant |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Shiwu Inventor after: Jin Hu Inventor after: Sui Mengli Inventor after: Bao Bingliang Inventor after: Wei Changyang Inventor after: OuYang Yiming Inventor after: Wang Erlong Inventor before: Zhang Shiwu Inventor before: Jin Hu Inventor before: Sui Mengli Inventor before: Bao Bingliang Inventor before: Wei Changyang Inventor before: OuYang Yiming Inventor before: Wang Erlong |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |