CN115054481B

CN115054481B - Flexible hand rehabilitation exoskeleton and working method thereof

Info

Publication number: CN115054481B
Application number: CN202210687497.3A
Authority: CN
Inventors: 王梓臣; 田震; 徐子奥; 李亚琛; 谢砚冰; 杨状状; 曾瑞沣; 黄靖杰; 陈柯言; 李南兰
Original assignee: Chongqing Nankai Liangjiang Middle School
Current assignee: Chongqing Nankai Liangjiang Middle School
Priority date: 2022-06-17
Filing date: 2022-06-17
Publication date: 2023-05-30
Anticipated expiration: 2042-06-17
Also published as: CN115054481A

Abstract

The invention discloses a flexible hand rehabilitation exoskeleton and a working method thereof, wherein the exoskeleton comprises a forearm wearing mechanism, a finger wearing mechanism, a palm wearing mechanism, a motor driving system and an myoelectric induction system; the finger wearing mechanism comprises five finger sleeves which are in one-to-one correspondence with the fingers of the human body; the palm wearing mechanism is used for wearing the palm of a human body, and the finger wearing mechanism is connected with the palm wearing mechanism through the stepless adjusting mechanism; the motor driving system is connected with the finger wearing mechanism; the myoelectricity induction system is used for collecting myoelectricity signals of the hands of the human body, the myoelectricity induction system processes the myoelectricity signals through the central controller, and meanwhile, the central controller can send different level signals to the motor driving system according to the myoelectricity signals in different states, so that the motor is controlled through the myoelectricity signals. The scheme can carry out single-finger or multi-finger independent rehabilitation training, has higher size adjustment capability simultaneously, and further improves wearing comfort and adaptability.

Description

Flexible hand rehabilitation exoskeleton and working method thereof

Technical Field

The invention relates to the technical field of wearable equipment, in particular to a flexible hand rehabilitation exoskeleton and a working method thereof.

Background

The 2015 world health organization indicates that the global population over 60 years has accounted for 12.24% of the general population and that this proportion is increasing year by year. And cerebral apoplexy is a high incidence in the aged people, the incidence rate is as high as 11.2%, and the daily life of people is seriously influenced. Scientific researches find that about 1.500 grasping actions are required to be carried out on average by a person every day, and the grasping actions are important tools for communicating and exchanging between the person and the external environment. Therefore, the hand rehabilitation exoskeleton has important significance for rehabilitation of hands of hemiplegic patients and assistance of daily life of patients.

However, the hand rehabilitation exoskeleton on the market is relatively few in types, mainly comprises a pneumatic type and a motor driven type, wherein the pneumatic type hand rehabilitation exoskeleton has the defects of small finger joint bending angle, insufficient strength, large air pump size and difficulty in carrying. The motor-driven hand rehabilitation exoskeleton has the problems that the wearing is uncomfortable, the load feeling exists, the rigid impact exists at the joint part, and the joint damage can be increased after long-term wearing. The existing hand rehabilitation exoskeleton basically does not support modularized fingerstall installation, the hand rehabilitation exoskeleton is required to be completely worn if a single-finger or multi-finger rehabilitation exercise is to be carried out, the single-finger or multi-finger rehabilitation exercise effect can be affected, and meanwhile, the size adjustment capability of the existing hand rehabilitation exoskeleton is not high, so that wearing comfort can be affected.

Disclosure of Invention

Aiming at the defects existing in the prior art, the invention aims to solve the technical problems that: how to provide a flexible hand rehabilitation exoskeleton capable of performing single-finger or multi-finger independent rehabilitation training and simultaneously having higher size adjustment capability so as to improve wearing comfort.

In order to solve the technical problems, the invention adopts the following technical scheme:

a flexible hand rehabilitation exoskeleton comprises a forearm wearing mechanism, a finger wearing mechanism, a palm wearing mechanism, a motor driving system and an myoelectric induction system;

the forearm wearing mechanism is used for wearing on a human forearm;

the finger wearing mechanism is used for being worn on the finger part of a human body so as to drive the finger part of the human body to move through the finger wearing mechanism, the finger wearing mechanism is made of flexible materials and comprises five finger sleeves which are in one-to-one correspondence with the fingers of the human body, and the finger sleeves are mutually independently arranged on the palm wearing mechanism so as to adapt to the rehabilitation requirements of different fingers of the human body;

the palm wearing mechanism is used for being worn on the palm of a human body, and the finger wearing mechanism is connected with the palm wearing mechanism through the stepless adjusting mechanism so as to adapt to the finger lengths of different human bodies through the stepless adjusting mechanism;

The motor driving system is connected with the finger wearing mechanism so as to drive the finger wearing mechanism to move through the motor driving system;

the myoelectricity induction system is used for collecting myoelectricity signals of human hands, and the myoelectricity induction system is electrically connected with the motor driving system, so that the motor driving system controls the finger wearing mechanism according to the myoelectricity signals of the human hands collected by the myoelectricity induction system.

In the scheme, the direction of the human body after wearing the scheme is taken as the reference direction, namely, the front, back, left, right, upper and lower in the scheme are respectively corresponding to the front, back, left, right, upper and lower of the human body, meanwhile, the axial direction in the scheme is the left and right direction, the vertical direction is the up and down direction, the longitudinal direction is the front and back direction, and the initial state is the state of each part when the human body finger is in a straightened state.

The working principle of the invention is as follows: when the flexible hand rehabilitation exoskeleton is used for performing rehabilitation training on hands, as each finger stall is independently arranged on the palm wearing mechanism, before the hand rehabilitation exoskeleton is used, a user can only install the finger stall which is required to perform rehabilitation training on the palm wearing mechanism according to the requirement of rehabilitation training, and other finger stalls which are not required to perform rehabilitation training can be detached from the palm wearing mechanism, so that single-finger or multi-finger independent rehabilitation training is realized; after the dactylotheca that rehabilitation training needs to be installed is selected, the relative position relation between mechanism and the palm wearing mechanism are dressed to rethread stepless adjustment mechanism, when user's finger is longer, can be through corresponding increase of stepless adjustment mechanism finger wearing mechanism and the palm wearing mechanism between the distance, and when user's finger is shorter, then can be through the corresponding distance that reduces between mechanism and the palm wearing mechanism of stepless adjustment mechanism, thereby make the recovered exoskeleton of flexible hand of this scheme have higher size adjustment ability, and then improve the travelling comfort of dressing. Simultaneously, because the finger wearing mechanism of this scheme adopts flexible material to make, so the recovered ectoskeleton of flexible hand of this scheme is more gentle when wholly using, uses more comfortablely, simultaneously greatly reduced holistic weight, conveniently carry.

After the quantity of finger sleeves and the distance between the finger wearing mechanism and the palm wearing mechanism are adjusted in place, the flexible hand rehabilitation exoskeleton of the scheme is worn on the hands of a human body through the forearm wearing mechanism, the finger wearing mechanism and the palm wearing mechanism, and rehabilitation training can be started at the moment.

When rehabilitation training is carried out, the myoelectric induction system transmits the collected myoelectric signals of the human hand to the motor driving system in real time, and the motor driving system judges the exertion condition of the human hand according to the myoelectric signals of the human hand; when the motor driving system judges that the hand of the human body has a holding trend, the motor driving system drives the fingers of the human body to bend through the finger wearing mechanism; when the motor driving system judges that the human hand has a relaxation trend, the motor driving system drives the human finger to straighten and reset through the finger wearing mechanism, so that a rehabilitation training period is completed, and when the motor driving system judges that the human hand is kept in a relaxation state, the motor driving system does not drive the human finger to move through the finger wearing mechanism.

Preferably, each finger stall is provided with a plurality of downward opening phalanges with the same quantity as the phalanges of the fingers at the corresponding positions of the human body, and finger supports are arranged on one sides, facing the palm, of the closest and farthest phalanges of the palm wearing mechanism on each finger stall, so that the finger stall can be worn on the fingers of the human body, two adjacent phalanges are in transitional connection, an inverted triangle notch is further formed between the two adjacent phalanges, the notch penetrates through the finger stall along the axial direction, and the notch corresponds to the position of a phalangeal joint of the fingers of the human body.

Therefore, the finger stall adopts an integrated flexible design, the processing is simple and convenient, and the transition joint of two adjacent phalanges can store a certain elasticity during training, so as to provide assistance for straightening fingers; meanwhile, the reverse triangular notch is arranged between the two adjacent phalangeal parts, so that the phalangeal parts can be bent at the same position of the phalangeal joint, and meanwhile, the connecting piece of the phalangeal joint is reduced, and the weight of the whole exoskeleton is further reduced.

Preferably, each finger stall has the same a plurality of opening decurrent phalanges portion of phalanges quantity of human corresponding position finger, and every the phalanges portion all is equipped with the finger support piece towards one side of palm, so that the finger stall can wear at human finger, and adjacent two the lower extreme of phalanges portion is connected through sliding component, sliding component includes one of them the slip arch on the phalanges portion and another the spout on the phalanges portion, the spout sets up along the longitudinal direction, just the slip arch stretches into the spout and can follow in the longitudinal direction the spout slides, so that adjacent two the phalanges portion can relative motion adapt to the motion of corresponding position finger phalanges.

Like this, each phalanx portion of dactylotheca carries out processing design alone, and two adjacent phalanges portions adopt the cooperation mode of slip arch and spout to carry out flexonics, and when human finger in crooked and unbending motion, the slip arch can be according to the position change of human inter-phalangeal joint department and automatic slip in the spout to this improves the adaptability to human finger motion, and then improves wearing travelling comfort and rehabilitation training effect.

Preferably, the upper end of each phalangeal part is provided with a mounting column, an elastic piece is sleeved between two adjacent mounting columns, and the elastic piece is in a free extension state in an initial state.

Therefore, when the finger part drives the human finger to bend, the elastic part is stretched to store energy, and when the finger part drives the human finger to return to a straightened state, the elastic part provides resilience force through the stored energy to provide a boosting effect for straightening the finger.

Preferably, the stepless adjusting mechanism comprises a plurality of stepless adjusting assemblies, the stepless adjusting assemblies are in one-to-one correspondence with the finger sleeves, the stepless adjusting assemblies comprise adjusting rods and adjusting seats, the adjusting rods are connected with the finger sleeves, the adjusting seats are arranged on the palm wearing mechanism, adjusting holes are formed in the adjusting seats along the longitudinal direction, one ends, far away from the adjusting rods, of the adjusting rods, connected with the finger sleeves slide through the adjusting holes, so that the adjusting rods can drive the finger sleeves to move along the longitudinal direction when moving along the adjusting holes, threaded holes are formed in the adjusting seats along the vertical direction, the threaded holes are communicated with the adjusting holes, compression bolts in threaded connection with the threaded holes are arranged at the threaded holes, and pass through the threaded holes and extend into the adjusting holes, and the compression bolts can vertically move in the threaded holes so that the compression bolts can offset the adjusting rods or separate from the adjusting rods.

Like this, when the exoskeleton of this scheme is dressed to different users, because the finger length of different users is not identical, therefore in order to improve the travelling comfort of dressing this time, need to adjust the distance between finger wearing mechanism and the palm wearing mechanism through stepless adjustment mechanism, rotatory hold-down bolt this moment, make hold-down bolt remove to the direction of keeping away from the regulation pole, until hold-down bolt and regulation pole separation, adjust the pole and can remove along the regulation hole this moment, it removes and will drive the dactylotheca and remove to the regulation hole, when the dactylotheca removes suitable position, counter-rotating hold-down bolt, make hold-down bolt remove to the direction that is close to the regulation pole, until hold-down bolt offsets with the regulation pole, at this moment, the position of adjusting the pole remains fixed under the effect of hold-down bolt, thereby the position of dactylotheca also remains unchanged, the regulation to dactylotheca position has been realized. Meanwhile, when the finger sleeve is adjusted, the adjusting rod can be moved to different positions of the adjusting hole as required, so that stepless adjustment of the position of the adjusting rod is realized, and further stepless adjustment of the position of the finger sleeve is realized, and wearing requirements of different users are met better.

Preferably, the motor driving system comprises a controller and a plurality of motor components, the motor components are in one-to-one correspondence with the finger stall, the motor components comprise a motor and a pull rope, a reel is sleeved on a rotating shaft of the motor, one end of the pull rope is connected with the finger stall, one end of the pull rope, which is far away from the reel, is wound on the reel, so that when the motor drives the reel to rotate, the pull rope can move on the reel to drive the finger stall to move, the myoelectric induction system is electrically connected with the central controller, and the central controller is electrically connected with the motor, so that the central controller can control the motor according to myoelectric signals of human hands collected by the myoelectric induction system.

When the central controller judges that the human hand has a gripping trend according to the myoelectric signals, the central controller controls the motor to rotate positively, so that the motor drives the reel to rotate positively, the reel rotates positively, the pull rope is continuously wound on the reel, and at the moment, the other end of the pull rope drives the finger sleeve to bend, and then the finger sleeve drives the human finger to bend; when the central controller judges that the hand of the human body has a loosening trend according to the electromyographic signals, the central controller controls the motor to reversely rotate, the motor drives the reel to reversely rotate, the pull rope continuously loosens from the reel, the elastic piece on the finger sleeve drives the finger sleeve to return to a straightening state through resilience force, and the finger sleeve drives the fingers of the human body to return to the straightening state, so that a rehabilitation training period is completed.

Preferably, a reel is sleeved on the rotating shaft of the motor, mounting protrusions are symmetrically arranged on two sides of each phalangeal part in the axial direction, mounting holes penetrating through the mounting protrusions in the longitudinal direction are formed in the mounting protrusions, one end of a pull rope is wound on the reel, the other end of the pull rope sequentially penetrates through the mounting holes on one side of each phalangeal part, the mounting holes on the other side of each phalangeal part, and then the pull rope is wound on the reel again, so that acting force can be generated on two sides of the finger sleeve in the axial direction at the same time.

Like this, through set up the reel in motor shaft, twine on the reel after passing the mounting hole of each phalangeal portion both sides in proper order with the stay cord simultaneously for when carrying out rehabilitation training, the stay cord can produce effort simultaneously to the axial both sides of finger, makes the both sides of each position of finger all have the same motion trend from this, and then guarantees rehabilitation training's effect.

Preferably, the myoelectricity sensing system comprises a myoelectricity sensor, and the myoelectricity sensor is placed inside the forearm plummer.

Preferably, the forearm wearing mechanism comprises a forearm carrying table and a motor loading table, the forearm carrying table and the motor loading table are connected through a forearm binding belt, a space for accommodating a human forearm is formed among the forearm carrying table, the motor loading table and the forearm binding belt, a first sponge gasket is arranged on one side of the forearm carrying table, which faces the motor loading table, and a second sponge gasket is arranged on one side of the motor loading table, which faces the forearm carrying table;

the central controller is arranged in the forearm plummer, the motor is arranged in the motor loading table, a plurality of control buttons are further arranged on the motor loading table, and the control buttons are connected with the motors in a one-to-one correspondence mode so as to control the corresponding motors through the control buttons.

Like this, the travelling comfort of wearing can be improved in the setting of first sponge gasket and second sponge gasket, and control button and motor one-to-one can realize the individual control to the motor through each control button.

Preferably, the palm wearing mechanism comprises a back-of-hand wrapping member and a palm support plate, wherein the back-of-hand wrapping member is connected with the palm support plate through a hand binding band, and a space for accommodating the hand of a human body is formed between the back-of-hand wrapping member, the palm support plate and the palm binding band.

The working method of the flexible hand rehabilitation exoskeleton comprises the steps that the myoelectricity induction system transmits collected myoelectricity signals of the human hand to the motor driving system, and the motor driving system judges the exertion condition of the human hand according to the myoelectricity signals of the human hand;

when the motor driving system judges that the hand of the human body has a holding trend, the motor driving system drives the fingers of the human body to bend through the finger wearing mechanism;

when the motor driving system judges that the hand of the human body has a relaxation trend, the motor driving system drives the fingers of the human body to straighten and reset through the finger wearing mechanism;

When the motor driving system judges that the hands of the human body are kept in a relaxed state, the motor driving system does not drive the fingers of the human body to move through the finger wearing mechanism.

Compared with the prior art, the invention has the following advantages:

1. the invention detects the myoelectric signal of the hand of the human body through the myoelectric sensor, judges the exertion condition of the hand through the central controller, and further controls the motor to drive the reel to make corresponding movement. When the electromyographic signals with the hand gripping trend are detected, the pull rope tightens under the motion of the reel to drive the fingers to bend, and at the moment, the elastic piece above the finger stall stretches and tightens; when the myoelectric signal with the loosening trend of the hand is detected, the reel rotates reversely, the pull rope is loosened, and the elastic piece above the finger sleeve drives the finger to return to the straightened state through the resilience force, so that a rehabilitation training period is completed.

2. The invention takes the electromyographic signals of the hands of the human body as driving signals, improves the participation of rehabilitation training of the user, is mainly used for rehabilitation treatment and daily life assistance of patients with hand movement dysfunction, and improves the hand movement function of the patients by means of rehabilitation assistance training. The driving mode is that the motor-pull rope is used for driving, the pull rope is bound on a reel assembled with the motor, the motor correspondingly works under the condition that corresponding myoelectric signals are detected, the reel drives the pull rope to retract along with the movement of the motor, and the fingers are driven to flex and stretch under the action of the elastic piece of the finger sleeve.

3. The finger stall part of this scheme can wash, and the finger stall that the invention has two kinds of different characteristics simultaneously, and first is the finger stall that has big resilience characteristic, and second is the finger stall that can self-adaptation adjustment joint position, and the user can dismantle the installation according to actual demand, and simultaneously, the modularized design also can carry out multi-fingered and single-fingered rehabilitation training to satisfy different training modes, and can realize the regulation of finger stall position through stepless adjustment mechanism, adapt to different finger lengths, satisfy most people and dress, more have the wearability.

4. The main parts of the invention are made of TPU flexible materials, so that the whole exoskeleton is lighter, the comfort of a user is improved, the whole weight of the exoskeleton is greatly reduced, and the exoskeleton is more convenient to carry and is used for rehabilitation training at any time and any place.

Drawings

FIG. 1 is a schematic view of a flexible hand rehabilitation exoskeleton according to an embodiment of the present invention;

FIG. 2 is a schematic view of a flexible hand rehabilitation exoskeleton with the motor housing removed according to an embodiment of the present invention;

FIG. 3 is a schematic view of the structure of a finger wearing mechanism and a palm wearing mechanism in a flexible hand rehabilitation exoskeleton according to an embodiment of the present invention;

FIG. 4 is a schematic view of a finger and stepless adjustment assembly in a flexible hand rehabilitation exoskeleton according to an embodiment of the present invention;

FIG. 5 is a schematic view of a partial explosion of FIG. 4;

FIG. 6 is a schematic view of a finger portion of a flexible hand rehabilitation exoskeleton according to a second embodiment of the present invention;

FIG. 7 is a flow chart of a method of operation of the flexible hand rehabilitation exoskeleton of the present invention;

fig. 8 is a circuit connection diagram of the flexible hand rehabilitation exoskeleton myoelectric induction control of the present invention.

Reference numerals illustrate: forearm wearing mechanism 1, forearm carrying table 101, motor loading table 102, first sponge pad 103, forearm strap 104, finger wearing mechanism 2, finger glove 201, elastic member 202, mounting post 203, phalangeal portion 204, sliding projection 2041, sliding groove 2042, notch 205, mounting projection 206, palm wearing mechanism 3, dorsum manus covering member 301, palm rest plate 302, hand strap 303, stepless adjustment mechanism 4, compression bolt 401, adjustment lever 402, adjustment seat 403, myoelectric induction system 5, myoelectric sensor 501, motor drive system 6, motor 601, reel 602, draw cord 603, controller 604, control button 605.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the present invention will be implemented by the following description of the embodiments of the present invention taken in conjunction with the accompanying drawings,

The chemical terms should be construed in a general sense as understood by those having ordinary skill in the art to which the present invention pertains.

The terms "first," "second," and the like in the description and in the claims, are not used for any order, quantity, or importance, but are used for distinguishing between different elements. Also, unless the context clearly indicates otherwise, singular forms "a," "an," or "the" and similar terms do not denote a limitation of quantity, but rather denote the presence of at least one. The terms "comprises," "comprising," or the like are intended to cover a feature, integer, step, operation, element, and/or component recited as being present in the element or article that "comprises" or "comprising" does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. "up", "down", "left", "right" and the like are used only to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed accordingly.

Embodiment one:

As shown in fig. 1 to 5, a flexible hand rehabilitation exoskeleton comprises a forearm wearing mechanism 1, a finger wearing mechanism 2, a palm wearing mechanism 3, a motor driving system 6 and an myoelectric induction system 5; the forearm wearing mechanism 1 is used for wearing on the forearm of a human body; the finger wearing mechanism 2 is used for wearing on the finger part of a human body so as to drive the finger part of the human body to move through the finger wearing mechanism 2, the finger wearing mechanism 2 is made of a flexible material, specifically, the flexible material is TPU (thermoplastic polyurethane elastomer rubber), the finger wearing mechanism 2 comprises five finger sleeves 201 which are in one-to-one correspondence with the fingers of the human body, and the finger sleeves 201 are mutually independently arranged on the palm wearing mechanism 3 so as to adapt to the rehabilitation requirements of different fingers of the human body; the palm wearing mechanism 3 is used for wearing on the hands of a human body, and the finger wearing mechanism 2 is connected with the palm wearing mechanism 3 through the stepless adjusting mechanism 4 so as to adapt to the finger lengths of different human bodies through the stepless adjusting mechanism 4; the motor driving system 6 is connected with the finger wearing mechanism 2 so as to drive the finger wearing mechanism 2 to move through the motor driving system 6; the myoelectricity induction system 5 is used for collecting myoelectricity signals of human hands, and the myoelectricity induction system 5 is electrically connected with the motor driving system 6, so that the motor driving system 6 controls the finger wearing mechanism 2 according to the myoelectricity signals of the human hands collected by the myoelectricity induction system 5.

The working principle of the invention is as follows: when the flexible hand rehabilitation exoskeleton is used for performing rehabilitation training on hands, as each finger stall 201 is independently arranged on the palm wearing mechanism 3, before the hand rehabilitation exoskeleton is used, a user can only install the finger stall 201 which is required to perform rehabilitation training on the palm wearing mechanism 3 according to the requirement of rehabilitation training, and other finger stalls 201 which are not required to perform rehabilitation training can be detached from the palm wearing mechanism 3, so that single-finger or multi-finger independent rehabilitation training is realized; after the finger sleeve 201 which is required to be installed in rehabilitation training is selected, the relative position relationship between the finger wearing mechanism 2 and the palm wearing mechanism 3 is adjusted through the stepless adjusting mechanism 4, when the fingers of a user are longer, the distance between the finger wearing mechanism 2 and the palm wearing mechanism 3 can be correspondingly increased through the stepless adjusting mechanism 4, and when the fingers of the user are shorter, the distance between the finger wearing mechanism 2 and the palm wearing mechanism 3 can be correspondingly reduced through the stepless adjusting mechanism 4, so that the flexible hand rehabilitation exoskeleton of the scheme has higher size adjusting capability, and wearing comfort is further improved. Simultaneously, because the finger wearing mechanism 2 of this scheme adopts flexible material to make, so the recovered ectoskeleton of flexible hand of this scheme is more gentle when wholly using, uses more comfortablely, simultaneously greatly reduced holistic weight, conveniently carry.

After the number of finger sleeves 201 and the distance between the finger wearing mechanisms 2 and the palm wearing mechanisms 3 are adjusted in place, the flexible hand rehabilitation exoskeleton of the scheme is worn on the hands of a human body through the forearm wearing mechanism 1, the finger wearing mechanisms 2 and the palm wearing mechanisms 3, and rehabilitation training can be started at this time.

When rehabilitation training is carried out, the myoelectric induction system 5 transmits the collected myoelectric signals of the human hand to the motor driving system 6 in real time, and the motor driving system 6 judges the exertion condition of the human hand according to the myoelectric signals of the human hand; when the motor driving system 6 judges that the hand of the human body has a holding trend, the motor driving system 6 drives the fingers of the human body to bend through the finger wearing mechanism 2; when the motor driving system 6 judges that the human hand has a relaxation trend, the motor driving system 6 drives the human finger to straighten and reset through the finger wearing mechanism 2, so that a rehabilitation training period is completed, and when the motor driving system 6 judges that the human hand is kept in a relaxation state, the motor driving system 6 does not drive the human finger to move through the finger wearing mechanism 2.

In this embodiment, each finger stall 201 has a plurality of downward opening phalanges 204 with the same number as the phalanges of the finger at the corresponding position of the human body, specifically, two phalanges 204 are provided at the finger stall 201 corresponding to the thumb, three phalanges 204 are provided at each other finger stall 201, and a finger support piece is provided at one side of the phalanges 204 closest and farthest to the palm wearing mechanism 3 on each finger stall 201 facing the palm (specifically, the finger support piece can be in the form of a magic tape for adjusting the length thereof according to the wearing requirement so as to adapt to different wearers), so that the finger stall 201 can be worn on the human body's finger, two adjacent phalanges 204 are connected in a transition manner, an inverted triangle notch 205 is further provided between the two adjacent phalanges 204, the notch 205 penetrates the finger stall 201 along the axial direction, and the notch 205 corresponds to the position of the interphalangeal joint of the human body's finger.

Thus, the finger glove 201 adopts an integrated flexible design, the processing is simple and convenient, and meanwhile, the bending can be realized at the same position of the joint between the phalanges by arranging the inverted triangle notch 205 between the two adjacent phalanges 204, and meanwhile, the connecting piece of the joint between the phalanges is reduced, so that the weight of the whole exoskeleton is further reduced.

In this embodiment, a mounting post 203 is disposed at the upper end of each phalangeal portion 204, and an elastic member 202 is sleeved between two adjacent mounting posts 203, and the elastic member 202 is in a free extending state in an initial state. Specifically, the elastic member 202 in this embodiment is an elastic rubber band, two elastic rubber bands are provided on each finger portion, and 10 elastic rubber bands are provided on the whole finger wearing mechanism 2.

Thus, by providing the elastic member 202, when the finger portion drives the human finger to bend, the elastic member 202 is stretched to store energy, and when the finger portion drives the human finger to return to the straightened state, the elastic member 202 provides a resilience force through the stored energy to provide a boosting effect for straightening the finger.

In this embodiment, the stepless adjustment mechanism 4 includes a plurality of stepless adjustment assemblies, stepless adjustment assemblies and dactylotheca 201 one-to-one, stepless adjustment assemblies includes regulation pole 402 and regulation seat 403, regulation pole 402 is connected with dactylotheca 201, regulation seat 403 locates palm wearing mechanism 3, the regulation hole has been seted up along longitudinal direction on regulation seat 403, the one end that regulation pole 402 kept away from its connection dactylotheca 201 slides and passes the regulation hole, so that regulation pole 402 can drive dactylotheca 201 and follow longitudinal direction and remove when moving along the regulation hole, threaded hole has been seted up along vertical direction on regulation seat 403, the screw hole is linked together with the regulation hole, be equipped with the hold-down bolt 401 with screw hole threaded connection in screw hole department, hold-down bolt 401 passes the screw hole and stretches into in the regulation hole, hold-down bolt 401 can be at screw hole vertical removal, so that hold-down bolt 401 can offset or separate with regulation pole 402.

Thus, when different users wear the exoskeleton of the scheme, as the finger lengths of different users are not completely consistent, in order to improve wearing comfort, the distance between the finger wearing mechanism 2 and the palm wearing mechanism 3 needs to be adjusted through the stepless adjusting mechanism 4, at this time, the compression bolt 401 is rotated, so that the compression bolt 401 moves away from the adjusting rod 402 until the compression bolt 401 is separated from the adjusting rod 402, at this time, the adjusting rod 402 can move along the adjusting hole, the adjusting rod 402 moves to drive the finger sleeve 201 to move, when the finger sleeve 201 moves to a proper position, the compression bolt 401 is reversely rotated, so that the compression bolt 401 moves towards the direction close to the adjusting rod 402 until the compression bolt 401 abuts against the adjusting rod 402, at this time, the position of the adjusting rod 402 is kept fixed under the action of the compression bolt 401, and therefore the position of the finger sleeve 201 is kept unchanged, and the position of the finger sleeve 201 is adjusted. Meanwhile, when the scheme is used for adjusting, the adjusting rod 402 can be moved to different positions of the adjusting hole as required, so that stepless adjustment of the position of the adjusting rod 402 is realized, and further stepless adjustment of the position of the finger stall 201 is realized, and wearing requirements of different users are met better.

In this embodiment, the motor driving system 6 includes a central controller 604 and a plurality of motor assemblies, the motor assemblies are in one-to-one correspondence with the finger stall 201, the motor assemblies include a motor 601 and a pull rope 603, a reel 602 is sleeved on a rotating shaft of the motor 601, one end of the pull rope 603 is connected with the finger stall 201, one end of the pull rope 603, which is far away from the end, connected with the finger stall 201, is wound on the reel 602, so that when the motor 601 drives the reel 602 to rotate, the pull rope 603 can move on the reel 602 to drive the finger stall 201 to move, the myoelectricity induction system 5 is electrically connected with the central controller 604, and the central controller 604 is electrically connected with the motor 601, so that the central controller 604 can control the motor 601 according to myoelectricity signals of human hands collected by the myoelectricity induction system 5.

In this way, when rehabilitation training is performed, the myoelectric induction system 5 sends the collected myoelectric signal of the human hand to the central controller 604, the central controller 604 judges the myoelectric signal, when the central controller 604 judges that the human hand has a gripping trend according to the myoelectric signal, the central controller 604 controls the motor 601 to rotate forward, so that the motor 601 drives the reel 602 to rotate forward, the reel 602 rotates forward, the pull rope 603 is continuously wound on the reel 602, and then the other end of the pull rope 603 drives the finger sleeve 201 to bend, and the finger sleeve 201 drives the human finger to bend; when the central controller 604 judges that the hand of the human body has a loosening trend according to the electromyographic signals, the central controller 604 controls the motor 601 to reversely rotate, the motor 601 drives the reel 602 to reversely rotate, the pull rope 603 continuously loosens from the reel 602 by reversely rotating the reel 602, the elastic piece 202 on the finger sleeve 201 drives the finger sleeve 201 to return to the straightening state through resilience force, and the finger sleeve 201 drives the fingers of the human body to return to the straightening state, so that a rehabilitation training period is completed.

In this embodiment, a reel 602 is sleeved on the rotating shaft of the motor 601, specifically, in this embodiment, a reel 602 is sleeved on the rotating shaft of the motor 601, mounting protrusions 206 are symmetrically arranged on two sides of each phalangeal portion 204 in the axial direction, mounting holes penetrating through the mounting protrusions 206 in the longitudinal direction are formed in the mounting protrusions 206, one end of a pull rope 603 is wound on the reel 602, and the other end of the pull rope 603 sequentially penetrates through the mounting holes on one side of each phalangeal portion 204 and the mounting holes on the other side of each phalangeal portion 204 and then is wound on the reel 602 again, so that the pull rope 603 can generate acting forces on two sides of the finger stall 201 in the axial direction at the same time.

Like this, through set up reel 602 in motor 601 pivot, twine on reel 602 after passing the mounting hole of each phalangeal portion 204 both sides in proper order with stay cord 603 simultaneously for when carrying out rehabilitation training, stay cord 603 can produce effort simultaneously to the axial both sides of finger, makes the both sides of each position of finger all have the same trend of movement from this, and then guarantees rehabilitation training's effect.

In the present embodiment, the myoelectricity induction system 5 includes a myoelectricity sensor 501, and the myoelectricity sensor 501 is placed inside the forearm plummer 101. Wherein the myoelectric sensor 5 leads out three electrode sheets, one of which is connected with the elbow (or the area without muscle activity) and the other two of which are connected with the muscle to be measured.

In this embodiment, the forearm wearing mechanism 1 includes a forearm carrying platform 101 and a motor loading platform 102, the forearm carrying platform 101 and the motor loading platform 102 are connected through a forearm strap 104, a space for accommodating a human forearm is formed among the forearm carrying platform 101, the motor loading platform 102 and the forearm strap 104, the forearm strap 104 can be a magic tape to facilitate pasting and adjusting the length to adapt to wearing requirements of different users, a first sponge pad 103 is arranged on one side of the forearm carrying platform 101 facing the motor loading platform 102, and a second sponge pad is arranged on one side of the motor loading platform 102 facing the forearm carrying platform 101;

the central controller 604 is arranged in the forearm plummer 101, the motor 601 is arranged in the motor loading platform 102, the motor loading platform 102 comprises a motor loading shell and a top cover, a plurality of control buttons 605 are further arranged on the motor loading platform 102, and the control buttons 605 are connected with the motors 601 in a one-to-one correspondence mode so as to control the corresponding motors 601 through the control buttons 605.

Thus, the arrangement of the first sponge pad 103 and the second sponge pad can improve wearing comfort, the control buttons 605 are in one-to-one correspondence with the motors 601, and independent control of the motors 601 can be achieved through the control buttons 605.

The palm wearing mechanism 3 comprises a back covering member 301 and a palm supporting plate 302, the back covering member 301 and the palm supporting plate 302 are connected through a hand binding band 303, the hand binding band 303 can be in a structure form of a magic tape binding band so as to be convenient for adjusting the length and wearing and using, and a space for accommodating the hands of a human body is formed among the back covering member 301, the palm supporting plate 302 and the hand binding band 303.

Embodiment two:

as shown in fig. 6, the difference from the first embodiment is that in this embodiment, each finger stall 201 has a plurality of downward opening phalanges 204 equal to the number of phalanges of a finger at a corresponding position of a human body, and a finger support is provided at one side of each phalanges 204 facing toward the palm (specifically, the finger support may be in a magic tape structure to adjust the length thereof according to wearing needs so as to adapt to different wearers), so that the finger stall 201 can be worn on a finger of the human body, the lower ends of two adjacent phalanges 204 are connected by a sliding assembly, the sliding assembly includes a sliding protrusion 2041 on one phalanges 204 and a sliding groove 2042 on the other phalanges 204, the sliding protrusion 2042 is disposed along the longitudinal direction, and the sliding protrusion 2041 extends into the sliding groove 2042 and can slide along the sliding groove 2042 along the longitudinal direction, so that the two adjacent phalanges 204 can relatively move to adapt to the movement of the phalanges at the corresponding position.

In this way, each phalange portion 204 of the finger stall 201 is individually processed and designed, two adjacent phalange portions 204 are flexibly connected in a matching manner of the sliding protrusions 2041 and the sliding grooves 2042, when the human finger moves in a bending and straightening manner, the sliding protrusions 2041 can automatically slide in the sliding grooves 2042 according to the position change of joints among the phalanges of the human body, so that the adaptability to the movement of the human finger is improved, and the wearing comfort and the rehabilitation training effect are further improved.

As shown in FIG. 7, in the working method of the flexible hand rehabilitation exoskeleton, after a start key is pressed, the myoelectricity induction system 5 starts to collect myoelectricity signals of the human hand, the myoelectricity induction system 5 transmits the collected myoelectricity signals of the human hand to the motor driving system 6, and the motor driving system 6 judges the exertion condition of the human hand according to the myoelectricity signals of the human hand;

when the motor driving system 6 judges that the hand of the human body has a holding trend, the motor driving system 6 drives the fingers of the human body to bend through the finger wearing mechanism 2; specifically, the central controller 604 controls the motor 601 to rotate forward, and the pull rope 603 drives the finger to bend;

when the motor driving system 6 judges that the human hand has a relaxation trend, the motor driving system 6 drives the human finger to straighten and reset through the finger wearing mechanism 2; specifically, the central controller 604 controls the motor 601 to rotate reversely, and the elastic piece 202 drives the finger to reset and straighten;

When the motor driving system 6 judges that the hands of the human body are kept in a relaxed state, the motor driving system 6 does not drive the fingers of the human body to move through the finger wearing mechanism 2; specifically, the central controller 604 controls the motor 601 not to operate, and the pull rope 603 does not generate acting force to the finger;

after the end key is pressed, the rehabilitation training is ended, and when the end key is not pressed, the myoelectricity induction system 5 continuously collects myoelectricity signals of the hands of the human body to the central controller 604 so as to continuously perform the rehabilitation training.

As shown in fig. 8, the present invention uses a dual conductive muscle Electric Module (EMG) as the myoelectric induction system, which includes analog circuit acquisition at the front end and digital signal filtering processing at the back end. The front end acquisition circuit acquires muscle electric signals of arms or legs of a human body through a channel 1 and a channel 2, and analog acquisition signals are output by OUT1 and OUT2 after a series of signal amplification and filtering.

The specific method is that the red electrode of the electromyogram muscle lead wire is connected with the elbow (or the area without muscle activity), the green and yellow electrodes are connected with the muscle to be measured, the OUT1 on the double-conductive muscle electric module is connected with the A0 signal port of the central controller, and the GND on the double-conductive muscle electric module is connected with the GND interface of the central controller. And displaying electromyographic signal data when the hands are bent, straightened and relaxed through the serial monitor. And the electromyographic signal range was recorded as the hand bends, straightens and relaxes.

The circuit of the invention uses a 9V power supply, a central controller, 3 MOTOR driving boards, 1 EMG double-conductive muscle electric module and 5 direct current MOTORs (corresponding to MOTOR 1-5). As shown in fig. 8, the connection mode is as follows:

a 9V power supply powers the dual conduction myoelectricity module (EMG) and the central controller. The central controller supplies power (5V voltage) to the motor drive board.

The IN1 and IN2 interfaces of the double-lead Electromyography Module (EMG) are connected with electromyography lead wires (only one lead wire is used, an electromyographic signal is input by using an IN1 interface, and an OUT1 interface outputs the electromyographic signal). The electrode plate on the electromyographic machine lead wire is connected with the human body and is used for detecting the electromyographic signals of the human body. The OUT1 interface on the EMG is connected with the A0 interface on the central controller, and the GND interface on the EMG is connected with the GND interface on the central controller.

The IN 1-4 interfaces on the three motor driving boards are sequentially connected with 2-13 signal ports on the central controller, OUT 1-2 on the motor driving boards are respectively connected with the positive electrode and the negative electrode of a direct current motor, and OUT 3-4 is respectively connected with the positive electrode and the negative electrode of the direct current motor. (note: 3 motor drive boards connect 5 direct current motors altogether, and one motor drive board only connects one direct current motor, and two other motor drive boards connect two direct current motors respectively).

Compared with the prior art, the invention detects the myoelectric signal of the hand of the human body through the myoelectric sensor 501, judges the force condition of the hand through the central controller 604, and further controls the motor 601 to drive the reel 602 to make corresponding movement. When the electromyographic signals with the hand gripping trend are detected, the pull ropes 603 are tightened under the motion of the reel 602 to drive the fingers to bend, and at the moment, the elastic pieces 202 above the finger sleeves 201 are stretched and tightened; when the myoelectric signal with the loosening trend of the hand is detected, the reel 602 is reversed, the pull rope 603 is loosened, and the elastic piece 202 above the finger sleeve 201 drives the finger to return to the straightened state through the resilience force, so that a rehabilitation training period is completed. The invention takes the electromyographic signals of the hands of the human body as driving signals, improves the participation of rehabilitation training of the user, is mainly used for rehabilitation treatment and daily life assistance of patients with hand movement dysfunction, and improves the hand movement function of the patients by means of rehabilitation assistance training. The driving mode is that the motor 601-the pull rope 603 is used for driving, the pull rope 603 is bound on a reel 602 assembled with the motor 601, the motor 601 correspondingly works under the condition that corresponding myoelectric signals are detected, the reel 602 drives the pull rope 603 to retract along with the movement of the motor 601, and the fingers are driven to flex and stretch under the action of the elastic piece 202 of the finger stall 201. The finger stall 201 part of this scheme can wash, and the finger stall 201 that the invention has two kinds of different characteristics simultaneously, and first is the finger stall 201 that has big resilience characteristic, and second is the finger stall 201 that can self-adaptation adjustment joint position, and the user can dismantle the installation according to actual demand, and simultaneously, the modularized design also can carry out multi-fingered and single-fingered rehabilitation training to satisfy different training modes, and can realize the regulation of finger stall 201 position through stepless adjustment mechanism 4, adapt to different finger lengths, satisfy most people and dress, more have the wearability. The main parts of the invention are made of TPU flexible materials, so that the whole exoskeleton is lighter, the comfort of a user is improved, the whole weight of the exoskeleton is greatly reduced, and the exoskeleton is more convenient to carry and is used for rehabilitation training at any time and any place.

Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the technical solution, and those skilled in the art should understand that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the present invention, and all such modifications and equivalents are included in the scope of the claims.

Claims

1. The flexible hand rehabilitation exoskeleton is characterized by comprising a forearm wearing mechanism, a finger wearing mechanism, a palm wearing mechanism, a motor driving system and an myoelectric induction system;

the forearm wearing mechanism is used for wearing on a human forearm;

the myoelectricity induction system is used for collecting myoelectricity signals of the human hand, and is electrically connected with the motor driving system, so that the motor driving system controls the finger wearing mechanism according to the myoelectricity signals of the human hand collected by the myoelectricity induction system;

the stepless adjusting mechanism comprises a plurality of stepless adjusting assemblies, the stepless adjusting assemblies are in one-to-one correspondence with the finger sleeves, the stepless adjusting assemblies comprise adjusting rods and adjusting seats, the adjusting rods are connected with the finger sleeves, the adjusting seats are arranged on the palm wearing mechanism, adjusting holes are formed in the adjusting seats along the longitudinal direction, one ends, far away from the adjusting rods, of the adjusting rods, connected with the finger sleeves slide through the adjusting holes, so that the adjusting rods can drive the finger sleeves to move along the longitudinal direction when moving along the adjusting holes, threaded holes are formed in the adjusting seats along the vertical direction, the threaded holes are communicated with the adjusting holes, compression bolts in threaded connection with the threaded holes are arranged at the threaded holes, and pass through the threaded holes and extend into the threaded holes, and the compression bolts can vertically move in the threaded holes so as to enable the compression bolts to prop against or separate from the adjusting rods;

The user can only install the finger stall which needs to be subjected to rehabilitation training on the palm wearing mechanism according to the requirement of rehabilitation training, and the rest finger stalls which do not need to be subjected to rehabilitation training can be detached from the palm wearing mechanism, so that single-finger or multi-finger independent rehabilitation training is realized;

each finger stall all has the same a plurality of opening decurrent phalanges portion of phalanges quantity of human corresponding position finger, and every the phalanges portion all is equipped with the finger support piece towards one side of palm, so that the finger stall can wear at human finger, and adjacent two the lower extreme of phalanges portion is connected through the slip subassembly, the slip subassembly includes one of them the slip arch on the phalanges portion and another the spout on the phalanges portion, the spout sets up along the longitudinal direction, just the slip arch stretches into the spout and can follow in the longitudinal direction the spout slides, so that adjacent two the phalanges portion can relative motion adapt to the motion of the phalanges of corresponding position finger.

2. The flexible hand rehabilitation exoskeleton of claim 1 wherein each finger glove has a plurality of downward opening phalanges equal in number to the phalanges of the finger at the corresponding position of the human body, and finger supports are arranged on one side, facing the palm, of the phalanges closest and farthest to the palm wearing mechanism of each finger glove so that the finger glove can be worn on the finger of the human body, two adjacent phalanges are in transitional connection, an inverted triangle notch is further formed between the two adjacent phalanges, the notch penetrates the finger glove along the axial direction, and the notch corresponds to the position of an inter-phalangeal joint of the finger of the human body.

3. The flexible hand rehabilitation exoskeleton of claim 1 or 2 wherein each of said phalangeal sections has a mounting post at its upper end and an elastic member is interposed between adjacent two of said posts, and wherein said elastic member is in a free extended state in an initial state.

4. The flexible hand rehabilitation exoskeleton of claim 1 or 2, wherein the motor driving system comprises a central controller and a plurality of motor components, the motor components are in one-to-one correspondence with the finger cuffs, the motor components comprise a motor and a pull rope, a reel is sleeved on a rotating shaft of the motor, one end of the pull rope is connected with the finger cuffs, one end of the pull rope, which is far away from the finger cuffs, is wound on the reel, so that when the motor drives the reel to rotate, the pull rope can move on the reel to drive the finger cuffs to move, the myoelectric induction system is electrically connected with the central controller, and the central controller is electrically connected with the motor, so that the controller can control the motor according to myoelectric signals of human hands collected by the myoelectric induction system.

5. The flexible hand rehabilitation exoskeleton of claim 4, wherein a reel is sleeved on a rotating shaft of the motor, mounting protrusions are symmetrically arranged on two axial sides of each phalangeal part, mounting holes penetrating through the mounting protrusions in the longitudinal direction are formed in the mounting protrusions, one end of the pull rope is wound on the reel, and the other end of the pull rope sequentially penetrates through the mounting holes on one side of each phalangeal part and the mounting holes on the other side of each phalangeal part and then is wound on the reel again, so that the pull rope can simultaneously apply force to two axial sides of the finger sleeve.

6. The flexible hand rehabilitation exoskeleton of claim 4 wherein said myoelectricity induction system comprises a myoelectricity sensor and said myoelectricity sensor is placed inside a forearm carrying platform.

7. The flexible hand rehabilitation exoskeleton of claim 4 wherein said forearm wearing mechanism comprises a forearm carrying platform and a motor loading platform, said forearm carrying platform and said motor loading platform are connected by a forearm strap, and a space for accommodating a human forearm is formed between said forearm carrying platform, said motor loading platform and said forearm strap, and a first sponge pad is provided on a side of said forearm carrying platform facing said motor loading platform, and a second sponge pad is provided on a side of said motor loading platform facing said forearm carrying platform;