CN219230562U

CN219230562U - Soft executor for rehabilitation elbow joint

Info

Publication number: CN219230562U
Application number: CN202222246986.3U
Authority: CN
Inventors: 陈涛; 戴志伟; 朱铭鲁; 李子义; 贾惠斌; 刘艳广; 孙立宁
Original assignee: Suzhou University
Current assignee: Suzhou University
Priority date: 2022-08-25
Filing date: 2022-08-25
Publication date: 2023-06-23
Anticipated expiration: 2032-08-25

Abstract

The utility model discloses a rehabilitation elbow joint soft actuator, which comprises: a backing plate; the air bag pipe comprises a plurality of pipe bodies and air bag bodies communicated between the adjacent pipe bodies, the pipe bodies are respectively connected with the plurality of bearing seats, one end of the air bag pipe is closed, and the other end of the air bag pipe is communicated with the air charging and discharging pipe; the oversleeve mechanism comprises a first oversleeve and a second oversleeve, and the first oversleeve and the second oversleeve are both connected with the base plate. The utility model has simple structure and convenient operation; the soft actuator acts on the elbow joint to drive the elbow joint to perform bending and stretching rehabilitation training; the bending angle of the elbow joint and the feedback force of the actuator to the elbow joint bending can be detected through the flexible angle sensor and the flexible pressure sensor, the bending degree is adjusted, and the rehabilitation exercise with different degrees is realized.

Description

Soft executor for rehabilitation elbow joint

Technical Field

The utility model relates to the technical field of rehabilitation equipment, in particular to a rehabilitation elbow joint soft actuator.

Background

The upper extremities, including the shoulders, elbows, wrists and hands, are important for spatial movement and manipulation of objects and gestures. Therefore, stroke survivors must regain a certain degree of function in order to be able to independently perform activities of daily living.

Traditionally, stroke rehabilitation is performed with the help of physical therapists and professional therapists in the form of therapeutic interventions, which, while effective, are time-consuming and laborious. In order to ease the burden on the caregivers and the need for trained therapists, robotic devices have been developed which aim to support the patient for rehabilitation with ease and with minimal supervision. These robotic devices are typically designed to perform: (1) continuous passive movement; (2) actively assisting the movement. Continuous passive exercise helps reduce muscle tone and increase joint mobility, while active assisted exercise helps restore exercise control by actively shaping cortical reorganization following brain injury (e.g., stroke). Current robotic rehabilitation devices include end effector robots, such as MIT Manus and MIME, and exoskeletons, such as Myomo, ARMin, orthoJacket and kit wearable robotic arms. While these devices exhibit good efficacy in rehabilitation, they are expensive, not portable and sturdy, which limits their use in a clinical setting, and their sturdiness also makes them difficult to align with the patient's joints during rehabilitation.

Soft robots are an emerging field of robot research, which is a fusion of material chemistry and robotics, aimed at solving the challenges faced by traditional robots. As the name suggests, soft robots consist of robots manufactured using flexible or elastic structural elements. In particular, soft pneumatic actuators are an important component for use in soft-wearing robots because of their light weight, flexibility, and ability to evenly distribute pressure along the joints. In addition, their response to actuation can be tailored to a large extent to accomplish movements that are typically difficult to accomplish with hard robotic devices, possibly by directly attaching actuators to the limb to overcome alignment problems. Some recent developments in soft robots for rehabilitation purposes include soft robot gloves for robot-assisted hand treatment, and soft robot socks for robot-assisted ankle exercises. However, no soft robot capable of treating the elbow joint has yet emerged.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model aims to provide a soft actuator for rehabilitation elbow joints.

In order to achieve the above object, an embodiment of the present utility model provides the following technical solution:

a rehabilitation elbow joint soft actuator comprising:

a backing plate;

the air bag pipe comprises a plurality of pipe bodies and air bag bodies communicated between the adjacent pipe bodies, the pipe bodies are respectively connected with the plurality of bearing seats, one end of the air bag pipe is closed, and the other end of the air bag pipe is communicated with the air charging and discharging pipe;

the oversleeve mechanism comprises a first oversleeve and a second oversleeve, and the first oversleeve and the second oversleeve are both connected with the backing plate.

As a further improvement of the present utility model, the first sleeve includes two first sleeve pieces, the two first sleeve pieces are respectively disposed on two opposite long sides of the pad, and free ends of the two first sleeve pieces can be connected together.

As a further improvement of the utility model, one of the first sleeve sheets is provided with a first magic tape surface, and the other first sleeve sheet is provided with a first magic tape surface.

As a further improvement of the present utility model, the second sleeve includes two second sleeve pieces, the two second sleeve pieces are respectively disposed on two opposite long sides of the pad, and free ends of the two second sleeve pieces can be connected together.

As a further improvement of the utility model, one of the second sleeve sheets is provided with a second magic tape surface, and the other second sleeve sheet is provided with a second magic tape surface.

As a further improvement of the utility model, the backing plate is provided with a sensing mechanism, the sensing mechanism and the actuating mechanism are respectively positioned on two opposite sides of the backing plate, and the sensing mechanism comprises at least one flexible angle sensor and at least one flexible pressure sensor.

As a further improvement of the present utility model, the number of the flexible pressure sensors is two, and the flexible angle sensor is provided between the two flexible pressure sensors.

As a further improvement of the utility model, the bearing seat comprises a bearing seat body and a clamping hole formed in the bearing seat body, and the pipe body penetrates through the clamping hole.

As a further improvement of the present utility model, the number of the actuators is two, and the two actuators are arranged side by side in the width direction of the pad.

As a further improvement of the utility model, the balloon body is corrugated.

The beneficial effects of the utility model are as follows:

(1) Simple structure and convenient operation.

(2) The soft actuator acts on the elbow joint to drive the elbow joint to perform bending and stretching rehabilitation training.

(3) The flexible angle sensor and the flexible pressure sensor can be used for detecting the bending angle of the elbow joint and the feedback force of the actuator when the elbow joint is bent, the bending degree is adjusted, the rehabilitation exercise of different degrees is realized, different patients are convenient to apply, and the rehabilitation effect is improved.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present utility model, and other drawings may be obtained according to the drawings without inventive effort to those skilled in the art.

FIG. 1 is a top view of a preferred embodiment of the present utility model;

FIG. 2 is a perspective view of the preferred embodiment of the present utility model with an actuator disposed on the backing plate;

FIG. 3 is a top view of FIG. 2;

FIG. 4 is a schematic view of the structure of a balloon tube in a preferred embodiment of the present utility model;

FIG. 5 is a schematic view of the structure of a carrier according to a preferred embodiment of the present utility model;

FIG. 6 is a schematic view of the structure of the pad plate with the sensing mechanism according to the preferred embodiment of the present utility model;

in the figure: 1. backing plate, 2, actuating mechanism, 201, gasbag pipe, 202, fill the gas release pipe, 203, bear the weight of the seat, 2031, bear the weight of the seat body, 2032, the draw-in hole, 205, body, 206, the gasbag body, 3, first oversleeve, 301, first sleeve piece, 302, first magic tape thorn face, 4, second oversleeve, 401, second sleeve piece, 402, second magic tape thorn face, 501, flexible angle sensor, 502, pressure sensor.

Detailed Description

In order to make the technical solution of the present utility model better understood by those skilled in the art, the technical solution of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.

Referring to fig. 1-6, an embodiment of the present application discloses a soft actuator for rehabilitation elbow joint, which comprises a base plate 1, at least one actuator 2 and a sleeve mechanism. The actuating mechanism 2 comprises a bearing assembly, an air bag pipe 201 and an air charging and discharging pipe 202, wherein the bearing assembly is arranged on the base plate 1, the bearing assembly comprises a plurality of bearing seats 203 which are arranged at intervals along the length direction of the base plate 1, the air bag pipe 201 comprises a plurality of pipe bodies 205 and air bag bodies 206 which are communicated between the adjacent pipe bodies 205, the pipe bodies 205 are respectively connected with the bearing seats 203, one end of the air bag pipe 201 is in a closed shape, and the other end of the air bag pipe 201 is communicated with the air charging and discharging pipe 202. The oversleeve mechanism comprises a first oversleeve 3 and a second oversleeve 4, and the first oversleeve 3 and the second oversleeve 4 are connected with the backing plate 1.

In this embodiment, the first sleeve 3 includes two first sleeve pieces 301, the two first sleeve pieces 301 are respectively disposed on two opposite long sides of the pad 1, and free ends of the two first sleeve pieces 301 can be connected together so as to be fixed on an arm.

In order to more conveniently put on and take off the first sleeve 3, it is preferable that one of the first sleeve pieces 301 is provided with a first magic tape (not shown in the figure), and the other first sleeve piece 301 is provided with a first magic tape 302, and the two first sleeve pieces 301 are fixedly connected by adhering the first magic tape to the first magic tape 302, so as to be convenient to be fixed on an arm; the first hook-and-loop surface is separated from the first hook-and-loop surface 302, and the separation of the two first sleeve pieces 301 is realized. Meanwhile, the inner diameter of the first sleeve 3 is conveniently adjusted through the matching of the first magic tape surface and the first magic tape thorn surface 302, so that different people can be conveniently applied.

In this embodiment, the second sleeve 4 includes two second sleeve pieces 401, and the two second sleeve pieces 401 are respectively disposed on two opposite long sides of the pad 1, and free ends of the two second sleeve pieces 401 can be connected together so as to be fixed on an arm.

In order to more conveniently put on and take off the second oversleeve 4, one second sleeve piece 4 is provided with a second magic tape surface (not shown in the figure), the other second sleeve piece 402 is provided with a second magic tape surface 402, and the two second sleeve pieces 401 are fixedly connected by sticking the second magic tape surface to the second magic tape surface 402, so that the second oversleeve is convenient to be fixed on an arm; the second magic tape is separated from the second magic tape surface 402, so that the two second sleeve pieces 401 are separated. Meanwhile, the inner diameter of the second sleeve 4 is conveniently adjusted through the matching of the second magic tape surface and the second magic tape thorn surface 402, so that different people can be conveniently applied.

Preferably, the backing plate 1 is provided with a sensing mechanism, the sensing mechanism and the executing mechanism 2 are respectively located on two opposite sides of the backing plate 1, and the sensing mechanism comprises at least one flexible angle sensor 501 and at least one flexible pressure sensor 502. The bending and straightening of the elbow joint is detected by the flexible pressure sensor 502 for the pressure condition of execution, the bending angle of the soft actuator is detected by the flexible angle sensor 501 to represent the bending angle of the elbow joint, the bending and straightening detection data of the elbow joint is transmitted and fed back to the air pump system, and the air pump system controls the air flow according to the transmitted data, so that the bending and straightening force of the soft actuator is controlled.

Specifically, the number of the flexible pressure sensors 502 is two, and the flexible angle sensor 501 is disposed between the two flexible pressure sensors 502, so as to better detect the pressure condition and the bending angle.

In this embodiment, the bearing seat 203 includes a bearing seat body 2031, a clamping hole 2031 formed in the bearing seat body 2031, and the pipe 205 is disposed through the clamping hole 2031.

For better bending and straightening of the arm by the actuators 2, the number of the actuators 2 is preferably two, and the two actuators 2 are arranged side by side in the width direction of the pad 1.

In order to better achieve the expansion and contraction of the balloon body 206, the balloon body 206 is preferably corrugated.

In order to facilitate bending and straightening of the pad 1, the pad 1 is preferably made of PDMS, but is not limited to PDMS, and may be ecoflex.

When the arm patient is in use, the patient can connect and fix the first sleeve 3 of the soft actuator with the forearm, the first sleeve is connected and fixed with the rear arm through the two first sleeve sheets 301, the second sleeve 4 is connected and fixed with the rear arm, the second sleeve sheets 401 are connected and fixed with the rear arm, and the air charging and discharging pipe 202 is connected with the air pump system. When the air pump system inflates the soft actuator, air enters the air bag pipe 201 through the inflation and deflation pipe 202 to inflate the air bag pipe 201, and the soft actuator bends inwards to drive the front arm and the rear arm to bend near; when the air pump system pumps air to the soft actuator, air is pumped out of the air bag pipe 201, the actuator stretches outwards, and the front arm and the rear arm are driven to be unfolded and straightened. Thereby achieving the effect of bending and straightening rehabilitation training of the elbow joint of the patient.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims

1. A rehabilitation elbow joint soft actuator, comprising:

a backing plate;

2. A rehabilitation elbow joint soft actuator according to claim 1, wherein the first sleeve comprises two first sleeve pieces, the two first sleeve pieces being respectively provided on opposite long sides of the pad, the free ends of the two first sleeve pieces being connectable together.

3. The rehabilitation elbow joint soft actuator according to claim 2, wherein one of the first sleeve pieces is provided with a first magic tape surface, and the other of the first sleeve pieces is provided with a first magic tape surface.

4. A rehabilitation elbow joint soft actuator according to claim 1, wherein the second sleeve comprises two second sleeve panels, the two second sleeve panels being respectively provided on opposite long sides of the pad, the free ends of the two second sleeve panels being connectable together.

5. The rehabilitation elbow joint soft actuator according to claim 4, wherein one of the second sleeve panels is provided with a second velcro surface, and the other of the second sleeve panels is provided with a second velcro surface.

6. The soft actuator of a rehabilitation elbow joint according to claim 1, wherein the pad is provided with a sensing mechanism, the sensing mechanism and the actuator are respectively located on two opposite sides of the pad, and the sensing mechanism comprises at least one flexible angle sensor and at least one flexible pressure sensor.

7. The rehabilitation elbow joint soft actuator according to claim 6, wherein the number of the flexible pressure sensors is two, and the flexible angle sensor is arranged between the two flexible pressure sensors.

8. The soft actuator of a rehabilitation elbow joint according to claim 1, wherein the bearing seat comprises a bearing seat body and a clamping hole formed in the bearing seat body, and the pipe body penetrates through the clamping hole.

9. The soft actuator for a rehabilitation elbow joint according to claim 1, wherein the number of the actuators is two, and the two actuators are arranged side by side in the width direction of the pad.

10. The rehabilitation elbow joint soft actuator according to claim 1, wherein the balloon body is corrugated.