TWI618531B - Master-slave hand rehabilitation device - Google Patents

Abstract

A master-slave hand rehabilitation device includes an active device and a slave device, the active device comprising an active glove, at least one curvature sensor and an active control module, the active glove having a plurality of active finger sleeves The curvature sensor is coupled to the active finger sleeve for detecting the degree of bending of the finger, and the active control module can receive the detection data of the curvature sensor and convert it into a wireless signal for transmission. The driven device comprises a fixing frame, a driven glove, at least one stepping motor, a plurality of elastic bodies and a driven control module, the fixing frame comprises a fixing plate and one of the wrists of the rehabilitation hand a wrist sleeve, the driven glove has a plurality of driven finger sleeves for being sleeved on the fingers of the rehabilitation hand, and at least one pull cord is coupled to the finger end of each of the driven finger sleeves, the stepping motor is disposed at the The wrist sleeve has a rotating shaft for retracting or loosening the pull cords, and the plurality of elastic bodies can provide the elastic force of the plurality of driven finger sleeves to return to the original position, and the driven control module is disposed on the wrist cover to receive The wireless signal sent by the active control module is then based on the The stepper motor control signal line n, reversed; the above-described configuration by using the system so that it can drive the other hand the fingers of the hand fingers synchronized movement to improve coordination of the hands and enhance the effect of rehabilitation of persons.

Description

Master-slave hand rehabilitation device

The invention relates to the technical field of the hand rehabilitation device, in particular to a finger that can be used to drive the other hand's finger to perform synchronous movement to improve the coordination of the hands, and the user can perform the hand grip training autonomously. To improve the rehabilitation of the master-handed hand rehabilitation device.

Currently, there are hand-rehabilitation products commonly available on the market, such as small-type fixed auxiliary wood and larger-type mechanical automatic auxiliary equipment. Generally, small-sized fixed auxiliary wood can usually only be fixed training, but cannot provide The grip training of the hand, while the larger type of mechanical automatic assisting device can carry out the grip training of the hand, but it has the problem of being bulky and unable to be trained in other places outside the home or hospital. Moreover, whether it is a small type of fixed auxiliary wood or a large mechanical automatic auxiliary device, it is usually only one-handed rehabilitation when performing rehabilitation, and it is impossible to allow both hands to perform synchronous movement, so its rehabilitation The effect is not good, and it often has problems with hands that cannot be coordinated after rehabilitation.

The conventional hand rehabilitation products have many problems such as the inability to train the hands and the poor rehabilitation effect.

The invention provides a master-slave hand rehabilitation device, including an active Device and a slave device. The active device includes an active glove, at least one curvature sensor and an active control module. The active glove has a plurality of active finger sleeves for being placed on a finger of a hand, and the curvature sensor is combined with The top surface of the active finger cuff can detect the degree of bending of the finger, and the active control module can receive the detection data of the curvature sensor and convert it into a wireless signal for transmission. The driving device comprises a fixing frame, a driven glove, at least one stepping motor, a plurality of elastic bodies and a driven control module, the fixing frame comprises a fixing plate and is pivoted on the fixing plate for being buckled a wrist cover on the wrist of the other hand, the driven glove is disposed under the fixing plate and has a plurality of driven finger sleeves for being sleeved on the fingers of the other hand, and the finger ends of each of the driven finger sleeves are combined There is at least one pull cord, the stepping motor is disposed on the wrist cover and has a positive and reverse rotation shaft, the rotation shaft is coupled to the other end of the plurality of drawstrings, and the pull shaft can be retracted or loosened by the rotation shaft The plurality of elastic bodies are coupled between the fixing plate and the plurality of driven finger sleeves to provide an elastic force for returning the plurality of driven finger sleeves to the original position, and the slave control module is disposed on the wrist cover to receive the elastic body The wireless signal sent by the active control module is actively controlled, and then the stepping motor is controlled to be positive and reverse according to the wireless signal.

The master-slave hand rehabilitation device provided by the invention can detect the bending degree of the finger of the healthy hand of the patient by using the curvature sensor on the active glove of the active device, and then detect through the active control module. The measurement result is transmitted to the slave control module of the slave device, so that the slave control module controls the corresponding stepping motor to drive the rotating shaft to receive or retract the cable by the received wireless signal, thereby Pulling the corresponding driven finger sleeve of the driven glove, so that the complex elastic body can be matched with the bending of the finger of the rehabilitation hand to achieve the rehabilitation purpose of the hand grip training. and so, The invention can realize the synchronous movement of the finger of the other hand by using the finger of one hand to improve the coordination of the hands and improve the good effect of the rehabilitation, and also has the overall small size and can be conveniently carried by the patient or used at home. The effect.

1‧‧‧Active device

10‧‧‧Active gloves

11‧‧‧Active finger cot

20‧‧‧ curvature sensor

30‧‧‧Active Control Module

31‧‧‧Active microprocessor

32‧‧‧Active wireless transmission unit

33‧‧‧Active Power Unit

2‧‧‧Driver

40‧‧‧ Fixing frame

41‧‧‧ fixed plate

42‧‧‧ wristband

43‧‧‧Limited holes

50‧‧‧ driven gloves

51‧‧‧Activity finger sets

52‧‧‧Drawstring

60‧‧‧stepper motor

61‧‧‧ shaft

70‧‧‧ Elastomers

80‧‧‧ slave control module

81‧‧‧ slave wireless transmission unit

82‧‧‧ slave microprocessor

83‧‧‧ slave power unit

90‧‧‧Health hand

91‧‧‧Rehabilitation

Fig. 1 is a perspective view showing a first embodiment of the present invention.

Fig. 2 is a schematic view showing the wearing operation of the driven device of the first embodiment of the present invention.

Fig. 3 is a schematic sectional view showing the operation of the driven device of the first embodiment of the present invention.

Fig. 4 is a bottom plan view showing the first embodiment of the present invention.

Fig. 5 is a schematic view showing the rehabilitation operation of the first embodiment of the present invention.

Figure 6 is a second embodiment of the present invention.

Figure 7 is a third embodiment of the present invention.

Figure 8 is a fourth embodiment of the present invention.

Referring to FIG. 1 to FIG. 5, it is a first embodiment of the master-slave hand rehabilitation device according to the present invention, which indicates that the master-slave hand rehabilitation device includes an active device 1 and a Follower 2. The active device 1 includes an active glove 10, at least one curvature sensor 20, and an active control module 30. The active glove 10 can be placed on one of the patient's healthy hands 90, and has a plurality of active finger sleeves 11 for being placed on the fingers of the healthy hand 90. The curvature sensor 20 is coupled to the top surface of the active finger cuff 11 for detecting the degree of bending of the finger. The active control module 30 includes an active microprocessor 31, An active wireless transmission unit 32 and an active power unit 33, the active microprocessor 31 is connected to the curvature sensor 20 to receive the detection data of the curvature sensor 20, and the active wireless transmission unit 32 is connected. The active microprocessor 31 can convert the detected data of the curvature sensor 20 into a wireless signal for transmission.

The driven device 2 includes a fixing frame 40, a driven glove 50, at least one stepping motor 60, a plurality of elastic bodies 70 and a driven control module 80. The fixing frame 40 includes a fixing plate 41 and a wrist sleeve 42 pivotally mounted on the fixing plate 41. The wrist cover 42 is fastened to the wrist of the patient's rehabilitation hand 91 with the fixing plate 41 and has at least A limit hole 43. The driven glove 50 is disposed under the fixing plate 41, and has a plurality of driven finger sleeves 51 for being sleeved on the fingers of the rehabilitation hand 91, and the finger ends of each of the driven finger sleeves 51 are combined. There is at least one pull cord 52, and the other end of the plurality of drawstrings 52 passes through the limit hole 43. The stepping motor 60 is disposed on the wrist cover 42 and has a shaft 61 that can be positively and reversely rotated. The shaft 61 is coupled to the other end of the plurality of cables 52 so as to be positive by the shaft 61. The pull cords 52 are retracted or loosened to pull or loosen the driven finger cuffs 51. The plurality of elastic bodies 70 are coupled between the fixing plate 41 and the plurality of driven finger cuffs 51, and can be pulled to the original position by elastic force when the plurality of driven finger cuffs 51 are relaxed. The slave control module 80 is disposed on the wristband 42 and includes a slave wireless transmission unit 81, a slave microprocessor 82 and a slave power unit 83. The slave wireless transmission unit 81 can receive the slave The wireless signal sent by the active wireless transmission unit 32, the slave microprocessor 82 is connected to the slave wireless transmission unit 81 and the stepping motor 60, and can control the step according to the wireless signal received by the active wireless transmission unit 32. The motor 60 is positive, reversed and rotated, and the driven power unit 83 can provide Power is supplied to the slave wireless transmission unit 81, the slave microprocessor 82, and the stepper motor 60.

In this embodiment, the active glove 10 has a five-finger sleeve 11 for being respectively sleeved on the five fingers of the patient's healthy hand 90, and the number of the curvature sensors 20 is three, which are respectively set in the health hand. 90 of the shorter thumb and tail finger, and one of the longer middle finger, index finger or ring finger. Of course, the finger sleeves 11 set on the index finger, the middle finger and the ring finger can also be integrated into one, which is a simple change, and therefore will not be further described. The number of the driven finger sleeves 51 is three, two of which are respectively set on the thumb of the rehabilitation hand 91, and the other one is set on the index finger, the middle finger and the ring finger of the rehabilitation hand 91, and each finger The sleeve 51 is respectively combined with a pull cord 52. The number of the limiting holes 43 on the wrist cover 42 is respectively passed through the three pull cords 52. The number of the stepping motors 60 is three, and the rotating shafts 61 are respectively rollable. Receiving the pull cords 52 on the three finger sleeves 51, the plurality of elastic bodies 70 are five elastic ropes whose one end is coupled to the top surface of the fixing plate 41, wherein the other ends of the two elastic ropes pass through the fixing plate 41 and respectively The other end of the remaining elastic rope is passed through the fixing plate 41 and is combined with one of the index finger, the middle finger and the ring finger from the end of the two driven finger sleeves 51 corresponding to the set of the thumb and the tail finger. On the end of the finger sleeve 51. Moreover, the active wireless transmission unit 32 and the driven wireless transmission unit 81 are Bluetooth modules.

Please refer to the figures 3 to 5, which indicates that the bending sensor 20 of the active finger cuff 11 detects the degree of bending when the active finger cuff 11 of the active glove 10 of the active device 1 is bent. Then, the detection result is transmitted to the active control module 30, and the active control module 30 converts the wireless signal into a wireless signal for transmission. When the slave When the slave control module 80 of the mobile device 2 receives the wireless signal sent by the active control module 30, it controls the corresponding stepping motor 60 to drive the rotating shaft 61 to rotate to take up the pull cord 52, thereby pulling the driven glove 50. The corresponding finger sleeve 51 can be used to achieve the rehabilitation purpose of the hand grip training.

Referring to FIG. 6 , it is a second embodiment of the master-slave hand rehabilitation device of the present invention, and the structure thereof is substantially the same as that of the first embodiment, and the difference lies only in the driven glove 50 of the embodiment. The utility model has a five-finger sleeve 51, which can be respectively sleeved on the five fingers of the rehabilitation hand 91, and the driven finger sleeves 51 which are set on the index finger, the middle finger and the ring finger respectively have a pull cord 52 passing through the same limit. The position hole 43 is accommodated and relaxed by the rotation shaft 61 of the same stepping motor 60.

Referring to FIG. 7 , it is a third embodiment of the master-slave hand rehabilitation device of the present invention, and the structure thereof is substantially the same as that of the first embodiment, and the difference lies only in the active device 1 of the embodiment. The number of the curvature sensors 20 is one, and is coupled to the active finger sleeve 11 of the active glove 10 corresponding to the middle finger. The number of the stepping motors 60 of the driven device 2 is one, and the limiting hole 43 of the wrist cover 42 is 43 For one, the other end of the three-claw 52 of the three-finger sleeve 51 of the driven glove 50 passes through the limiting hole 43 and is coupled to the rotating shaft 61 of the stepping motor 60 to make the rotating shaft of the stepping motor 60. 61 can simultaneously retract the three pull cords 52.

Referring to FIG. 8 , it is a fourth embodiment of the master-slave hand rehabilitation device of the present invention, and the structure thereof is substantially the same as that of the first embodiment, and the difference is only in the active device 1 of the embodiment. The active glove 10 is the same hand as the driven glove 50 of the driven device 2. In this way, the active glove 10 can be worn by other people to drive the patient. Synchronous rehabilitation training is performed in the same hand.

The master-slave hand rehabilitation device provided by the present invention can detect the bending degree of the finger of the patient's healthy hand 90 by the curvature sensor 20 on the active glove 10 of the active device 1 and then actively The control module 30 transmits the detection result to the slave control module 80 of the slave device 2, so that the slave control module 80 controls the corresponding stepper motor 60 to drive the shaft 61 by the received wireless signal. Rotating to take up or close the pull cord 52, and then pulling the corresponding driven finger sleeve 51' of the driven glove 50, so that the plurality of elastic bodies 70 can be matched to bend the fingers of the rehabilitation hand 91 to reach the hand Grab the purpose of rehabilitation. Therefore, the present invention can achieve the synchronous movement of the fingers of the other hand by using the fingers of one hand, so as to improve the coordination of the hands and improve the good effect of rehabilitation, and the overall volume is small and can be conveniently carried by the patient, or It is used at home.

Claims (8)

A master-slave hand rehabilitation device includes: an active device comprising an active glove, at least one curvature sensor and an active control module, the active glove having a plurality of active finger sleeves for being placed in one hand The curvature sensor is coupled to the top surface of the active finger cot to detect the degree of bending of the finger, and the active control module can receive the detection data of the curvature sensor and convert the same. The wireless signal is transmitted out; and a driven device includes a fixed frame, a driven glove, at least one stepping motor, a plurality of elastic bodies and a driven control module, the fixed frame includes a fixing plate and is pivoted The fixing plate can be fastened to one of the wrists of the wrist of the other hand. The driven glove is disposed under the fixing plate and has a plurality of driven finger sleeves for being placed on the fingers of the other hand. At least one pull cord is coupled to the finger end of the driven finger sleeve, and the stepping motor is disposed on the wrist sleeve, and the wrist sleeve has at least one limiting hole for the other end of the plurality of drawstrings to pass through, the stepping step The motor has a shaft that can be positively and reversibly, and the shaft is for the plural The other end of the rope is coupled so that the plurality of cables can be taken up or loosened by the rotating shaft. The plurality of elastic bodies are elastic ropes whose one end is coupled to the top surface of the fixing plate, and the other ends thereof are respectively coupled through the fixing plates and respectively combined The plurality of driven finger cots can provide the elastic force of the plurality of driven finger cots to return to the original position, and the slave control module is disposed on the wrist cover to receive the wireless signal sent by the active control module, and then according to the The wireless signal controls the stepping motor to be positive and reverse. The master-slave hand rehabilitation device according to claim 1, wherein the active control module comprises an active microprocessor, an active wireless transmission unit and an active power unit, and the active microprocessor is connected to the active microprocessor. Sense of curvature The detector can receive the detection data of the complex curvature sensor, and the active wireless transmission unit is connected to the active microprocessor to convert the detected data of the curvature sensor into a wireless signal for transmission; the slave The control module includes a slave wireless transmission unit, a slave microprocessor and a slave power unit, and the slave wireless transmission unit can receive the wireless signal sent by the active wireless transmission unit, the slave microprocessor Connecting the slave wireless transmission unit and the stepping motor, and controlling the forward, reverse and rotational turns of the stepping motor according to the wireless signal received by the active wireless transmission unit, the slave power unit can provide power to the slave The wireless transmission unit, the slave microprocessor and the stepping motor. The master-slave hand rehabilitation device according to claim 2, wherein the active glove and the driven glove are different hands, that is, one is a left hand and the other is a right hand. The master-slave hand rehabilitation device according to claim 2, wherein the active glove and the driven glove are in the same hand, that is, the same as the left hand or the same right hand. The master-slave hand rehabilitation device of claim 2, wherein the active wireless transmission unit and the slave wireless transmission unit are Bluetooth modules. The master-slave hand rehabilitation device according to claim 2, wherein the active glove has a five-finger sleeve for being respectively sleeved on the five fingers of one hand, and the number of the curvature sensors is three. They are respectively located on the short thumb and tail finger of the hand and one of the longer middle finger, index finger or ring finger. The number of the finger sleeves is three, and two of them are respectively set on The thumb of the other hand is placed on the index finger, the middle finger and the ring finger of the other hand, and each finger sleeve is respectively combined with a pull cord, and the number of the limit holes on the wrist cover is respectively provided for three The three drawstrings pass through, and the number of the stepping motors is three, and the rotation axes thereof are respectively The three drawstrings can be taken up. The master-slave hand rehabilitation device according to claim 2, wherein the active glove has a five-finger sleeve for being respectively sleeved on the five fingers of one hand, and the number of the curvature sensors is three, respectively On the shorter thumb and tail finger of the hand and one of the longer middle finger, index finger or ring finger, the driven glove has a five-finger sleeve, which can be separately set on the other One of the five fingers, and each of the driven finger sleeves has a pull cord, and the number of the limit holes on the wrist cover is three for the five pull cords respectively, and the number of the stepping motors is three. The shaft of the two stepping motors can respectively take up the drawstring corresponding to the thumb and the tail finger, and the remaining shaft of the stepper motor can be used to take the three drawstrings corresponding to the index finger, the middle finger and the ring finger. The master-slave hand rehabilitation device according to claim 2, wherein the active glove has a five-finger sleeve for being respectively sleeved on the five fingers of one hand, and the number of the curvature sensors is one and combined with the active glove. Corresponding to the active finger sleeve of the middle finger, the number of stepping motors of the driven device is one, the limiting hole of the wrist sleeve is one, and the other end of the pulling rope of all the finger sleeves of the driven glove passes through the limit The position hole is coupled to the rotating shaft of the stepping motor, so that the rotating shaft of the stepping motor can simultaneously retract the pulling ropes.