CN106309083A - EMG controlled air-operated soft body rehabilitative mechanical hand - Google Patents
EMG controlled air-operated soft body rehabilitative mechanical hand Download PDFInfo
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- CN106309083A CN106309083A CN201610802331.6A CN201610802331A CN106309083A CN 106309083 A CN106309083 A CN 106309083A CN 201610802331 A CN201610802331 A CN 201610802331A CN 106309083 A CN106309083 A CN 106309083A
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- thumb
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- 238000005452 bending Methods 0.000 claims abstract description 32
- 239000000835 fiber Substances 0.000 claims abstract description 28
- 208000006011 Stroke Diseases 0.000 claims abstract description 14
- 210000003811 finger Anatomy 0.000 claims description 48
- 210000003813 thumb Anatomy 0.000 claims description 19
- 206010008190 Cerebrovascular accident Diseases 0.000 claims description 12
- 230000015572 biosynthetic process Effects 0.000 claims description 11
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- 239000004744 fabric Substances 0.000 claims description 5
- 210000001145 finger joint Anatomy 0.000 claims description 5
- 208000005392 Spasm Diseases 0.000 claims description 4
- 210000000245 forearm Anatomy 0.000 claims description 4
- 210000005224 forefinger Anatomy 0.000 claims description 4
- 210000004932 little finger Anatomy 0.000 claims description 4
- 230000033228 biological regulation Effects 0.000 claims description 3
- 210000003437 trachea Anatomy 0.000 claims description 3
- 239000013536 elastomeric material Substances 0.000 claims 1
- 238000005242 forging Methods 0.000 claims 1
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- 230000000694 effects Effects 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 3
- 239000013013 elastic material Substances 0.000 abstract description 3
- 239000007779 soft material Substances 0.000 abstract description 3
- 230000000386 athletic effect Effects 0.000 abstract 1
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- 239000004945 silicone rubber Substances 0.000 abstract 1
- 239000000463 material Substances 0.000 description 11
- 208000027418 Wounds and injury Diseases 0.000 description 6
- 210000004247 hand Anatomy 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000036541 health Effects 0.000 description 4
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- 235000013399 edible fruits Nutrition 0.000 description 2
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- 238000010030 laminating Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000007711 solidification Methods 0.000 description 2
- 230000008023 solidification Effects 0.000 description 2
- 206010058668 Clinodactyly Diseases 0.000 description 1
- 208000032170 Congenital Abnormalities Diseases 0.000 description 1
- 206010061619 Deformity Diseases 0.000 description 1
- 108010081750 Reticulin Proteins 0.000 description 1
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- 210000004556 brain Anatomy 0.000 description 1
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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
- A61H1/0218—Drawing-out devices
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- 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
-
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2201/50—Control means thereof
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/08—Other bio-electrical signals
- A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an EMG controlled air-operated soft body rehabilitative mechanical hand. The mechanical hand can help a stroke patient or a patient suffering from hand disability conduct hand rehabilitation activity. Different from a traditional rigid body type mechanical hand, every finger of the soft body mechanical hand is a hollow cavity structure composed of soft materials (super-elastic materials like silicone rubber and the like), a fiber and a limit strained layer is arranged on the periphery, soft body fingers are designed by combining structures of bending distortion, extending distortion, distortion, torsional and extending distortion, and motion distortion is achieved through air-operated driving. The EMG controlled air-operated soft body rehabilitative mechanical hand can achieve multi-section type bending similar to human's fingers, drives bending and stretching of stroke fingers, and restores a patient's athletic ability. The air-operated soft body rehabilitative mechanical hand has the advantages of low rigidity, high safety, high comfort, low weight, low noise and the like, has more remarkable superiority compared with current traditional mechanical rigid body type rehabilitative hand, and has very wide application prospect in the field of rehabilitation.
Description
[technical field]
The invention belongs to medical health apparatus healing robot and industry handgrip technical field, be specifically designed a kind of EMG control
The pneumatic software manipulators in rehabilitation of system, it is adaptable to the symptoms such as the hand function obstacle that old people causes due to paralytic carry out health
Refreshment is practiced and power-assisted captures.
[background technology]
Add up according to World Health Organization (WHO), every 6 people in the whole world just have 1 people may suffer from apoplexy；Within every 6 seconds, just have 1
People dies from apoplexy；Within every 6 seconds, 1 people is just had forever to disable because of apoplexy ... in 30,000,000 patient with cerebral apoplexies of the whole world,
China accounts for 1/3, and apoplexy has become as China human mortality and first factor disabled.The Patients with Stroke health of 70%
On suffer from deformity in various degree.Upper limb disability patient especially mutilated hand patient more can affect the orthobiosis of patient, because
Daily routines include wearing the clothes, have a meal, drinking water etc. to rely on hands just can complete, and therefore the rehabilitation of hand is also particularly important,
From the sixties in last century, just have developed a series of mechanical type rehabilitation hand that can be worn over patient on hand, including driven by motor,
Bracing wire drive etc., but they are rigid bodies, and also also bigger than the rigidity of finger-joint, when mechanical angle of bend exceedes
During the angle of bend that finger-joint can bear, this machinery rehabilitation hand will produce compressing and suppression to finger, causes patient
Pain, therefore, this mechanical rehabilitation hand has the biggest danger；And for different patients, finger can bear
Angle of bend diversity very big, the most this mechanical hand can not be generalized widely, adjusts the most very inconvenient；Its cost and
Price is the highest, and general consumer does not affords to do at all；Mechanical general weight is the most heavier, therefore carries the most square
Just, the range of activity of patient is limited.
[summary of the invention]
It is an object of the invention to the shortcoming overcoming above-mentioned prior art, it is provided that the pneumatic software rehabilitation that a kind of EMG controls
Mechanical hand.
For reaching above-mentioned purpose, the present invention is achieved by the following technical solutions:
The pneumatic software manipulators in rehabilitation that a kind of EMG controls, including the glove of upper and lower double-layer structure and be installed on software
The software finger of five hollows on glove upper strata；The lower floor of glove is worn on user on hand, and every software finger all passes through gas
Pipe connects portable driving means, and portable driving means can be by gathering the muscle signal of telecommunication on user forearm and right
Its decoding, using the identification signal that obtains as starting signal, controls electromagnetic valve and proportioning valve realizes the inflation/deflation speed of air pressure and adjusts
Joint, to realize the control of the active to software finger.
The present invention is further improved by:
Forefinger, middle finger, the third finger and the little finger of toe of described software finger is bending elongation class formation；Software remedy finger
Thumb is software thumb class formation；
The software finger of bending elongation class formation includes 5 sections of deformation, and wherein 3 sections of flexural deformations and 2 segment elongations deform, 3 sections
Angle of bend is identical with the angle of bend of finger-joint, and 2 segment elongation deformation are equal with the elongation of finger surface skin, and one soft
Body finger after inflation, becomes case of bending from straight configuration, it is possible to produce the multistage articulated type deformation of finger；
Software thumb structure includes 5 sections of deformation, wherein 1 section of torsional deformation, 1 section reverse elongation strain, 2 sections of flexural deformations and
1 segment elongation deformation；The torsional deformation that torsional deformation produces with the first paragraph joint of thumb is identical, reverses elongation strain and becomes with distortion
Shape is equal with the elongation on skin of thumb surface, the flexural deformation phase that second, three joints of 2 flexural deformation and thumb produce
Deng；After software thumb is inflated, it is possible to produce the deformation of thumb.
Described software finger includes body and the left-hand screw fiber being wound on body surface and has spiral fiber, and body uses bullet
Property material is made；The restriction strained layer the most not producing dilatancy for limiting body also it is bonded with on body.
Needed for the cross section structure of described software finger is rectangle, trapezoidal, semicircle or variable cross-section type, software fingers deformed
Air pressure relevant to the cross sectional shape of software finger with the driving force of generation.
Described software finger can be realized by pure bending structure, and every software finger all produces flexural deformation, by
The muscle spasm power of wind finger and the elasticity of glove change the motion deformation of software finger as external force so that it is can start by band
Fingering row reconditioning and power-assisted capture.
Described glove use and are suitable for dressing and the soft cloth of reconditioning.
Compared with prior art, the method have the advantages that
The pneumatic software manipulators in rehabilitation that the present invention introduces uses soft material, and the rigidity of ratio of rigidity finger is little, therefore finger
Can overcome produced oppressive force, safety has been greatly improved.And, it can be carried out by large deformation flexible sensor
Realize gesture feedback, the deformation of moment monitoring software finger hands, improve the safety of pneumatic software manipulators in rehabilitation.Pneumatic soft
Body manipulators in rehabilitation uses the price of material inexpensively, and its weight is the lightest, easy to carry, and has soft comfortable etc.
Feature, it is possible to the most mutual with patient.The most above-mentioned advantage, compensate for the deficiency of machinery rigid body formula rehabilitation hand, needs for hand
The patient wanting rehabilitation brings new hope, if it is possible to be promoted, and by promoting the quality of life of patient, alleviates family and society
The burden of meeting medical personnel.
[accompanying drawing explanation]
Fig. 1 be software driver elongation strain realize principle schematic；
Fig. 2 is that software driver is diastrophic realizes principle schematic；
Fig. 3 is the cross sectional shape structure chart of software finger；
Fig. 4 is the structure composition schematic diagram of bending elongation class software finger；
Fig. 5 is the deformation result figure of bending elongation class software finger；
Fig. 6 is the structure composition of software thumb；
Fig. 7 is the deformation result figure of software thumb；
Fig. 8 is pneumatic software manipulators in rehabilitation structural representation；
Fig. 9 is software finger and finger laminating situation schematic diagram.
Wherein: 1-software finger；2-trachea.
[detailed description of the invention]
Below in conjunction with the accompanying drawings the present invention is described in further detail:
See the pneumatic software manipulators in rehabilitation that Fig. 8, EMG of the present invention control, it is characterised in that include upper and lower double-layer structure
Glove and be installed on the software finger of five hollows on software glove upper strata；The lower floor of glove is worn on user on hand,
Every software finger all connects portable driving means by trachea, and portable driving means can be by gathering user forearm
On the muscle signal of telecommunication, and decode it, using the identification signal that obtains as starting signal, control electromagnetic valve and proportioning valve realizes
The inflation/deflation speed regulation of air pressure, to realize the control of the active to software finger.The forefinger of software remedy finger, middle finger, unknown
Refer to and little finger of toe is bending elongation class formation；The thumb of software finger is software thumb class formation；
The software finger of bending elongation class formation includes 5 sections of deformation, and wherein 3 sections of flexural deformations and 2 segment elongations deform, 3 sections
Angle of bend is identical with the angle of bend of finger-joint, and 2 segment elongation deformation are equal with the elongation of finger surface skin, and one soft
Body finger after inflation, becomes case of bending from straight configuration, it is possible to produce the multistage articulated type deformation of finger；
Software thumb structure includes 5 sections of deformation, wherein 1 section of torsional deformation, 1 section reverse elongation strain, 2 sections of flexural deformations and
1 segment elongation deformation；The torsional deformation that torsional deformation produces with the first paragraph joint of thumb is identical, reverses elongation strain and becomes with distortion
Shape is equal with the elongation on skin of thumb surface, the flexural deformation phase that second, three joints of 2 flexural deformation and thumb produce
Deng；After software thumb is inflated, it is possible to produce the deformation of thumb.
Software finger includes body and the left-hand screw fiber being wound on body surface and has spiral fiber, and body uses elastic material
Material is made；The restriction strained layer the most not producing dilatancy for limiting body also it is bonded with on body.Software finger
Cross section structure be the air pressure needed for rectangle, trapezoidal, semicircle or variable cross-section type, software fingers deformed and the driving force of generation
Relevant to the cross sectional shape of software finger.Software finger can be realized by pure bending structure, and every software finger all produces curved
Bent deformation, the motion changing software finger as external force by the muscle spasm power of apoplexy finger and the elasticity of software glove becomes
Shape so that it is finger can be driven to carry out reconditioning and power-assisted captures.Glove use and are suitable for dressing and the soft cloth of reconditioning
Material.
The principle of the present invention:
The invention provides one can help that hand is unable, muscle deterioration or hand exercise is dumb etc. that patient recovers
The device of hand normal kinematics.Pneumatic software manipulators in rehabilitation can be worn on the back side of hands as glove, makes hands quilt
The dynamic bending following software rehabilitation hand and make hands produce bending, for some patient, can pass through continuous passive exercise, easypro
Hand of living is neural, and reinvents the hand nervous network in brain, makes patient can recover hand proper motion.
The present invention can also be similar to multistage as finger as the end effector of robot owing to it can produce
Formula deforms, and therefore can carry out the crawl of object as hands, owing to its rigidity is less, when capturing general object, no
Object can be produced infringement, mainly be used as the tasks such as sorting, transferring objects in industrial application, such as pick fruit, sort water
Really, fruit surface will not be produced infringement；Domestic environments then can be used to do housework (washing dish, massage) etc.；Civil area then may be used
As aerodynamic toy, to give sensation vivid, remarkably true to life.
The present invention includes restoring gloves and two parts of software finger.When becoming case of bending from extended configuration, pneumatic
Software manipulators in rehabilitation can realize one direction flexural deformation and drive the motion of apoplexy finger gymnastic；When becoming stretch-like from case of bending
During state, can rely on the natural resiliency of software finger material and the elasticity of software glove that apoplexy finger is withdrawn into extended configuration.
Software finger is divided into two big classes: bending elongation class and software thumb class two kinds.
Bending elongation class comprises 5 sections: 3 sections of flexural deformations and the deformation of 2 segment elongations, and the length of every section can be according to software hands
The principle of machine is designed calculating, and the software finger finally given can realize the multistage articulated type deformation as finger.
Software thumb comprises 5 sections: 1 section of torsional deformation, 1 section of torsion elongation strain, 2 sections of flexural deformations and the deformation of 1 segment elongation,
The length of every section can be designed calculating according to the principle of soft body mobile phone, the software finger finally given and thumb bending
The deformation of multistage articulated type is similar.
Every software finger all comprises three parts: body, fiber and restriction strained layer.Body is hollow cavity, fiber
Comprising left-hand screw fiber and right-hand screw fiber, fiber is used for limiting the dilatancy of radial direction, makes software finger to bear
Higher air pressure, limits strained layer and can change the direction of software motion deformation so that it is realize flexural deformation and torsional deformation.
Software finger cross section structure comprises rectangle, trapezoidal, semicircle and variable cross-section type etc., wherein, rectangle, trapezoidal and
Semicircle all can realize constant curvature bending, and variable cross-section is accomplished that variable curvature bends, the air pressure needed for software fingers deformed
Relevant to cross sectional shape with the driving force produced.
Software finger is also designed to pure bending structure, by muscle spasm power and the degree of tightness of software glove of apoplexy finger
Spend the motion deformation changing software finger as external force so that it is finger can be driven to carry out reconditioning and power-assisted reason captures.Though
The software finger of right this structure could not be fitted with finger completely, but the elasticity that can be by appropriate design glove is improved soft
Body finger and the laminating degree of apoplexy finger, such structure is easy to manufacture, and the power exported is bigger, it is simple to patient uses.
The levels of design software glove so that it is can wrap up software finger and drive apoplexy finger motion, it is suitable to select
Material make patient to be caused discomfort when rehabilitation.
The structure of pneumatic software rehabilitation hand mainly includes three kinds of materials:
Body: be made up of elastic material, such as silastic material, can not have injury to human body, nonpoisonous and tasteless, does not has pair
Effect, elasticity modulus of materials is 0.1～about 1Mpa, suitable with the elastic modelling quantity of the biomaterial such as skin, muscle.In addition material
Mobility, pourability to get well, material solidification after can not have stickiness, the surface after solidification want bright and clean softness.
As it is shown on figure 3, software finger cross sectional shape has a various shape: such as rectangle, trapezoidal, semicircle, variable cross-section etc.,
The deformation effect that different cross section produces is different, and such as rectangle and semicircle can produce constant curvature flexural deformation, and become and cut
Face type but produces variable curvature flexural deformation, therefore, can need to design different cross sectional shapes according to function when designing finger.
Fiber: the intensity of fiber wants height, and diameter is little, and flexibility is little is higher than the intensity of the line of ordinary sewing use.Easily
Bond together with bulk material, be divided into left-hand screw fiber and right-hand screw fiber in use.
Limiting strained layer: thin layer reticular fiber cloth is non-stretchable, requirement of strength is high, and flexibility wants big, such as glass layer.
It is usually fenestral fabric, and when medial small hole is easy to manufacture, liquid pours, and sticks to one with bulk material.
As it is shown in figure 1, elongation strain principle: elongation driver comprises a hollow cavity, and body surface is wound with left-hand screw
Fiber and right-hand screw fiber, after inflating it, produce axial elongation deformation, radially due to limited by fiber will not produce swollen
Bulging deformation；Wherein, a is the cavity that soft material makes, and b is the fiber i.e. left-hand screw fiber of wound clockwise, and c is wrapped anti-clockwise
Fiber i.e. right-hand screw fiber, d is the schematic diagram of elongation strain after inflating the cavity being wound with fiber.
As in figure 2 it is shown, flexural deformation principle: bending driver comprises a hollow cavity and one layer of restriction strained layer, this
Surface is wound with left-hand screw fiber and right-hand screw fiber, after inflating it, produces curved along the restriction strained layer not producing strain
Bent deformation, radial direction will not be produced dilatancy owing to limiting by fiber；Wherein, e is for limiting strained layer, and f is for being wound with
Fiber and plus limit strained layer cavity inflation after diastrophic schematic diagram.
Due to finger generation is Multistage type arthrosis bending, and therefore software remedy finger also should be designed so that multisection type is tied
Structure.Software rehabilitation hand comprises five software fingers, and the length of every finger differs, and the length with each finger approximates, all respectively
It it is hollow structure；Except for the difference that, forefinger, middle finger, the third finger, the deformation of little finger of toe are similar to, and belong to bending elongation class formation, the most each
Width and the length of root finger are different；Thumb is the most special, and first joint of thumb is distorted-structure, need to individually set
Meter.
As shown in Figure 4 and Figure 5, bending elongation class formation software finger comprises 5 sections, the wherein a of Fig. 41、a2、a3Become for bending
The length of shape, b1、b2For the length of elongation strain, the length of various piece can be designed calculating according to the principle of soft body defonnation,
Its deformation result is as it is shown in figure 5, three sections of bendings and 2 segment elongations can be produced, similar with clinodactyly, will not produce resistance
Hinder effect.
As shown in Figure 6 and Figure 7, software thumb finger comprises 5 sections, wherein a of Fig. 61For torsional deformation length, b1For reversing
Elongation strain length, a2And a3For diastrophic length, b2For the length of elongation strain, the length of various piece also can be according to
The principle of soft body defonnation is designed calculating, and its deformation result is as it is shown in fig. 7, the multistage joint being similar to thumb can be produced
Formula deforms.
The work process of the present invention:
Five software fingers are designed and manufactured, it is ensured that actual produce to obtain software finger and emulation according to patient's finger size
The deformation result analyzed is close, and every finger can produce the deformation of multistage Articulating and enough power drive finger fortune
Dynamic.Software finger is loaded in glove, adjust software finger position and elasticity according to the practical situation of patient hand.By every
The trachea of software finger connects portable driving means, and it is carried out inflation/deflation.In order to realize can Autonomous Control software rehabilitation
The motion of hands, can be by the muscle signal of telecommunication gathered on forearm and decode it, using the identification signal obtained as triggering signal
Controlling electromagnetic valve and proportioning valve realizes air pressure and the regulation of inflation/deflation speed, the active of software remedy finger is controlled by final realization.
Above content is only the technological thought that the present invention is described, it is impossible to limit protection scope of the present invention with this, every presses
The technological thought proposed according to the present invention, any change done on the basis of technical scheme, each fall within claims of the present invention
Protection domain within.
Claims (6)
1. the pneumatic software manipulators in rehabilitation that an EMG controls, it is characterised in that include upper and lower double-layer structure glove and
It is installed on the software finger (1) of five hollows on software glove upper strata；The lower floor of glove is worn on user on hand, every software
Finger all connects portable driving means by trachea (2), and portable driving means can be by gathering on user forearm
The muscle signal of telecommunication, and decode it, the identification signal obtained is realized air pressure as starting signal, control electromagnetic valve and proportioning valve
The regulation of inflation/deflation speed, to realize the active of software finger is controlled.
The pneumatic software manipulators in rehabilitation that EMG the most according to claim 1 controls, it is characterised in that described software finger
(1) forefinger, middle finger, the third finger and little finger of toe is bending elongation class formation；The thumb of software remedy finger (1) is software thumb
Class formation；
The software finger (1) of bending elongation class formation includes 5 sections of deformation, wherein 3 sections of flexural deformations and the deformation of 2 segment elongations, and 3 sections curved
Bent angle is identical with the angle of bend of finger-joint, and 2 segment elongation deformation are equal with the elongation of finger surface skin, a software
Finger after inflation, becomes case of bending from straight configuration, it is possible to produce the multistage articulated type deformation of finger；
Software thumb structure includes 5 sections of deformation, wherein 1 section of torsional deformation, 1 section of torsion elongation strain, 2 sections of flexural deformations and 1 section
Elongation strain；The torsional deformation that torsional deformation produces with the first paragraph joint of thumb is identical, reverses elongation strain and torsional deformation
Equal with the elongation on skin of thumb surface, that second, three joints of 2 flexural deformation and thumb produce flexural deformation phase
Deng；After software thumb is inflated, it is possible to produce the deformation of thumb.
The pneumatic software manipulators in rehabilitation that EMG the most according to claim 1 and 2 controls, it is characterised in that described software hands
Referring to that (1) includes body and the left-hand screw fiber being wound on body surface and has spiral fiber, body uses elastomeric material to make；Body
On be also bonded with the restriction strained layer the most not producing dilatancy for limiting body.
The pneumatic software manipulators in rehabilitation that EMG the most according to claim 1 and 2 controls, it is characterised in that described software hands
The cross section structure of finger (1) is rectangle, trapezoidal, semicircle or variable cross-section type, the air pressure needed for software finger (1) deformation and generation
Driving force relevant to the cross sectional shape of software finger (1).
The pneumatic software manipulators in rehabilitation that EMG the most according to claim 1 and 2 controls, it is characterised in that described software hands
Referring to that (1) can be realized by pure bending structure, every software finger (1) all produces flexural deformation, by the muscle of apoplexy finger
The elasticity of spasm power and glove changes the motion deformation of software finger as external force so that it is finger can be driven to carry out rehabilitation forging
Refining and power-assisted capture.
The pneumatic software manipulators in rehabilitation that EMG the most according to claim 1 and 2 controls, it is characterised in that described glove are adopted
With applicable wearing and the soft cloth of reconditioning.
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