CN211512540U - Concave-convex type resettable multi-section flexible rehabilitation glove - Google Patents
Concave-convex type resettable multi-section flexible rehabilitation glove Download PDFInfo
- Publication number
- CN211512540U CN211512540U CN201921789402.9U CN201921789402U CN211512540U CN 211512540 U CN211512540 U CN 211512540U CN 201921789402 U CN201921789402 U CN 201921789402U CN 211512540 U CN211512540 U CN 211512540U
- Authority
- CN
- China
- Prior art keywords
- fingers
- finger
- convex
- concave
- glove
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The utility model relates to the technical field of medical equipment, concretely relates to flexible recovered gloves of unsmooth type multistage that can reset. The training glove comprises training gloves, wherein the five fingers of the training gloves are respectively soft driver fingers corresponding to the positions of human fingers, each soft driver finger is made of silicon rubber materials and comprises convex sections and concave sections which are arranged at intervals, a cavity is arranged in each soft driver finger, a pneumatic control system is respectively communicated with the cavities of the five soft driver fingers through air ducts, the concave sections correspond to the positions of finger joints of the human fingers, and the convex sections correspond to the positions of finger joints of the human fingers. The utility model discloses a concave-convex section combines can to realize that the joint is crooked on a large scale, realizes the accurate of software driver finger through compound spring and resets, provides a neotype rehabilitation training equipment for the hand dysfunction crowd, provides the solution to poor, the recovery of bending characteristic poor, the single scheduling problem of recovered mode, has the security height simultaneously, the low price, advantages such as human-computer interaction is good.
Description
Technical Field
The utility model relates to the technical field of medical equipment, concretely relates to flexible recovered gloves of unsmooth type multistage that can reset.
Background
Hand function plays an important role in activities of daily living. However, in the case of stroke, cerebral palsy, muscular dystrophy or traumatic brain injury, one may lose the ability to actively control the wrist and fingers precisely. Without rehabilitation, the patient may lose advanced grip and basic daily activities.
The traditional rehabilitation gloves are made of rigid materials and mechanical exoskeleton structures, are high in price and complex in manufacturing process, and easily cause secondary damage to fingers; one-to-one physical therapist assistance, which is costly and limited to a clinical setting, is not satisfactory for most patients. Due to the increasing demand of hand rehabilitation training devices in the current market, a brand new hand rehabilitation training device is urgently needed. And because the soft elastic actuator has high flexibility, low inherent rigidity and is customizable, the soft elastic actuator is more and more interesting. This makes the family ization and individuation of rehabilitation therapy very significant.
The existing software rehabilitation equipment can cause the following problems:
(1) the bending characteristic of the flexible driver bending module can only complete 90-degree small-range bending generally, and cannot complete larger bending action, so that the flexible driver bending module is not beneficial to rehabilitation of patients.
(2) The flexible driver can not realize the diastolic state of the fingers after recovering, the next rehabilitation training can be influenced, and the service life of the driver can be reduced.
(3) The rehabilitation mode only has the rehabilitation training of bending five fingers at the same time at present, and can not meet the requirements of patients in all stages on the rehabilitation process.
The existing problems affect the rehabilitation effect of the patient and can not meet the requirement of the patient on rehabilitation training.
2017, Guangzhou lion medical instrument limited company discloses a recovery glove for stroke patients (Chinese patent authorization publication No: CN 207627818U), which has the advantages that the recovery glove can achieve good recovery effect for stroke patients by palm-shaped elastic composite materials, is convenient to use and has a light structure; the rehabilitation robot has the disadvantages that the joint of the finger is not considered, the independent movement of the four fingers is not considered, and only single rehabilitation action can be realized.
In 2018, Ningbo Shennan intellectual property operating Limited company disclosed a soft recovery glove (Chinese patent grant No: CN 208626134U), which had the advantages of considering the independent movement of five fingers, reasonable structure, convenience and environmental protection. The defect is that the electric wires and the heating sheets are arranged on the five fingers, the service life of the equipment can be shortened due to frequent use, and great potential safety hazards are brought.
In 2018, a second hospital affiliated to the Wenzhou medical university and an English child care hospital affiliated to the Wenzhou medical university disclose an intelligent finger rehabilitation device (Chinese patent authorization publication No: CN 208809397U), which has the advantages that each finger sleeve can be bent independently, and a pull rope is used for replacing an electric wire, so that the safety protection effect is achieved; the defect is that the elastic pull rope is adopted to control the bending and stretching of the fingers, and larger errors are caused.
To the above problem, compare with prior art again, designed one kind and based on unsmooth type multistage finger flexibility rehabilitation gloves that can reset.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the problems of poor bending property, poor restorability, single rehabilitation mode and the like of the existing rehabilitation gloves, and designing the concave-convex multi-section flexible rehabilitation gloves capable of resetting.
The technical scheme of the utility model as follows:
a concave-convex type resettable multi-section flexible rehabilitation glove comprises a training glove and is characterized in that five fingers of the training glove are respectively soft driver fingers corresponding to the positions of human fingers, and the rehabilitation glove is further provided with a pneumatic control system; each soft driver finger is made of silicon rubber materials and is composed of convex sections and concave sections which are arranged at intervals, a cavity is arranged in each soft driver finger, the pneumatic control system is communicated with the cavities of the five soft driver fingers through air ducts, the concave sections correspond to the knuckle positions of the human fingers, and the convex sections correspond to the knuckle positions of the human fingers.
Preferably, the training glove comprises a back portion, a palm portion and a glove closing portion, wherein the back portion and the palm portion are made of elastic fiber materials, and the glove closing portion is made of synthetic rubber.
Preferably, each concave section is provided with a finger fixing stretching belt for fixing fingers.
Preferably, every recess department all is equipped with compound spring, and this compound spring includes that two parallel arrangement's 65Mn steelframe and two parallel arrangement's 65Mn spring steel connect into frame construction, two 65Mn steelframes respectively with the convex section lateral wall fixed connection of adjacent position.
Preferably, the cross section of the convex section is semicircular, and the cross section of the concave section is flat.
Preferably, the pneumatic control system comprises a control panel, a relay, a switching power supply, pressure sensors and an air pump, the air pump is connected with the air ducts of the five fingers of the soft driver, each air duct is provided with an electromagnetic valve, the five pressure sensors are respectively installed at the finger ends of the five fingers of the soft driver and respectively connected with the control panel through signals, and the control panel is connected with the five electromagnetic valves and the air pump through the relay in a control manner.
The utility model discloses a concave-convex section combines can to realize that the articulated is crooked on a large scale, realizes the accurate of software driver finger through compound spring and resets. In the assist mode, the patient performs hand grasping and pinching of activities of daily living. In the passive mode, the patient primarily performs simple passive exercise exercises. The utility model discloses a hand dysfunction crowd provides a neotype rehabilitation training device, provides the solution to the bending characteristic poor, the recovery is poor, the single scheduling problem of recovered mode, has the security height simultaneously, the low price, advantages such as human-computer interaction is good.
Compared with the prior art, the utility model discloses beneficial effect is:
first, adopt based on the flexible driver of concave convex type pneumatic drive, satisfy the bending characteristic of driver at the concave surface through reducing the silica gel area, the flexibility of driver can be guaranteed to the convex surface, and the bending of joint can be realized in the concave convex type combination, can satisfy rehabilitation training's requirement.
Secondly, adopt compound spring in joint department, when pneumatic control system uninstalled atmospheric pressure, compound spring can help the patient in the circumstances that the finger curls, and accurate the reset is to the diastole position, guarantees the standard nature of next action.
Third, rehabilitation modes are divided into two categories, assisted and passive. In the assist mode, the patient performs hand grasping and pinching of activities of daily living. In the passive mode, the patient primarily performs simple passive exercise exercises.
Compared with the prior art, the utility model embody the advantage that bending property is better, the accurate resets and recovered mode multi-choice, make the patient obtain better experience and feel, recovered effect is better simultaneously.
Drawings
FIG. 1 is a schematic view of the present invention;
fig. 2 and 3 are schematic diagrams of the concave-convex soft body driver finger of the present invention;
FIG. 4 is a schematic view of a soft body actuator finger (after removal of the compound spring) according to the present invention;
FIG. 5 and FIG. 6 are specific structural diagrams of the middle training glove of the present invention;
fig. 7 and 8 are schematic diagrams of the composite spring of the present invention;
in the figure: training gloves 1, soft driver fingers 2, a pneumatic control system 3, composite springs 4, 65Mn steel frames 41, 65Mn spring steel 42, far finger joints 5, near finger joints 6, pressure sensors 7, finger fixing and stretching belts 8, ventilation pipelines 9, a limiting structure 10, an inclined plane 11, glove closing parts 12, back parts 13 and palm parts 14.
Detailed Description
To further illustrate the technical means adopted by the present invention to achieve the predetermined purpose, the following description will be made in detail with reference to the accompanying drawings, in order to provide a concave-convex resettable multi-section flexible rehabilitation glove according to the present invention.
As shown in fig. 1, a concave-convex type resettable multi-segment flexible rehabilitation glove comprises: training gloves 1, soft driver fingers 2, pneumatic control system 3. The fingers of the soft driver are fixed on the back surfaces of five fingers of the training glove as required, and the force of the fingers of the soft driver is transmitted to a patient wearing the glove; the fingers of the soft driver are connected with the pneumatic control system, and the actions of grabbing by five fingers, pinching by two fingers and the like can be realized under the control of the output air pressure of the pneumatic control system, so that the rehabilitation training is facilitated. The pneumatic control box is placed by hand, so that the output air pressure can be conveniently adjusted.
The soft driver is based on a concave-convex type, the concave part refers to a knuckle, and the cross section is flat; the convex part is a knuckle part, the cross section of the convex part is semicircular, and the finger output force of the semicircular soft driver is most stable in the existing bending test. For example, the index finger, from the distal knuckle to the proximal knuckle, is composed of: the shapes of the convex section, the concave section, the convex section, the concave section and the convex section are arranged and combined. When the relay is electrified, the air pump is electrified to start to convey air, the concave part can realize large-range bending of more than 90 degrees, the convex part can realize extension, and the soft driver realizes articulated bending, thereby being beneficial to the rehabilitation of patients. The bending of the far finger joint and the near finger joint can complete the actions of grabbing, passive rehabilitation and the like.
The fingers of the soft driver receive the air pressure output by the pneumatic control system through the air duct, and can bend at a required angle. The number of the finger fixing and stretching belts is equal to the number of joints, the positions of the finger fixing and stretching belts correspond to the joints of the corresponding fingers on the glove, and the width of the finger fixing and stretching belts is equal to the width of the joints of the fingers. The finger fixing and stretching belt is characterized in that prepared silicon rubber raw materials are coated on two sides of the end part of the stretching belt by utilizing the characteristic that silicon rubber can be formed in a secondary mode, the stretching belt is inserted into the bottom of a soft driver, and the stretching belt can be fixed on fingers of the soft driver after being solidified (a thumb is provided with a finger fixing and stretching belt, and an index finger, a middle finger, a ring finger and a little finger are respectively provided with two finger fixing and stretching belts).
The soft driver finger comprises a composite spring, a knuckle (convex section), a knuckle (concave section), a pressure sensor, a finger fixing and stretching belt and an air duct. The finger joints are provided with composite springs, the composite springs comprise 65Mn steel frames 41 and 65Mn spring steel 42, each spring steel frame is provided with an inclined surface which is just clamped and attached to the inclined surface of the side wall of the convex knuckle, the steel frames are sewn on the side wall of the convex knuckle through pull ropes, the prepared raw materials are coated on the horizontal steel frame by utilizing the characteristic that silicon rubber can be formed secondarily, and finally the horizontal steel frame and the convex knuckle are connected into a whole, and the secondary-formed silicon rubber forms the limiting structure 10. The limiting layer ensures the fixation of the composite spring in the front and back directions; the inclined plane on the spring steel frame is just in time attached to the inclined plane on the flexible driver, so that the fixation of the composite spring in the left and right directions is ensured, and the composite spring is fixed right above the knuckle.
The pneumatic control system comprises a control panel, a relay, a switching power supply, a pressure sensor and the like. The pneumatic system is acted by the air pump and the air pipe together, and the air pump outputs or unloads the specified air pressure to the air pipe of the soft driver finger according to the requirement, thereby controlling the bending and stretching of the soft finger. The left screen of the pneumatic control box can display air pressure and ventilation time; the right side is provided with six buttons, wherein five buttons respectively control five soft drivers, and the other button is a switch power supply. The pressure sensors should be placed at the front of the soft body driver finger, each pressure sensor is individually active.
Specifically, as shown in fig. 1, the air duct 9 of the soft driver finger 2 is connected to the pneumatic control system 3, and five air ducts 9 work independently, so that the action of a single duct can be realized. The pneumatic control system comprises a control panel, a relay, a switch power supply, pressure sensors and an air pump, wherein the air pump is connected with the air ducts of the five soft driver fingers, each air duct is provided with an electromagnetic valve, the five pressure sensors are respectively arranged at the finger ends of the five soft driver fingers and are respectively in signal connection with the control panel, and the control panel is connected with the five electromagnetic valves and the air pump through the relay in a control mode.
As shown in figure 2, the front surface of the soft driver finger 2 consists of a composite spring 4, a far finger joint 5 and a near finger joint 6. When the pneumatic control system 3 is ventilated, the far finger joint 5 and the near finger joint 6 can realize large-range bending, and the knuckle and the joint form a concave-convex shape, so that the stability of the running state of the soft driver is ensured. The recess can realize large-range bending of more than 90 degrees, the convex part can realize extension, and the soft driver can realize articulated bending, thereby being beneficial to the rehabilitation of patients.
As shown in figure 3, the back of the soft driver finger 2 consists of a pressure sensor 7, a finger fixing stretching belt 8 and an air duct 9. The position of the finger fixing and stretching belt 8 is adjusted to be aligned with the finger joint, so that the scientificity and rationality of rehabilitation can be guaranteed. The pressure sensor 7 feeds the pressure value obtained by the fingertip back to the pneumatic control system 3, so that the safety of the rehabilitation equipment is ensured, and the human-computer interaction is improved.
As shown in fig. 4, 5 and 6, the rehabilitation glove comprises: a glove closing part 11, a hand back part 12 and a palm part 13. The back of the hand 12 and the palm 13 are made of elastic fiber materials, so that the comfort of the glove is ensured. The glove cuff 11 is of synthetic rubber to secure the glove to the wrist of the wearer of the glove. The gloves are made of insulating and corrosion-resistant materials, and can protect the wrists, the backs of the hands and the palms of users.
As shown in fig. 7 and 8, the compound spring 4 is arranged at the proximal and distal knuckle metacarpophalangeal joints, and both ends of the compound spring 4 are sewed with the flexible driver through the pull rope, so that the fixation of the compound spring in the front and rear directions is ensured; the spring steel frame 41 is provided with an inclined plane which is just attached to the inclined plane on the flexible driver, so that the left and right directions of the composite spring 4 are fixed. The compound spring 4 is fixed right above the proximal and distal knuckle metacarpophalangeal joints. When the pneumatic control system 3 inputs air pressure, the compound spring 4 deflects by an angle, and the spring steel 42 extends; when the pneumatic control system 3 releases the air pressure, the composite spring returns to the horizontal state, and meanwhile, the spring steel 42 also returns to the original length; the composite spring 4 is realized by adopting a welding mode of double spring steels 42 and spring steel frames 41, when the composite spring works, the symmetrical structure ensures that the stress is even, the spring steels 42 are subjected to the stretching force of the parallel spring steels, and the spring steel frames 41 are subjected to the force in all directions. When stressed, the springs on the two sides act together, so that the stress uniformity is ensured, the bearing capacity is increased, and the safety and the comfort are improved. During deflation, the soft body driver partially restores state, but the patient's finger is still in a collapsed state.
The pneumatic control system 3 is divided into two states of power-on and power-off, the control panel controls the relay to work after receiving the instruction, the relay controls the inflator pump and the electromagnetic valve to inflate the cavity of the finger of the flexible driver through the vent pipeline 9, and finally the pressure sensor 7 feeds the value back to the control panel so as to realize the next rehabilitation training.
The utility model relates to a concave-convex type flexible rehabilitation glove of multistage that can reset concrete work flow does:
the user wears the rehabilitation glove, the finger fixing stretching belt 8 is aligned with the joint of the user, and the glove closing part 11 is adjusted to fix the glove; adjusting corresponding air pressure on the pneumatic control system 3 for different training modes;
if the five-finger grabbing training is selected, the pneumatic control system 3 outputs larger air pressure to control the five soft body drivers to bend the fingers 2 at the same time; when the flexible driver finger 2 bends towards the bending direction of the user finger, bending power is provided for the user finger, and the user passively completes large-range bending action; when the pneumatic control system 3 releases air pressure, diastolic power is provided for the fingers of the user, and if the fingers of the user are still in a curling state, the composite spring helps the user to passively complete diastolic action, so that accurate resetting to the original state is realized;
if two-finger pinching training is selected, the pneumatic control system 3 outputs larger air pressure to the fingers 2 of the appointed two soft drivers, a user passively completes the two-finger pinching action, and when the pneumatic control system 3 releases the air pressure, the fingers of the user realize relaxation;
if the passive mode is selected for rehabilitation, the pneumatic control system 3 outputs smaller air pressure to control the bending of the fingers 2 of the soft driver, and the simple bending of multiple fingers or a single finger in a small range is completed.
The three rehabilitation modes can be selected according to the rehabilitation stage, and scientific and reasonable exercise rehabilitation treatment can be performed periodically.
The fingers of the user are relaxed, and the compound spring also helps the fingers to complete the relaxing action. If the passive rehabilitation training is selected, the rehabilitation action needs to be trained for multiple times, and the corresponding rehabilitation training effect is guaranteed to be achieved.
The utility model provides a concave-convex shape flexible rehabilitation gloves of multistage that can reset, compared with former device has embodied its bending property better, the accurate advantage that resets and recovered mode many choices, makes patient's rehabilitation training scientific and effective more, has very big market prospect and spreading value.
Claims (6)
1. A concave-convex type resettable multi-section flexible rehabilitation glove comprises a training glove and is characterized in that five fingers of the training glove are respectively soft driver fingers corresponding to the positions of human fingers, and the rehabilitation glove is further provided with a pneumatic control system; each soft driver finger is made of silicon rubber materials and is composed of convex sections and concave sections which are arranged at intervals, a cavity is arranged in each soft driver finger, the pneumatic control system is communicated with the cavities of the five soft driver fingers through air ducts, the concave sections correspond to the knuckle positions of the human fingers, and the convex sections correspond to the knuckle positions of the human fingers.
2. The concavo-convex resettable multi-segment flexible rehabilitation glove of claim 1, wherein the training glove comprises a back portion, a palm portion and a glove cuff portion, wherein the back portion and the palm portion are made of elastic fiber material, and the glove cuff portion is made of synthetic rubber.
3. The concavo-convex repositionable multi-section flexible rehabilitation glove of claim 1 wherein each concave section is provided with a finger-securing stretch strap for securing a finger.
4. The concavo-convex resettable multi-segment flexible rehabilitation glove of claim 1, wherein each concave segment is provided with a compound spring comprising two parallel 65Mn steel frames and two parallel 65Mn spring steels connected to form a frame structure, wherein the two 65Mn steel frames are fixedly connected to the sidewalls of the convex segments at adjacent positions, respectively.
5. The concavo-convex repositionable multi-section flexible rehabilitation glove of claim 1 wherein the convex section is semi-circular in cross-section and the concave section is flat in cross-section.
6. The concave-convex resettable multi-segment flexible rehabilitation glove as claimed in claim 1, wherein the pneumatic control system comprises a control panel, a relay, a switching power supply, five pressure sensors and five air pumps, the air pumps are connected with the air ducts of the five soft driver fingers, each air duct is provided with an electromagnetic valve, the pressure sensors are respectively arranged at the finger ends of the five soft driver fingers and are respectively in signal connection with the control panel, and the control panel is connected with the five electromagnetic valves and the air pumps through the relay control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921789402.9U CN211512540U (en) | 2019-10-23 | 2019-10-23 | Concave-convex type resettable multi-section flexible rehabilitation glove |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921789402.9U CN211512540U (en) | 2019-10-23 | 2019-10-23 | Concave-convex type resettable multi-section flexible rehabilitation glove |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211512540U true CN211512540U (en) | 2020-09-18 |
Family
ID=72462080
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921789402.9U Active CN211512540U (en) | 2019-10-23 | 2019-10-23 | Concave-convex type resettable multi-section flexible rehabilitation glove |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211512540U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113084845A (en) * | 2021-03-24 | 2021-07-09 | 北京航空航天大学 | Pneumatic finger |
| CN113143690A (en) * | 2021-04-26 | 2021-07-23 | 天水师范学院 | Hand trainer for rehabilitation of disabled |
-
2019
- 2019-10-23 CN CN201921789402.9U patent/CN211512540U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113084845A (en) * | 2021-03-24 | 2021-07-09 | 北京航空航天大学 | Pneumatic finger |
| CN113143690A (en) * | 2021-04-26 | 2021-07-23 | 天水师范学院 | Hand trainer for rehabilitation of disabled |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108371609B (en) | Soft driver for assisting extension and abduction of thumb of human hand | |
| WO2021217886A1 (en) | Flexible hand function rehabilitation device based on rope driving | |
| CN105919772B (en) | A kind of wearable hand device for healing and training | |
| CN106074074B (en) | A kind of eccentric fiber composite elastic body and the device for healing and training with the elastomer | |
| CN109172265B (en) | Finger exoskeleton robot | |
| CN107174482A (en) | Wearable restoring gloves and method | |
| US11065171B2 (en) | Assistive glove for daily activities of stroke patient | |
| CN106309083A (en) | EMG controlled air-operated soft body rehabilitative mechanical hand | |
| CN104970949A (en) | Wearable type pneumatic muscle and knuckle active/passive rehabilitation training device | |
| Jiang et al. | Fishbone-inspired soft robotic glove for hand rehabilitation with multi-degrees-of-freedom | |
| CN211512540U (en) | Concave-convex type resettable multi-section flexible rehabilitation glove | |
| CN110141456A (en) | A kind of software hand restoring gloves of a variety of rehabilitation training modes of combination | |
| CN207708155U (en) | A kind of rehabilitation gloves | |
| CN108354779B (en) | It is a kind of for assist manpower four refer to stretching routine software driver | |
| CN110695971A (en) | Exoskeleton mechanical auxiliary hand | |
| WO2019007314A1 (en) | Knuckle rehabilitation exercise aid | |
| US20200281797A1 (en) | Finger motion aid and rehabilitation hand having same | |
| CN112057293A (en) | Finger rehabilitation exercise system | |
| CN204501499U (en) | Finger cot type pressure relief ball | |
| CN214318519U (en) | Rigid-flexible exoskeleton glove device based on line driving | |
| CN210998696U (en) | Exoskeleton mechanical auxiliary hand | |
| CN112545830A (en) | Flexible exoskeleton glove | |
| CN219250832U (en) | Pneumatic rehabilitation glove | |
| Jiang et al. | Application of robot to hand function rehabilitation | |
| CN108568062B (en) | Dynamic hand aid |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |