WO2025035658A1 - 一种用于康复的手部外骨骼 - Google Patents

一种用于康复的手部外骨骼 Download PDF

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Publication number
WO2025035658A1
WO2025035658A1 PCT/CN2023/137238 CN2023137238W WO2025035658A1 WO 2025035658 A1 WO2025035658 A1 WO 2025035658A1 CN 2023137238 W CN2023137238 W CN 2023137238W WO 2025035658 A1 WO2025035658 A1 WO 2025035658A1
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WIPO (PCT)
Prior art keywords
sleeve
driving
phalanx
rehabilitation
link
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PCT/CN2023/137238
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English (en)
French (fr)
Inventor
雍旭
景晓蓓
舒柏瑞
孙振羽
张新宇
横井浩史
李光林
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Publication of WO2025035658A1 publication Critical patent/WO2025035658A1/zh
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A61H1/0288—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A61H2201/1652—Harness

Definitions

  • the present invention relates to the technical field of exoskeleton robots for hand rehabilitation, and in particular to a hand exoskeleton for rehabilitation.
  • the motor function of the hand plays a huge role in human daily life. On average, a person clenches and tightens his hands more than 1,500 times a day. Impaired motor function of the hand will significantly limit the number of daily tasks that patients can perform, affecting their quality of life and making them more susceptible to mental illness.
  • proximal phalanx proximal phalanx
  • middle phalanx proximal phalanx
  • distal phalanx proximal phalanx and metacarpal bone
  • MCP Metalcarp-phalangeal joint
  • the middle phalanx forms the PIP (proximal inter-phalangeal joint) and DIP (distal inter-phalangeal joint) joints with the proximal phalanx and distal phalanx respectively, which have only one degree of freedom to support flexion and extension.
  • the DIP joint and the PIP joint are highly coupled, which is manifested in that the DIP joint will move with the PIP joint.
  • the thumb CMC (Carpometacarpal joint) joint has three degrees of freedom: adduction and abduction, flexion and extension, and opposition, while the MCP and IP (inter-phalangeal joint) joints have only one degree of freedom of flexion and extension.
  • Exoskeleton robots currently used in hand rehabilitation are all focused on the most frequently used single degree of freedom, that is, the flexion or extension of the entire finger.
  • Most hand rehabilitation robots can only perform rehabilitation training for finger flexion or extension, which results in the inability of existing hand rehabilitation robots to accurately assist a single joint or multiple single joints on different fingers.
  • existing hand rehabilitation robots cannot adapt well to the different rehabilitation needs of different patients for finger joints, and cannot achieve the effect of intervening and assisting rehabilitation in different rehabilitation stages.
  • the purpose of the present invention is to provide a hand exoskeleton for rehabilitation, which can better adapt to the different rehabilitation needs of different patients for finger joints, and achieve the effect of intervening and assisting rehabilitation in different rehabilitation stages.
  • the present invention discloses a hand exoskeleton for rehabilitation, comprising: a base, the base is used to be worn on the extension side of the metacarpal bone; a driving mechanism, the driving mechanism is arranged on the base and comprises at least one driving unit; a phalange sleeve, the phalange sleeve is worn on the extension side of the phalange, the phalange sleeve is at least one, and the phalange sleeve is transmission-connected to the driving unit; wherein the driving unit can drive the phalange sleeve to rotate to assist the phalanges in flexion or extension.
  • the phalanx sleeve includes a proximal phalanx sleeve and a middle phalanx sleeve, the proximal phalanx sleeve is worn on the proximal phalanx of the phalanx, and the middle phalanx sleeve is worn on the middle phalanx of the phalanx;
  • the driving mechanism includes a first driving unit and a second driving unit, the first driving unit is in transmission cooperation with the proximal phalanx sleeve, and the second driving unit is in transmission cooperation with the middle phalanx sleeve.
  • the first driving unit includes a first driving source, a first driving link and a first transmission link; wherein: the output shaft of the first driving source is connected to one end of the first driving link, the other end of the first driving link is connected to one end of the first transmission link, and the other end of the first transmission link is rotatably connected to the proximal phalanx sleeve.
  • the first driving connecting rod includes a first rod and a second rod, one end of the first rod cooperates with the output shaft of the first driving unit, the other end of the first rod is rotatably connected to one end of the second rod, and the second rod is arranged perpendicularly to the rotation axis of the output shaft of the first driving unit relative to the rotation axis of the first rod, and the other end of the second rod is connected to the first transmission connecting rod.
  • the first driving link is connected to the first transmission link via a first rotating pin
  • a first angle detection device is provided on the first rotating pin to measure the relative rotation angle information between the first driving link and the first transmission link.
  • the second driving unit includes a second driving source, a winding pulley, a tendon rope, a second driving link and a second transmission link
  • the output shaft of the second driving source is connected to the winding pulley
  • one end of the second transmission link is rotatably connected to the middle phalanx sleeve
  • the other end of the second transmission link is connected to one end of the second driving link
  • the tendon rope cooperates with the winding pulley and the other end of the second driving link
  • the other end of the second driving link is rotatably connected to the proximal phalanx sleeve
  • the second driving link is connected to the second transmission link via a second rotating pin
  • a second angle detection device is provided on the second rotating pin to measure the relative rotation angle information between the second driving link and the second transmission link.
  • the proximal phalanx sleeve and the middle phalanx sleeve are both provided with fixing grooves, and the proximal phalanx sleeve and the middle phalanx sleeve are respectively connected to the proximal phalanx and the middle phalanx via binding straps passing through the fixing grooves.
  • the hand exoskeleton for rehabilitation further comprises a fixing sleeve, and the fixing sleeve is mounted on the metacarpal bone.
  • a plurality of bases are provided on the fixing sleeve so that the hand exoskeleton for rehabilitation can cooperate with a plurality of fingers.
  • the driving unit can drive the phalangeal sleeve to rotate to assist the flexion or extension of the phalanges.
  • multiple independent driving units are used to realize the independent driving of multiple phalangeal sleeves, and each phalangeal sleeve is driven by a driving unit alone.
  • the number of phalangeal sleeves and driving units can be set according to the different rehabilitation needs of the patient for the finger joints. For example, multiple phalangeal sleeves can be set on the same finger to realize the assisted rehabilitation of the metacarpophalangeal joints and the proximal interphalangeal joints.
  • the hand exoskeleton for rehabilitation can better adapt to the different rehabilitation needs of different patients for the finger joints, and achieve the effect of intervention and assisted rehabilitation in different rehabilitation stages. Since the hand exoskeleton for rehabilitation is worn on the extension side of the palm, that is, the back of the hand, the physiological tactile sensation of the human hand is retained to the greatest extent, which is conducive to rehabilitation recovery.
  • FIG. 1 is a schematic structural diagram of a hand exoskeleton for rehabilitation according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of the structure of the hand exoskeleton for rehabilitation in another direction according to an embodiment of the present invention.
  • the terms “installed”, “connected”, and “connected” should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components.
  • installed should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components.
  • the present invention discloses a hand exoskeleton for rehabilitation, as shown in Figures 1 and 2, the hand exoskeleton for rehabilitation includes a base 1, a driving mechanism and a phalange sleeve, the base 1 is used to be worn on the extension side of the metacarpal bone 10, the driving mechanism is arranged on the base 1, and includes at least one driving unit, the phalange sleeve is worn on the extension side of the phalange, there is at least one phalange sleeve, the phalange sleeve is transmission-connected to the driving unit, and the driving unit can drive the phalange sleeve to rotate to assist the phalange in flexion or extension.
  • the driving unit can drive the phalangeal sleeve to rotate to assist the flexion or extension of the phalanges.
  • multiple independent driving units are used to realize the independent driving of multiple phalangeal sleeves, and each phalangeal sleeve is driven by a driving unit alone.
  • the number of phalangeal sleeves and driving units can be set according to the different rehabilitation needs of the patient for the finger joints.
  • multiple phalangeal sleeves can be set on the same finger to achieve assisted rehabilitation of the metacarpophalangeal joint 50 and the proximal interphalangeal joint 60, or the metacarpophalangeal joint 50 and the proximal interphalangeal joint 60 of two or three different fingers can be assisted in rehabilitation, so that the hand exoskeleton used for rehabilitation can better adapt to the different rehabilitation needs of different patients for the finger joints, and achieve the effect of intervention and assisted rehabilitation in different rehabilitation stages.
  • the hand exoskeleton used for rehabilitation is worn on the extension side of the palm, that is, the back of the hand, the physiological tactile sensation of the human hand is retained to the greatest extent, which is conducive to rehabilitation recovery.
  • the phalange sleeve includes a proximal phalange sleeve 2 and a middle phalange sleeve 3, the proximal phalange sleeve 2 is worn on the proximal phalange 20 of the phalange, and the middle phalange sleeve 3 is worn on the middle phalange 30 of the phalange;
  • the driving mechanism includes a first driving unit 4 and a second driving unit 5, the first driving unit 4 is in transmission cooperation with the proximal phalange sleeve 2, and the second driving unit 5 is in transmission cooperation with the middle phalange sleeve 3.
  • the distal interphalangeal joint 70 and the proximal interphalangeal joint 60 have physiological follow-up characteristics.
  • the proximal phalange sleeve 2 and the middle phalange sleeve 3 can complete the auxiliary rehabilitation of the metacarpophalangeal joint 50, the proximal interphalangeal joint 60, and the distal interphalangeal joint 70 of the entire finger, simplifying the structure of the hand exoskeleton used for rehabilitation.
  • the first drive unit 4 includes a first drive source 41, a first drive connecting rod and a first transmission connecting rod 44.
  • the output shaft of the first drive source 41 is connected to one end of the first drive connecting rod, the other end of the first drive connecting rod is connected to one end of the first transmission connecting rod 44, and the other end of the first transmission connecting rod 44 is rotatably connected to the proximal phalanx sleeve 2.
  • the closed-loop four-bar structure of the first drive source 41, the first drive connecting rod, the first transmission connecting rod 44, the proximal phalanx sleeve 2 and then to the proximal phalanx 20 in the actual working process, the power of the four-bar linkage is transmitted from the first drive source 41 to the first drive connecting rod, the first transmission connecting rod 44 and the proximal phalanx sleeve 2 in sequence, and finally the power is transmitted to the proximal phalanx 20, pushing the proximal phalanx 20 to rotate around the metacarpophalangeal joint 50 on the plumb plane, completing the flexion or extension movement of the metacarpophalangeal joint 50.
  • the initial angle between the first driving link and the first transmission link 44 can be adjusted according to the length of the user's proximal phalanx 20, so that the hand exoskeleton for rehabilitation of this embodiment can be suitable for fingers of different lengths, thereby better meeting the rehabilitation needs of different users.
  • the first driving connecting rod includes a first rod 42 and a second rod 43, one end of the first rod 42 cooperates with the output shaft of the first driving unit 4, the other end of the first rod 42 is rotatably connected to one end of the second rod 43, and the second rod 43 is arranged perpendicular to the rotation axis of the output shaft of the first driving unit 4 relative to the rotation axis of the first rod 42, and the other end of the second rod 43 is connected to the first transmission connecting rod 44.
  • the first drive link includes a first rod 42 and a second rod 43.
  • the second rod 43 is arranged perpendicularly to the rotation axis of the first rod 42 and the rotation axis of the output shaft of the first drive unit 4, so that the first drive link has a redundant degree of freedom to rotate around the rotation axis of the phalanges.
  • This redundant degree of freedom ensures the compliance of the hand exoskeleton used for rehabilitation to the change of the axis when the finger joint is flexed or extended.
  • the second rod 43 can rotate relative to the first rod 42, so that the second rod 43, the first drive link and the proximal phalanx sleeve 2 also rotate accordingly, so that the proximal phalanx sleeve 2 will not exert a torsional force on the proximal phalanx 20 in the subsequent movement, thereby avoiding the possibility of secondary injury.
  • the first driving link is connected to the first transmission link 44 via a first rotating pin, and a first angle detection device 45 is provided on the first rotating pin, and the first angle detection device 45 is used to measure the relative rotation angle information between the first driving link and the first transmission link 44. It can be understood that in the actual working process, the relative rotation angle information between the first driving link and the first transmission link 44 is measured, and the rotation angle of the proximal phalanx 20 relative to the metacarpophalangeal joint 50 can be calculated based on the angle information, thereby achieving accurate assisted rehabilitation.
  • the first angle detection device 45 can be an angle sensor or other detection device according to the actual needs, and the specific structure of the first angle detection device 45 is not limited.
  • the first angle detection device 45 can also be connected to other rotating shafts for detection according to actual needs, and is not limited to the first rotating pin connecting the first driving connecting rod and the first transmission connecting rod 44.
  • the second driving unit 5 includes a second driving source 51, a winding pulley 52, a tendon rope, a second driving link 55 and a second transmission link 56.
  • the output shaft of the second driving source 51 is connected to the winding pulley 52, one end of the second transmission link 56 is rotatably connected to the middle phalanx sleeve 3, the other end of the second transmission link 56 is connected to one end of the second driving link 55, the tendon rope cooperates with the winding pulley 52 and the other end of the second driving link 55, and the other end of the second driving link 55 is rotatably connected to the proximal phalanx sleeve 2; wherein: when the second driving source 51 drives the winding pulley 52 to rotate, the tendon rope can drive the second driving link 55 to rotate.
  • one end of the second driving link 55 has an integrally formed rotating wheel, which is rotatably connected to the proximal phalanx sleeve 2.
  • the tendon rope includes a first tendon rope 53 and a second tendon rope 54, and the first tendon rope 53 and the second tendon rope 54 are respectively matched with the winding pulley 52 and the rotating wheel at both ends, and the second driving source 51 drives the first tendon rope 53 and the second tendon rope 54 to be retracted and released through forward and reverse rotation, and transmits power to the second driving link 55.
  • the driving method of the tendon rope driven by the second driving source 51 can be replaced with a driving method of directly pushing the push rod with air or hydraulic pressure, or a driving method of pushing the push rod with a linear motor, and is not limited to the driving method of the tendon rope driven by the second driving source 51 of this embodiment.
  • the second driving link 55 is connected to the second transmission link 56 via a second rotating pin, and a second angle detection device 57 is provided on the second rotating pin to measure the relative rotation angle information between the second driving link 55 and the second transmission link 56. It is understandable that in the actual working process, the relative rotation angle information between the second driving link 55 and the second transmission link 56 is measured, and the rotation angle of the middle phalanx 30 relative to the proximal interphalangeal joint 60 can be calculated based on the angle information, thereby achieving accurate assisted rehabilitation.
  • the second angle detection device 57 can be an angle sensor or other detection device according to the actual needs, and the specific structure of the second angle detection device 57 is not limited.
  • the second angle detection device 57 can also be connected to other rotating shafts for detection according to actual needs, and is not limited to the second rotating pin connecting the second driving connecting rod 55 and the second transmission connecting rod 56.
  • the proximal phalanx sleeve 2 and the middle phalanx sleeve 3 are both provided with fixing grooves, and the proximal phalanx sleeve 2 and the middle phalanx sleeve 3 are respectively connected to the proximal phalanx 20 and the middle phalanx 30 through binding straps passing through the fixing grooves.
  • proximal phalanx sleeve 2 and the middle phalanx sleeve 3 can be conveniently connected to the proximal phalanx 20 and the middle phalanx 30, which facilitates the disassembly of the proximal phalanx sleeve 2 and the middle phalanx sleeve 3, and can also make the hand exoskeleton for rehabilitation of this embodiment adapt to phalanges of different thicknesses.
  • the hand exoskeleton for rehabilitation further includes a fixing sleeve, which is sleeved on the metacarpal bone 10. It is understandable that the additional fixing sleeve can facilitate the patient to wear it and ensure the relative stability of the base 1 and the metacarpal bone 10.
  • a plurality of bases 1 are provided on the fixing sleeve so that the hand exoskeleton for rehabilitation can cooperate with multiple fingers. Therefore, in actual use, the patient fixes the plurality of bases 1 on the fixing sleeve and then directly wears the fixing sleeve without connecting the plurality of bases 1 to the metacarpal bones 10 in sequence, which is convenient for the patient to use.
  • the hand exoskeleton for rehabilitation of the present embodiment comprises a base 1, a driving mechanism and a phalange sleeve, wherein the base 1 is used to be worn on the extended side of the metacarpal bone 10, and the phalange sleeve comprises a proximal phalange sleeve 2 and a middle phalange sleeve 3, both of which are provided with fixing grooves, and the proximal phalange sleeve 2 and the middle phalange sleeve 3 are respectively connected to the proximal phalange 20 and the middle phalange 30 by a binding belt passing through the fixing groove.
  • the driving mechanism comprises a first driving unit 4 and a second driving unit 5, wherein the first driving unit 4 comprises a first driving source 41, a first driving connecting rod and a first transmission connecting rod 44.
  • the first driving connecting rod comprises a first rod 42 and a second rod 43.
  • One end of the first rod 42 cooperates with the output shaft of the first driving unit 4, and the other end of the first rod 42 is rotatably connected to one end of the second rod 43, and the second rod 43 is arranged perpendicularly to the rotation axis of the output shaft of the first driving unit 4 relative to the rotation axis of the first rod 42, and the other end of the second rod 43 is connected to the first transmission connecting rod 44.
  • the other end of the first transmission link 44 is rotatably connected to the proximal phalanx sleeve 2.
  • the first drive link is connected to the first transmission link 44 through a first rotating pin, and a first angle detection device 45 is provided on the first rotating pin to measure the relative rotation angle information between the first drive link and the first transmission link 44.
  • the second drive unit 5 includes a second drive source 51, a winding pulley 52, a tendon, a second drive link 55 and a second transmission link 56.
  • the output shaft of the second drive source 51 is connected to the winding pulley 52, one end of the second transmission link 56 is rotatably connected to the middle phalanx sleeve 3, and the other end of the second transmission link 56 is connected to one end of the second drive link 55.
  • the tendon includes a first tendon 53 and a second tendon 54 arranged in parallel. The two ends of the first tendon 53 and the second tendon 54 are matched with the winding pulley 52 and the other end of the second drive link 55 respectively.
  • the second driving link 55 is connected to the second transmission link 56 via a second rotating pin, and a second angle detection device 57 is provided on the second rotating pin to measure the relative rotation angle information between the second driving link 55 and the second transmission link 56 .
  • the hand exoskeleton is placed on the extended side of the index finger, the base 1 is glued to the glove, and the exoskeleton system is fixed to the metacarpal 10 through the glove.
  • the second rod 43, the first transmission link 44 and the first angle detection device 45 are connected through the first rotating pin (D-type positioning pin), allowing the second rod 43 and the first transmission link 44 to rotate relative to each other while fixing the first angle detection device 45 on the first transmission link 44 to measure the relative rotation angle information between the second rod 43 and the first transmission link 44.
  • the first transmission link 44 is fastened to the proximal phalanx sleeve 2 through the positioning pin, and completes a closed-loop four-bar linkage structure starting from the metacarpal 10, the first driving source 41, the first rod 42, the second rod 43, the first transmission link 44, the proximal phalanx sleeve 2 and then to the proximal phalanx 20.
  • the power of the four-bar linkage is transmitted from the first driving source 41 to the first rod 42, through the second rod 43, the first transmission link 44 and the proximal phalanx sleeve 2, and finally to the proximal phalanx 20, pushing the proximal phalanx 20 to rotate around the metacarpophalangeal joint 50 on the plumb plane, completing the flexion or extension movement of the metacarpophalangeal joint 50;
  • the D-type output shaft of the second driving source 51 is inserted into the winding pulley 52, and the power is transmitted to the second driving link 55 through the first tendon rope 53 and the second tendon rope 54.
  • the second driving link 55 is fastened to the second angle detection device 57 and the second transmission link 56 through the second rotating pin (D-type positioning pin), and the second angle detection device 57 is fixed to the second transmission link 56 to measure the relative rotation angle information between the second driving link 55 and the second transmission link 56 while allowing the second driving link 55 and the second transmission link 56 to rotate relative to each other.
  • the second transmission link 56 is fastened to the middle phalanx sleeve 3 through the positioning pin, and the middle phalanx sleeve 3 is fixed to the middle phalanx 30 through the magic belt (binding belt).
  • the second driving source 51 Starting from the second driving source 51, to the second driving link 55, passing through the second transmission link 56, and finally connected to the middle phalanx 30 through the middle phalanx sleeve 3, a closed-loop four-bar structure is formed.
  • the power starts from the second driving source 51, which drives the first tendon 53 and the second tendon 54 to be retracted and released through the forward and reverse rotation of the second driving source 51, and transmits the power to the second driving connecting rod 55.
  • the power is finally transmitted to the middle phalanx sleeve 3 and the middle phalanx 30 through the second transmission connecting rod 56, driving the middle phalanx 30 to rotate around the proximal interphalangeal joint 60, completing the flexion or extension movement of the proximal interphalangeal joint 60.
  • the hand exoskeleton used for rehabilitation can also achieve more complex movements by increasing the number of motors, such as assisting the internal rotation or external rotation of the thumb, the adduction or abduction of the four fingers, etc.
  • the hand exoskeleton can be worn on one to three fingers as needed, and is suitable for fingers of any length and thickness;
  • the hand exoskeleton is worn on the extended side of the fingers, which retains the physiological tactile sensation of the human hand to the greatest extent, which is conducive to rehabilitation recovery;
  • the hand exoskeleton can independently provide motion assistance to each finger joint to achieve precise rehabilitation
  • the hand exoskeleton is small and easy to carry. Compared with the large rehabilitation equipment in the hospital, patients can carry out rehabilitation treatment on demand during the golden rehabilitation period, and the degree of rehabilitation can be controlled by the patients themselves;
  • the hybrid structure of motor direct drive and tendon rope indirect drive has simple control, compact structure, light weight and easy to carry;

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
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Abstract

本发明公开了一种用于康复的手部外骨骼，用于康复的手部外骨骼包括基座、驱动机构和指骨套，基座用于穿戴于掌骨的伸展侧，驱动机构设在基座上，且包括至少一个驱动单元，指骨套穿戴于指骨的伸展侧，指骨套为至少一个，指骨套与驱动单元传动连接，驱动单元能够驱动指骨套转动以辅助指骨屈曲或者伸展。该用于康复的手部外骨骼能够较好适应不同患者的对手指关节不同的康复需求，达到在不同康复阶段中都能介入并进行辅助康复的效果。

Description

一种用于康复的手部外骨骼 技术领域
本发明涉及手部康复用外骨骼机器人技术领域，尤其涉及一种用于康复的手部外骨骼。
 背景技术
手的运动功能在人类日常生活中发挥巨大作用，一个人每天平均用手握紧张开的次数高达1500多次。而手部运动功能的受损，会显著限制患者可能执行的日常任务数量，影响到其生活质量，进而易产生心理疾病。
除拇指外，人的手指主要由三个部分构成：近节指骨、中节指骨和远节指骨。近节指骨和掌骨形成MCP（Metacarp-phalangeal joint,掌指关节）关节，其有两个自由度可实现内收外展和屈曲伸展运动；中节指骨分别和近节指骨、远节指骨形成PIP（proximal inter-phalangeal joint，近侧指间关节）和DIP（distal inter-phalangeal joint，远侧指间关节）关节，它们仅有一个自由度用以支持屈曲伸展运动。DIP关节和PIP关节存在高度耦合性，表现为DIP关节会伴随PIP关节发生运动。拇指CMC(Carpometacarpal joint,腕掌关节)关节具有内收外展、屈曲伸展和对掌三个自由度，MCP和IP（inter-phalangeal joint，指间关节）关节则分别只有一个屈曲伸展自由度。
目前应用于手部康复的外骨骼机器人都是专注于使用频率最高的单一自由度，即整个手指的屈曲或者伸展这一运动。大多数手部康复机器人只能对手指进行屈曲或者伸展的康复训练，这就导致现有的手部康复机器人不能够精准单独辅助某一个单关节或者不同手指上的多个单关节。从而使得现有的手部康复机器人不能较好地适应不同患者的对手指关节不同的康复需求，且不能达到在不同康复阶段中都能介入并进行辅助康复的效果。
 技术问题
大多数手部康复机器人只能对手指进行屈曲或者伸展的康复训练，这就导致现有的手部康复机器人不能够精准单独辅助某一个单关节或者不同手指上的多个单关节。从而使得现有的手部康复机器人不能较好地适应不同患者的对手指关节不同的康复需求，且不能达到在不同康复阶段中都能介入并进行辅助康复的效果。
 技术解决方案
本发明的目的在于提出一种用于康复的手部外骨骼，该用于康复的手部外骨骼能够较好适应不同患者的对手指关节不同的康复需求，达到在不同康复阶段中都能介入并进行辅助康复的效果。
为实现上述技术效果，本发明的技术方案如下：
本发明公开了一种用于康复的手部外骨骼，包括：基座，所述基座用于穿戴于掌骨的伸展侧；驱动机构，所述驱动机构设在所述基座上，且包括至少一个驱动单元；指骨套，所述指骨套穿戴于指骨的伸展侧，所述指骨套为至少一个，所述指骨套与所述驱动单元传动连接；其中，所述驱动单元能够驱动所述指骨套转动以辅助所述指骨屈曲或者伸展。
在一些实施例中，所述指骨套包括近指骨套和中指骨套，所述近指骨套穿戴于所述指骨的近节指骨，所述中指骨套穿戴于所述指骨的中节指骨；所述驱动机构包括第一驱动单元和第二驱动单元，所述第一驱动单元与所述近指骨套传动配合，所述第二驱动单元与中指骨套传动配合。
在一些具体的实施例中，所述第一驱动单元包括第一驱动源、第一驱动连杆以及第一传动连杆；其中：所述第一驱动源的输出轴与所述第一驱动连杆的一端相连，所述第一驱动连杆的另一端与所述第一传动连杆的一端相连，所述第一传动连杆的另一端与所述近指骨套可转动连接。
在一些更具体的实施例中，所述第一驱动连杆包括第一杆和第二杆，所述第一杆的一端与所述第一驱动单元的输出轴配合，所述第一杆的另一端与所述第二杆的一端可转动连接，且所述第二杆相对第一杆的转动轴线与所述第一驱动单元的输出轴的转动轴线垂直设置，所述第二杆的另一端与所述第一传动连杆相连。
在一些更具体的实施例中，所述第一驱动连杆与所述第一传动连杆通过第一转动销轴相连，且所述第一转动销轴上设有第一角度检测装置，以测量所述第一驱动连杆和所述第一传动连杆之间的相对转动角度信息。
在一些具体的实施例中，所述第二驱动单元包括第二驱动源、绕线滑轮、腱绳、第二驱动连杆以及第二传动连杆，第二驱动源的输出轴与所述绕线滑轮相连，所述第二传动连杆的一端与所述中指骨套可转动连接，所述第二传动连杆的另一端与所述第二驱动连杆的一端相连，所述腱绳与所述绕线滑轮及所述第二驱动连杆的另一端配合，且所述第二驱动连杆的另一端可转动地连接于所述近指骨套；其中：第二驱动源驱动所述绕线滑轮转动时，所述腱绳能够带动所述第二驱动连杆转动。
在一些更具体的实施例中，所述第二驱动连杆与所述第二传动连杆通过第二转动销轴相连，且所述第二转动销轴上设有第二角度检测装置，以测量所述第二驱动连杆和所述第二传动连杆之间的相对转动角度信息。
在一些具体的实施例中，所述近指骨套和所述中指骨套上均设有固定槽，所述近指骨套和所述中指骨套通过穿过所述固定槽的绑缚带分别与所述近节指骨以及中节指骨连接。
在一些实施例中，所述的用于康复的手部外骨骼还包括固定套，所述固定套套设于所述掌骨。
在一些具体的实施例中，所述固定套上设有多个基座，以实现所述用于康复的手部外骨骼能够与多个手指配合。
 有益效果
本发明实施例的用于康复的手部外骨骼的有益效果：在实际工作过程中，驱动单元能够驱动指骨套转动以辅助指骨屈曲或者伸展，当指骨套为多个时，采用多个独立的驱动单元实现多个指骨套的独立驱动，每个指骨套单独使用一个驱动单元驱动，在实际恢复中，可以根据患者对手指关节不同的康复需求，设置指骨套以及驱动单元的数量，例如，可以设置多个指骨套在同一个手指上，实现掌指关节、近侧指间关节的辅助康复，也可以在两个或者三个不同的手指的掌指关节、近侧指间关节的辅助康复，使得该用于康复的手部外骨骼能够较好适应不同患者的对手指关节不同的康复需求，达到在不同康复阶段中都能介入并进行辅助康复的效果。由于用于康复的手部外骨骼穿戴在手掌的伸展侧，即手背侧，最大程度保留了人体手部的生理触觉，有利于康复恢复。
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
 附图说明
图1是本发明实施例的用于康复的手部外骨骼的结构示意图。
图2是本发明实施例的用于康复的手部外骨骼的另一个方向结构示意图。
附图标记：
1、基座；2、近指骨套；3、中指骨套；4、第一驱动单元；41、第一驱动源；42、第一杆；43、第二杆；44、第一传动连杆；45、第一角度检测装置；5、第二驱动单元；51、第二驱动源；52、绕线滑轮；53、第一腱绳；54、第二腱绳；55、第二驱动连杆；56、第二传动连杆；57、第二角度检测装置；10、掌骨；20、近节指骨；30、中节指骨；40、远节指骨；50、掌指关节；60、近侧指间关节；70、远侧指间关节。
 本发明的最佳实施方式
为使本发明解决的技术问题、采用的技术方案和达到的技术效果更加清楚，下面结合附图并通过具体实施方式来进一步说明本发明的技术方案。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征，用于区别描述特征，无顺序之分，无轻重之分。在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
下面参考图1-图2描述本发明实施例的用于康复的手部外骨骼的具体结构。
本发明公开了一种用于康复的手部外骨骼，如图1及图2所示，用于康复的手部外骨骼包括基座1、驱动机构和指骨套，基座1用于穿戴于掌骨10的伸展侧，驱动机构设在基座1上，且包括至少一个驱动单元，指骨套穿戴于指骨的伸展侧，指骨套为至少一个，指骨套与驱动单元传动连接，驱动单元能够驱动指骨套转动以辅助指骨屈曲或者伸展。可以理解的是，在实际工作过程中，驱动单元能够驱动指骨套转动以辅助指骨屈曲或者伸展，当指骨套为多个时，采用多个独立的驱动单元实现多个指骨套的独立驱动，每个指骨套单独使用一个驱动单元驱动，在实际恢复中，可以根据患者对手指关节不同的康复需求，设置指骨套以及驱动单元的数量，例如，可以设置多个指骨套在同一个手指上，实现掌指关节50和近侧指间关节60的辅助康复，也可以在两个或者三个不同的手指的掌指关节50和近侧指间关节60辅助康复，使得该用于康复的手部外骨骼能够较好适应不同患者的对手指关节不同的康复需求，达到在不同康复阶段中都能介入并进行辅助康复的效果。此外，由于用于康复的手部外骨骼穿戴在手掌的伸展侧，即手背侧，最大程度保留了人体手部的生理触觉，有利于康复恢复。
在一些实施例中，如图1-图2所示，指骨套包括近指骨套2和中指骨套3，近指骨套2穿戴于指骨的近节指骨20，中指骨套3穿戴于指骨的中节指骨30；驱动机构包括第一驱动单元4和第二驱动单元5，第一驱动单元4与近指骨套2传动配合，第二驱动单元5与中指骨套3传动配合。可以理解的是，根据人体手部关节解剖学，远侧指间关节70和近侧指间关节60具有生理随动特性，对于同一个手指来说，设置近指骨套2和中指骨套3就能够完成整个手指的掌指关节50、近侧指间关节60、远侧指间关节70的辅助康复，简化了用于康复的手部外骨骼的结构。
在一些具体的实施例中，如图2所示，第一驱动单元4包括第一驱动源41、第一驱动连杆以及第一传动连杆44。第一驱动源41的输出轴与第一驱动连杆的一端相连，第一驱动连杆的另一端与第一传动连杆44的一端相连，第一传动连杆44的另一端与近指骨套2可转动连接。可以理解的是，在实际工作过程中，从掌骨10出发，第一驱动源41、第一驱动连杆、第一传动连杆44、近指骨套2再到近节指骨20的闭环四连杆结构，在实际工作过程中，该四连杆机构的动力从第一驱动源41出发依次传递到第一驱动连杆、第一传动连杆44以及近指骨套2，最终将动力传递到近节指骨20，推动近节指骨20在铅锤面上围绕掌指关节50进行旋转运动，完成掌指关节50的屈曲或者伸展运动。并且第一驱动连杆和第一传动连杆44的之间的初始夹角可以根据用户的近节指骨20的长度进行调整，使得本实施例的用于康复的手部外骨骼能够适用于长度不同的手指，从而更好的满足不同用户的康复需要。
在一些更具体的实施例中，如图2所示，第一驱动连杆包括第一杆42和第二杆43，第一杆42的一端与第一驱动单元4的输出轴配合，第一杆42的另一端与第二杆43的一端可转动连接，且第二杆43相对第一杆42的转动轴线与第一驱动单元4的输出轴的转动轴线垂直设置，第二杆43的另一端与第一传动连杆44相连。
可以理解的是，指关节在进行屈曲伸展运动的时候，由于指骨并非完全规整，因此其回转轴线会随着屈曲或者伸展运动的进行而发生偏移，若康复进程中不对该偏移现象加以考虑，则存在二次伤害的可能。而在本实施例中，第一驱动连杆包括第一杆42和第二杆43，第二杆43相对第一杆42的转动轴线与第一驱动单元4的输出轴的转动轴线垂直设置，使得第一驱动连杆存在一个绕指骨的回转轴线转动的冗余自由度，这个冗余自由度则保证了用于康复的手部外骨骼对手指关节屈曲或者伸展时轴线变化的顺应性，具体来说，当近节指骨20在屈曲或者伸展运动的过程中，其回转轴线发生偏移时，第二杆43能够相对第一杆42转动，使得第二杆43、第一驱动连杆以及近指骨套2也随之转动，使得近指骨套2不会在后续的运动中对近节指骨20时间扭转力，从而避免了二次伤害的可能。
在一些更具体的实施例中，如图2所示，第一驱动连杆与第一传动连杆44通过第一转动销轴相连，且第一转动销轴上设有第一角度检测装置45，第一角度检测装置45用以测量第一驱动连杆和第一传动连杆44之间的相对转动角度信息。可以理解的是，在实际工作过程中，测量第一驱动连杆和第一传动连杆44之间的相对转动角度信息，可以根据该角度信息，计算近节指骨20相对掌指关节50的转动角度，从而实现精确辅助康复。
这里需要补充说明的是，在本发明的实施例中，第一角度检测装置45可以根需要选择角度传感器或者其他检测装置，在此不对第一角度检测装置45的具体结构做出限定。此外，第一角度检测装置45也可以根据实际需要连接在其他的转轴上进行检测，并不限于连接第一驱动连杆和第一传动连杆44的第一转动销轴上。
在一些具体的实施例中，如图2所示，第二驱动单元5包括第二驱动源51、绕线滑轮52、腱绳、第二驱动连杆55以及第二传动连杆56，第二驱动源51的输出轴与绕线滑轮52相连，第二传动连杆56的一端与中指骨套3可转动连接，第二传动连杆56的另一端与第二驱动连杆55的一端相连，腱绳与绕线滑轮52及第二驱动连杆55的另一端配合，且第二驱动连杆55的另一端可转动地连接于近指骨套2；其中：第二驱动源51驱动绕线滑轮52转动时，腱绳能够带动第二驱动连杆55转动。可以理解的是，在实际工作过程中，从近指骨套2出发，经过第二驱动连杆55，再经过第二传动连杆56，最后通过中指骨套3连接到中节指骨30上，形成闭环四连杆结构，动力从第二驱动源51出发，通过第二驱动源51正反转带动腱绳的收放，将动力传递给第二驱动连杆55，经过第二传动连杆56最终将动力传递到中指骨套3和中节指骨30，驱动中节指骨30围绕近侧指间关节60进行旋转运动，完成近侧指间关节60的屈曲或者伸展运动。
可选的，第二驱动连杆55的一端具有一体成型的转动轮，转动轮可转动地连接于近指骨套2，在有的实施例中，腱绳为一个，绕线滑轮52、腱绳、转动轮组成一个转动带系统，使得第二驱动源51驱动绕线滑轮52运动时，腱绳带动转动轮转动，从而驱动第二驱动连杆55转动。在有的实施例中，腱绳包括第一腱绳53和第二腱绳54，第一腱绳53及第二腱绳54的两端分别绕线滑轮52及转动轮配合，通过第二驱动源51正反转带动第一腱绳53及第二腱绳54的收放，将动力传递给第二驱动连杆55。
可选的，在本发明的其他实施例中，第二驱动源51带动腱绳的驱动方式可以更换为气、液压直接推动推杆的驱动方式，或直线电机推动推杆的方式，并不限于本实施例的第二驱动源51带动腱绳的驱动方式。
在一些更具体的实施例中，如图2所示，第二驱动连杆55与第二传动连杆56通过第二转动销轴相连，且第二转动销轴上设有第二角度检测装置57，以测量第二驱动连杆55和第二传动连杆56之间的相对转动角度信息。可以理解的是，在实际工作过程中，测量第二驱动连杆55和第二传动连杆56之间的相对转动角度信息，可以根据该角度信息，计算中节指骨30相对近侧指间关节60的转动角度，从而实现精确辅助康复。
这里需要补充说明的是，在本发明的实施例中，第二角度检测装置57可以根需要选择角度传感器或者其他检测装置，在此不对第二角度检测装置57的具体结构做出限定。此外，第二角度检测装置57也可以根据实际需要连接在其他的转轴上进行检测，并不限于连接第二驱动连杆55和第二传动连杆56的第二转动销轴上。
在一些具体的实施例中，如图2所示，近指骨套2和中指骨套3上均设有固定槽，近指骨套2和中指骨套3通过穿过固定槽的绑缚带分别与近节指骨20以及中节指骨30连接。由此，能够方便地将近指骨套2和中指骨套3连接在近节指骨20以及中节指骨30连接，方便了近指骨套2和中指骨套3的拆卸，还能够使得本实施例的用于康复的手部外骨骼适应粗细不同的指骨。
在一些实施例中，用于康复的手部外骨骼还包括固定套，固定套套设于掌骨10。可以理解的是，增设的固定套能够方便患者穿戴，并且确保基座1与掌骨10的相对稳定性。
在一些具体的实施例中，固定套上设有多个基座1，以实现用于康复的手部外骨骼能够与多个手指配合。由此，在实际使用过程中，患者将多个基座1固定在固定套上，然后直接穿戴固定套即可，无需将多个基座1依次连接在掌骨10上，方便了患者使用。
实施例：
如图1-图2所示，本实施例的用于康复的手部外骨骼包括基座1、驱动机构和指骨套，基座1用于穿戴于掌骨10的伸展侧，指骨套包括近指骨套2和中指骨套3，近指骨套2和中指骨套3上均设有固定槽，近指骨套2和中指骨套3通过穿过固定槽的绑缚带分别与近节指骨20以及中节指骨30连接。驱动机构包括第一驱动单元4和第二驱动单元5，第一驱动单元4包括第一驱动源41、第一驱动连杆以及第一传动连杆44。第一驱动连杆包括第一杆42和第二杆43。第一杆42的一端与第一驱动单元4的输出轴配合，第一杆42的另一端与第二杆43的一端可转动连接，且第二杆43相对第一杆42的转动轴线与第一驱动单元4的输出轴的转动轴线垂直设置，第二杆43的另一端与第一传动连杆44相连。第一传动连杆44的另一端与近指骨套2可转动连接。第一驱动连杆与第一传动连杆44通过第一转动销轴相连，且第一转动销轴上设有第一角度检测装置45，以测量第一驱动连杆和第一传动连杆44之间的相对转动角度信息。第二驱动单元5包括第二驱动源51、绕线滑轮52、腱绳、第二驱动连杆55以及第二传动连杆56，第二驱动源51的输出轴与绕线滑轮52相连，第二传动连杆56的一端与中指骨套3可转动连接，第二传动连杆56的另一端与第二驱动连杆55的一端相连，腱绳包括平行设置的第一腱绳53和第二腱绳54，第一腱绳53及第二腱绳54的两端分别绕线滑轮52及第二驱动连杆55的另一端配合，第二驱动源51驱动绕线滑轮52转动时，腱绳能够带动第二驱动连杆55转动。第二驱动连杆55与第二传动连杆56通过第二转动销轴相连，且第二转动销轴上设有第二角度检测装置57，以测量第二驱动连杆55和第二传动连杆56之间的相对转动角度信息。
本实施例的用于康复的手部外骨骼的组装以及工作如下：
以食指穿戴手部外骨骼为例，将手部外骨骼放置于食指的伸展侧，将基座1胶装于手套上，通过手套将外骨骼系统固定于掌骨10上。使用魔术带(绑缚带)分别穿过中指骨套3和近指骨套2的固定槽，分别对中节指骨30和近节指骨20进行绑缚穿戴；
第二杆43和第一传动连杆44和第一角度检测装置45通过第一转动销轴（D型定位销）连接，允许第二杆43和第一传动连杆44相对转动的同时将第一角度检测装置45固定在第一传动连杆44上以测量第二杆43和第一传动连杆44之间的相对转动角度信息。第一传动连杆44通过定位销和近指骨套2形成紧固连接，并完成从掌骨10出发，第一驱动源41、第一杆42、第二杆43、第一传动连杆44、近指骨套2再到近节指骨20的闭环四连杆结构。该四连杆机构的动力从第一驱动源41出发传递到第一杆42，经过第二杆43、第一传动连杆44以及近指骨套2，最终将动力传递到近节指骨20，推动近节指骨20在铅锤面上围绕掌指关节50进行旋转运动，完成掌指关节50的屈曲或者伸展运动；
第二驱动源51的D型输出轴插入绕线滑轮52，通过第一腱绳53以及第二腱绳54将动力传递到第二驱动连杆55。第二驱动连杆55通过第二转动销轴（D型定位销）和第二角度检测装置57以及第二传动连杆56形成紧固连接，允许第二驱动连杆55和第二传动连杆56相对转动的同时，将第二角度检测装置57固定在第二传动连杆56上以测量第二驱动连杆55和第二传动连杆56之间的相对转动角度信息。第二传动连杆56通过定位销钉和中指骨套3形成紧固连接，中指骨套3通过魔术带(绑缚带)固定到中节指骨30上。从第二驱动源51出发，到第二驱动连杆55，经过第二传动连杆56，最后通过中指骨套3连接到中节指骨30上，形成闭环四连杆结构。动力从第二驱动源51出发，通过第二驱动源51正反转带动第一腱绳53及第二腱绳54的收放，将动力传递给第二驱动连杆55，经过第二传动连杆56最终将动力传递到中指骨套3和中节指骨30，驱动中节指骨30围绕近侧指间关节60进行旋转运动，完成近侧指间关节60的屈曲或者伸展运动。
需要说明的是，在本实施例中，考虑到中节指骨30和远节指骨40形成的远侧指间关节70和近侧指间关节60具有生理随动特性，故不针对远侧指间关节70进行辅助。并且用于康复的手部外骨骼还可通过增加电机数量进而实现更为复杂的运动，例如辅助拇指的内旋或者外旋运动、四指的内收或者外展运动等。
本实施例的用于康复的手部外骨骼的优点：
第一；该手部外骨骼可按需穿戴于一个到三个手指，并且适合任意手指长短、粗细的穿戴；
第二：该手部外骨骼穿戴于手指的伸展侧，最大程度保留了人体手部的生理触觉，有利于康复恢复；
第三：该手部外骨骼可独立地给予每个手指关节以运动辅助，实现精准康复；
第四：该手部外骨骼具有小型化、易携带的特点，与医院的大型康复设备相比，患者可在黄金康复周期内，自己按需进行康复治疗，康复程度可由患者自己控制；
第五：仅有两个绑缚点，实现了快速穿戴，实用性高；
第六：具备冗余活动关节，最大程度贴合人手运动过程中的轴线变化，有效对康复过程中患者手指进行保护；
第七：电机直驱和腱绳间接驱动的驱动混合结构，控制简单，结构紧凑，重量轻，携带方便；
第八：人类手指的真实抓握动作轨迹与速度，采用第一角度检测装置45和第二角度检测装置57实现角度反馈，实现易控的闭环控制，控制精度高，系统耗能低。
在本说明书的描述中，参考术语“有些实施例”、“其他实施例”、等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
以上内容仅为本发明的较佳实施例，对于本领域的普通技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，本说明书内容不应理解为对本发明的限制。

Claims (10)

  1. 一种用于康复的手部外骨骼，其特征在于，包括：
    基座(1)，所述基座(1)用于穿戴于掌骨(10)的伸展侧；
    驱动机构，所述驱动机构设在所述基座(1)上，且包括至少一个驱动单元；
    指骨套，所述指骨套穿戴于指骨的伸展侧，所述指骨套为至少一个，所述指骨套与所述驱动单元传动连接；其中，所述驱动单元能够驱动所述指骨套转动以辅助所述指骨屈曲或者伸展。
  2. 根据权利要求1所述的用于康复的手部外骨骼，其特征在于，所述指骨套包括近指骨套(2)和中指骨套(3)，所述近指骨套(2)穿戴于所述指骨的近节指骨(20)，所述中指骨套(3)穿戴于所述指骨的中节指骨(30)；
    所述驱动机构包括第一驱动单元(4)和第二驱动单元(5)，所述第一驱动单元(4)与所述近指骨套(2)传动配合，所述第二驱动单元(5)与所述中指骨套(3)传动配合。
  3. 根据权利要求2所述的用于康复的手部外骨骼，其特征在于，所述第一驱动单元(4)包括第一驱动源(41)、第一驱动连杆以及第一传动连杆(44)；其中：
    所述第一驱动源(41)的输出轴与所述第一驱动连杆的一端相连，所述第一驱动连杆的另一端与所述第一传动连杆(44)的一端相连，所述第一传动连杆(44)的另一端与所述近指骨套(2)可转动连接。
  4. 根据权利要求3所述的用于康复的手部外骨骼，其特征在于，所述第一驱动连杆包括第一杆(42)和第二杆(43)，所述第一杆(42)的一端与所述第一驱动单元(4)的输出轴配合，所述第一杆(42)的另一端与所述第二杆(43)的一端可转动连接，且所述第二杆(43)相对所述第一杆(42)的转动轴线与所述第一驱动单元(4)的输出轴的转动轴线垂直设置，所述第二杆(43)的另一端与所述第一传动连杆(44)相连。
  5. 根据权利要求3所述的用于康复的手部外骨骼，其特征在于，所述第一驱动连杆与所述第一传动连杆(44)通过第一转动销轴相连，且所述第一转动销轴上设有第一角度检测装置(45)，以测量所述第一驱动连杆和所述第一传动连杆(44)之间的相对转动角度信息。
  6. 根据权利要求2所述的用于康复的手部外骨骼，其特征在于，所述第二驱动单元(5)包括第二驱动源(51)、绕线滑轮(52)、腱绳、第二驱动连杆(55)以及第二传动连杆(56)，第二驱动源(51)的输出轴与所述绕线滑轮(52)相连，所述第二传动连杆(56)的一端与所述中指骨套(3)可转动连接，所述第二传动连杆(56)的另一端与所述第二驱动连杆(55)的一端相连，所述腱绳与所述绕线滑轮(52)及所述第二驱动连杆(55)的另一端配合，且所述第二驱动连杆(55)的另一端可转动地连接于所述近指骨套(2)；
    其中：第二驱动源(51)驱动所述绕线滑轮(52)转动时，所述腱绳能够带动所述第二驱动连杆(55)转动。
  7. 根据权利要求6所述的用于康复的手部外骨骼，其特征在于，所述第二驱动连杆(55)与所述第二传动连杆(56)通过第二转动销轴相连，且所述第二转动销轴上设有第二角度检测装置(57)，以测量所述第二驱动连杆(55)和所述第二传动连杆(56)之间的相对转动角度信息。
  8. 根据权利要求2所述的用于康复的手部外骨骼，其特征在于，所述近指骨套(2)和所述中指骨套(3)上均设有固定槽，所述近指骨套(2)和所述中指骨套(3)通过穿过所述固定槽的绑缚带分别与所述近节指骨(20)以及所述中节指骨(30)连接。
  9. 根据权利要求1所述的用于康复的手部外骨骼，其特征在于，还包括固定套，所述固定套套设于所述掌骨(10)。
  10. 根据权利要求9所述的用于康复的手部外骨骼，其特征在于，所述固定套上设有多个基座(1)，以实现所述用于康复的手部外骨骼能够与多个手指配合。
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