CN206714926U - A kind of intelligent power-assisted restoring gloves - Google Patents
A kind of intelligent power-assisted restoring gloves Download PDFInfo
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- CN206714926U CN206714926U CN201621208048.2U CN201621208048U CN206714926U CN 206714926 U CN206714926 U CN 206714926U CN 201621208048 U CN201621208048 U CN 201621208048U CN 206714926 U CN206714926 U CN 206714926U
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Abstract
The utility model provides a kind of intelligent power-assisted restoring gloves, including glove bulk, armlet, bend sensor, subtended angle sensor, single-point type pressure sensor, electronic control unit, artificial muscle and auxiliary power box；The bend sensor, for detecting the angle bending change of each finger-joint；The subtended angle sensor, for detecting the stretching degree between two neighboring finger；The single-point type pressure sensor, for detecting the pressure change of each finger pulp loss and other finger joint inside lines；Institute's electronic control unit, the change of the angle, tension force and the pressure that are exported for receiving each sensor, the auxiliary power box is controlled using special algorithm according to the signal, by pulling the artificial muscle to control the motion of finger, realizes the function of intelligent power-assisted.
Description
Technical field
It the utility model is related to medical rehabilitation health treatment field, and in particular to a kind of intelligent power-assisted for rehabilitation training
Restoring gloves.
Background technology
There is the cerebral disease patient such as substantial amounts of apoplexy or cerebral apoplexy, this kind of trouble along with the aggravation of aging in modern society
Person is typically due to cerebrovascular thrombus or rupture of blood vessel in brain bleeding and causes brain blood supply to be interrupted so that corresponding motion, feel and
The functions such as cognition are lost, or even serious meeting suffers damage.Modern neuro medical science of recovery therapy and its clinical study results show
, can be to a certain extent by scientific and reasonable rehabilitation training to the limbs disturbance caused by the diseases such as cerebral apoplexy
Recover its impaired limb function.Medical personnel can use range of motion training, exercise for power, power-assisting training and finger essence
The kinesiatrics such as fine-motion training carry out traditional rehabilitation to patient and trained, and the postoperative hand of patient is dumb, and action is extremely
Inconvenience, carries out being periodically required to hospital be trained during traditional rehabilitation, can thus be brought to patient greatly not
Just.
Intelligent power-assisted restoring gloves can complete swivel of hand mobility training to patient, exercise for power, power-assisting training with
And the training of finger fine movement, patient just carry out to train with rehabilitation by wearing gloves, so not only alleviate tradition
The work load of Physical Therapist in rehabilitation training pattern, and bring facility to patient.
Utility model content
The utility model in view of the above-mentioned problems, devise a kind of intelligent power-assisted restoring gloves, including glove bulk, armlet,
Bend sensor, subtended angle sensor, single-point type pressure sensor, electronic control unit, artificial muscle and auxiliary power box；It is described
Bend sensor, for detecting the angle bending change of each finger-joint；The subtended angle sensor, it is two neighboring for detecting
Stretching degree between finger；The single-point type pressure sensor, for detecting each finger pulp loss and other finger joint inside portions
The pressure change of position；Institute's electronic control unit, the change of the angle, tension force and the pressure that are exported for receiving each sensor,
The auxiliary power box is controlled using special algorithm according to the signal, by pulling the artificial muscle to control the fortune of finger
It is dynamic, realize the function of intelligent power-assisted.
Further, the glove bulk includes bend sensor, subtended angle sensor, single-point type pressure sensor, traction
Stress point and sensing data connecting line；The armlet includes described power-assisted driving box, described electronic control unit and electricity
Pond module.
Further, the bend sensor is 14, between the finger for the dorsal surface of thumb for being individually positioned in the glove bulk
Joint, metacarpophalangeal joint and gloves forefinger, middle finger, the third finger, first interphalangeal joint at the pinkie back side, second are closed between referring to
Section, metacarpophalangeal joint.
Further, the subtended angle sensor is 4, is individually positioned between the thumb and forefinger of the glove bulk
At the webs between the webs between webs, middle finger and the third finger, the third finger and little finger of toe between webs, forefinger and middle finger.
Further, the single-point type pressure sensor is 14, is individually positioned in the thumb finger pulp of the glove bulk
And the section of thumb second inner side is upper and forefinger, middle finger, the third finger, the first segment of pinkie, the second section, Section three refer on the inside of on.
Further, the electronic control unit is provided with ADC, the MCU for data processing for data acquisition
Module, for wired and wireless telecommunications communication modules, the status indicator lamp for showing current state, carry out power management
Switch.
Further, the power-assisted driving box is provided with some micro electric units, and some micro electric units are to pass through
Artificial muscle is pulled to control the motion of finger.
Further, the micro electric unit controls hand by pulling the artificial muscle of the glove bulk respectively
Finger is curved inwardly and flexed outward.
Further, the artificial muscle is divided into inner side artificial muscle and outside artificial muscle.
Further, some micro electric units are led by the inner side artificial muscle and the outside artificial muscle with described
Draw stress point to be connected.
In user's wearing after intelligent power-assisted restoring gloves, the bend sensor being placed on glove bulk detects thumb
Interphalangeal joint, metacarpophalangeal joint and forefinger, middle finger, the third finger, the first interphalangeal joint of pinkie, the second interphalangeal joint,
The angle bending change of metacarpophalangeal joint, the angle that electronic control unit collects each joint of bend sensor transmission become
Change, if more than two digital flexion degree reach the threshold value of setting, electronic control unit detection single-point type pressure sensor
Whether pressure is experienced, processing of averaging is carried out to the pressure value detected, if the pressure mean values after processing are not above
First threshold, the certain PWM waveform of now electronic control unit output, controls some micro electric units by pulling artificial muscle
The motion of finger is controlled, whole gloves is in extended position；If the pressure mean values after processing exceed first threshold, explanation
User captures object, and now control unit exports certain PWM waveform, controls some micro electric units by drawing people
Make action of the muscle to finger and carry out power-assisted；Electronic control unit continues to gather and handles the pressure of finger inside pressure sensor
Delta data, if the pressure mean values after processing exceed the pressure mean values at previous specified moment, electronic control unit will
Certain PWM waveform is exported, controls some micro electric units to continue the action of power-assisted finger by drawing artificial muscle；Until place
Reason has obtained pressure mean values and has exceeded Second Threshold, or power-assisted number reaches programmed values, and some micro electric unit allocations help
Power drive module is allowed to keep this state for a period of time, and electronic control unit then exports certain PWM waveform, and control is some miniature
Group of motors makes whole gloves be in extended position by pulling artificial muscle to control the motion of finger；
Further, described bend sensor is resistance sensor, can be converted into the angle change detected
Resistance change, with impedance variations during lateral bend in this flexibility sensor；Impedance output is constant during outside lateral bend；I.e.
The sensor is perceived as unidirectional sensitivity to Bending Deformation；Each joint that bend sensor is placed on to the gloves back side can be with
Detect the angle change in each joint of finger.
Further, described pressure sensor can be resistance sensor, and resistance-type thin film sensor is in circuit
Piezo-resistance is equivalent to, when pressure sensor loads without the external world, sensor is equivalent to the resistance with certain resistance.Work as the external world
When pressure is applied on sensor, equivalent resistance changes therewith.Exert pressure proportional with resistance change amount, thus it is logical
Cross the pressure change for calculating and detecting resistance variations and be converted to.
Further, described pressure sensor can be capacitance type sensor, and capacitive films sensor is in circuit
Pressure-sensitive capacitance is equivalent to, when pressure sensor loads without the external world, sensor is equivalent to the electric capacity with certain capacitance.Work as the external world
When pressure is applied on sensor, equivalent capacity changes therewith.Exert pressure proportional with capacitance variation amount, thus it is logical
Cross the pressure change for calculating and detecting capacitance variations and be converted to.
Further, the master chip of the electronic control unit can use the core with data storage and processing function
Piece, such as FPGA, single-chip microcomputer.
Further, described first threshold, Second Threshold and power-assisted number can be according to the healths of user
Difference and the demand of user are adjusted；Also can be adjusted accordingly according to the course for the treatment of and effect of rehabilitation training.
The utility model continuously detects the pressure change on the inside of the angle change and finger in each joint of patient, and according to
These variable signals control some micro electric units, and the motion of finger is controlled by drawing artificial muscle, so as to complete pair
Range of motion training, exercise for power, power-assisting training and the training of finger fine movement of patient；At the same time, this practicality is new
Type can also detect the stretching degree between patient's adjacent finger, more entirely by gathering the tension variation data of subtended angle sensor
The rehabilitation situation of the grasp user in face；The rehabilitation data of collection are passed to external data receiving unit by data transmission module, with
And receive the external command such as parameter configuration such as threshold value, power-assisted number and configuration is adjusted to power-assisted gloves；So not only alleviate
The work load of Physical Therapist in Traditional Rehabilitation training mode, and brought great convenience to user.
Brief description of the drawings
In order that content of the present utility model is more likely to be clearly understood, below in conjunction with the accompanying drawings, the utility model is made
Further details of explanation, wherein,
Fig. 1 be a kind of intelligent power-assisted restoring gloves described in the utility model sensor distribution be connected front, carry on the back
Face schematic diagram；
Fig. 2 be artificial muscle and the intelligent force aid system of a kind of intelligent power-assisted restoring gloves described in the utility model just
Face, schematic rear view；
Fig. 3 is a kind of intelligent power-assisted restoring gloves power-assisted driving box described in the utility model and micromachine connection signal
Figure；
Fig. 4 is a kind of algorithm flow chart of the data processing of intelligent power-assisted restoring gloves described in the utility model；
Reference is expressed as in figure：10- glove bulks；11- subtended angle sensors；12- flexibility sensors；13- single-points
Formula pressure sensor；14- sensing data connecting lines；15- draws stress point；20- armlets；21- power-assisteds drive box；211-
One group of micromachine；Second group of micromachine of 212-；The 3rd group of micromachine of 213-；The 4th group of micromachine of 214-；215-
Five groups of micromachines；22- electronic control units；221-ADC modules；222-MCU modules；223- communication modules；224- states refer to
Show lamp；225- is switched；23- battery modules；30- artificial muscles；Artificial muscle on the inside of 31-；Artificial muscle on the outside of 32-.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are clearer, below in conjunction with accompanying drawing to this practicality
New embodiment is described in further detail.
As shown in figure 1, by 1 12,14 single-point type of bend sensor of subtended angle sensor 11,14 of glove bulk 10,4
The armlet 20,1 of pressure sensor 13,1 power-assisted drives 21,1, the box battery module 23 of electronic control unit 22,1 and passed
Sensor data connecting line 14 is formed.
14 bend sensors 12 are individually positioned in interphalangeal joint, metacarpophalangeal joint and the gloves food of gloves dorsal surface of thumb
Finger, middle finger, the third finger, first interphalangeal joint at the pinkie back side, the second interphalangeal joint, metacarpophalangeal joint, it is each for detecting
The angle bending change of finger-joint；4 subtended angle sensors 11 are individually positioned in webs, forefinger between gloves thumb and forefinger
It is adjacent for detecting at the webs between the webs between webs, middle finger and the third finger, the third finger and little finger of toe between middle finger
Stretching degree between two fingers；14 single-point type pressure sensors 13 are individually positioned in gloves thumb finger pulp and thumb second
Section inner side is upper and forefinger, middle finger, the third finger, the first segment of pinkie, the second section, Section three refer on inner side, for detecting often
The pressure change of individual finger pulp loss and other finger joint inside lines；Electronic control unit 22 is placed on the armlet 20 of arm, electricity
Sub-control unit 22 be provided with for the ADC 221 of data acquisition, the MCU module 222 for data processing, for it is wired with
And communication module 223, the status indicator lamp 224 for showing current state, the switch for carrying out power management of wireless telecommunications
225.For gathering and handling between the data from each sensor, including finger-joint angle of bend, finger and finger
Subtended angle, and the situation of change of finger pulp and other finger joint inside pressures, some micro electric units are controlled according to these variable signals
Rotation；Switch 225 is used for the open and close for controlling intelligent power-assisted restoring gloves；Shape body indicator lamp 224 passes through different sudden strains of a muscle
The current operating conditions of bright frequency and colour switching indicating gloves；Communication module 223 is placed on the position of armlet 20 of arm, uses
In the transmission of gathered data and configuration information；Some micro electric unit 211-215 are placed on the power-assisted driving box 21 of arm armlet
The inside, according to the control signal received, by pulling artificial muscle 30 to control the motion of finger.
As shown in Fig. 2 it is made up of 1 glove bulk, 10,1 armlets 20 and artificial muscle 30.
As shown in figure 3, by glove bulk 10, inner side artificial muscle 31, outside artificial muscle 32, traction stress point 15, the
One group of micromachine, 211, second groups of micromachines 212, the 3rd group of micromachine 213, the four miniature groups motors 214, the 5th is micro-
Type group motor 215 and power-assisted driving box 21 are formed.
Some micro electric unit 211-215 are placed on the inside of power-assisted driving box 214 of arm armlet, pass through inner side artificial muscle
Meat 31 and outside artificial muscle 32 are connected with the traction stress point 18 of glove bulk 10.When electronic control unit 22 is to some micro-
When type group of motors 211-215 sends positive pwm control signal, some micro electric unit 211-215 are by pulling inner side artificial muscle
Meat 31 controls 5 fingers to curve inwardly.When electronic control unit 22 sends reverse PWM to some micro electric unit 211-215
During control signal, some micro electric unit 211-215 are by pulling outside artificial muscle 32 to control 5 fingers to be bent outwardly.
As shown in figure 4, in user's wearing after intelligent power-assisted restoring gloves, the crooked sensory that is placed on glove bulk 10
Device 12 detects the interphalangeal joint of thumb, the first interphalangeal joint of metacarpophalangeal joint and remaining finger, the second interphalangeal joint, the palm
Angle change at articulations digitorum manus, electronic control unit 22 collect the angle change number in each joint of the transmission of bend sensor 12
According to if more than two digital flexion degree reach certain threshold value, electronic control unit 22 can detect single-point type pressure biography
Whether sensor 13 experiences pressure, and processing of averaging is carried out to the pressure value detected, if the pressure mean values after processing do not have
First threshold is had more than, now electronic control unit exports certain some micro electric unit 211-215 of PWM waveform control and passed through
Pull outside artificial muscle 32 to control the motion of finger, whole gloves is in diastole state；If the pressure after calculating processing
Average value exceedes first threshold, illustrates that patient captures object, and now electronic control unit 22 exports certain PWM waveform control
Make action of some micromachine 211-215 groups by the power-assisted finger of artificial muscle 31 on the inside of pulling；Electronic control unit 22 is held
It is continuous to gather and handle the finger pressure delta data from single-point type pressure sensor 13, if the pressure obtained by processing is put down
Average exceedes the pressure mean values at previous specified moment, and control unit will export certain PWM waveform and control some micro electrics
Unit 211-215, by pulling inner side artificial muscle 31 to continue the action of power-assisted finger；Until processing has obtained pressure mean values
Exceed programmed values more than Second Threshold or power-assisted number, some micro electric unit 211-215 controls power-assisted drive modules make
Holding this state for a period of time, electronic control unit 22 then exports certain PWM waveform and controls some micro electric unit 211-
215, by pulling outside artificial muscle 32 to control the motion of finger, make whole hand recover diastole state.
Obviously, above-described embodiment is only intended to clearly illustrate example, and is not the restriction to embodiment.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of change or
Change.There is no necessity and possibility to exhaust all the enbodiments.And the obvious change thus extended out or
Among changing still in the scope of protection of the utility model.
Claims (10)
1. a kind of intelligent power-assisted restoring gloves, it is characterised in that including glove bulk, armlet, bend sensor, subtended angle sensing
Device, single-point type pressure sensor, electronic control unit, artificial muscle and auxiliary power box；The bend sensor, for detecting
The angle bending change of each finger-joint；The subtended angle sensor, for detecting the stretching degree between two neighboring finger；
The single-point type pressure sensor, for detecting the pressure change of each finger pulp loss and other finger joint inside lines；The electricity
Sub-control unit, the change of the angle, tension force and the pressure that are exported for receiving each sensor, specific calculation is used according to signal
Method controls the auxiliary power box, by pulling the artificial muscle to control the motion of finger, realizes the function of intelligent power-assisted.
2. intelligent power-assisted restoring gloves according to claim 1, it is characterised in that the glove bulk includes crooked sensory
Device, subtended angle sensor, single-point type pressure sensor, traction stress point and sensing data connecting line；The armlet includes described
Power-assisted driving box, described electronic control unit and battery module.
3. according to the intelligent power-assisted restoring gloves described in any one of claim 1 or 2, it is characterised in that the bend sensor
For 14, be individually positioned in the dorsal surface of thumb of the glove bulk interphalangeal joint, metacarpophalangeal joint and gloves forefinger, in
Finger, the third finger, first interphalangeal joint at the pinkie back side, the second interphalangeal joint, metacarpophalangeal joint.
4. according to the intelligent power-assisted restoring gloves described in any one of claim 1 or 2, it is characterised in that the subtended angle sensor
For 4, the webs, the middle finger that are individually positioned between the webs between the thumb and forefinger of the glove bulk, forefinger and middle finger
At the webs between webs, the third finger and little finger of toe between the third finger.
5. according to the intelligent power-assisted restoring gloves described in any one of claim 1 or 2, it is characterised in that the single-point type pressure
Sensor is 14, be individually positioned in the thumb finger pulp of the glove bulk and the section of thumb second inner side is upper and forefinger, middle finger,
The third finger, the first segment of pinkie, second section, Section three refer on the inside of on.
6. intelligent power-assisted restoring gloves according to claim 1, it is characterised in that the electronic control unit, which is provided with, to be used for
The ADC of data acquisition, the MCU module for data processing, for wired and wireless telecommunications communication modules, for showing
Show the status indicator lamp of current state, carry out the switch of power management.
7. intelligent power-assisted restoring gloves according to claim 1, it is characterised in that the power-assisted driving box is provided with some
Micro electric unit, some micro electric units are to control the motion of finger by pulling artificial muscle.
8. intelligent power-assisted restoring gloves according to claim 7, it is characterised in that the micro electric unit by drawing respectively
The artificial muscle for moving the glove bulk controls the finger to curve inwardly and flex outward.
9. intelligent power-assisted restoring gloves according to claim 1, it is characterised in that it is artificial that the artificial muscle is divided into inner side
Muscle and outside artificial muscle.
10. according to the intelligent power-assisted restoring gloves described in any one of claim 2 or 9, it is characterised in that some micro electric units
It is connected by the inner side artificial muscle and the outside artificial muscle with the traction stress point.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621208048.2U CN206714926U (en) | 2016-11-09 | 2016-11-09 | A kind of intelligent power-assisted restoring gloves |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621208048.2U CN206714926U (en) | 2016-11-09 | 2016-11-09 | A kind of intelligent power-assisted restoring gloves |
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| CN206714926U true CN206714926U (en) | 2017-12-08 |
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| CN201621208048.2U Active CN206714926U (en) | 2016-11-09 | 2016-11-09 | A kind of intelligent power-assisted restoring gloves |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106618948A (en) * | 2016-11-09 | 2017-05-10 | 矽魅信息科技（上海）有限公司 | Intelligent power assisting rehabilitation gloves |
| CN109820267A (en) * | 2019-03-25 | 2019-05-31 | 成都柔电云科科技有限公司 | A kind of static gesture identification gloves |
| CN109820266A (en) * | 2019-03-25 | 2019-05-31 | 成都柔电云科科技有限公司 | A kind of digital flexion identification gloves |
| WO2020056807A1 (en) * | 2018-09-20 | 2020-03-26 | 麦志邦 | Multifunctional hand rehabilitation training device |
| US11041772B2 (en) | 2019-03-25 | 2021-06-22 | Toyota Motor Engineering & Manufacturing North America, Inc. | Sensor diffusion stack materials for pressure sensing gloves and methods incorporating the same |
| WO2022156094A1 (en) * | 2021-01-22 | 2022-07-28 | 上海司羿智能科技有限公司 | Hand motion detection device and control method therefor, rehabilitation device and autonomous control system |
-
2016
- 2016-11-09 CN CN201621208048.2U patent/CN206714926U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106618948A (en) * | 2016-11-09 | 2017-05-10 | 矽魅信息科技（上海）有限公司 | Intelligent power assisting rehabilitation gloves |
| WO2020056807A1 (en) * | 2018-09-20 | 2020-03-26 | 麦志邦 | Multifunctional hand rehabilitation training device |
| CN109820267A (en) * | 2019-03-25 | 2019-05-31 | 成都柔电云科科技有限公司 | A kind of static gesture identification gloves |
| CN109820266A (en) * | 2019-03-25 | 2019-05-31 | 成都柔电云科科技有限公司 | A kind of digital flexion identification gloves |
| US11041772B2 (en) | 2019-03-25 | 2021-06-22 | Toyota Motor Engineering & Manufacturing North America, Inc. | Sensor diffusion stack materials for pressure sensing gloves and methods incorporating the same |
| WO2022156094A1 (en) * | 2021-01-22 | 2022-07-28 | 上海司羿智能科技有限公司 | Hand motion detection device and control method therefor, rehabilitation device and autonomous control system |
| US11992449B2 (en) | 2021-01-22 | 2024-05-28 | Shanghai Siyi Intelligent Technology Co., Ltd. | Hand motion detection device and control method, rehabilitation device and autonomous control system |
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