1374734 六、發明說明： 【發明所屬之技術領域】 本發明係有關一種手指活動裝置及其使用方法，特別是指 一種在每一關節部皆對應一驅動裝置之手指活動裝置，其兼具 可設定關節彎曲程度、可個別控制手指之作動及可設定手指作 動之變化週期等優點及功效。 【先前技術】 一般來說，因中風或其它因素而造成手部無法自主性的1374734 VI. Description of the Invention: [Technical Field] The present invention relates to a finger moving device and a method of using the same, and more particularly to a finger moving device corresponding to a driving device at each joint portion, which can be set The degree of joint bending, individual control of finger movements, and the ability to set the cycle of finger movements and other effects. [Prior Art] In general, the hand cannot be autonomic due to stroke or other factors.
動作時，需藉由外部之裝置來輔助手部進行運動，以達到復 健之效果。 請參閱第-圖之習知手部復健裝置9〇，其係為中華民國 證書號第M248435號之復健手套、握把及該手套、握把配合 的手部復健裝置；習知手部復健裝置9〇係具有一手套91 ^ 二與該手套91結合之氣囊92,而該使用者係將手掌穿入該手 p ’藉由職囊92充氣後產生之體積變化，或排氣後藉由 92,及手腕獲得 :但習知手部復健裝置9〇的作動方式，係存在著以下缺點In the action, the external device is used to assist the hand to exercise to achieve the effect of rehabilitation. Please refer to the figure-recognition hand rehabilitation device 9〇, which is the rehabilitation glove, the grip of the Republic of China Certificate No. M248435, and the hand rehabilitation device with the glove and the grip; The rehabilitation device 9 has a glove 91 ^ 2 and an air bag 92 combined with the glove 91, and the user inserts the palm into the hand p 'volume change caused by the inflation of the bag 92, or exhaust It is obtained by 92, and wrist: However, there are the following shortcomings in the practice of the 9-inch hand rehabilitation device.
[1 關節弯曲程度不易··習知手部復健裝置9〇利用該氣 關之方式’雖可達到手指及手腕之伸展，但控制每一 關即所需要之脊曲程度，則相當困難； 該氣各/^制手指作動：f知手部復健裝置9〇利用 上4為單^作動或各手指依序彎曲、伸直，在作動變化 【發明因内此容】有必要研發新產品，贿決上述缺點及問題。 法，在於提供—種手指活練置及其使用方 ”兼具可w關節彎曲程度、可個別控制手指之作動及 3 手指作動之變化週期等優點及功效，用以解 術關曲程度不易及無法各別控制手指作動等問題。0技 置，is解決題之技術手段係提供一種手指活動裝 體’其係具有—套部，用以供—使用者之 構單五機構單元，其係結合於該本體上，每二手扑機 二ίίϊΐ部係、分別供三個支架部作—預定角度之tr 而该手才曰結合部係用以連結一使用者之手指；轉動， 該支裝置’其係分別驅動每一關節部，進而連動 η統’其係用以控制該驅動裝置之作動； 置之=:置之設定，係可分別控制各撕 期，進而帶動該使用者之手指=〜之^曲變化及變化週 -連 ΐ=:=動部係為可相互配合之伞齒輪； 邊界及-ΣϋΓ艮位部，該限位部係包括—第一安全 動範:發:s?轉動==連動部之作 列步驟 嶋_版謝法，其包括下 [1]準備步驟··準備—手指活動 一本體，其係具有一套部，用以f用、 五個手指機構單元，1係肢。之’部穿入； 構單元係具有三個支架部本體上’母一手指機 部，三個關節部係分別供三個:架巧乍::^-:指結合 該手指結合部係用以連結一使用者之手指.角又之轉動，而 十五個驅動裝置，其係分別驅動每二關節部，進而連動 該支架部之轉動； 其?制ί2動ίίΈί制動裝置之作動； -連她〜裝置係具有—驅動部，而該關節部係具有 該驅動部;動部配合而達到傳動； I叹忑運動部係為可相互配合之傘齒輪； 邊^及又具有—限位部，該限位部係包括—第一安全 作動範圍動部之 因支架部之轉動具有之角度限制； 指==該朗者之手減賴_單元之手 Ϊ手74Ϊί ί依使用者之需求’於該控制系統上設定 以乎彳a機構早7C之彎曲變化及變化週期； 祕[HH:各驅動裝置依該控制系統之設定，分別驅 動各關即抽連動各支架部之轉動 預定_化職，進鳴糊者之手 广成步驟.該手指機構單元依該控制系統之設定而完 成作動後，即完成一週期性之手部活動。 ，本剌之上述目的與伽，雜從下述所翻實施 詳細說明與附圖中，獲得深入瞭解。 茲以下列實施例並配合圖式詳細說明本發明於 【實施方式】 ' 如第一、第二及第四圖所示，本發明係為—種手指 裝置，其包括： 一本體10，其係具有一套部u，用以供一使用者之 71穿入； 五個手指機構單元20，其係結合於該本體1〇上，每一 指機構單元20係具有三個支架部21、三個關節部22及至少 一手指結合部23，三個關節部22係分別供三個支架部21 ^ 一預定角度0之轉動，而該手指結合部23係用以連结一使用 者之手指72 ; 十五個驅動裝置30，其係分別驅動每一關節部22，進而 1374734 連動該支架部21之轉動； 藉η:二其係用以控制該驅動裴置30之作動； 裝置】〇之作動可分別控制各驅動 及變，進而帶_“《科7i②需之彎曲變化 ’該驅練置3G係具有—驅動部3卜而物 即部22係具有一連動部22卜 ·31，而該關 221配合而翻傳動；如第四圖^示，f可f該連動部 部221係為可相互配合之伞齒輪.合 =31及該連動 動部31作一預定程度之轉動時，係田同x時連動該驅 動，進而使該關節部22帶動=連動部221轉 指機構單元20之外部係又讯轉動；當然，該手 置30及該手指機構單元2〇Ί 曰20A ’達到該驅動裝 性材料或軟嶋^ 观係為撓 曲時，$保護層2〇A係可隨之變形。田手域構車元20彎 更詳細的說，藉由該控制系統奶之 各驅動部30，對相_ 22 > 別控制 各支架部21產生不Π私度之驅動，進而帶動 之彎曲變化，·如第五Α ‘示，假設單元2〇 巧支架部21A、一第二支架部=機構早元= 21C、一第一關節部22A、一 第一支条# 30C，·如苐五Β圖所示，該第勤及—第三驅動部 細、观係可分別對該第—、該動部3〇Α、 现、22C進行不_度之驅動，部22A、 構單元2〇1彎曲變化。一預疋角度Μ之轉動，達到該手指機 311，mf， 係包括-第-安全邊界31u及—第二安全邊界 6 1374734 該ΐ架：動部3丄及J連動部221之作動範園，使 (例如··該驅動裝置曲變化過大 (以該驅動部31 者之手指72造成傷害 部，無===份’也就是該限位 其包括下ίίί，所示，一種手指活動裝置之使用方法， :準備一手指活動裝置，其包括：[1 The degree of joint bending is not easy. · The hand-rehabilitation device 9〇 uses the method of the gas-off" to achieve the extension of the fingers and the wrist, but it is quite difficult to control the degree of the curvature required for each level; The gas / ^ finger movement: f know the hand rehabilitation device 9 〇 use the upper 4 for a single ^ action or each finger in the order of bending, straightening, in the movement changes [invention due to this content] it is necessary to develop new products Bribe to resolve the above shortcomings and problems. The method is to provide a kind of finger-study and its use. It has the advantages and functions of the degree of bending of the joints, the control of the fingers, and the change cycle of the three-finger actuation. It is impossible to control the movement of the fingers, etc. The technical means of the problem solving method is to provide a finger movable body which has a sleeve portion for the user to construct a single five-unit unit. On the main body, each second-hand machine is provided with three bracket portions for each of the three bracket portions - the predetermined angle tr is used to connect a user's finger; and the device is Each of the joints is driven separately, and then the interlocking system is used to control the actuation of the driving device; and the setting is set to control the tearing period, thereby driving the user's finger=~ ^曲变化与变化周-连ΐ=:= The moving part is a matching bevel gear; the boundary and the - ΣϋΓ艮 position, the limit part includes - the first safety dynamics: hair: s? rotation = =The steps of the linkage department 嶋_版谢法, Including the following [1] preparation steps · preparation - finger activity a body, which has a set of parts for f use, five finger mechanism unit, 1 line limb. The 'partial penetration; the unit has three On the main body of the bracket, the 'female-finger part, three joints are respectively provided for three: the frame is 乍::^-: refers to the combination of the finger joints for connecting a user's finger. And fifteen driving devices respectively drive each of the two joint portions, thereby interlocking the rotation of the bracket portion; the braking device is actuated; - even the device system has a driving portion, and the joint portion The driving part is provided; the moving part cooperates to reach the transmission; the I sighing moving part is a bevel gear that can cooperate with each other; the side and the - the limiting part, the limiting part includes - the first safe working range The rotation of the bracket is limited by the angle; the finger == the hand of the langer is reduced by _ the hand of the unit is 74Ϊ ί ί according to the user's needs. Bending change and change cycle; secret [HH: each drive device according to this control The setting of the system respectively drives the rotation of each bracket, that is, the rotation of each bracket part. The manual operation step is completed. After the finger mechanism unit is activated according to the setting of the control system, the cycle is completed. The above-mentioned purpose and gamma of the present invention are obtained from the following detailed description and the drawings, and the detailed description of the present invention will be made in the following embodiments. As shown in the first, second and fourth figures, the present invention is a finger device comprising: a body 10 having a set of parts u for a user's 71 to penetrate; A five-finger mechanism unit 20 is coupled to the body 1 , each finger mechanism unit 20 having three bracket portions 21 , three joint portions 22 and at least one finger joint portion 23 , and three joint portions 22 The three bracket portions 21 ^ are respectively rotated by a predetermined angle 0, and the finger joint portion 23 is used to connect a user's finger 72; fifteen driving devices 30 respectively drive each joint portion 22, Further, 1374734 interlocks the rotation of the bracket portion 21; By η: two is used to control the actuation of the driving device 30; device 〇 作 可 可 可 可 可 可 可 可 可 可 可 可 可 可 可 可 可 可 可 可 可 可 可 可 可 可 可 可 可 可 分别 分别 分别 分别 分别 分别 分别 分别 分别 分别 分别 分别 分别 分别 分别The driving portion 3 has a linking portion 22 having a linking portion 22, and the closing portion 221 is engaged to turn the drive; as shown in the fourth figure, the interlocking portion 221 is an umbrella that can cooperate with each other. When the gear is closed and the interlocking portion 31 is rotated by a predetermined degree, the driving is interlocked with the x, and the joint portion 22 is driven to rotate. Of course, when the hand 30 and the finger mechanism unit 2 〇Ί A 20A 'to reach the driving material or the soft 嶋 system is flexed, the protective layer 2 〇 A can be deformed accordingly. In more detail, the control unit 30 drives the drive unit 30 of the control system to control the drive of the brackets 21 by the phase _ 22 > , as shown in the fifth Α ', assume unit 2 smart bracket portion 21A, a second bracket portion = mechanism early element = 21C, a first joint portion 22A, a first branch # 30C, such as 苐五Β As shown in the figure, the third and third driving parts are fine, and the system can drive the first, the moving parts 3, the current, and the 22C, and the part 22A and the unit 2〇1 are bent. Variety. The rotation of the pre-twist angle 达到, the finger machine 311, mf, includes a -th-safety boundary 31u and a second safety boundary 6 1374734. The truss: the moving part 3丄 and the J linkage part 221 actuate the garden. To make (for example, the drive device has a too large change (the damage is caused by the finger 72 of the drive portion 31, no === share], that is, the limit includes ίίί, shown, the use of a finger activity device Method, preparing a one-finger activity device, comprising:
71穿入；。、係具有一套部11，用以供-使用者之手部 手t旨機構單元2〇，其係結合於該本體10上，每一手 二手才^二0,具5二個支架部2卜三個關節部22及至少 - ίίΐκϋ個關節部22係分別供三個支架部21作 者之手I ^轉動，職手指結合部23伽以連結一使用 連動其係分觸每-瞻二，進而 一控制系統40，其係用以控制該驅動裝置3〇之作動；71 penetrated; The system has a set of parts 11 for the user's hand, the body unit 2, which is attached to the body 10, each hand is used twice, and has two brackets 2 The three joint portions 22 and at least - ίίΐ ϋ 关节 joint portions 22 are respectively rotated by the hands of the three bracket portions 21, and the finger joint portions 23 are ligated to each other, and the joints are used to touch each of the two, and then one a control system 40 for controlling the actuation of the driving device 3;
一 [2]設定步驟52 :將該使用者之手指72與該手指機構單 70 20之手指結合部23相連結，並依使用者之需求，於該控 制系統40上設定該手指機構單元2〇之彎曲變化及變化週期 (包括週期變化時間及彎曲角度範圍）； [3] 執行步驟53 :各驅動裝置30依該控制系統4〇之設 定，分別驅動各關節部22而連動各支架部21之轉動，使該 手指機構單元20達到預定之彎曲變化及變化週期，進而帶動 該使用者之手指72活動； [4] 完成步驟54 :該手指機構單元2〇依該控制系統4〇 之設定而完成作動後’即完成一週期性之手部活動。 當然，如第八圖所示，該完成步驟54結束後，係可重覆 7 1374734 選擇新 前-次之設定進行訓練(即直接進行該執行步驟 的設定^行訓練(進行該設定步驟52)或結束訓練。 如，九圖所不，係為本發明之硬體 該控制系統40係包括一電力單元、一用以輸;^之二二 介面、一顯示單元、一中央處理器及一控制單元嗜力 作動時所需之電力，該控制單元係透ϊ 驅動裝置進行驅動，進而連動該手指機構 種實=構單元2g之r__，侧舉下列兩 [1]全曲全伸設定模式：如第十圖所示， 同時進行相同之動作= 直，進而連動該使用者之 ί、3、ΐί指、小指上之手:機構單^曲接 才曰、中指、無名指、小指之順序一一伸直。接者再由拇 當然，該控制系統40之設定， — 手域構料20同時作動，達 1四個 本㈣之優點及功效 氣囊W 彎:程度。習知手部復健裝置90利用該 動需Ϊί彎曲程度，則相當困難；而本ί明 進行預定彎曲程度之驅動，忒 U可個別控制手指之作動。習知手部復健裝置如利用 8 :驅動裝置30分別對應各關節部22 ί每:利 無法針]對單。習知手部復健裝置90 帶動該使用者之手控制系統40之設定， 特定方式t作動。 °時作動、侧作動、順序作動或 例所本發明，對於該實施 圍。 夕、曼化，‘不脫離本發明之精神與範 可遠說明’可使熟知本項技藝者明瞭本發明_ g成㈣目的’實已符合專利法之規定，爰提= 【圖式簡單說明】 f一圖係習知手部活動裝置之示意圖 發明之手指活動裝置之示意圖 第之手指活動裝置與手部結合之示意圖 第五A 置4:部困之連動關係之示意圖 =五B圖係本發明之動作二之示意圖 第六圖係本發明之驅動裝置―土 =:trr手部活動裝置二 第九圖用方法之詳細示意圖 第十圖係本發明之變化模式一之示意圖 ^十-圖係本發明之變化模式二之^意圖 【主要元件符號說明】 1374734[2] setting step 52: connecting the finger 72 of the user with the finger joint portion 23 of the finger mechanism unit 70 20, and setting the finger mechanism unit 2 on the control system 40 according to the user's request. The bending change and the change period (including the cycle change time and the bending angle range); [3] Step 53: Each drive device 30 drives each joint portion 22 to interlock the respective bracket portions 21 according to the setting of the control system 4 Rotating to cause the finger mechanism unit 20 to reach a predetermined bending change and change period, thereby driving the user's finger 72 to move; [4] completing step 54: the finger mechanism unit 2 is completed according to the setting of the control system 4 After the action, it completes a periodic hand activity. Of course, as shown in the eighth figure, after the completion of the completion step 54, the system can be repeated 7 1374734 to select the new pre-second setting for training (that is, the setting of the execution step is directly performed (the setting step 52 is performed). Or ending the training. For example, the figure is not the hardware of the present invention. The control system 40 includes a power unit, a device for input, a second interface, a display unit, a central processing unit, and a control unit. The power required for the unit's exertivity to operate, the control unit is driven by the driving device, and then the finger mechanism is linked to the r__ of the unit 2g, and the following two [1] full-throcket setting modes are selected: As shown in the ten figure, the same action is performed at the same time = straight, and then the user's ί, 3, ΐί finger, and the little finger are linked: the order of the mechanism, the middle finger, the ring finger, and the little finger are straightened one by one. The receiver is again by the thumb, of course, the setting of the control system 40, the hand-domain material 20 is simultaneously actuated, up to one of the four (4) advantages and the effectiveness of the airbag W-bend: the conventional hand rehabilitation device 90 utilizes It is quite difficult to flexibly bend the degree of bending; However, according to the driving degree of the predetermined bending degree, the 忒U can individually control the movement of the finger. The conventional hand rehabilitation device uses 8: the driving device 30 corresponds to each joint portion 22 ί. The conventional hand rehabilitation device 90 drives the setting of the user's hand control system 40, and the specific mode t is actuated. When the action is performed, the side is actuated, the sequence is actuated, or the present invention is applied to the present invention. 'Without the spirit of the present invention and Fan Keyuan's description, it will be apparent to those skilled in the art that the present invention has been made in accordance with the provisions of the Patent Law, and is in accordance with the provisions of the Patent Law. Schematic diagram of a conventional hand activity device. Illustration of a finger movement device of the invention. A schematic diagram of the combination of the finger movement device and the hand. AA 4: Schematic diagram of the linkage relationship of the partial sleepy = five B diagrams Figure 6 is a schematic diagram of a driving device of the present invention - soil =: trr hand moving device 2, a schematic diagram of a method for changing the mode of the present invention, a tenth diagram, a variation mode of the present invention two The main element is intended ^ REFERENCE NUMERALS 1,374,734
10本體 71使用者之手部 21支架部 23手指結合部 72使用者之手指 40控制系統 221連動部 21A第一支架部 21C第三支架部 22B第二關節部 30A第一驅動部 30C第三驅動部 02第二預定角度 311限位部 311B第二安全邊界 52設定步驟 54完成步驟 90習知手部復健裝置 92氣囊 11套部 20手指機構單元 22關節部 0預定角度 30驅動裝置 31驅動部 20A保護層 21B第二支架部 22A第一關節部 22C第三關節部 30B第二驅動部 01第一預定角度 (93第三預定角度 311A第一安全邊界 51準備步驟 53執行步驟 91手套 93氣壓缸10 body 71 user's hand 21 bracket portion 23 finger joint portion 72 user's finger 40 control system 221 linkage portion 21A first bracket portion 21C third bracket portion 22B second joint portion 30A first drive portion 30C third drive Part 02 second predetermined angle 311 limit portion 311B second safety boundary 52 setting step 54 complete step 90 conventional hand rehabilitation device 92 air bag 11 sleeve portion 20 finger mechanism unit 22 joint portion 0 predetermined angle 30 drive device 31 drive portion 20A protective layer 21B second bracket portion 22A first joint portion 22C third joint portion 30B second driving portion 01 first predetermined angle (93 third predetermined angle 311A first safety boundary 51 preparation step 53 performs step 91 glove 93 pneumatic cylinder