CN218870758U - Rehabilitation glove - Google Patents

Abstract

A rehabilitation glove comprising: the glove wearing body comprises a palm area, a wrist area and a plurality of finger areas. And each finger area is fixed with at least two soft drivers. And one finger area corresponds to at least one driving unit, and the driving unit comprises a diaphragm pump, a control valve and a plurality of connecting pipes. And the controller is fixed on the glove wearing body and used for adjusting the rotating speed of the diaphragm pumps on the driving units and switching the port connection condition of the control valves on the driving units. The drive unit of design passes through a pump valve and many connecting pipes, can carry out the exercise that corresponds the finger, and the drive unit's structural design is last to be retrencied more, reduces the volume of gloves. Through the cooperation of the software driver, the drive unit and the controller of design for the recovered gloves can have more kinds of mode and more kinds of training intensity, and recovered gloves have higher portability and practicality.

Description

Rehabilitation glove

Technical Field

The application relates to the technical field of medical equipment, in particular to a rehabilitation glove.

Background

With the development of soft-body robots, soft-body pneumatic drivers are applied to various wearable devices such as rehabilitation devices. Among them, there is a great demand for rehabilitation gloves for patients with hand injuries having problems of trembling, stiffness, etc. or patients suffering from nerve injury diseases such as stroke, etc. Portability and practicality are particularly important for these devices.

The existing rehabilitation gloves adopt a multi-pump multi-valve mode, and the part of a control software driver is influenced by the size, weight and number of components, so that the driving size is usually very large, a large-size circuit box and complex wiring are caused, and the problem that the rehabilitation gloves are difficult to carry is further caused. The prior art also has a pneumatic drive scheme that employs two pumps and multiple valves. The method specifically provides a positive pressure source for one pump, provides a negative pressure source for one pump, and controls the connection of a driver with the positive pressure source and the negative pressure source through two valves respectively, namely, a driving unit at least comprises four components, namely, a pump of the positive pressure source, a pump of the negative pressure source, a valve for controlling the positive pressure source and a valve for controlling the negative pressure source. Recovered gloves include the matched with control box, and the control box can not set up on the gloves because the volume reason, can only be located fixed place and gloves and adopt wired connection's mode, and the existence of control box has also caused present most of rehabilitation training to confine to in narrow and small space, and the motion range is restricted, has greatly reduced the validity of rehabilitation training, and patient's the rate of holding firmly also can reduce.

SUMMERY OF THE UTILITY MODEL

The application provides a recovered gloves, its main aim at reduces recovered gloves's volume, improves portability and practicality.

An embodiment of the present application provides a rehabilitation glove, comprising:

the glove wearing body comprises a palm area, a wrist area and a plurality of finger areas, and the glove wearing body is used for being worn by the hands of a patient;

each finger area is fixed with at least two soft drivers, and the soft drivers are used for completing the stretching or bending action of the fingers;

a plurality of driving units, one of the finger areas corresponds to at least one of the driving units, the driving units comprise a diaphragm pump, a control valve and a plurality of connecting pipes, the driving units are used for controlling the soft body driver, the control valve is provided with four ports, two ports of the four ports are communicated with the diaphragm pump through the connecting pipes, one port is communicated with the soft body driver through the connecting pipes, and the other port is communicated with the atmosphere; and

the controller is fixed on the glove wearing body, is used for adjusting the rotating speed of the diaphragm pumps on the driving units, and is also used for switching the port connection conditions of the control valves on the driving units.

In one embodiment, the wrist device further comprises a mounting body, wherein the bottom surface of the mounting body is fixed on the wrist area, and the plurality of driving units and the controller are fixed on the top surface of the mounting body.

In one embodiment, the mounting body comprises a first mounting plate, a second mounting plate and a connecting plate; one end of the connecting plate is connected with the first mounting plate, and the other end of the connecting plate is connected with the second mounting plate; the first mounting plate is fixed on the back or the inner surface of the wrist area, the connecting plate is positioned on the side surface of the wrist area, and the second mounting plate is positioned on one side of the connecting plate, which is far away from the wrist area; the drive unit is fixed a plurality of on the first mounting panel, fixed at least one on the second mounting panel the drive unit, the controller is fixed in the top of first mounting panel.

In one embodiment, the first mounting plate and the second mounting plate are respectively provided with a vertical fixing plate, the fixing plates are used for fixing the driving units, and one fixing plate corresponds to at least one driving unit.

In one embodiment, the connecting plate is an inclined plate or an arc plate, the first mounting plate is a horizontal plate or an arc plate, and the arc plate is used for matching with the radian of the wrist.

In one embodiment, the system further comprises a control hardware board, wherein a motor speed regulation module, an IO module and the controller are arranged on the control hardware board, the controller is used for sending a plurality of motor power signals corresponding to the plurality of diaphragm pumps to the motor speed regulation module, and the motor speed regulation module is used for controlling the rotating speeds of the plurality of corresponding diaphragm pumps according to the plurality of motor power signals; the controller is further configured to send a plurality of valve position signals corresponding to the plurality of control valves to the IO module, and the 1O module is configured to control port connection states of the corresponding plurality of control valves according to the plurality of valve position signals.

In one embodiment, a communication module is further arranged on the control hardware board, the communication module is a wired communication module or a wireless communication module, and the communication module is used for sending a signal of a remote terminal to the controller.

In one embodiment, the control hardware board is further provided with an analog-to-digital conversion module and a pressure sensor, the pressure sensor is used for measuring a pressure signal on the soft driver and sending the pressure signal to the analog-to-digital conversion module, the analog-to-digital conversion module is used for sending the pressure signal to the controller, and the controller is further used for controlling the motor speed regulation module and the IO module according to the pressure signal.

In one embodiment, the control hardware board further includes a plurality of support rods, the plurality of support rods are fixed between the control hardware board and the glove wearing body and form a storage space, and the plurality of driving units are located in the storage space.

In one embodiment, the control valve is a two-position four-way valve or a three-position five-way valve.

According to the rehabilitation glove of the embodiment, the plurality of driving units are arranged to be matched with the plurality of finger areas, and one finger area corresponds to at least one driving unit, so that the volume of the rehabilitation glove is reduced, the rehabilitation glove can be integrated with the glove, and the movement of each soft driver is independently controlled, so that individual differences of illness states can be better adapted. The exercise of corresponding finger can be carried out to the drive unit of design through a pump valve and many connecting pipes, and the drive unit's structural design is more retrencied, reduces gloves and the volume weight of drive unit on it. The glove-wearing body is fixed with the controller without arranging a control box, and the rotating speed of the diaphragm pump and the port connection condition of the control valve are controlled by the controller, so that the switching of inflation and air suction modes can be realized by one pump and one valve. Through the cooperation of the software driver of design, drive unit and controller for recovered gloves can have the mode of work of more kinds and the training intensity of more kinds, need not be in the narrow and small space of restricting when the patient uses recovered gloves, recovered gloves have higher portability and practicality.

Drawings

FIG. 1 is a schematic perspective view of a rehabilitation glove according to an embodiment of the present application;

FIG. 2 is a schematic view of a partial structure of a rehabilitation glove according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a driving unit according to an embodiment of the present application;

FIG. 4 is a schematic view of a mounting body according to an embodiment of the present application;

FIG. 5 is a block diagram of a control hardware board according to an embodiment of the present application;

fig. 6 is a schematic diagram illustrating a working process of a rehabilitation glove according to an embodiment of the present application.

Description of reference numerals: 1. the glove comprises a glove wearing body, 2 a soft body driver, 3 a driving unit, 4 an installation body, 5 a control hardware plate, 6 a support rod, 7 a support, 11 a wrist area, 12 a palm area, 13 a finger area, 31a diaphragm pump, 32 a control valve, 33 a connecting pipe, 41 a first installation plate, 42 a second installation plate, 43 a connecting plate, 44 a fixing plate, 51 a controller, 52 a motor speed regulation module, 53 IO modules, 54 an analog-digital conversion module, 55 a pressure sensor and 56 a control terminal.

Detailed Description

The present application will be described in further detail below with reference to the accompanying drawings by way of specific embodiments. Wherein like elements in different embodiments have been given like element numbers associated therewith. In the following description, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in this specification in order not to obscure the core of the present application with unnecessary detail, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.

Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the description of the methods may be transposed or transposed in order, as will be apparent to a person skilled in the art. Thus, the various sequences in the specification and drawings are for the purpose of clearly describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where a certain sequence must be followed.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" as used herein includes both direct and indirect connections (couplings), unless otherwise specified.

As shown in fig. 1-4, in one embodiment, a rehabilitation glove comprises: the glove wearing body 1 comprises a palm area 12, a wrist area 11 and a plurality of finger areas 13, and the glove wearing body 1 is used for being worn by hands of a patient.

Each finger area 13 of the soft body driver 2 is fixed with at least two soft body drivers 2, the connecting point of the two soft body drivers 2 on the same finger area 13 corresponds to the knuckle, and the soft body drivers 2 are used for completing the stretching or bending action of the fingers. Specifically, two soft drivers 2 can be respectively arranged on the thumb and the little finger, three soft drivers 2 are respectively arranged on the index finger, the middle finger and the ring finger, and the soft drivers 2 are corrugated pipe drivers. Two ends of each soft driver 2 are respectively provided with a bracket 7, the soft drivers 2 are fixed on the brackets 7, and the bottoms of the brackets 7 are fixed on the finger areas 13 of the glove wearing body 1.

The plurality of driving units 3 are provided, one finger area 13 corresponds to at least one driving unit 3, the driving unit 3 comprises a diaphragm pump 31, a control valve 32 and three connecting pipes 33, the driving unit 3 is used for controlling the soft body driver 2, the control valve 32 is provided with four ports, two ports of the four ports are communicated with the diaphragm pump 31 through the connecting pipes 33, one port is communicated with the soft body driver 2 through the connecting pipe 33, and the other port is communicated with the atmosphere.

And

and the controller 51, wherein the controller 51 is fixed on the glove wearing body 1, the controller 51 is used for regulating the rotating speed of the diaphragm pump 31 on each driving unit 3, and the controller 51 is also used for switching the port connection condition of the control valve 32 on each driving unit 3.

The number of drive units 3 is the same as the number of finger sections 13, and normally 5 finger sections 13 are provided. In other embodiments, one finger area 13 may correspond to 2-3 driving units 3 for more refined control. For example, there are 3 middle fingers, each section is provided with 1 software driver 2, each software driver 2 is correspondingly provided with an independent driving unit 3, that is, there are 3 middle fingers corresponding to the driving units 3. Controlling one or more sections of the middle finger to do rehabilitation exercise according to the requirement.

By adopting the rehabilitation gloves of the embodiment, the plurality of driving units 3 are arranged to be matched with the plurality of finger areas 13, and one finger area 13 corresponds to at least one driving unit 3, so that the volume of the rehabilitation gloves is reduced, the rehabilitation gloves can be integrated with the gloves, and the movement of each soft driver 2 is independently controlled, thereby better adapting to individual difference of illness state. The designed driving unit 3 can perform exercise corresponding to fingers through one pump and one valve and a plurality of connecting pipes 33, the structural design of the driving unit 3 is more simplified, and the volume and weight of the gloves and the driving unit 3 thereon are reduced. The controller 51 is fixed on the glove wearing body 1 without arranging a control box, and the rotating speed of the diaphragm pump 31 and the port connection condition of the control valve 32 are controlled by the controller 51, so that the switching between the inflation mode and the air suction mode can be realized by adopting one pump and one valve. Through the cooperation of the designed soft driver 2, the driving unit 3 and the controller 51, the rehabilitation glove can have more kinds of working modes and more kinds of training intensity, a patient does not need to be limited in a narrow space when using the rehabilitation glove, and the rehabilitation glove has higher portability and practicability.

As shown in fig. 1, the rehabilitation glove further includes a mounting body 4, a bottom surface of the mounting body 4 is fixed to the wrist region 11, and a plurality of driving units 3 and a controller 51 are fixed to a top surface of the mounting body 4. Specifically, as shown in fig. 4, the mounting body 4 includes a first mounting plate 41, a second mounting plate 42, and a connecting plate 43. One end of the connecting plate 43 is connected to the first mounting plate 41, and the other end is connected to the second mounting plate 42. First mounting plate 41 is secured to the back or inner face of wrist region 11, attachment plate 43 is located on the side of wrist region 11, and second mounting plate 42 is located on the side of attachment plate 43 remote from wrist region 11. The plurality of driving units 3 are fixed on the first mounting plate 41, at least one driving unit 3 is fixed on the second mounting plate 42, and the controller 51 is fixed above the first mounting plate 41. The back face refers to the face on the same side as the back of the hand of the patient, and the inner face refers to the face on the same side as the palm of the hand of the patient. The first mounting plate 41 has a larger fixing area relative to the second mounting plate 42, and also has a larger contact area with the wrist region 11, so that the fixing is facilitated. For example, four drive units 3 are fixed to the first mounting plate 41, and one drive unit 3 is fixed to the second mounting plate 42.

Preferably, the first mounting plate 41 and the second mounting plate 42 are provided with fixing plates 44 perpendicular to each other, the fixing plates 44 are used for fixing the driving units 3, and one fixing plate 44 corresponds to at least one driving unit 3. The connecting plate 43 is an inclined plate or an arc-shaped plate, the first mounting plate 41 is a horizontal plate or an arc-shaped plate, and the arc-shaped plate is used for being matched with the radian of the wrist. When the connecting plate 43 is an inclined plate or an arc-shaped plate and the first mounting plate 41 is an arc-shaped plate, the structural characteristics of the wrist of the human body are better met, and the rehabilitation glove is convenient for a patient to use. And because the wrist of the human body is relatively narrow, the driving units 3 can be fixed through the second mounting plate 42, the situation that the driving units 3 are too many and cannot be placed on the first mounting plate 41 is avoided, and the space of the gloves is fully utilized.

Set up fixed plate 44 and be convenient for fix drive unit 3, set up first mounting panel 41, second mounting panel 42, connecting plate 43 and a plurality of fixed plate 44, make full use of recovered gloves's space to simplify recovered gloves's structural design, and the structure of human wrist is also laminated more in first mounting panel 41 and second mounting panel 42's design.

As shown in figure 1, the installation body 4 is fixed on the back of the wrist area 11 on the glove wearing body 1 in an adhesive mode, the plurality of driving units 3 are fixed on the installation body 4, and the soft driver 2 is also fixed on the finger area 13 on one side of the back of the hand. In other embodiments, the soft body driver 2 and the driving unit 3 may not be located on the same side, for example, the soft body driver 2 is located on the back side of the hand, and the driving unit 3 is located on the palm side, or if the space is limited, a part of the driving unit 3 may be located on the back side of the hand, and the rest of the driving unit 3 may be located on the palm side. The combination is carried out according to actual conditions.

As shown in fig. 1 and fig. 5, the apparatus further includes a control hardware board 5, wherein the control hardware board 5 is provided with a motor speed regulation module 52, an IO module 53 and a controller 51, the controller 51 is configured to send a plurality of motor power signals corresponding to the plurality of diaphragm pumps 31 to the motor speed regulation module 52, and the motor speed regulation module 52 is configured to control the rotation speeds of the plurality of corresponding diaphragm pumps 31 according to the plurality of motor power signals. The controller 51 is further configured to send a plurality of valve position signals corresponding to the plurality of control valves 32 to the IO module 53, and the IO module 53 is configured to control the port connection status of the corresponding plurality of control valves 32 according to the plurality of valve position signals.

Taking five driving units 3 as an example, the controller 51 may send five motor power signals corresponding to five diaphragm pumps 31 to the motor speed regulating module 52, and the motor speed regulating module 52 is configured to control the rotating speeds of the corresponding five diaphragm pumps 31 according to the five motor power signals. Similar principles are used for the control of the control valve 32 and will not be described in detail. The five motor power signals can be the same or different, and the five valve position signals can be the same or different, and are specifically set according to actual conditions, so that the designed rehabilitation gloves can bring rehabilitation training with more modes and more strengths to patients.

As shown in fig. 5, the control hardware board 5 is further provided with a communication module, which is a wired communication module or a wireless communication module, and the communication module is configured to send a signal of the remote terminal to the controller 51. If adopt wireless communication module, for example bluetooth module, can realize the wireless use of recovered gloves, can be in order to dress recovered gloves free activity, do not receive the restriction of other equipment lines for recovered gloves have better portability and practicality.

As shown in fig. 5, the control hardware board 5 is further provided with an analog-to-digital conversion module 54 and a pressure sensor 55, and the controller 51 is a control unit, i.e., an MCU, and communicates with the analog-to-digital conversion module 54 through a Serial Peripheral Interface (SPI) on the MCU. The pressure sensor 55 is configured to measure an analog pressure signal on the soft driver 2, and send the analog pressure signal to the analog-to-digital conversion module 54, the analog-to-digital conversion module 54 is configured to convert the analog pressure signal into a digital pressure signal and send the digital pressure signal to the controller 51, and the controller 51 is further configured to control the motor speed regulation module 52 and the IO module 53 according to the digital pressure signal.

The driving source is not necessarily limited to be pneumatic, and may be other fluids, such as hydraulic pressure, that is, the driving fluid of the soft actuator 2 is not limited to a certain gas, and may be a liquid or even a gas-liquid mixture. Taking gas as an example of the driving source, the corresponding pressure sensor 55 is a barometric pressure sensor, the barometric pressure sensor correspondingly measures and sends an analog barometric pressure signal, and the analog-to-digital conversion module 54 correspondingly converts the analog barometric pressure signal into a digital barometric pressure signal. The air pressure sensor is connected with the soft driver 2 through a pipeline, can be used as a part on the control hardware board 5, and also can be an independent unit and is arranged on the glove wearing body 1.

As shown in fig. 1, the control hardware board 5 further includes a plurality of support rods 6, one end of each support rod 6 is fixed on the mounting body 4, and the other end is fixed on the control hardware board 5. If the installation body 4 is not provided, the contact area between the support rod 6 and the glove wearing body 1 is small, which is inconvenient for fixing. Under the action of the support rod 6, the control hardware board 5 is supported, so that a storage space exists between the control hardware board 5 and the glove wearing body 1, and the plurality of drive units 3 are located in the storage space. The support rod 6 is arranged, so that the space of the rehabilitation glove is conveniently and fully utilized, and the size of the rehabilitation glove is reduced.

Specifically, the control valve 32 is a two-position four-way valve or a three-position five-way valve. The two-position four-way valve and the three-position five-way valve can realize the switching of ports, and further realize the switching of two working modes of inflation and air exhaust. Preferably, the two-position four-way valve is selected, so that the size of the rehabilitation glove can be reduced conveniently.

As shown in fig. 1, the working principle of the rehabilitation glove of the present application is described by taking five driving units 3 as an example, a driving source is gas, a communication module is a bluetooth module, and a control valve 32 is a two-position four-way valve. The five drive units 3 form a drive and control system of the rehabilitation glove. As shown in fig. 6, the working principle of the rehabilitation glove is explained as follows:

the method comprises the following steps: the bluetooth module is connected to a control terminal 56, and the control terminal 56 is an electronic product such as a computer or a mobile phone. The bluetooth module receives the wireless motion signal remotely transmitted by the control terminal 56, converts the wireless motion signal into a digital motion signal, and then sends the digital motion signal to the controller 51. The digital motion signal includes information of whether the soft body driver 2 is extended or contracted, and a desired pressure value corresponding to the soft body driver 2.

Step two: the controller 51 calculates the working states of the diaphragm pumps 31 and the two-position four-way valves through the elongation and air pressure value models according to the received digital motion signals, and respectively sends five motor power signals to the motor speed regulation module 52 and five valve position signals to the IO module 53.

Step three: the motor speed regulating module 52 controls the voltage levels of the five diaphragm pumps 31 respectively according to the received five motor power signals, so as to control the rotation speed of the motor and control the change of the flow rate of the gas. The IO module 53 controls the working modes of the five two-bit four-way valves according to the received five valve position signals, wherein the working modes include inflation and air exhaust. The diaphragm pump 31 and the two-position four-way valve are used for the soft body driver 2 again, so that the soft body driver 2 is bent or straightened, and then the corresponding fingers are rehabilitated. The five motor power signals and the five valve position signals are the corresponding signal numbers under the condition that five fingers need rehabilitation training. The number is set according to actual conditions, for example, when three fingers are needed to exercise, three motor power signals and three valve position signals can be sent out.

Step four: one pressure sensor 55 corresponds to the soft body driver 2 of one finger area 13, and a plurality of soft body drivers 2 on one finger area 13 are connected in series. The pressure sensor 55 collects the analog air pressure signal on the software driver 2 and sends the analog air pressure signal to the analog-to-digital conversion module 54.

Step five: the analog-to-digital conversion module 54 converts the analog air pressure signal into a digital air pressure signal and sends the digital air pressure signal to the controller 51.

Step six: the controller 51 compares the acquired digital air pressure signal with the digital motion signal to see the magnitude of the difference between the current soft body driver 2 and the desired pressure value. If the difference is larger, the controller 51 can correspondingly increase the power signal of the motor more, so that the corresponding diaphragm pump 31 can increase the rotating speed faster to perform inflation or air suction. If the difference is small, the controller 51 may correspondingly raise the power signal of the motor by a small amount, so that the corresponding diaphragm pump 31 may gently raise the rotation speed to perform inflation or air suction.

After step six, the process continues to repeat steps forty-five-six until the desired pressure value is reached. The specific working principle of the two-position four-way valve is shown in FIG. 3, and the two-position four-way valve comprises A, B, C, D four ports. When the valve position signal received by the two-position four-way valve is on, BC is communicated, AD is communicated, and CD is communicated all the time. The gas is pumped through the B port and delivered to the CDA in turn, and then the gas is filled into the soft body driver 2 through the connecting pipe 33 of the a port. When the valve position signal received by the two-position four-way valve is off, the AC is connected, the BD is connected, and the CD is always connected. The gas in the soft driver 2 is pumped out through the port A, is sequentially conveyed to the CDB, and is exhausted into the atmosphere through the port B.

In fig. 6, the reference numerals a and E of the corresponding elements denote the first and fifth, respectively, and for example, the diaphragm pump 31A denotes the first diaphragm pump, and three sets of diaphragm pumps, control valves, software drivers, and pressure sensors are omitted in the middle.

Adopt the recovered gloves of this application design, the advantage that has is: (1) The rehabilitation glove depends on a plurality of soft drivers 2, each finger area 13 corresponds to one driving unit 3, the effect of multi-finger flexible movement is achieved, and the safety can be improved. Because drive unit 13 simple structure only adopts a pump valve and many connecting pipes 33, consequently has small advantage, and the drive control system of recovered gloves can be miniaturized and install and form the integrative gloves of drive control on the gloves wearing body 1, improves portability by a wide margin. Meanwhile, the driving and controlling system can track various action signal curves, and lays a hardware foundation for complex rehabilitation training actions. The pump can provide a positive pressure source and a negative pressure source, and can be freely switched between the positive pressure and the negative pressure in combination with the cooperation of the controller 51 and the control valve 32. The drive unit 3 is designed to be compressible to a size of 111.6mm in length (about 1 finger in length), 17.5mm in width (about 2 fingers in width), and 55.25mm in height (about half a finger in height). The plurality of driving units 3 drive the soft drivers 2 respectively, and the size of the whole pneumatic part is not larger than one palm. (2) The control performance of the rehabilitation glove, such as the air flow rate of the soft driver 2, the response speed, the signal tracking accuracy and the like, determines whether the movement of the device is accurate and smooth. The existing rehabilitation glove carrying control system is on hardware, generally the same air source is used by five fingers, so that the single action change is rigid, and the control method only simply controls the opening and closing of a pump valve, so that the problems of unsmooth starting due to too high starting speed, slow signal tracking response and the like exist. The utility model provides a recovered gloves can realize high dynamic continuous control, specifically is the cooperation through pressure sensor 55, analog-to-digital conversion module 54, controller 51 and motor speed regulation module 52 for the drive and control system can be accurate fill the gassing for software driver 2, promotes the finger motion in the gloves and reaches the effect of recovered hand. The diaphragm pump 31 and the corresponding software driver 2 are controlled according to the difference between the digital air pressure signal and the expected pressure value, so that the air charging and discharging process is smooth, the conditions such as sudden change of air pressure and the like are avoided, the error is greatly reduced, and the rehabilitation training of each finger is gradual. And the continuous smooth response can be realized, so that a good rehabilitation effect is achieved, the jitter during rehabilitation training can be reduced, the tracking performance on the target path is good, and the response is rapid. The high dynamic continuous control means that the power of the diaphragm pump 31 can be adjusted, the traditional rehabilitation gloves cannot adjust the power of the pump, and only run at full speed or stop two states. (3) The Bluetooth module arranged on the control hardware board 5 enables a patient to complete movement according to a target track sent by a computer when using the rehabilitation glove, the rehabilitation design of finger-separating movement can be carried out through wireless transmission, and personalized design can be carried out on rehabilitation training. Through the bluetooth mode promptly, the doctor can be according to the patient's state of an illness to five fingers or specific finger regulation of characteristics such as flexible intensity or frequency, or according to rehabilitation training cycle strengthen rehabilitation intensity etc. gradually in order to improve the rehabilitation training effect, simultaneously because intensity is adjustable, the gloves are applicable in the demand of more cycles of rehabilitation training, improve gloves self utilization ratio.

The present application has been described with reference to specific examples, which are provided only to aid understanding of the present application and are not intended to limit the present application. For a person skilled in the art to which the application pertains, several simple deductions, modifications or substitutions may be made according to the idea of the application.

Claims (10)

1. A rehabilitation glove, comprising:

the glove wearing body comprises a wrist area, a palm area and a plurality of finger areas, and the glove wearing body is used for being worn by the hands of a patient;

each finger area is fixed with at least two soft drivers, and the soft drivers are used for completing the stretching or bending action of the fingers;

a plurality of driving units, one of the finger areas corresponds to at least one of the driving units, the driving units comprise a diaphragm pump, a control valve and a plurality of connecting pipes, the driving units are used for controlling the soft body driver, the control valve is provided with four ports, two ports of the four ports are communicated with the diaphragm pump through the connecting pipes, one port is communicated with the soft body driver through the connecting pipes, and the other port is communicated with the atmosphere; and

the controller is fixed on the glove wearing body, is used for adjusting the rotating speed of the diaphragm pumps on the driving units, and is also used for switching the port connection conditions of the control valves on the driving units.

2. The rehabilitation glove of claim 1, further comprising a mounting body having a bottom surface fixed to the wrist region, and a plurality of the driving units and the controller being fixed to a top surface of the mounting body.

3. The rehabilitation glove of claim 2, wherein the mounting body comprises a first mounting plate, a second mounting plate, and a connection plate; one end of the connecting plate is connected with the first mounting plate, and the other end of the connecting plate is connected with the second mounting plate; the first mounting plate is fixed on the back or inner surface of the wrist area, the connecting plate is positioned on the side surface of the wrist area, and the second mounting plate is positioned on one side of the connecting plate, which is far away from the wrist area; the drive unit is fixed on the first mounting plate in a plurality of numbers, the drive unit is fixed on the second mounting plate in at least one number, and the controller is fixed above the first mounting plate.

4. The rehabilitation glove of claim 3, wherein the first mounting plate and the second mounting plate are provided with vertical fixing plates, the fixing plates are used for fixing the driving units, and one fixing plate corresponds to at least one driving unit.

5. The rehabilitation glove of claim 3, wherein the connecting plate is an inclined plate or an arcuate plate and the first mounting plate is a horizontal plate or an arcuate plate, the arcuate plate being adapted to match the curvature of the wrist.

6. The rehabilitation glove of claim 1, further comprising a control hardware board, wherein a motor speed regulation module, an IO module, and the controller are disposed on the control hardware board, the controller is configured to send a plurality of motor power signals corresponding to the plurality of diaphragm pumps to the motor speed regulation module, and the motor speed regulation module is configured to control the rotation speed of the corresponding plurality of diaphragm pumps according to the plurality of motor power signals; the controller is further configured to send a plurality of valve position signals corresponding to the plurality of control valves to the IO module, and the IO module is configured to control port connection states of the corresponding plurality of control valves according to the plurality of valve position signals.

7. The rehabilitation glove of claim 6, wherein the control hardware board is further provided with a communication module, the communication module is a wired communication module or a wireless communication module, and the communication module is used for sending signals of a remote terminal to the controller.

8. The rehabilitation glove of claim 6, wherein the control hardware board is further provided with an analog-to-digital conversion module and a pressure sensor, the pressure sensor is used for measuring a pressure signal on the soft driver and sending the pressure signal to the analog-to-digital conversion module, the analog-to-digital conversion module is used for sending the pressure signal to the controller, and the controller is further used for controlling the motor speed regulation module and the IO module according to the pressure signal.

9. The rehabilitation glove of claim 6, wherein the control hardware plate further comprises a plurality of support rods secured between the control hardware plate and the glove donning body and forming a storage space, a plurality of the drive units being located within the storage space.

10. The rehabilitation glove of claim 1, wherein the control valve is a two-position four-way valve or a three-position five-way valve.

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