CN211862822U

CN211862822U - Hand supporting mechanism for exoskeleton of upper limbs

Info

Publication number: CN211862822U
Application number: CN202020138682.3U
Authority: CN
Inventors: 程洪; 王仕庆
Original assignee: Buffalo Robot Technology Chengdu Co ltd
Current assignee: Buffalo Robot Technology Chengdu Co ltd
Priority date: 2020-01-21
Filing date: 2020-01-21
Publication date: 2020-11-06
Anticipated expiration: 2030-01-21

Abstract

The utility model relates to the technical field of human exoskeleton, in particular to an upper limb exoskeleton hand supporting mechanism; the adopted technical scheme is as follows: an upper limb exoskeleton hand supporting mechanism comprises a handle base plate and a palm supporting block, wherein the palm supporting block is connected with the handle base plate in a sliding manner; the handle base plate is further provided with a handle, and the distance between the palm support block and the handle is changed by sliding the palm support block. The utility model discloses a slip palm supporting shoe is in order to adjust the distance between palm supporting shoe and handle, can point length and simple, quick regulation of user mode according to the patient to strengthen patient's hand and extend the function, increase recovered security, with the user demand that adapts to different rehabilitation training, have the characteristics that adjust simple and convenient, the commonality is good.

Description

Hand supporting mechanism for exoskeleton of upper limbs

Technical Field

The utility model relates to a human ectoskeleton technical field, concretely relates to upper limbs ectoskeleton hand supporting mechanism.

Background

The upper limb exoskeleton robot is a mechanical device integrating ergonomics and bionics, integrates the robot technologies such as sensing, control, information coupling and mobile computing, can provide functions of supporting, protecting, assisting, rehabilitation training and the like for human limbs, and is mainly used in the fields of rehabilitation and medical treatment and the like. No matter be to the hemiplegia that the cerebral apoplexy caused or the postoperative rehabilitation of orthopedics injury, the rehabilitation training of disease upper limbs can both conveniently effectually be carried out to upper limbs ectoskeleton robot, the cost of using manpower sparingly.

When the exoskeleton of the upper limb enters the practical application of a rehabilitation center, a patient with cerebral apoplexy and hemiplegia cannot straighten fingers due to abnormal contraction of muscles, at this stage, a corresponding extensor muscle group is strengthened, the stretching function of the hand is recovered, and at least measures are taken to prevent the further deterioration of the stretching function of the hand of the patient. On the other hand, the recovery of the hand function of the patient needs to be performed through the activities of finger gripping and fine movements, so that the measurement of the gripping force of the hand of the patient can be used as one of the means for evaluating the recovery of the hand function of the patient. The existing upper limb exoskeleton robot does not have a hand stretching and supporting function, and cannot meet the requirement of hand stretching rehabilitation training.

SUMMERY OF THE UTILITY MODEL

To the above-mentioned technical problem that current upper limbs ectoskeleton can't satisfy the hand and extend the rehabilitation training demand, the utility model provides an upper limbs ectoskeleton hand supporting mechanism, palm bearing structure can extend, can adjust according to the training demand, can adapt to different rehabilitation training's demand, has the characteristics of adjusting simple and convenient, application scope extensively.

The utility model discloses a following technical scheme realizes:

the utility model provides an upper limbs ectoskeleton hand supporting mechanism, includes handle base plate and palm supporting shoe, handle base plate 1 still is equipped with the handle, the palm supporting shoe is connected with the handle base plate, the distance between palm supporting shoe and the handle is adjustable. Preferably, the palm support block is slidably connected with the handle base plate.

The utility model discloses a slip palm supporting shoe is in order to adjust the distance between palm supporting shoe and handle, can point length and simple, quick regulation of user mode according to the patient to strengthen patient's hand and extend the function, increase recovered security, with the user demand that adapts to different rehabilitation training, have the characteristics that adjust simple and convenient, the commonality is good.

As a specific implementation mode of the sliding connection between the palm support block and the handle substrate, the palm support block further comprises a connecting piece, wherein the connecting piece comprises a fixed connecting part and a sliding connecting part; the fixed connecting part is fixedly connected with the handle substrate, and the sliding connecting part is in sliding connection with the palm support block.

Preferably, one end of the palm support block is provided with a sliding chute, and the sliding connection part is inserted in the sliding chute; the sliding groove side wall is provided with a through hole, the sliding connection portion is provided with a plurality of limiting holes, and the palm support block is fixed on the sliding connection portion by inserting limiting pins into the through hole and the limiting holes of the sliding groove side wall simultaneously.

Preferably, the palm support block is provided with a palm support strap to facilitate palm fixation.

Furthermore, the handle comprises a handle sleeve and a grip sensor, the handle sleeve is made of flexible materials, the handle sleeve is arranged outside the grip sensor, and one end of the grip sensor is fixedly connected with the connecting piece. The grip strength of the hand is monitored through the grip strength sensor, and then scientific basis is provided for rehabilitation training and rehabilitation assessment of patients.

Further, the hand-support mechanism further comprises a multi-dimensional force sensor which is respectively and fixedly connected with the fixed connecting part and the handle substrate to detect hand force and moment, provide data support for controlling the movement of the hand-support mechanism and provide scientific basis for rehabilitation training and rehabilitation evaluation of patients.

As a specific embodiment of fixing the multi-dimensional force sensor, the multi-dimensional force sensor is fixed in a mounting shell, and the mounting shell is fixedly connected with the handle substrate.

Furthermore, when the wrist support assembly is used, one end of the connecting piece, which is far away from the sliding connection part, is rotatably connected with the wrist support assembly so as to fit the flexion and extension operation of the wrist of the human body.

Preferably, the wrist support assembly comprises a rotation driving module, and the rotation driving module is used for driving the connecting piece to rotate relative to the wrist support assembly so as to assist the patient in performing rehabilitation training on the wrist.

Compared with the prior art, the utility model, following advantage and beneficial effect have:

1. the interval of handle and palm supporting shoe is adjustable, can be according to patient's finger length and simple, quick the adjusting of user mode to strengthen patient's hand and extend the function, increase recovered security, with the user demand who adapts to different rehabilitation training, have the characteristics that adjust simple and convenient, the commonality is good.

2. The handle comprises grip sensor and the flexible handle cover of cover establishing outside the grip sensor, can measure patient's grip size in real time, provides scientific basis for rehabilitation training and rehabilitation aassessment.

3. The connecting piece is connected with the handle base plate through the multi-dimensional force sensor, and a complete and feasible overall solution is provided for rehabilitation training, rehabilitation evaluation and motion control of the upper limb exoskeleton hand.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:

FIG. 1 is a three-dimensional structure of the present invention;

FIG. 2 is an exploded view of the structure of the present invention;

fig. 3 is a schematic view of the connection between the wrist support assembly and the present invention.

Reference numbers and corresponding part names in the drawings:

1-a handle substrate, 2-a palm support block, 21-a chute, 22-a palm support bandage, 3-a handle, 31-a handle sleeve, 32-a grip strength sensor, 4-a connecting piece, 41-a fixed connecting part, 42-a sliding connecting part, 5-a limiting hole, 6-a limiting pin, 7-a multi-dimensional force sensor, 71-a mounting shell and 8-a wrist support component.

Detailed Description

To make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the following examples and drawings, and the exemplary embodiments and descriptions thereof of the present invention are only used for explaining the present invention, and are not intended as limitations of the present invention.

Examples

The utility model discloses a following technical scheme realizes:

the utility model provides an upper limbs ectoskeleton hand supporting mechanism, includes handle base plate 1 and palm supporting shoe 2, handle base plate 1 still is equipped with handle 3, palm supporting shoe 2 is connected with handle base plate 1, the distance between palm supporting shoe 2 and the handle 3 is adjustable. It should be noted that the palm support block 2 may be slidably connected to the handle substrate 1, or may be detachably connected to the handle substrate 1, for example, a plurality of threaded holes with different distances from the axis to the handle 3 are formed in the handle substrate 1, and a through hole is formed in the palm support block 2 and is realized by screwing a screw with different threaded holes; the handle base plate 1 can also be provided with a plurality of pin holes with different distances from the central line to the handle 3, the palm support block 2 is provided with a through hole, and the through hole is inserted into different pin holes through pins.

Preferably, the palm support block 2 is slidably connected with the handle base plate 1. Specifically, the sliding connection between the handle substrate 1 and the palm support block 2 can be realized by arranging a sliding rail on the handle substrate 1 and arranging a sliding groove on the palm support block 2, or other sliding connection modes can be adopted; in order to fix the palm support block 2 on the handle substrate 1 conveniently, the palm support block 2 can slide.

The connecting piece 4 is further included in the present embodiment, and the connecting piece 4 comprises a fixed connecting part 41 and a sliding connecting part 42; the fixed connecting part 41 is fixedly connected with the handle substrate 1. One end of the palm support block 2 is provided with a sliding groove 21, and the sliding connection part 42 is inserted in the sliding groove 21; the side wall of the sliding groove 21 is provided with a through hole, the sliding connection part 42 is provided with a plurality of limiting holes 5, and the palm support block 2 is fixed on the sliding connection part 42 by inserting the limiting pin 6 into the through hole and the limiting holes 5 of the side wall of the sliding groove 21. In order to facilitate the insertion, extraction and fixation of the limit pin 6, the limit pin 6 in this example adopts a knob plunger; the palm support block 2 is provided with a palm support strap 22 to facilitate fixing of the patient's palm.

The handle 3 is used as the grasping part of the palm of the patient, so that the rehabilitation training of the grasping of the palm of the patient is facilitated. In this embodiment, the handle 3 includes a handle sleeve 31 and a grip sensor 32, and the handle sleeve 32 is made of a flexible material for hand grip. The grip sleeve 31 is sleeved outside the grip sensor 32, and one end of the grip sensor 32 is fixedly connected with the connecting piece 4. Therefore, the grip strength of the hand of the patient can be monitored through the grip strength sensor 32, and a scientific basis is further provided for the rehabilitation training and rehabilitation evaluation of the patient.

Further, the handle base plate comprises a multi-dimensional force sensor 7, and the multi-dimensional force sensor 7 is fixedly connected with the fixed connecting part 41 and the handle base plate 1 respectively. It can be understood that the mounting and fixing part of the multi-dimensional force sensor 7 is fixedly connected with the handle substrate 1, and the detection moving part of the multi-dimensional force sensor 7 is fixedly connected with the fixed connecting part 41, so as to detect the hand force and moment of the patient, provide data support for controlling the movement of the hand supporting mechanism, and provide scientific basis for the rehabilitation training and rehabilitation evaluation of the patient. In order to protect the multidimensional force sensor 7, the multidimensional force sensor 7 is fixed in a mounting shell 71, and the mounting shell 71 is fixedly connected with the handle substrate 1.

When in use, one end of the connecting piece 4 far away from the sliding connecting part 42 is rotatably connected with the wrist supporting component 8 so as to fit the flexion and extension operations of the wrist of a human body. Preferably, the wrist support assembly 8 includes a rotary drive module, such as a stepper motor, a servo motor, or the like. The rotary driving module is used for driving the connecting piece 4 to rotate relative to the wrist supporting component 8, so that the handle 3 and the palm supporting block 2 rotate relative to the wrist supporting component 8, and the rehabilitation training of the wrist of the patient is assisted.

Description of the present embodiment:

when the device is used, the device is arranged on the wrist joint module of the upper limb exoskeleton robot, the exoskeleton is worn on the hand of a human body, the handle is placed on the handle sleeve, the limit pin 6 (knob plunger) is pulled out, the palm support block 2 can slide on the sliding connection part 42 at the moment, and the distance between the palm support block 2 and the handle 3 is adjusted to enable the palm support block to be matched with the hand of the human; then, the stopper pin 6 is reset, it is confirmed that the palm support block 2 is fixed to the sliding connection portion 42, and then rehabilitation training is performed.

When the patient indicates that length and 2 positions of current palm support block do not match, pull out spacer pin 6, adjust the interval of palm support block 2 and handle 3 to the adaptation patient plays the palm and extends the supporting role, prevents that the patient hand from extending the function and further worsen, and the reinforcing hand extends the function, increases recovered security.

When the patient need carry out grip strength test or gripping training, pull out spacer pin 6, adjust the interval of palm supporting block 2 and handle 3, make the patient hand can grasp handle 3 until there is enough big interval, and then make the patient can grasp handle gloves 3 and make the grip act on grip strength sensor 32.

The above-mentioned embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides an upper limbs ectoskeleton hand supporting mechanism, includes handle base plate (1) and palm supporting shoe (2), its characterized in that, handle base plate (1) still is equipped with handle (3), palm supporting shoe (2) are connected with handle base plate (1), the distance between palm supporting shoe (2) and handle (3) is adjustable.

2. The upper extremity exoskeleton hand support mechanism of claim 1 where the palm support block (2) is slidably connected to the handle base plate (1).

3. The upper extremity exoskeleton hand support mechanism of claim 2 further comprising a link (4), said link (4) comprising a fixed link (41) and a sliding link (42);

the fixed connecting part (41) is fixedly connected with the handle substrate (1), and the sliding connecting part (42) is slidably connected with the palm support block (2).

4. The upper extremity exoskeleton hand support mechanism according to claim 3, wherein the palm support block (2) is provided with a sliding slot (21) at one end, and the sliding connection portion (42) is inserted into the sliding slot (21);

the side wall of the sliding groove (21) is provided with a through hole, the sliding connection part (42) is provided with a plurality of limiting holes (5), and the palm support block (2) is fixed on the sliding connection part (42) by simultaneously inserting the limiting pin (6) into the through hole and the limiting holes (5) in the side wall of the sliding groove (21).

5. The upper extremity exoskeleton hand support mechanism according to claim 3 wherein the palm support block (2) is provided with a palm support strap (22).

6. The upper limb exoskeleton hand support mechanism according to claim 3, wherein the handle (3) comprises a handle sleeve (31) and a grip sensor (32), the handle sleeve (31) is made of a flexible material, the handle sleeve (31) is sleeved outside the grip sensor (32), and one end of the grip sensor (32) is fixedly connected with the connecting piece (4).

7. The upper extremity exoskeleton hand support mechanism according to claim 3 further comprising a multi-dimensional force sensor (7), the multi-dimensional force sensor (7) being fixedly connected to the fixed connection portion (41) and the handle base plate (1), respectively.

8. The upper extremity exoskeleton hand support mechanism according to claim 7, wherein the multi-dimensional force sensor (7) is fixed within a mounting housing (71), the mounting housing (71) being fixedly connected to the handle base plate (1).

9. An upper extremity exoskeleton hand support mechanism according to claim 3 or claim 7 wherein the end of the link (4) remote from the sliding connection (42) is pivotally connected to the wrist support assembly (8) in use.

10. The upper extremity exoskeleton hand support mechanism of claim 9 wherein the wrist support assembly (8) includes a rotary drive module for driving the link (4) in rotation relative to the wrist support assembly (8).