WO2023207737A1

WO2023207737A1 - Tendon-driven soft glove

Info

Publication number: WO2023207737A1
Application number: PCT/CN2023/089392
Authority: WO
Inventors: 胡星星; 王灿雷; 郑豪杰; 李菁; 刘永波
Original assignee: 法罗适(上海)医疗技术有限公司
Priority date: 2022-04-28
Filing date: 2023-04-20
Publication date: 2023-11-02
Also published as: CN114699284A

Abstract

A tendon-driven soft glove (100), comprising a glove body (10), a plurality of fingertip caps (20), a plurality of finger dorsum tendon passing blocks (30), and a plurality of tendon passing conduits (40). At least two finger dorsum tendon passing blocks (30) are distributed on each finger part (11), and each finger dorsum tendon passing block (30) is provided with a tendon passing hole (31). Each finger part (11) is provided with a tendon passing conduit (40). When each finger part (11) is in a bent state, the connection position of a first finger dorsum (112) and a second finger dorsum (113) is an arc surface. The vertical line of the plane of the circle center of the tendon passing hole (31) of the finger dorsum tendon passing block (30) and the first finger dorsum (112) is a first vertical line (BE1). The vertical line of the plane of the circle center of the tendon passing hole (31) of the finger dorsum tendon passing block (30) and the second finger dorsum (113) is a second vertical line (AE2). An intersection point (E) is present between the first vertical line (BE1) and the second vertical line (AE2). A tangent point (F) is present between a line connecting the circle center of the tendon passing hole (31) of the finger dorsum tendon passing block (30) on the first finger dorsum (112) and the tendon passing hole (31) of the finger dorsum tendon passing block (30) on the second finger dorsum (113), and the arc surface. The length of the line connecting the intersection point (E) and the tangent point (F) is greater than or equal to the length of the line connecting the intersection point (E) and the highest point (C) of the arc surface.

Description

Wire drive software gloves

Cross-references to related applications

This application claims priority to the Chinese patent application with application number 202210470158. Applying.

Technical field

The present application relates to the field of medical devices, specifically, to a wire-driven soft glove.

Background technique

At present, wire-driven software gloves are often used in hand rehabilitation training. The wire-driven software gloves are worn on the hands, and the fingertips, finger caps and backs of the wire-driven software gloves are driven by external driving parts to move together through the wire blocks to achieve finger movement. Fist clenching and straightening rehabilitation exercises.

The wire-driven soft gloves in the prior art have a problem of poor hand straightening effect during use.

Contents of the invention

The present application provides a wire-driven soft glove, which can alleviate the problem of poor hand straightening effect during use of wire-driven soft gloves.

The embodiment of this application can be implemented as follows:

An embodiment of the present application provides a wire-driven soft glove, which includes:

Glove body, the glove body has a palm part and a plurality of finger parts, the palm part is connected to a plurality of the finger parts at the same time, and the finger parts have fingertips, first finger backs and second finger backs connected in sequence. ;

A plurality of fingertip fingercaps, the plurality of fingertip fingercaps are correspondingly arranged on the fingertips;

There are a plurality of finger back crossing line blocks, each finger portion is evenly distributed with at least two finger back crossing line blocks, and at least two finger back crossing line blocks are spaced apart along the length direction of the finger portion, so The back of the finger passing block is provided with a passing hole;

A plurality of wire passing tubes, each finger portion is provided with the wire passing tube, and the wire passing tube extends along the length direction of the finger portion, and the wire passing tube penetrates the wire passing hole and is connected with the wire passing hole. The fingertips and caps are connected;

Wherein, when the finger is in a bent state, the first finger back and the second finger back are arranged at an angle, and the connection between the first finger back and the second finger back is an arc surface. , one of the finger back thread crossing blocks is located on the plane where the first finger back is located, and the perpendicular line passing through the center of the circle hole of the finger back thread crossing block and the plane where the first finger back is located is the first perpendicular line, the other finger back passing line block is located on the plane where the second finger back is located, and the center of the circle passing through the thread passing hole of the finger back passing line block is in contact with the second finger back The perpendicular line of the plane is the second perpendicular line. There is an intersection between the first perpendicular line and the second perpendicular line. The back of the first finger passes through the thread hole of the thread block. There is a tangent point between the center of the circle and the center of the circle on the back of the second finger passing through the line hole of the line block and the arc surface, and the intersection point and the The length of the connecting line between the tangent points is greater than or equal to the length of the connecting line between the intersection point and the highest point of the arc surface.

Optionally, the wire-driven soft glove further includes a back-of-hand support, which is disposed on the palm of the hand, and is connected to all of the wire-passing tubes to form an integral structure.

Optionally, the back-of-hand bracket includes a fixed bracket and a movable bracket, the movable bracket is lockably connected to the fixed bracket, and the movable bracket and the passing line of the finger portion corresponding to the thumb pipe connection, and the fixed bracket is connected to all other line pipes.

Optionally, the fixed bracket is provided with a plurality of lock holes at one end close to the movable bracket, and a pin is provided at one end of the movable bracket close to the fixed bracket, and the pin can be connected to any one of the lock holes. Removable connection.

Optionally, the wire-driven soft glove further includes a back-of-hand support block, which is disposed on the palm of the hand, and is connected to all of the wire pipes.

Optionally, the wire-driven soft glove further includes a plurality of back-of-hand support block slides, the plurality of back-of-hand support block slides are provided on the palm, and each of the back-of-hand support block slides is connected to the Through the wire pipe.

Optionally, the wire-driven soft glove further includes a driving thread, the driving thread is arranged on the glove body, and one end of the driving thread penetrates the wire tube and is connected to the fingertip finger cap. The other end of the drive lead is used to connect to the drive piece.

Optionally, the calculation formula for the length of the connection between the intersection point and the tangent point is:

Wherein, EF is the length of the line between the intersection point and the tangent point; h is the length of the first vertical line or the second vertical line; D is the diameter of the human finger; s is the length of the first finger. The length of the line connecting the center of the circle between the back of the finger on the back and the center of the circle on the back of the second finger passing through the wire hole of the wire block; ɑ is The maximum angle of finger joint flexion.

Optionally, the calculation formula for the length of the connection between the intersection point and the highest point of the arc is:

Wherein, EC is the length of the line between the intersection point and the highest point of the arc; D is the diameter of the human finger; s is the distance between the back of the first finger and the line block. The length of the line connecting the center of the circle of the wire passing hole and the back of the second finger passing through the center of the circle of the wire passing hole of the wire block; ɑ is the maximum angle of finger joint flexion.

Optionally, the length of the first vertical line and the length of the second vertical line are the same, and the calculation formula of the first vertical line or the second vertical line is:

Wherein, h is the height of the first vertical line or the second vertical line; D is the diameter of the human finger; s is the line passing through the line block on the back of the first finger. The length of the line connecting the center of the hole and the back of the second finger passing through the center of the line hole of the line block; ɑ is the maximum angle of finger joint flexion.

The beneficial effects of the wire-driven soft gloves according to the embodiments of the present application include, for example:

The wire-driven soft glove includes a glove body, a plurality of fingertip finger caps, a plurality of finger back line blocks and a plurality of line tubes. The glove body has a palm and a plurality of fingers, and the palm is connected to a plurality of fingers at the same time. , the finger part has a fingertip, a first finger back and a second finger back connected in sequence, a plurality of fingertip finger caps are arranged correspondingly on the fingertip, and each finger part is evenly distributed with at least two finger back crossing line blocks, and at least two Each finger back thread block is arranged at intervals along the length direction of the finger. The finger back thread block is provided with a thread hole. Each finger is provided with a thread tube, and the thread tube extends along the length direction of the finger. The wire tube passes through the wire hole and is connected to the fingertip finger cap. When the finger is in a bent state, the first finger back and the second finger back are arranged at an angle, and the connection between the first finger back and the second finger back is is an arc surface, the back of one finger passes through the line block is located on the plane where the back of the first finger is located, and the perpendicular line between the center of the circle through the thread hole of the back of the finger through the line block and the plane where the back of the first finger is located is the first perpendicular line. The other finger's back thread block is located on the plane where the second finger's back is located, and the perpendicular line between the center of the circle's thread hole of the finger's back thread crossing block and the plane where the second finger's back is located is the second perpendicular line, and the first perpendicular line There is an intersection point with the second perpendicular line, the line that passes through the center of the circle where the back of the first finger passes through the cable block and the center of the circle where the back of the second finger passes through the cable block and the arc surface There is a tangent point, and the length of the line between the intersection point and the tangent point is greater than or equal to the length of the line between the intersection point and the highest point of the arc. The highest point of the arc is the highest point when the finger is bent. The length of the line between the intersection and the tangent point is greater than or equal to the length of the line between the intersection and the highest point of the arc. The first perpendicular or the second perpendicular can be obtained. The minimum distance refers to the minimum height behind the line block. During the use of wire-driven soft gloves, the back extension bending moment generated by stretching is equal to the product of the height of the back of the finger passing through the wire block and the tensile force. When the tensile force remains unchanged, increasing the height of the back of the finger passing through the wire block can increase the The tensile force of the wire-driven soft gloves improves the stretching effect of the wire-driven soft gloves.

Description of the drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application and therefore do not It should be regarded as a limitation of the scope. For those of ordinary skill in the art, other relevant drawings can also be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of a wire-driven soft glove provided in this embodiment from a first perspective;

Figure 2 is a schematic structural diagram of a wire-driven soft glove provided in this embodiment from a second perspective;

Figure 3 is a simplified diagram of the finger provided in this embodiment.

Icon: 10-glove body; 11-finger part; 111-fingertip; 112-back of first finger; 113-back of second finger; 12-palm; 20-fingertip cap; 30-back of finger crossing line block ;31-Wire hole; 40-Wire tube; 50-Back of hand bracket; 51-Fixed bracket; 511-Key hole; 52-Mobile bracket; 521-Pillar pin; 70-Back of hand support block; 80-Back of hand support block slide Tao; 90-Driven Cue; 100-Wire Drive Software Glove.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments These are part of the embodiments of this application, but not all of them. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Accordingly, the following detailed description of the embodiments of the application provided in the appended drawings is not intended to limit the scope of the claimed application, but rather to represent selected embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of this application.

It should be noted that similar reference numerals and letters represent similar items in the following figures, therefore, once an item is defined in one figure, it does not need further definition and explanation in subsequent figures.

In the description of this application, it should be noted that if the terms "upper", "lower", "inner", "outer", etc. appear to indicate an orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings, or It is the orientation or positional relationship in which the product of this application is usually placed when in use. It is only for the convenience of describing this application and simplifying the description. It does not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation. , therefore cannot be understood as a limitation on this application.

In addition, if the terms "first", "second", etc. appear, they are only used to differentiate the description and shall not be understood as indicating or implying relative importance.

It should be noted that, as long as there is no conflict, the features in the embodiments of the present application can be combined with each other.

The wire-driven soft gloves in the related art have a problem of poor hand straightening effect during use.

Please refer to Figures 1 to 3. This embodiment provides a wire-driven soft glove 100, which can effectively improve the above-mentioned technical problems and alleviate the poor hand straightening effect of the wire-driven soft glove 100 during use. The problem.

Please refer to FIG. 1 . The wire-driven soft glove 100 includes a glove body 10 , a plurality of fingertip finger caps 20 , a plurality of finger back wire passing blocks 30 and a plurality of wire passing tubes 40 . The glove body 10 has a palm 12 and a plurality of wire passing tubes 40 . The finger portion 11 and the palm portion 12 are connected to multiple finger portions 11 at the same time. The finger portion 11 has a fingertip 111, a first finger back 112 and a second finger back 113 connected in sequence. A plurality of fingertip fingercaps 20 are correspondingly arranged on the fingertips 111 . Each finger portion 11 is distributed with at least two finger dorsal thread blocks 30 . The at least two finger dorsum thread blocks 30 are spaced apart along the length direction of the finger portion 11 . The wire passing block 30 on the back of the finger is provided with a wire passing hole 31, and each finger portion 11 is provided with a wire passing tube 40, and the wire passing tube 40 extends along the length direction of the finger portion 11, and the wire passing tube 40 passes through the wire passing hole 31. And connected with the fingertip finger cap 20 .

Figure 2 shows a schematic structural diagram of the wire-driven soft glove 100 when it is in a bent state. Figure 3 shows the structure of the finger portion 11 simplified by the link rotation mechanism when the wire-driven soft glove 100 is in a bent state. The structure of the finger portion 11 in the bent state will be described in detail below.

Please refer to Figures 2 and 3. A, B, and G in the figures respectively represent the back of the finger passing through the line block 30. In this embodiment, each finger part 11 is evenly distributed with three back-of-finger line blocks 30 , one back-of-finger line block 30 is disposed on the first back of the finger 112 , and one back-of-finger pass block 30 is disposed on the second back of the finger. 113. The remaining finger back passes through the line block 30 and is disposed on the side of the second finger back 113 close to the palm 12.

When the finger 11 is in a bent state, the first finger back 112 and the second finger back 113 are arranged at an angle, and the connection between the first finger back 112 and the second finger back 113 is an arc surface, and one finger back passes through the line block 30 is located on the plane where the back of the first finger 112 is located, and the perpendicular line between the center of the circle hole 31 of the line block 30 passing through the back of the finger and the plane where the back of the first finger 112 is located is the first perpendicular line, and the back of the other finger passes through the line The block 30 is located on the plane where the second finger back 113 is located, and the perpendicular line between the center of the circle hole 31 of the line block 30 and the plane where the second finger back 113 is located is the second perpendicular line. The first perpendicular line and The second vertical line has an intersection point, passing through the center of the circle where the back of the first finger 112 passes through the wire passing hole 31 of the wire block 30 and the center of the circle where the back of the finger on the second finger back 113 passes through the wire passing hole 31 of the wire block 30 There is a tangent point between the connection line and the arc surface, and the length of the line between the intersection point and the tangent point is greater than or equal to the length of the line between the intersection point and the highest point of the arc surface.

Specifically, A, B, and G in Figure 3 respectively represent the back of the finger passing through the line block 30, BE1 represents the first vertical line, AE2 represents the second vertical line, E represents the intersection of the first vertical line and the second vertical line, and F represents The tangent point, C represents the highest point of the arc surface, that is, the highest point of finger bending, h represents the height from the back of the finger passing through the line block 30 to the plane where it is located, and D represents the diameter of the human finger.

It should be noted that in this embodiment, the height between the back of each finger passing through the line block 30 and the plane on which it is located is equal. Specifically, the length of the first vertical line is equal to the length of the second vertical line, that is, the height of the back of each finger passing through the line block 30 is the same.

Furthermore, in this embodiment, the wire tube 40 is a hose. When the fingers are straightening, the driving force of the wire-driven soft glove 100 will force the wire tube 40 to deform and approach the tensile force transmitted by the AB straight line. In order to avoid When the finger is straightened, the wire tube 40 is pressed to the highest point of the finger bending. The length of the line between the intersection point and the tangent point should be greater than or equal to the length of the line between the intersection point and the highest point of the arc. Finally, the back of the finger can be obtained. The height range of the line block 30.

In this embodiment, the calculation formula for the length of the connection between the intersection point and the tangent point is:

Among them, EF is the length of the connection between the intersection point and the tangent point; h is the length of the first vertical line or the second vertical line; D is the diameter of the human finger; s is the line passing through the back of the first finger 112 The length of the line connecting the center of the circle of the wire passing hole 31 of the block 30 and the back of the second finger 113 passing through the center of the circle of the wire passing hole 31 of the wire block 30; ɑ is the maximum angle of finger joint flexion.

The calculation formula for the length of the line between the intersection point and the highest point of the arc is:

Wherein, EC is the length of the line between the intersection point and the highest point of the arc surface; D is the diameter of the human finger; s is the center of the circle through the wire hole 31 of the first finger back 112 through the wire block 30 and the second The length of the line connecting the back of the second finger 113 through the center of the circle of the wire hole 31 of the wire block 30; ɑ is the maximum angle of finger joint flexion.

According to the length of the connection between the intersection point and the tangent point should be greater than or equal to the length of the connection between the intersection point and the highest point of the arc surface and the above formula, we can get the calculation formula of the first perpendicular line or the second perpendicular line as:

Among them, h is the height of the first vertical line or the second vertical line; D is the diameter of the human finger; s is the center of the circle through the thread hole 31 of the thread block 30 through the back of the first finger 112 and the second finger. The length of the line connecting the back of the fingers on the back 113 through the center of the circle of the wire hole 31 of the wire block 30; ɑ is the maximum angle of finger joint flexion.

When the wire-driven soft glove 100 is used, the back extension bending moment generated by the stretching is equal to the product of the height of the back of the finger passing through the wire block 30 and the tensile force. When the tensile force remains unchanged, increasing the height of the back of the finger passing through the wire block 30 can increase the tensile force of the wire-driven soft glove 100, thereby improving the stretching effect of the wire-driven soft glove 100.

Please continue to refer to FIG. 1 . The wire-driven soft glove 100 also includes a back-hand bracket 50 . The back-hand bracket 50 is disposed on the palm 12 . The back-hand bracket 50 is connected to all wire pipes 40 to form an integral structure.

Specifically, the back of hand bracket 50 connects all the wire tubes 40 as a whole, thereby connecting the fingertip finger caps 20 and the back of the finger wire blocks 30 of all fingers 11 as a whole, thereby forming a rigid body with a certain stiffness. , can alleviate the force line deviation of the finger portion 11 of the wire-driven soft glove 100 during dorsiflexion of the paralytic patient, resulting in a reduction in driving force and affecting the dorsiflexion effect of the wire-driven soft glove 100 .

It should also be noted that the back of the hand bracket 50 includes a fixed bracket 51 and a movable bracket 52. The movable bracket 52 is lockably connected to the fixed bracket 51. The movable bracket 52 and the wire tube 40 of the finger portion 11 corresponding to the thumb Connect, the fixed bracket 51 is connected to all other wire pipes 40.

Specifically, the fixed bracket 51 and the movable bracket 52 are fixed on the glove body 10 by sutures or glue.

The fixed bracket 51 is provided with a plurality of lock holes 511 at one end close to the movable bracket 52 . The movable bracket 52 is provided with a pin 521 at an end close to the fixed bracket 51 . The pin 521 is detachably connected to any one of the lock holes 511 .

Specifically, θ in Figure 1 represents the angle between the thumb and index finger.

It should be noted that the thumb-to-palm function is one of the three major functions of the human hand. By adjusting the angle between the thumb and the index finger, the thumb-to-palm function can be trained. The pin 521 of the movable bracket 52 is locked in any key hole 511 of the fixed bracket 51 through a spring or a spring piece, thereby realizing the adjustment of the angle between the thumb and the index finger.

In addition, the wire-driven soft glove 100 also includes a back-of-hand support block 70 , which is disposed on the palm 12 , and is connected to all the wire pipes 40 .

The wire-driven soft glove 100 also includes a plurality of back-of-hand support block slides 80 . The plurality of back-of-hand support block slides 80 are disposed on the palm 12 . Each back-of-hand support block slide 80 is connected to a wire tube 40 . The wire tube 40 The back of hand support block slide 80 slides on the back of hand support block 70 to achieve bending and straightening of the fingers.

Furthermore, the wire-driven soft glove 100 also includes a driving thread 90. The driving thread 90 is arranged on the glove body 10. One end of the driving thread 90 passes through the wire tube 40 and is connected to the fingertip finger cap 20. The other end of the driving thread 90 is connected with the fingertip finger cap 20. To connect with the driver. The driving thread 90 drives the wire-driven soft glove 100 to perform bending and straightening actions under the action of the driving force provided by the driving component.

It should also be noted that in this embodiment, the hardness value of the line pipe 40 ranges from 40 degrees to 60 degrees. The line pipe 40 can be made of a material with strong wear resistance, such as Teflon pipe.

Since the fingers of people with paralysis have a certain degree of curvature, it is difficult to wear the wire-driven soft glove 100. The wire-passing tube 40 with a certain rigidity can force the wire-driven soft glove 100 to naturally bend when wearing it, which is beneficial to the paraplegic. At the same time, the back of the finger line block 30, the line tube 40, the fingertip 111 finger cot, the back of the hand bracket 50 and the back of the hand support block slide 80 can form an integral body with a certain rigid connection, which has certain advantages for the wire drive soft glove 100. With better supporting effect, the fingers will not be cross-tangled due to the weak rigidity of the finger portion 11 of the wire-driven soft glove 100, causing wearing inconvenience or the finger wire-driven driving force will shift to the outside of the finger.

It should also be explained that the connection between the two ends of the movable bracket is defined as the first connection, in order to ensure appropriate stiffness between the thumb and the four fingers, and in order to facilitate the completion of the attachment between the thumb and the four fingers. In the closing action, the included angle formed between the first connecting line and the line pipe provided on the index finger ranges from 10 degrees to 60 degrees.

The wire-driven soft glove 100 provided in this embodiment has at least the following advantages:

The back of hand bracket 50 connects all the wire tubes 40 as a whole, thereby connecting the fingertip finger caps 20 and the back of the finger wire blocks 30 of all fingers 11 as a whole, thereby forming a rigid body with a certain stiffness, which can alleviate When the dorsiflexion occurs due to paralysis, the line of force of the finger portion 11 of the wire-driven software glove 100 will shift, resulting in a reduction in driving force and affecting the dorsiflexion effect of the wire-driven software glove 100 .

The hardness value of the line pipe 40 ranges from 40 degrees to 60 degrees. The line pipe 40 can be made of a material with strong wear resistance, such as Teflon pipe. Since the fingers of people with paralysis have a certain degree of curvature, it is difficult to wear the wire-driven soft glove 100. The wire-passing tube 40 with a certain rigidity can force the wire-driven soft glove 100 to naturally bend when wearing it, which is beneficial to the paraplegic. At the same time, the back of the finger line block 30, the line tube 40, the fingertip 111 finger cot, the back of the hand bracket 50 and the back of the hand support block slide 80 can form an integral body with a certain rigid connection, which has certain advantages for the wire drive soft glove 100. With better supporting effect, the fingers will not be cross-tangled due to the weak rigidity of the finger portion 11 of the wire-driven soft glove 100, causing wearing inconvenience or the finger wire-driven driving force will shift to the outside of the finger.

To sum up, the embodiment of the present application provides a wire-driven soft glove 100. The wire-driven soft glove 100 includes a glove body 10, a plurality of fingertip finger caps 20, a plurality of finger back thread blocks 30 and a plurality of handles. The wire tube 40 and the glove body 10 have a palm part 12 and a plurality of finger parts 11. The palm part 12 is connected to a plurality of finger parts 11 at the same time. The finger parts 11 have fingertips 111, first finger backs 112 and second finger parts connected in sequence. On the back 113, a plurality of fingertip finger caps 20 are correspondingly arranged on the fingertips 111. Each finger portion 11 is evenly distributed with at least two finger dorsum crossing line blocks 30, and at least two finger dorsum crossing line blocks 30 are distributed along the length of the finger portion 11. The wire passing blocks 30 on the back of the fingers are provided with wire passing holes 31, and each finger portion 11 is provided with a wire passing tube 40, and the wire passing tube 40 extends along the length direction of the finger portion 11, and the wire passing tube 40 passes through The wire hole 31 is connected to the fingertip finger cap 20. When the finger 11 is in a bent state, the first finger back 112 and the second finger back 113 are arranged at an angle, and the first finger back 112 and the second finger back 113 are arranged at an angle. The connection point of 113 is an arc surface, the back of one finger passes through the wire block 30 is located on the plane where the first finger back 112 is located, and the center of the circle of the wire passing hole 31 of the back of the finger through the wire block 30 is on the plane where the first finger back 112 is located. The vertical line is the first vertical line. The back of another finger passes through the line block 30 and is located on the plane where the second finger back 113 is located. The center of the circle of the thread hole 31 of the back of the finger passing through the line block 30 is on the plane where the second finger back 113 is located. The perpendicular line is the second perpendicular line. There is an intersection point between the first perpendicular line and the second perpendicular line. The back of the first finger 112 passes through the center of the circle of the thread hole 31 of the line block 30 and the back of the second finger 113 The line connecting the center of the circle passing through the wire hole 31 of the line block 30 has a tangent point with the arc surface, and the length of the line between the intersection point and the tangent point is greater than or equal to the length of the line between the intersection point and the highest point of the arc surface. The highest point of the arc is the highest point when the finger is bent. The length of the line between the intersection and the tangent point is greater than or equal to the length of the line between the intersection and the highest point of the arc. The first perpendicular or the second perpendicular can be obtained. The minimum distance refers to the minimum height of the back of the line block 30. During the use of the wire-driven soft glove 100, the dorsiflexion bending moment generated by the stretching is equal to the product of the height of the back of the finger passing through the wire block 30 and the tensile force. When the tensile force remains unchanged, the height of the back of the finger passing through the wire block 30 is increased. The tensile force of the wire-driven soft glove 100 can be increased, thereby improving the stretching effect of the wire-driven soft glove 100 .

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application. All are covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

A wire-driven soft glove is characterized by including:

Glove body (10). The glove body (10) has a palm part (12) and a plurality of finger parts (11). The palm part (12) is connected to a plurality of the finger parts (11) at the same time. The finger part (11) has a fingertip (111), a first finger back (112) and a second finger back (113) connected in sequence;

A plurality of fingertip fingercaps (20), the plurality of fingertip fingercaps (20) are correspondingly arranged on the fingertips (111);

A plurality of back-of-finger passing line blocks (30), each finger portion (11) is evenly distributed with at least two said back-of-finger passing line blocks (30), and at least two said back-of-finger passing line blocks (30) Arranged at intervals along the length direction of the finger portion (11), the back of the finger is provided with wire passing holes (31) through the wire block (30);

A plurality of wire passing tubes (40), each finger portion (11) is provided with the wire passing tube (40), and the wire passing tube (40) is along the length direction of the finger portion (11) Extend, the wire passing tube (40) penetrates the wire passing hole (31) and is connected with the fingertip finger cap (20);

Wherein, when the finger portion (11) is in a bent state, the first finger back (112) and the second finger back (113) are arranged at an angle, and the first finger back (112) and the second finger back (113) are arranged at an angle. The connection point of the second finger back (113) is an arc surface, and one of the finger backs passes through the line block (30), which is located on the plane where the first finger back (112) is located, and passes through the finger back through the line block. The perpendicular line between the center of the thread hole (31) of (30) and the plane where the first finger back (112) is located is the first perpendicular line, and the other finger back thread block (30) is located at the The plane where the back of the second finger (113) is located, and the center of the circle passing through the wire passing hole (31) of the back of the finger (30) is perpendicular to the plane where the back of the second finger (113) is located. The line is a second perpendicular line. There is an intersection point between the first perpendicular line and the second perpendicular line. The line passing through the back of the first finger (112) passes through the line block (30). There is a tangent point between the center of the circle of the hole (31) and the center of the circle of the second finger back (113) passing through the wire passing hole (31) of the wire block (30) and the arc surface. , the length of the connecting line between the intersection point and the tangent point is greater than or equal to the length of the connecting line between the intersection point and the highest point of the arc surface.
The wire-driven soft glove according to claim 1, characterized in that the wire-driven soft glove (100) further includes a back-of-hand bracket (50), and the back-of-hand bracket (50) is provided on the palm (12), The back-of-hand bracket (50) is connected to all of the wire pipes (40) to form an integral structure.
The wire-driven soft glove according to claim 2, characterized in that the back-of-hand bracket (50) includes a fixed bracket (51) and a movable bracket (52), and the movable bracket (52) and the fixed bracket (51 ) is lockably connected, the movable bracket (52) is connected to the wire tube (40) of the finger portion (11) corresponding to the thumb, and the fixed bracket (51) is connected to all other Said pipe (40) connection.
The wire-driven soft glove according to claim 3, characterized in that the fixed bracket (51) is close to One end of the movable bracket (52) is provided with a plurality of lock holes (511), and one end of the movable bracket (52) close to the fixed bracket (51) is provided with a pin (521). The pin (521) ) is detachably connected to any one of the keyholes (511).
The wire-driven soft glove according to claim 1, characterized in that the wire-driven soft glove (100) further includes a back-of-hand support block (70), and the back-of-hand support block (70) is disposed on the palm (12) ), the back-of-hand support block (70) is connected to all of the wire pipes (40).
The wire-driven soft glove according to claim 5, characterized in that the wire-driven soft glove (100) further includes a plurality of back-of-hand support block slides (80), and the plurality of back-of-hand support block slides (80) It is provided on the palm part (12), and each of the back-of-hand support block slides (80) is connected to the wire passing tube (40).
The wire-driven soft glove according to claim 1, characterized in that the wire-driven soft glove (100) further includes a driving thread (90), and the driving thread (90) is arranged on the glove body (10). , one end of the driving thread (90) passes through the wire pipe (40) and is connected to the fingertip finger cap (20), and the other end of the driving thread (90) is used to connect with the driving member.
The wire-driven soft glove according to claim 1, characterized in that the calculation formula of the length of the connection between the intersection point and the tangent point is:

Wherein, EF is the length of the line between the intersection point and the tangent point; h is the length of the first vertical line or the second vertical line; D is the diameter of the human finger; s is the length of the first vertical line or the second vertical line. The back of one finger (112) passes through the center of the hole (31) of the wire block (30) and the back of the second finger (113) passes through the wire block (30). ) is the length of the line connecting the center points of the wire-passing holes (31); ɑ is the maximum angle of finger joint flexion.
The wire-driven soft glove according to claim 1, wherein the calculation formula for the length of the connection between the intersection point and the highest point of the arc is:

Wherein, EC is the length of the line between the intersection point and the highest point of the arc surface; D is the diameter of the human finger; s is the line block passing through the back of the first finger (112) The line connecting the center of the circle of the wire passing hole (31) of the second finger back (113) and the center of the circle of the wire passing hole (31) of the finger back of the second finger back (113) The length; ɑ is the maximum angle of finger joint flexion.
The wire driven soft glove according to claim 9, characterized in that the length of the first vertical line and the The lengths of the second vertical lines are the same, and the calculation formula of the first vertical line or the second vertical line is:

Wherein, h is the height of the first perpendicular line or the second perpendicular line; D is the diameter of the human finger; s is the line block (30) passing through the back of the finger on the back of the first finger (112). The length of the line connecting the center of the circle of the wire passing hole (31) of the second finger back (113) and the center of the circle of the wire passing hole (31) of the finger back passing block (30) ;ɑ is the maximum angle of finger joint flexion.