CN116650285A - Flexible hand rehabilitation exoskeleton and control method thereof - Google Patents
Flexible hand rehabilitation exoskeleton and control method thereof Download PDFInfo
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- CN116650285A CN116650285A CN202310733263.2A CN202310733263A CN116650285A CN 116650285 A CN116650285 A CN 116650285A CN 202310733263 A CN202310733263 A CN 202310733263A CN 116650285 A CN116650285 A CN 116650285A
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 210000003813 thumb Anatomy 0.000 claims abstract description 139
- 210000003811 finger Anatomy 0.000 claims abstract description 40
- 230000009471 action Effects 0.000 claims abstract description 19
- 238000005452 bending Methods 0.000 claims description 56
- 238000009826 distribution Methods 0.000 claims description 17
- 210000000236 metacarpal bone Anatomy 0.000 claims description 6
- 229920002379 silicone rubber Polymers 0.000 claims description 5
- 241000203475 Neopanax arboreus Species 0.000 claims description 4
- 238000000465 moulding Methods 0.000 claims description 3
- 238000005266 casting Methods 0.000 claims description 2
- 241000905957 Channa melasoma Species 0.000 claims 2
- 210000001142 back Anatomy 0.000 claims 2
- 230000010354 integration Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000008451 emotion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 208000023516 stroke disease Diseases 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0107—Constructive details modular
-
- 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
- A61H2201/12—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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a flexible hand rehabilitation exoskeleton and a control method thereof. The external motor pulls the rope to pull the finger, so that the training of the four-finger abduction adduction action is realized, and the thumb multi-degree-of-freedom training can be realized by utilizing the thumb abduction adduction driver and the thumb metacarpal internal and external rotation driver. The invention has the advantages of compact structure, high integration level, portability, light weight, thumb multi-degree-of-freedom training and the like.
Description
Technical Field
The invention belongs to the technical field of rehabilitation medical appliances, and particularly relates to a flexible hand rehabilitation exoskeleton and a control method thereof.
Background
World health organization estimates that millions of people suffer from stroke diseases each year, which cause hand dysfunction, which plays an important role in normal activities of daily living and severely affects the daily living of patients. The hand rehabilitation training can relieve the stiff state of the finger and increase the flexibility degree of the finger joint、Promoting blood flowCirculation and recovery of finger muscle activity can effectively promote recovery of hand functions of patients.
The existing hand rehabilitation exoskeleton devices are mainly divided into two types: rigid devices and flexible devices. The rigid device mainly comprises a rigid connecting rod mechanism, a gear rack mechanism and the like, and although the structure of the rigid device is perfect at present, accurate motion control can be performed, due to the complex structure and the rigid property, a patient is easy to feel uncomfortable when wearing the rigid device, a contradicting emotion is generated, and secondary injury to the patient is serious. The flexible device changes the pressure of the cavity inside the flexible driver mainly through the gas pressure, so that the flexible driver is bent, and the flexible device is formed by pouring and standing a mold and silicon rubber, and has the advantages of simplicity in manufacturing, low cost, safety, light weight and the like. However, the existing most flexible hand rehabilitation exoskeletons have some defects generally, such as: 1) The rehabilitation activity functions are too few, only the buckling and stretching of the fingers are realized, and the training of the abduction and adduction functions of five fingers is lacking; 2) Lack of training for multiple degrees of thumb freedom.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides the flexible hand rehabilitation exoskeleton and the control method thereof, and the external motor pulls the rope to pull the fingers so as to realize the training of the abduction and adduction functions of the fingers; the thumb abduction adduction driver drives the thumb to realize the training of the thumb abduction adduction function, and the thumb metacarpal internal and external rotation driver drives the thumb to realize the training of the thumb internal and external rotation function and realize the multi-degree-of-freedom training of the thumb.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a flexible hand rehabilitation exoskeleton, comprising: the device comprises a finger driving device, a thumb metacarpal internal and external rotation driver, a thumb abduction adduction driver, a four-finger abduction adduction driving rope, a four-finger abduction limiting rope, a back shell shield, an elastic band, a rotating shaft connecting piece and a thumb metacarpal back shell.
Preferably, the back of hand casing is equipped with location small pulley, four indicate gas circuit distribution board, thumb gas circuit distribution board, finger drive device links firmly with four indicate gas circuit distribution board, thumb metacarpal internal and external driver has air pipe interface one side and links firmly with thumb gas circuit distribution board, the opposite side links firmly with the pivot connecting piece, the pivot connecting piece is articulated with thumb metacarpal dorsal scale, thumb abduction driver has air pipe interface one side and links firmly with thumb gas circuit distribution board, the opposite side links firmly with thumb metacarpal dorsal scale, elastic band links firmly with back of the hand casing, four finger line apron has four, the shape is semi-circular.
Preferably, the contact surface between the back of hand shell and the back of hand adopts a micro-curved surface design, which accords with human engineering; the user fixes the back of the hand casing on the back of the hand through the elastic cord, fixes the thumb metacarpal bone dorsal shell on the thumb palm, fixes the fingertip in the dactylotheca, accomplishes the dress of the recovered ectoskeleton of hand.
Preferably, the finger driving device comprises a finger sleeve, a limiting layer, a sensor layer, a four-finger bending and stretching driver, a thumb bending and stretching driver and a four-finger line cover plate; the sensor layer comprises a fingertip force sensor and a bending sensor; the finger sleeve, the limiting layer, the sensor layer and the four-finger bending and stretching driver are tightly attached and fixedly connected in sequence.
Preferably, the four-finger flexion-extension driver comprises a distal bending section, a middle bending section, a proximal bending section, a four-finger air cavity, a distal connecting section and a proximal connecting section; the thumb flexion and extension driver comprises a thumb distal bending section, a thumb proximal bending section, a thumb air cavity and a middle connecting section; and the four-finger bending and stretching driver and the thumb bending and stretching driver are formed by pouring, standing and molding by using a die and silicon rubber.
Preferably, the four-finger line cover plate is fixed on a proximal end connecting section of the four-finger flexion and extension driver, small round holes for tethers are formed in the left side and the right side of the four-finger line cover plate, the four-finger line cover plates are connected through four-finger abduction limiting ropes respectively, and the four-finger abduction limiting ropes are used for limiting the maximum angle of four-finger abduction; the first four-finger abduction adduction driving rope is connected with a round hole on the left side of the first four-finger line cover plate and sequentially bypasses the first positioning small pulley, the second positioning small pulley and the third positioning small pulley; the second four-finger abduction and adduction driving rope is connected with a round hole on the right side of the fourth four-finger line cover plate and sequentially bypasses the sixth positioning small pulley, the fifth positioning small pulley and the fourth positioning small pulley; the tail ends of the first four-finger abduction and adduction driving ropes are tied together and then connected with an external motor shaft, and the external motor rotates positively to drive the first four-finger adduction driving ropes and the second four-finger adduction driving ropes so as to realize the four-finger abduction function; the motor is powered off, and the finger driving device resets under the elastic action, so that the adduction function of four fingers is realized.
Preferably, the four-finger bending and stretching driver is supplied with air, so that an air cavity in the four-finger inside the four-finger bending and stretching driver is filled with air, a distal bending section, a middle bending section and a proximal bending section are inflated and expanded, the corrugated structure is inflated and elongated, and the limiting layer limits the axial elongation of one side of the four-finger bending and stretching driver, which is close to a finger, so that the four-finger bending and stretching driver generates bending and has a shape conforming to the bending shape of the four fingers; the four-finger air pipe interfaces all adopt independent air sources for air supply, and different actions of four fingers can be realized through different air supply sequences.
Preferably, the thumb abduction adduction driver is supplied with air, and the thumb abduction adduction driver stretches to push the metacarpal dorsal shell of the thumb to rotate clockwise around the thumb abduction adduction rotating shaft so as to realize the thumb abduction function; after the thumb abduction adduction driver is subjected to air discharge and pressure relief, the thumb metacarpal dorsal shell is driven to rotate anticlockwise around the thumb abduction adduction rotating shaft under the elastic action so as to realize the thumb adduction function; the inner and outer rotary drivers of the metacarpal bones of the thumb are supplied with air, one side of the corrugated structure of the inner and outer rotary drivers is expanded and stretched, and the corrugated structure is expanded and stretched in a fan shape after being inflated, so that the back shell of the metacarpal bones of the thumb is driven to bend downwards along a plane perpendicular to the palm, and the function of pronation of the metacarpal bones of the thumb is realized; after the internal and external rotation driver of the thumb metacarpal is subjected to air discharge and pressure relief, the internal and external rotation driver of the thumb metacarpal is restored under the elastic action to drive the back shell of the thumb metacarpal to move along the plane perpendicular to the palm, so that the external rotation function of the thumb metacarpal is realized; inflating the thumb stretching driver to expand and bend the thumb, driving the thumb to bend, and recovering the thumb under the elastic action after the thumb stretching driver is subjected to air discharge and pressure relief to drive the thumb to stretch and reset; the thumb air pipe interface is connected with the air source independently, and the thumb flexion and extension driver is matched with the four-finger flexion and extension driver, so that different five-finger actions can be realized through different air supply sequences.
Compared with the prior art, the invention has the following advantages and beneficial effects: 1) The invention has compact structure, high integration level, portability and light weight; 2) The invention uses the motor to independently control the abduction and adduction functions of four fingers, and can realize the multi-degree-of-freedom exercise of the thumb; 3) The soft driver is molded by adopting a die and pouring and standing silicon rubber, and the plastic blocks are molded by adopting a 3D printing technology, so that the soft driver is simple to prepare and convenient to replace; 4) According to the invention, each soft pneumatic driver adopts independent air supply, so that various more complicated finger movements can be realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention
FIG. 2 is a schematic view of the invention with the back of the hand housing shield removed
FIG. 3 is a bottom view of the present invention
FIG. 4 is a schematic cross-sectional view of a finger driving device according to the present invention
FIG. 5 is a schematic cross-sectional view of a four-finger flexion and extension actuator according to the present invention
FIG. 6 is a schematic cross-sectional view of a thumb flexion actuator according to the present invention
FIG. 7 is a schematic diagram of a four-finger abduction and adduction line of the present invention
FIG. 8 is a schematic diagram of the present invention for realizing the five-finger abduction and adduction functions
Fig. 9 is a top view of fig. 2
FIG. 10 is a schematic diagram of the present invention for implementing the thumb pronation function
FIG. 11 is a schematic view of a sensor layer according to the present invention
FIG. 12 is a schematic cross-sectional view of the thumb metacarpal internal and external rotation driver of the present invention after inflation
FIG. 13 is a schematic cross-sectional view of the thumb abduction adduction actuator of the present invention after inflation
FIG. 14 is a schematic view of a four-wire cover plate according to the present invention
FIG. 15 is a schematic view of a positioning small pulley according to the present invention
Reference numerals illustrate:
1-finger driving device, 2-thumb metacarpal inner and outer rotation driver, 3-thumb abduction adduction driver, 4-four-finger abduction drive wire, 5-four-finger abduction limit wire, 6-back of hand shell, 7-back of hand shell shield, 8-elastic band, 9-rotation shaft connector, 10-thumb metacarpal back shell, 11-finger stall, 12-limiting layer, 13-sensor layer, 14-four-finger flexion driver, 15-thumb flexion driver, 16-four-finger wire cover plate, 4 a-first four-finger abduction adduction drive wire, 4 b-second four-finger abduction drive wire, 61-positioning small pulley, 62-four-finger gas path distribution plate, 63-thumb gas path distribution plate, 101-thumb gas path interface, 102-thumb abduction rotation shaft, 131-fingertip force sensor, 132-bending sensor, 141 a-distal bending section, 141 b-intermediate bending section, 141 c-proximal bending section, 142-four-finger hollow air cavity, 143 a-distal connecting section, 143 b-proximal connecting section, 151 a-thumb distal bending section, 151 b-thumb proximal bending section, 152-thumb hollow air cavity, 153-intermediate connecting section, 16 a-first four-finger wire cover, 16 b-second four-finger wire cover, 16 c-third four-finger wire cover, 16 d-fourth-finger wire cover, 61 a-first positioning small pulley, 61 b-second positioning small pulley, 61 c-third positioning small pulley, 61 d-fourth positioning small pulley, 61 e-fifth positioning small pulley, 61 f-sixth positioning small pulley, 621-four-finger air pipe interface, 16a 1-first four-finger line cover plate left round hole, 16d 2-fourth four-finger thin line cover plate right round hole.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the specific structure and operation of the present invention will be described in detail with reference to the accompanying drawings and examples.
As shown in fig. 1, fig. 2, fig. 3 and fig. 14, a flexible hand rehabilitation exoskeleton mainly comprises: the device comprises a finger driving device 1, a thumb metacarpal inward-outward rotation driver 2, a thumb abduction inward-retraction driver 3, a four-finger abduction inward-retraction driving rope 4, a four-finger abduction limiting rope 5, a back shell 6, a back shell shield 7, an elastic band 8, a rotating shaft connecting piece 9 and a thumb metacarpal back shell 10; the back of hand casing 6 is equipped with location small pulley 61, four-finger gas circuit distribution plate 62, thumb gas circuit distribution plate 63, finger drive 1 links firmly with four-finger gas circuit distribution plate 62, thumb metacarpal internal and external driver 2 has air pipe interface one side to link firmly with thumb gas circuit distribution plate 63, the opposite side links firmly with pivot connecting piece 9, pivot connecting piece 9 articulates with thumb metacarpal dorsal scale 10, thumb abduction adduction driver 3 has air pipe interface one side to link firmly with thumb gas circuit distribution plate 63, the opposite side links firmly with thumb metacarpal dorsal scale 10, elastic cord 8 links firmly with back of the hand casing 6, four-finger line apron 16 are semicircular in shape.
Further, as shown in fig. 4, fig. 5, fig. 6, and fig. 11, the finger driving device 1 includes a finger cuff 11, a limiting layer 12, a sensor layer 13, a four-finger flexion-extension driver 14, a thumb flexion-extension driver 15, and a four-finger cord cover 16; the sensor layer 13 includes a fingertip force sensor 131 and a bending sensor 132; the finger sleeve 11, the limiting layer 12, the sensor layer 13 and the four-finger bending and stretching driver 14 are tightly attached and fixedly connected in sequence; the four-finger flexion and extension actuator 14 includes a distal curved segment 141a, a middle curved segment 141b, a proximal curved segment 141c, a four-finger air lumen 142, a distal connecting segment 143a, and a proximal connecting segment 143b; thumb flexion actuator 15 includes a thumb distal curved section 151a, a thumb proximal curved section 151b, a thumb air cavity 152, and an intermediate connecting section 153; the four-finger bending and stretching driver 14 and the thumb bending and stretching driver 15 are formed by casting, standing and molding by a mold and silicon rubber.
Further, as shown in fig. 5, fig. 7, fig. 8, fig. 9, and fig. 15, the control method of a flexible hand rehabilitation exoskeleton is characterized in that a four-finger wire cover plate 16 is fixed on a proximal connecting section 143b of a four-finger flexion and extension driver 14, small round holes for tethers are formed on the left and right sides of the four-finger wire cover plate 16, and the first, second, third, and fourth four-finger wire cover plates 16a, 16b, 16c, and 16d are respectively connected by four-finger abduction limiting ropes 5, wherein the four-finger abduction limiting ropes 5 are used for limiting a maximum angle of four-finger abduction; the first four-finger abduction adduction driving rope 4a is connected with a round hole 16a1 on the left side of the first four-finger line cover plate and sequentially bypasses the first positioning small pulley 61a, the second positioning small pulley 61b and the third positioning small pulley 61c; the second four-finger abduction driving rope 4b is connected with the round hole 16d2 on the right side of the fourth four-finger line cover plate, and sequentially bypasses the sixth positioning small pulley 61f, the fifth positioning small pulley 61e and the fourth positioning small pulley 61d; the tail ends of the first four-finger abduction and adduction driving ropes 4a and 4b are tied together and then connected with an external motor shaft, and the external motor rotates positively to drive the first four-finger abduction and adduction driving ropes 4a and 4b and realize the four-finger abduction function; the motor is powered off, the finger driving device 1 resets under the elastic action, and the four-finger adduction function is realized; the four-finger bending and stretching driver 14 is supplied with air, so that the air cavity 142 in the four-finger inside the four-finger bending and stretching driver 14 is filled with air, the distal bending section 141a, the middle bending section 141b and the proximal bending section 141c are inflated, the corrugated structure is inflated and stretched, and the limiting layer 12 limits the axial stretching of one side of the four-finger bending and stretching driver 14 close to the fingers, so that the four-finger bending and stretching driver 14 generates bending and has a shape conforming to the bending shape of the four fingers; the four-finger air pipe interfaces 621 all adopt independent air sources for air supply, and different actions of four fingers can be realized through different air supply sequences.
Further, as shown in fig. 8, 10, 12 and 13, the method for controlling a flexible hand rehabilitation exoskeleton is characterized in that the thumb abduction adduction driver 3 is supplied with air, and the thumb adduction driver 3 extends to push the thumb metacarpal dorsal shell 10 to rotate clockwise around the thumb adduction rotating shaft 102 so as to realize the thumb abduction function; after the thumb abduction adduction driver 3 is exhausted and depressurized, the thumb adduction driver is restored under the elastic action, and drives the thumb metacarpal back shell 10 to rotate anticlockwise around the thumb abduction rotating shaft 102 so as to realize the thumb adduction function; the thumb metacarpal inner and outer rotation driver 2 is supplied with air, one side of the corrugated structure of the thumb metacarpal inner and outer rotation driver is expanded and elongated, and the corrugated structure is expanded and expanded in a sector shape after being inflated, so that the thumb metacarpal back shell 10 is driven to bend downwards along a plane perpendicular to the palm, and the thumb metacarpal inner rotation function is realized; after the internal and external rotation driver 2 of the thumb metacarpal is subjected to air discharge and pressure relief, the state is restored under the elastic action, and the thumb metacarpal back shell 10 is driven to move along the plane perpendicular to the palm, so that the thumb metacarpal contraband external rotation function is realized; the thumb stretching driver 15 is inflated to expand and bend, the thumb is driven to bend, after the thumb stretching driver 15 is subjected to air discharge and pressure relief, the thumb is restored under the elastic action, and the thumb is driven to stretch and reset; the thumb air pipe interface 101 is connected with an air source independently, and the thumb flexion and extension driver 15 is matched with the four-finger flexion and extension driver 14, so that different five-finger actions can be realized through different air supply sequences.
The foregoing has described the basic principles and main features of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the foregoing embodiments, which have been described in the foregoing embodiments and description merely illustrates the basic idea and principles of the invention, and that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and scope of the invention, which is defined in the appended claims and their equivalents.
Claims (4)
1. A flexible hand rehabilitation exoskeleton, comprising: the device comprises a finger driving device (1), a thumb metacarpal bone inward-outward rotation driver (2), a thumb abduction inward-retraction driver (3), a four-finger abduction inward-retraction driving rope (4), a four-finger abduction limiting rope (5), a dorsum manus shell (6), a dorsum manus shell shield (7), an elastic band (8), a rotating shaft connecting piece (9) and a thumb metacarpal bone dorsal shell (10);
the hand back shell (6) is provided with a positioning small pulley (61), a four-finger air passage distribution plate (62) and a thumb air passage distribution plate (63), the finger driving device (1) is fixedly connected with the four-finger air passage distribution plate (62), one side of the air passage interface of the thumb metacarpal inner and outer rotary driver (2) is fixedly connected with the thumb air passage distribution plate (63), the other side of the air passage interface is fixedly connected with the rotary shaft connecting piece (9), the rotary shaft connecting piece (9) is hinged with the thumb metacarpal shell (10), one side of the thumb abduction inner driver (3) with the air passage interface is fixedly connected with the thumb air passage distribution plate (63), the other side of the thumb abduction inner driver is fixedly connected with the thumb metacarpal shell (10), and the elastic band (8) is fixedly connected with the hand back shell (6), and the four-finger line cover plate (16) is semicircular in shape.
2. A flexible hand rehabilitation exoskeleton as claimed in claim 1 wherein said finger drive means (1) comprises a finger cuff (11), a constraining layer (12), a sensor layer (13), a four finger flexion and extension drive (14), a thumb flexion and extension drive (15) and a four finger cord cover (16); the sensor layer (13) comprises a fingertip force sensor (131) and a bending sensor (132); the finger sleeve (11), the limiting layer (12), the sensor layer (13) and the four-finger bending and stretching driver (14) are tightly attached and fixedly connected in sequence;
the four-finger flexion and extension driver (14) comprises a distal bending section (141 a), a middle bending section (141 b), a proximal bending section (141 c), a four-finger air cavity (142), a distal connecting section (143 a) and a proximal connecting section (143 b);
the thumb flexion-extension driver (15) comprises a thumb distal bending section (151 a), a thumb proximal bending section (151 b), a thumb air cavity (152) and an intermediate connecting section (153);
the four-finger bending and stretching driver (14) and the thumb bending and stretching driver (15) are formed by casting, standing and molding by a die and silicon rubber.
3. The method for controlling the flexible hand rehabilitation exoskeleton of claim 1, wherein a four-finger wire cover plate (16) is fixed on a proximal end connecting section (143 b) of the four-finger flexion and extension driver (14), small round holes for tethers are formed in the left side and the right side of the four-finger wire cover plate (16), and the first, second, third and fourth four-finger wire cover plates (16 a), (16 b), (16 c) and (16 d) are respectively connected by a four-finger abduction limiting rope (5), wherein the four-finger abduction limiting rope (5) is used for limiting the maximum angle of four-finger abduction; the first four-finger abduction adduction driving rope (4 a) is connected with a round hole (16 a 1) on the left side of the first four-finger line cover plate and sequentially bypasses the first positioning small pulley (61 a), the second positioning small pulley (61 b) and the third positioning small pulley (61 c); the second four-finger abduction and adduction driving rope (4 b) is connected with a round hole (16 d 2) on the right side of the fourth four-finger line cover plate, and sequentially bypasses a sixth positioning small pulley (61 f), a fifth positioning small pulley (61 e) and a fourth positioning small pulley (61 d); the tail ends of the first four-finger abduction and adduction driving ropes (4 a) and the second four-finger adduction driving ropes (4 b) are tied together and then connected with an external motor shaft, and the external motor rotates positively to drive the first four-finger adduction driving ropes (4 a) and the second four-finger adduction driving ropes (4 b) and realize the four-finger abduction function; the motor is powered off, the finger driving device (1) resets under the elastic action, and the four-finger adduction function is realized;
the four-finger bending and stretching driver (14) is supplied with air, so that an air cavity (142) in the four-finger bending and stretching driver (14) is filled with air, a distal bending section (141 a), a middle bending section (141 b) and a proximal bending section (141 c) are inflated, the corrugated structure is inflated and stretched, and the limiting layer (12) limits one side, close to a finger, of the four-finger bending and stretching driver (14) to axially stretch, and therefore the four-finger bending and stretching driver (14) is bent and is in a shape conforming to the bending shape of the four fingers; the four-finger air pipe interfaces (621) are all supplied with air by adopting independent air sources, and different actions of four fingers can be realized through different air supply sequences.
4. A method for controlling a flexible hand rehabilitation exoskeleton according to claim 1, wherein the thumb abduction adduction driver (3) is supplied with air, and the thumb abduction adduction driver (3) stretches to push the thumb metacarpal back shell (10) to rotate clockwise around the thumb abduction adduction shaft (102) to realize the thumb abduction function;
after the thumb abduction adduction driver (3) is subjected to air discharge and pressure relief, the thumb adduction driver is restored under the elastic action, and the thumb metacarpal back shell (10) is driven to rotate anticlockwise around the thumb abduction adduction rotating shaft (102) so as to realize the thumb adduction function;
the thumb metacarpal inner and outer rotation driver (2) is supplied with air, one side of the corrugated structure of the thumb metacarpal inner and outer rotation driver is expanded and stretched, and the corrugated structure is expanded and stretched in a fan shape after being inflated, so that the thumb metacarpal back shell (10) is driven to bend downwards along a plane perpendicular to a palm, and the thumb metacarpal inner rotation function is realized;
after the internal and external rotation driver (2) of the thumb metacarpal is subjected to air discharge and pressure relief, the state is restored under the elastic action, and the back shell (10) of the thumb metacarpal is driven to move along the plane perpendicular to the palm, so that the palm metacarpal half rotation function is realized;
the thumb flexion and extension driver (15) is inflated to expand and bend to drive the thumb to flex, and after the thumb flexion and extension driver (15) is subjected to air discharge and pressure relief, the thumb is restored under the elastic action to drive the thumb to extend and reset;
the thumb air pipe interface (101) is independently connected with an air source, and the thumb flexion and extension driver (15) is matched with the four-finger flexion and extension driver (14), so that different five-finger actions can be realized through different air supply sequences.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310733263.2A CN116650285A (en) | 2023-06-20 | 2023-06-20 | Flexible hand rehabilitation exoskeleton and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310733263.2A CN116650285A (en) | 2023-06-20 | 2023-06-20 | Flexible hand rehabilitation exoskeleton and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117297927A (en) * | 2023-10-24 | 2023-12-29 | 北京软体机器人科技股份有限公司 | Wearable thumb rehabilitation training manipulator and rehabilitation training device with same |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117297927A (en) * | 2023-10-24 | 2023-12-29 | 北京软体机器人科技股份有限公司 | Wearable thumb rehabilitation training manipulator and rehabilitation training device with same |
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