CN207745312U - Multiple degrees of freedom distressed structure and Wearable action assisting device including the structure - Google Patents
Multiple degrees of freedom distressed structure and Wearable action assisting device including the structure Download PDFInfo
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- CN207745312U CN207745312U CN201720217132.9U CN201720217132U CN207745312U CN 207745312 U CN207745312 U CN 207745312U CN 201720217132 U CN201720217132 U CN 201720217132U CN 207745312 U CN207745312 U CN 207745312U
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- 230000009471 action Effects 0.000 title claims abstract description 47
- 238000005452 bending Methods 0.000 claims abstract description 25
- 239000011800 void material Substances 0.000 claims abstract description 16
- 239000000463 material Substances 0.000 claims abstract description 4
- 239000010409 thin film Substances 0.000 claims description 20
- 239000010408 film Substances 0.000 claims description 18
- 210000003205 muscle Anatomy 0.000 claims description 17
- 229920002595 Dielectric elastomer Polymers 0.000 claims description 14
- 238000003780 insertion Methods 0.000 claims description 14
- 230000037431 insertion Effects 0.000 claims description 14
- 230000000694 effects Effects 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 6
- 230000005057 finger movement Effects 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims 1
- 238000002567 electromyography Methods 0.000 description 10
- 229910000831 Steel Inorganic materials 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 4
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- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 206010008129 cerebral palsy Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
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- 229920001971 elastomer Polymers 0.000 description 2
- 239000000806 elastomer Substances 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000012528 membrane Substances 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 229920002379 silicone rubber Polymers 0.000 description 2
- 230000003595 spectral effect Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
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Abstract
The utility model discloses a kind of multiple degrees of freedom distressed structure and the Wearable action assisting device including the structure, wherein multiple degrees of freedom distressed structure include：It is pre-stretched inner tube, for the elastic tube with inflating port, increases driving outer tube diameter after inflation；Outer tube is driven, is formed by stacking by the software driving diaphragm of several variable thickness, software driving diaphragm includes：Support frame, the support frame are shape-changing material, are had several along its circumferentially distributed void region；Film is driven, taut to be located in the void region, the driving film changes thickness under extrinsic motivated.The Wearable action assisting device of the utility model is driven by line and generates main movement, it can open or close up with the in the wrong of assisted finger, stretching and retraction, fine movement is assisted by electric drive bending apparatus again, by line driving and electric drive mixing control, the unapproachable kinematic accuracy of single drive mode and harmony can be reached.
Description
Technical field
The utility model is related to medical assistance equipment technology field more particularly to a kind of multiple degrees of freedom distressed structure and including
The Wearable action assisting device of the structure.
Background technology
Recovering aid gloves are still an emerging field at present, and existing product only has grip detection, myoelectricity letter mostly
Number acquisition, hand motion acquisition etc. detection functions, without external force auxiliary patient hand action function.Minority has auxiliary
The line that the gloves of function individually use draws driving or air pressure driving that power source, single power source is used as to be difficult to realize complicated, more
The movement of degree of freedom cannot carry out the muscle of patient fine drawing movement.
Such as application No. is 201220109867.7 utility model patents to provide a kind of brain paralysis restoring gloves, it includes hand
The pneumatic flesh item that body, aerating and exhaust device and tail end are connect with aerating and exhaust device；The pneumatic flesh item is arranged in glove body hand
The veutro of the back side in finger portion, the pneumatic flesh item is equipped with elastic steel sheet, and back side is equipped with arc hose, the arc hose
Veutro is bonding with elastic steel sheet；The elastic steel sheet is embedded in the veutro wall of arc hose；The arc hose
Back side is in shrunk in the deflated condition.It the advantage is that：The restoring gloves of the utility model can not only train patients with cerebral palsy hand
Refer to passive dorsiflexion, moreover it is possible to temper the bending of clenching fist of finger, technical standard is unified, and train on is good；Can control the inflation/deflation time and
Frequency selects convenient for patient according to own situation；Hand function is tempered under state easy to remove；Patients with cerebral palsy can also be assisted
Hold article；It is easy to use, at low cost, environmental protection.But the restoring gloves are only capable of realizing with deflation status in inflation and clench fist, is open and flat
Two actions cannot carry out fine auxiliary to the movement of each finger joint on finger.Rebound steel bar used is also easy to allow patient
Generate constrained sense.
Such as application No. is a kind of Wearable action assisting devices of 201410415108.7 patent of invention, which is characterized in that
Including：Auxiliary glove is acted, there is the finger insertion part inserted with wearer's finger；Driving portion, configuration are assisted in the action
The dorsal side of gloves drives the finger insertion part；Thread-like member is configured along the extending direction of the finger insertion part to incite somebody to action
The driving force of the driving portion is transmitted to the finger insertion part；Bio signal test section is detected for making the wearer's
The bio signal of finger movement；Control unit, according to from the bio signal that the bio signal test section is generated to the driving portion
Output driving controls signal；Wherein, the driving portion makes the threadiness portion according to the driving control signal from the control unit
Part is acted along the direction of extension or bending direction of the finger insertion part.Only there are one certainly for each finger of drive part of the program
By spending, auxiliaring effect is relatively simple.
Utility model content
The utility model provides a kind of multiple degrees of freedom distressed structure, which may be implemented elongation, shrink, is curved
The multivariant deformation such as bent, torsion.
A kind of multiple degrees of freedom distressed structure, including：
It is pre-stretched inner tube, for the elastic tube with inflating port, increases driving outer tube diameter after inflation；
Outer tube is driven, is formed by stacking by the software driving diaphragm of several variable thickness, software driving diaphragm includes：
Support frame, the support frame are shape-changing material, are had several along its circumferentially distributed void region；
Film is driven, taut to be located in the void region, the driving film changes thickness under extrinsic motivated.
The multiple degrees of freedom distressed structure of the utility model is at work, pre- after inflation first to pre-stretching inner tube inflation
Stretching inner tube can be such that driving outer tube diameter increases, and realize the pre-stretching to driving outer tube, driving outer tube is made to enter working condition；
It drives the different driving film of diaphragm to apply specific extrinsic motivated different softwares, changes the thickness of different driving film, it can
With multivariant deformation such as elongation, contraction, bending, the torsions of realizing multiple degrees of freedom distressed structure.
For example, it can be achieved that multiple degrees of freedom distressed structure is stretched when increasing the thickness of all driving films by extrinsic motivated
It is long；Reduce it is all driving films thickness when, it can be achieved that multiple degrees of freedom distressed structure contraction；It is thin to increased or decrease unilateral driving
, it can be achieved that the bending etc. of multiple degrees of freedom distressed structure when the thickness of film.
Preferably, at least having 3 void regions on each support frame, the void region is along support frame
Circumferentially it is uniformly distributed.
The quantity of driving film is more on each support frame, and the deformation degree of freedom of distressed structure is more, and movement is finer,
But the quantity of driving film is more on each support frame, control is more complicated.
Most preferably, there is 4 void regions, circumferential direction of the void region along support frame on each support frame
It is uniformly distributed.
Preferably, the driving film is dielectric elastomeric body thin film, the upper and lower surface of dielectric elastomeric body thin film is covered
It is stamped electrode layer.
Dielectric elastomer is the elastomeric material for having high-k, changeable shape or body under extraneous electro photoluminescence
Product, to generate stress and strain, converts electric energy to mechanical energy.
Preferably, be each grounded after the cathode parallel connection in the electrode layer of the dielectric elastomeric body thin film, it is each described
Dielectric elastomeric body thin film electrode layer in anode respectively with the anode of corresponding high voltage power supply be connected.
It is further preferred that being equipped with insulating layer between adjacent software driving diaphragm.
After being pre-stretched inner tube inflation, inner tube is increased by air pressure functional diameter (FD), drives the driving film between outer tube that week occurs
To stretching, due to the effect of the pre-stretching, the deformation of bigger can occur under the action of electric field for dielectric elastomer.
When dielectric elastomer is in tensional state, by applying voltage difference between the electrode layer to its upper and lower surface,
Highfield is formed in dielectric elastomer, at this point, dielectric elastomer film thickness becomes smaller.By to each software drive membrane on piece
Different dielectric elastomer applies different voltage differences, realizes the multivariant deformation of distressed structure.
The support frame can be the thermoplastic elastomer (TPE)s such as ecoflex, silica gel or TPU；The dielectric elastomer
For VHB；Insulating layer is silicon rubber film.
Dielectric elastomeric body thin film is thicker, and deformation quantity is bigger, but due to by dielectric elastomer high pressure effect under ability
It deforms upon, and when thickness is excessive, smaller deformation can only occur applying big driving voltage.Each dielectric elastomer
The thickness of film can be adjusted according to the size of distressed structure, preferably, each dielectric elastomeric body thin film is in equal pair
Axis pretensioned state, the thickness before waiting twin shafts to be pre-stretched are 0.5~2mm；Most preferably, wait twin shafts be pre-stretched before thickness be
1mm；Equal twin shafts pre-stretching is than being 3 × 3；It can be adjusted according to practical situations.
For existing action assisting device driving low precision, degree of freedom is small and dresses the deficiencies of uncomfortable, this practicality
It is novel to provide a kind of multivariant Wearable action assisting device, it is driven using hybrid power, kinematic accuracy is higher,
With multiple degrees of freedom, keep the harmony of action assisting device preferable.
A kind of multivariant Wearable action assisting device, including：
Auxiliary glove is acted, there is the finger insertion part being inserted into for wearer's finger；
Driving unit configures the dorsal side in the action auxiliary glove, driving finger insertion part action；
Detecting signal unit detects the signal for making finger movement of wearer；
Control unit controls signal according to the signal to the driving unit output driving；
Wherein, the driving unit includes：
Electric drive bending unit, including multiple degrees of freedom distressed structure as described above, and be pre-stretching inner tube inflation/deflation
Air pump；
Line driving unit, including several draught lines and motor, one end of the draught line are fixed on the multiple degrees of freedom and become
On the driving outer tube of shape structure, the other end of draught line is connected on the take-up reel of motor.
The Wearable action assisting device of the utility model receives the signal data of detecting signal unit by control unit
And analysis meter calculation is carried out, and it identifying that the action of human body is intended to, control instruction is sent to driving unit, driving unit executes action,
The actions such as realize specific digital flexion, capture or loosen.
The Wearable action assisting device of the utility model is driven using hybrid power, and line driving and electric drive are mutually tied
It closes, realizes the multivariant motion control of Wearable action assisting device, improve the precision and harmony of synkinesia.
Preferably, in the electric drive bending unit, there is 4 void regions, vacancy section on each support frame
Domain is located at the dorsal side of finger insertion part, palm of the hand side and finger left and right sides.
Preferably, in the line driving unit, the draught line has 4, and the fixing end of every draught line is uniform
Be distributed on the end face of electric drive bending unit, be located at the dorsal side of the end face of electric drive bending unit, palm of the hand side and
Finger left and right sides.
4 draught lines of line driving unit control the bending, stretch of finger, the opening between finger or close up, Ke Yijian respectively
Change control；Electric drive bending unit can complete some finer actions with auxiliary line driving unit.
Preferably, the detecting signal unit, including：
Muscle electric signal sensor, the action intention for being used to characterize wearer's hand and muscle of acquisition wearer's arm are lived
The muscle electric signal of fatigue resistance；
Gyroscope, three axis angular rates for acquiring arm；
Accelerometer, the 3-axis acceleration for acquiring arm.
The acquisition of electromyography signal sensor surround the surface muscle electric signal of eight positions on human arm surface, to characterize people
The action intention and muscle activity intensity of body hand；And gyroscope and accelerometer acquire three axis angular rates and three of arm respectively
Axle acceleration, it is filtered and most have estimation, calculate arm action, cooperation electromyography signal analysis and identification hand motion is intended to.
For electromyography signal data, it is each to embody mainly to seek r.m.s. by the electromyography signal in each channel in the short time
The activity intensity of block muscle, while the power spectral density for analyzing gathered data assists in identifying human action intention.
Compared with prior art, the beneficial effects of the utility model are：
(1) multiple degrees of freedoms such as elongation, contraction, bending, torsion may be implemented in the multiple degrees of freedom distressed structure of the utility model
Deformation；
(2) the Wearable action assisting device of the utility model is driven by line and generates main movement, can be with assisted finger
Bend, stretching and retraction open or close up, then by electric drive bending apparatus assist fine movement, pass through line driving and electric drive mixing control
System, can reach the unapproachable kinematic accuracy of single drive mode and harmony.
Description of the drawings
Fig. 1 is the structural schematic diagram of Wearable action assisting device；
Fig. 2 is fixed form schematic diagram of the electric drive bending unit in finger insertion part；
Fig. 3 is the structural schematic diagram of multiple degrees of freedom distressed structure；
Fig. 4 is the overlooking structure diagram of Fig. 3.
Specific implementation mode
The utility model is described in further detail with reference to the accompanying drawings and examples.
As shown in Figure 1, the Wearable action assisting device of the utility model, including：
Auxiliary glove 1 is acted, there is the finger insertion part 11 being inserted into for wearer's finger；
Driving unit, including electric drive bending unit and line driving unit configure the dorsal side in action auxiliary glove 1,
Finger insertion part 11 is driven to act；
Detecting signal unit detects the signal for making finger movement of wearer；
Control unit controls signal according to the signal of detecting signal unit detection to driving unit output driving.
As shown in Fig. 2, electric drive bending unit is fixed on finger insertion part 11 by finger tip fixing sleeve 12 and fixed ring 13
Dorsal side on, a diameter of 12~20mm of fixed ring.
Electric drive bending unit includes multiple degrees of freedom distressed structure 2, and the pre-stretching for multiple degrees of freedom distressed structure 2
The air pump of 21 inflation/deflation of inner tube.
As shown in Figure 3 and Figure 4, multiple degrees of freedom distressed structure 2 is column, including centrally located pre-stretching inner tube 21 and set
Driving outer tube outside pre-stretching inner tube 21.
Being pre-stretched inner tube 21 has inflating port, is increased by its diameter after air-pump inflating, while making to be sleeved on its external drive
The diameter of dynamic outer tube also increases.
Driving outer tube is formed by stacking by the software driving diaphragm 22 of several variable thickness, and software driving diaphragm 22 includes：Branch
Support bone frame 23 and dielectric elastomeric body thin film 24.Support frame 23 is shape-changing material, such as can be ecoflex, silica gel or TPU etc.
Thermoplastic elastomer (TPE)；With 4 along its circumferential equally distributed void region, dielectric elastomeric body thin film 24 on support frame 23
It is taut to be located in void region.
Dielectric elastomeric body thin film 24 is VHB4910, in twin shafts pretensioned state is waited, waits twin shafts pre-stretching than being 3 × 3,
Thickness before equal twin shafts pre-stretching is 1mm.
The upper and lower surface of dielectric elastomeric body thin film 24 is coated with carbon paste electrode.It is equipped between adjacent software driving diaphragm
Silicone rubber insulation layer 25 is isolated.
It is grounded after the cathode parallel connection of each dielectric elastomeric body thin film 24, the anode of each dielectric elastomeric body thin film 24 is respectively
It is connected with the anode of corresponding high voltage power supply.The voltage of high voltage power supply is 8000~9500V.
Multiple degrees of freedom distressed structure at work, is inflated to pre-stretching inner tube 21, the pre-stretching inner tube 21 after inflation first
Driving outer tube diameter can be made to increase, the pre-stretching to driving outer tube is realized, driving outer tube is made to enter working condition；By to being situated between
When applying voltage difference between the electrode layer of the upper and lower surface of electric elastomer thin film 24, highfield is formed in dielectric elastomer 24,
At this point, the thickness of dielectric elastomeric body thin film 24 becomes smaller.By being applied to the different dielectric elastomer 24 of each software drive membrane on piece
Add different voltage differences, realizes the multivariant deformation of distressed structure.
For example, it can be achieved that the elongation of multiple degrees of freedom distressed structure when increasing the thickness of all dielectric elastomeric body thin films 24；Subtract
, it can be achieved that the contraction of multiple degrees of freedom distressed structure when the thickness of small all dielectric elastomeric body thin films 24；Increased or decrease unilateral Jie
, it can be achieved that the bending etc. of multiple degrees of freedom distressed structure when the thickness of electric elastomer thin film 24.
The deformation rate of individual software driving diaphragm of the multiple degrees of freedom distressed structure of the present embodiment is up to 30% or so,
Achievable maximum bend angle is 30 degree, and producible driving force is 1~30N.
Line driving unit, including 4 draught lines and micromotor, the fixing end of every draught line are evenly distributed on electric drive
On the end face of bending unit, it is located at dorsal side, palm of the hand side and the finger left and right sides of the end face of electric drive bending unit；It leads
The other end of lead is connected on the take-up reel of micromotor.
4 draught lines of line driving unit control the bending, stretch of finger, the opening between finger or close up, Ke Yijian respectively
Change control；Electric drive bending unit can complete some finer actions with auxiliary line driving unit.
Detecting signal unit, including：
Muscle electric signal sensor, the action intention for being used to characterize wearer's hand and muscle of acquisition wearer's arm are lived
The muscle electric signal of fatigue resistance；
Gyroscope, three axis angular rates for acquiring arm；
Accelerometer, the 3-axis acceleration for acquiring arm.
The acquisition of electromyography signal sensor surround the surface muscle electric signal of eight positions on human arm surface, to characterize people
The action intention and muscle activity intensity of body hand；And gyroscope and accelerometer acquire three axis angular rates and three of arm respectively
Axle acceleration, it is filtered and most have estimation, calculate arm action, cooperation electromyography signal analysis and identification hand motion is intended to.
For electromyography signal data, it is each to embody mainly to seek r.m.s. by the electromyography signal in each channel in the short time
The activity intensity of block muscle, while the power spectral density for analyzing gathered data assists in identifying human action intention.
Control unit includes power supply, high-tension circuit and microcontroller.
The course of work of the Wearable action assisting device of the present embodiment is：
The surface muscle electric signal around eight positions on human arm surface is acquired by electromyography signal sensor, is passed through
Gyroscope and accelerometer acquire three axis angular rates and 3-axis acceleration of arm respectively, are sent to microcontroller, the warp of microcontroller
It crosses filtering and most has estimation, calculate arm action, cooperation electromyography signal analysis and identification hand motion is intended to, and generates control signal simultaneously
It is delivered to driving unit；Micro air pump is inflated pre-stretching inner tube 21, and pre-stretching inner tube 21 is increased by air pressure functional diameter (FD),
To drive the dielectric elastomer 24 between inner and outer pipes that circumferential tension occurs.Due to the effect of the pre-stretching, dielectric elastomer 24
Thickness can be changed under the action of electric field, to realize the actions such as bending；Meanwhile microcontroller sends out the control of control signal respectively
The rotation of micromotor, and then control the length of four draught lines on every finger respectively, the end face of hybrid power finger by
The bending moment of the tractive force synthesis different to four draught lines, makes hybrid power finger the actions such as curve.
When being stopped, to avoid gloves from damaging, it should stop line driving and the output of electrically driven (operated) control signal first, then
Stop the control signal output of pre-stretching micro air pump.
The technical solution of the utility model and advantageous effect is described in detail in embodiment described above, it should be understood that
Be to be not intended to limit the utility model the foregoing is merely specific embodiment of the utility model, it is all in the utility model
Spirit in any modification, supplementary, and equivalent replacement etc. done, should be included in the scope of protection of the utility model it
It is interior.
Claims (8)
1. a kind of multiple degrees of freedom distressed structure, which is characterized in that including：
It is pre-stretched inner tube, for the elastic tube with inflating port, increases driving outer tube diameter after inflation；
Outer tube is driven, is formed by stacking by the software driving diaphragm of several variable thickness, software driving diaphragm includes：
Support frame, the support frame are shape-changing material, are had several along its circumferentially distributed void region；
Film is driven, taut to be located in the void region, the driving film changes thickness under extrinsic motivated.
2. multiple degrees of freedom distressed structure according to claim 1, which is characterized in that at least have 3 on each support frame
A void region, the void region are uniformly distributed along the circumferential direction of support frame.
3. multiple degrees of freedom distressed structure according to claim 2, which is characterized in that there are 4 on each support frame and engrave
Empty region, the void region are uniformly distributed along the circumferential direction of support frame.
4. multiple degrees of freedom distressed structure according to claim 1, which is characterized in that the driving film is dielectric elastomeric
The upper and lower surface of body thin film, dielectric elastomeric body thin film is all covered with electrode layer.
5. according to multiple degrees of freedom distressed structure according to claim 4, which is characterized in that each dielectric elastomer
Be grounded after cathode parallel connection in the electrode layer of film, the anode in the electrode layer of the dielectric elastomeric body thin film respectively with
The anode of corresponding high voltage power supply is connected.
6. multiple degrees of freedom distressed structure according to claim 4, which is characterized in that set between adjacent software driving diaphragm
There is insulating layer.
7. a kind of multivariant Wearable action assisting device, which is characterized in that including：
Auxiliary glove is acted, there is the finger insertion part being inserted into for wearer's finger；
Driving unit configures the dorsal side in the action auxiliary glove, driving finger insertion part action；
Detecting signal unit detects the signal for making finger movement of wearer；
Control unit controls signal according to the signal to the driving unit output driving；
Wherein, the driving unit includes：
Electric drive bending unit, including such as claims 1 to 3 any one of them multiple degrees of freedom distressed structure, and be prestretching
Stretch the air pump of inner tube inflation/deflation；
One end of line driving unit, including several draught lines and motor, the draught line is fixed on the multiple degrees of freedom deformation knot
On the driving outer tube of structure, the other end of draught line is connected on the take-up reel of motor.
8. multivariant Wearable action assisting device according to claim 7, which is characterized in that the signal inspection
Unit is surveyed, including：
Muscle electric signal sensor, the action intention for being used to characterize wearer's hand and muscle activity of acquisition wearer's arm are strong
The muscle electric signal of degree；
Gyroscope, three axis angular rates for acquiring arm；
Accelerometer, the 3-axis acceleration for acquiring arm.
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| CN201720217132.9U CN207745312U (en) | 2017-03-07 | 2017-03-07 | Multiple degrees of freedom distressed structure and Wearable action assisting device including the structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106880470A (en) * | 2017-03-07 | 2017-06-23 | 浙江大学 | Multiple degrees of freedom distressed structure and the Wearable action assisting device including the structure |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106880470A (en) * | 2017-03-07 | 2017-06-23 | 浙江大学 | Multiple degrees of freedom distressed structure and the Wearable action assisting device including the structure |
| CN106880470B (en) * | 2017-03-07 | 2023-05-09 | 浙江大学 | Multi-degree-of-freedom deformation structure and wearing type action auxiliary device comprising same |
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