CN112587373A - Wearable rehabilitation instrument glove based on pneumatic series elastic driver - Google Patents
Wearable rehabilitation instrument glove based on pneumatic series elastic driver Download PDFInfo
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- CN112587373A CN112587373A CN202110013149.3A CN202110013149A CN112587373A CN 112587373 A CN112587373 A CN 112587373A CN 202110013149 A CN202110013149 A CN 202110013149A CN 112587373 A CN112587373 A CN 112587373A
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- 230000033001 locomotion Effects 0.000 claims abstract description 44
- 230000005540 biological transmission Effects 0.000 claims abstract description 36
- 210000003813 thumb Anatomy 0.000 claims description 173
- 210000003811 finger Anatomy 0.000 claims description 159
- 210000005224 forefinger Anatomy 0.000 claims description 104
- 230000007246 mechanism Effects 0.000 claims description 56
- 210000004932 little finger Anatomy 0.000 claims description 28
- 210000000245 forearm Anatomy 0.000 claims description 18
- 241000282376 Panthera tigris Species 0.000 claims description 12
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 abstract description 4
- 238000005452 bending Methods 0.000 description 2
- 230000004064 dysfunction Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000016285 Movement disease Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- 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
- A61H2201/1238—Driving means with hydraulic or pneumatic 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- 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
-
- 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
-
- 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
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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)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a wearable rehabilitation instrument glove based on a pneumatic series elastic driver, which comprises a glove part, a transmission rod group and a pneumatic driving part; the glove part comprises sleeves of various fingers, palms and arms; the transmission rod group comprises rod pieces required by the movement of each finger; the pneumatic drive comprises a cylinder drive required by each rod group and a spring required by flexible drive; all parts of the glove part are connected together by all rod pieces of the transmission rod group, and the pneumatic drive is arranged on the glove part and connected with the transmission rod group; the pneumatic drive drives the transmission rod group to drive the glove part to control the movement of each finger so as to simulate the track movement of a human hand, and the glove has good flexibility, human-computer interaction and portability.
Description
Technical Field
The invention relates to the field of rehabilitation robots, in particular to wearable rehabilitation instrument gloves based on pneumatic series elastic drivers.
Background
Hand dysfunction caused by nerve function injury is a common limb movement disorder, and as society ages, people suffering from hand dysfunction are increasing. With respect to the traditional rehabilitation project, the rehabilitation training content is tedious, and the rehabilitation equipment is heavy, heavy and complex. In addition, the conventional rehabilitation mechanism usually adopts a rigid driver to ensure high-speed and high-precision performance, and once misoperation occurs, the safety of a user is threatened.
The series elastic driver (SEA) is a flexible elastic driver which connects an elastic element between a motor and a mechanical device in series, the SEA is often added in modern mechanical design, the whole mechanical device can have certain flexibility, the man-machine interaction capacity is increased, the SEA is applied to the rehabilitation machine to improve the flexibility of the rehabilitation machine and better simulate the human motion track, and the direction for future research of the rehabilitation machine is provided.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a wearable rehabilitation instrument glove based on a pneumatic series elastic driver, wherein the pneumatic driving transmission rod group drives each finger mechanism of the glove part to simulate hand motion, so as to assist a patient in hand rehabilitation.
In order to achieve the purpose, the invention adopts the technical scheme that:
a wearable rehabilitation instrument glove based on a pneumatic series elastic driver is used for assisting a patient to perform hand rehabilitation and comprises a glove part, a transmission rod group and a cylinder driving part, wherein the glove part comprises a thumb mechanism, an index finger mechanism, a middle finger mechanism, a ring finger mechanism, a little finger mechanism, a palm sleeve and a forearm sleeve, the transmission rod group comprises a thumb rod group, an index finger rod group, a middle finger rod group, a ring finger rod group, a little finger rod group and a thumb opening and closing rod group, the pneumatic driving comprises a thumb cylinder, an index finger cylinder, a middle finger cylinder, a ring finger cylinder, a little finger cylinder and a thumb opening and closing cylinder, all parts of the glove part are respectively connected together through all rod pieces of the transmission rod group, the pneumatic driving part is installed on the glove part and connected with the transmission rod group, an elastic element is connected in series between the pneumatic driving cylinder and the transmission rod group, the glove part is worn by the rehabilitee, and all cylinders of the pneumatic driving the transmission rod group to move so as to drive all the finger mechanisms of the Simulating the trace motion of human hands.
Further, the thumb mechanism comprises a thumb fingertip sleeve, a thumb tip sleeve and a tiger's mouth sleeve, a connecting boss is arranged at the top of the thumb fingertip sleeve, two connecting bosses are arranged at the top of the thumb tip sleeve, a connecting boss and a ball socket connecting table are arranged on the tiger's mouth sleeve, the four connecting bosses are respectively connected with a thumb rod group, the ball socket connecting table is used for being connected with a thumb opening and closing rod group, two connecting positions are respectively arranged at the tail of the thumb fingertip sleeve and the head of the thumb tip sleeve, and the tail of the thumb fingertip sleeve and the tail of the thumb tip sleeve are connected together by inserting a cylindrical tip at the two connecting positions.
The thumb rod group comprises a first thumb rod piece, a second thumb rod piece, a third thumb rod piece, a fourth thumb rod piece, a fifth thumb rod piece and a sixth thumb rod piece, wherein one end of the first thumb rod piece is hinged with a connecting boss at the top of the thumb fingertip sleeve, the other end of the first thumb rod piece is hinged with the second thumb rod piece and the fourth thumb rod piece, the other end of the fourth thumb rod piece is hinged with a connecting boss at the front end of the top of the thumb end sleeve, and a connecting boss at the rear end of the top of the thumb end sleeve is hinged with one end of the sixth; the other end of the thumb rod piece is hinged with a connecting boss above the first web sleeve; a thumb rod piece V is hinged with the connecting boss above the first web sleeve; the other end of the thumb rod piece V is hinged with the other end of the thumb rod piece II; a thumb rod piece III is hinged with the other end of the thumb rod piece II; the other end of the thumb rod piece III is fixedly connected with the cylinder rod of the thumb cylinder in the axial direction.
The thumb opening and closing rod group consists of an opening and closing rod piece I, an opening and closing rod piece II, an opening and closing rod piece III and an opening and closing rod piece IV, wherein one end of the opening and closing rod piece I is hinged with a ball socket connecting platform on the first jaw sleeve to form a ball joint, and the other end of the opening and closing rod piece I is hinged with the opening and closing rod piece II and the opening and closing rod piece III; the other end of the second opening and closing rod piece is hinged with the ball socket connecting platform on the palm sleeve to form a ball joint, the other end of the third opening and closing rod piece is hinged with the fourth opening and closing rod piece, the fourth opening and closing rod piece is fixedly connected with the cylinder rod of the thumb opening and closing cylinder in the axial direction, and when the cylinder rod reciprocates, the thumb opening and closing rod group is driven to move, so that the tiger's mouth can be opened and closed.
Further, forefinger mechanism is by forefinger fingertip sleeve, sleeve and forefinger end sleeve constitute in the forefinger finger, forefinger fingertip sleeve top is equipped with a connection boss, sleeve top is equipped with a connection boss in the forefinger finger, forefinger end sleeve top is equipped with two connection bosses, four connection bosses are connected with forefinger pole group respectively, forefinger fingertip sleeve afterbody respectively has two junctions with forefinger end sleeve head, sleeve head tail part respectively has two junctions in the forefinger finger, utilize the cylindric lock to connect gradually respectively forefinger fingertip sleeve end and forefinger end sleeve head, sleeve afterbody and forefinger end sleeve head in the forefinger finger.
The index finger rod group consists of an index finger rod I, an index finger rod II, an index finger rod III, an index finger rod IV, an index finger rod V, an index finger rod VI, an index finger rod VII, an index finger rod VIII and an index finger rod IX, wherein one end of the index finger rod I is hinged with a connecting boss on the index finger tip sleeve; the other end is hinged with the index finger rod piece II and the index finger rod piece VII; the other end of the second forefinger rod piece is hinged with the connecting boss on the middle sleeve of the forefinger, and the seventh other end of the forefinger rod piece is hinged with the eighth forefinger rod piece and the third forefinger rod piece; the other end of the forefinger rod piece III is hinged with the connecting boss at the front end of the forefinger tail sleeve, and the other end of the forefinger rod piece eight is hinged with the forefinger rod piece six and the forefinger rod piece nine; the other end of the forefinger rod piece six is hinged with a connecting boss corresponding to the forefinger on the palm sleeve and a forefinger rod piece five, and the other end of the forefinger rod piece five is hinged with a forefinger rod piece four; the other end of the forefinger rod piece is hinged with the connecting boss at the tail end of the forefinger tail sleeve, and the other end of the forefinger rod piece is fixedly connected with the cylinder rod of the forefinger cylinder in the axial direction.
Further, the middle finger mechanism, the ring finger mechanism and the little finger mechanism are the same as the index finger mechanism in structure, the difference is that the length and the thickness of each sleeve are changed according to different fingers of a person, the middle finger rod group, the ring finger rod group, the little finger rod group and the index finger rod group are the same in structure, and the difference is that the length of each rod is changed according to different finger lengths and motion tracks of the person.
Furthermore, the palm sleeve is a curved palm sleeve conforming to the palm configuration of a human body, four connecting bosses and a ball socket connecting platform are arranged above the palm sleeve, the four connecting bosses are positioned at the same height and respectively correspond to the index finger rod group, the middle finger rod group, the ring finger rod group and the little finger rod group, and the ball socket connecting platform is arranged at the rear part above the palm sleeve and corresponds to the thumb opening and closing rod group.
Furthermore, the forearm sleeve is designed into a whole and conforms to the curved surface configuration of the shape of the forearm of a person, and comprises a forearm sleeve, a cylinder arrangement bent frame, an opening and closing cylinder arrangement bent frame and a far-end cylinder arrangement bent frame, wherein the cylinder arrangement bent frame is arranged right above the forearm sleeve, and four parallel cylindrical grooves are arranged on the cylinder arrangement bent frame and are respectively used for arranging a forefinger cylinder, a middle finger cylinder, a ring finger cylinder and a little finger cylinder; the opening and closing cylinder placing frame is arranged on the side surface of the small arm sleeve and is used for placing the thumb opening and closing cylinder; the far-end cylinder placing frame is supported and placed at the far end of the side face of the small arm sleeve through a rigid structure and used for placing the thumb cylinder.
Furthermore, the thumb cylinder, the index finger cylinder, the middle finger cylinder, the ring finger cylinder, the little finger cylinder and the thumb opening and closing cylinder have the same structure and mainly comprise a cylinder rod, a spring and a cylinder body, wherein the spring is arranged on the cylinder rod in a penetrating mode, the cylinder rod is fixedly connected with a rod piece at the tail end of the transmission rod group in the axial direction, a flange is arranged on the rod piece at the tail end of the transmission rod group and used for limiting the spring in the axial direction, and the spring can perform telescopic motion along with the reciprocating linear motion of the cylinder rod.
Has the advantages that: the wearable rehabilitation instrument glove based on the pneumatic series elastic driver can smoothly simulate the movement modes of the thumb of a human hand, such as flexion and extension, opening and closing, and flexion and extension of the index finger, the middle finger, the ring finger and the little finger, the spring is added between the driving mechanism and the transmission rod group, pneumatic driving is adopted, the wearable rehabilitation instrument glove has the advantages of compact structure, portability and reliability, transmission precision and stability are guaranteed, and compared with other rehabilitation gloves in the prior art, the wearable rehabilitation instrument glove based on the pneumatic series elastic driver has better flexibility, human-computer interaction and portability.
The glove part of the invention uses the knuckle sleeve to imitate the knuckle of a human finger, and uses the transmission rod group to connect all knuckles, so that the structural design is more in accordance with the ergonomic rule; the thumb mechanism is a single-degree-of-freedom mechanism, a set of opening and closing mechanisms are designed at the thumb to meet the requirement of controlling opening and closing movement of the thumb, the index finger, the middle finger, the ring finger and the little finger mechanisms are three-degree-of-freedom under-actuated mechanisms, corresponding rod lengths of the transmission rod set are obtained through optimized design, the mechanisms can smoothly simulate movement rules of human fingers, and the under-actuated design and the tail end spring enable the mechanisms to have certain flexibility.
The invention creatively introduces the design of the elastic control and the under-actuated rod piece in the rehabilitation glove and provides a good basis for the research of the wearable rehabilitation instrument glove based on the pneumatic series elastic driver.
Drawings
Fig. 1 is a perspective view of the overall structure of the present invention.
Fig. 2 is a perspective view of the thumb portion of fig. 1.
Fig. 3 is a perspective view of the index finger portion of fig. 1.
Fig. 4 is a perspective view of the thumb opening and closing portion of fig. 1.
Fig. 5 is a perspective view of the driving part of fig. 1.
Fig. 6 is a perspective view of the muzzle sleeve of fig. 1.
Fig. 7 is a perspective view of the palm rest of fig. 1.
Fig. 8 is a perspective view of the forearm sheath of fig. 1.
Fig. 9 is a theoretical structural view of a thumb portion of fig. 1.
Fig. 10 is a schematic view of the index finger portion of fig. 1 with the theoretical structure omitted.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
As shown in fig. 1-8, a wearable rehabilitation device glove based on a pneumatic series elastic driver comprises a glove part 1, a transmission rod group 2 and a pneumatic drive part 3; the glove part 1 comprises sleeves for the respective fingers, palm and arms; the transmission rod group 2 comprises rod pieces required by the movement of each finger; the pneumatic drive 3 comprises a cylinder drive required by each rod group and a spring required by flexible drive; all parts of the glove part 1 are connected together by all rod pieces of the transmission rod group 2, and the pneumatic drive 3 is arranged on the glove part 1 and is connected with the transmission rod group 2; the pneumatic drive 3 can drive the glove part 1 to control the movement of each finger by driving the transmission rod group 2, so as to simulate the track movement of a human hand.
The glove part 1 consists of a thumb mechanism 1100, a forefinger mechanism 1200, a middle finger mechanism 1300, a ring finger mechanism 1400, a little finger mechanism 1500, a palm sleeve 1600 and a forearm sleeve 1700; the transmission rod group 2 consists of a thumb rod group 2100, a forefinger rod group 2200, a middle finger rod group 2300, a ring finger rod group 2400, a little finger rod group 2500 and a thumb opening-closing rod group 2600; the pneumatic drive 3 is composed of a thumb cylinder 3100, an index finger cylinder 3200, a middle finger cylinder 3300, a ring finger cylinder 3400, a little finger cylinder 3500 and a thumb opening and closing cylinder 3600.
The thumb portion includes a thumb mechanism 1100, a thumb stick set 2100 and a thumb cylinder 3100, the thumb mechanism 1100 being adapted to be worn by a patient over the thumb and web.
As shown in fig. 2, the thumb mechanism 1100 is comprised of a thumb fingertip sleeve 1101, a thumb tip sleeve 1102, and a tiger's mouth sleeve 1103; the top of the thumb fingertip sleeve 1101 is provided with a connecting boss, the top of the thumb end sleeve 1102 is provided with two connecting bosses, the tiger's mouth sleeve is provided with a connecting boss and a ball socket connecting table, the four connecting bosses are respectively connected with the thumb rod group 2100, the ball socket connecting table on the tiger's mouth sleeve is used for being connected with the thumb opening-closing rod group 2600, the tail of the thumb fingertip sleeve 1101 and the head of the thumb end sleeve 1102 are respectively provided with two connecting parts, and the two sleeves are connected together by penetrating the two connecting parts through a cylindrical tip.
The thumb lever group 2100 comprises a first thumb lever 2101, a second thumb lever 2102, a third thumb lever 2103, a fourth thumb lever 2104, a fifth thumb lever 2105 and a sixth thumb lever 2106, wherein one end of the first thumb lever 2101 is hinged to a connecting boss at the top of the thumb fingertip sleeve 1101, the other end of the first thumb lever 2101 is hinged to the second thumb lever 2102 and the fourth thumb lever 2104, the other end of the fourth thumb lever 2104 is hinged to a connecting boss at the front end of the top of the thumb tip sleeve 1102, and the connecting boss at the rear end of the top of the thumb tip sleeve 1102 is hinged to one end of the sixth thumb lever 2106; the other end of the thumb rod six 2106 is hinged with a connecting boss above the first web sleeve 1103; a thumb rod five 2105 is hinged with the connecting boss above the first web sleeve 1103; the other end of the thumb rod piece five 2105 is hinged with the other end of the thumb rod piece two 2102; a thumb rod piece III 2103 is hinged with the other end of the thumb rod piece II 2102; the other end of the thumb rod piece three 2103 is axially and fixedly connected with a cylinder rod 3101 of the thumb cylinder 3100.
The index finger part is composed of an index finger mechanism 1200, an index finger rod set 2200, an index finger cylinder 3200 and a palm sleeve 1600 and is worn on the index finger by the patient.
As shown in fig. 3, the index finger mechanism 1200 is composed of an index finger tip sleeve 1201, an index finger middle sleeve 1202 and an index finger end sleeve 1203, wherein a connecting boss is arranged at the top of the index finger tip sleeve 1201, a connecting boss is arranged at the top of the index finger middle sleeve 1202, two connecting bosses are arranged at the top of the index finger end sleeve 1203, four connecting bosses are respectively connected with an index finger rod group 2200, two connecting parts are respectively arranged at the tail part of the index finger tip sleeve 1201 and the head part of the index finger end sleeve 1203, two connecting parts are respectively arranged at the head part and the tail part of the index finger middle sleeve 1202, and cylindrical pins are respectively used for sequentially connecting the tail part of the index finger tip sleeve 1201 and the head part of the index finger middle sleeve 1202, the tail part of the index finger.
The forefinger rod group 2200 is composed of a forefinger rod I2201, a forefinger rod II 2202, a forefinger rod III 2203, a forefinger rod IV 2204, a forefinger rod V2205, a forefinger rod III 2206, a forefinger rod seven 2207, a forefinger rod eight 2208 and a forefinger rod nine 2209, wherein one end of the forefinger rod I2201 is hinged with a connecting boss on the forefinger fingertip sleeve 1201; the other end is hinged with a second forefinger rod piece 2202 and a seventh forefinger rod piece 2207; the other end of the second forefinger rod 2202 is hinged with the connecting boss on the middle forefinger sleeve 1202, and the other end of the seventh forefinger rod 2207 is hinged with the eighth forefinger rod 2208 and the third forefinger rod 2203; the other end of the forefinger rod piece III 2203 is hinged with a connecting boss at the front end of the forefinger tail sleeve 1203, and the other end of the forefinger rod piece eight 2208 is hinged with a forefinger rod piece six 2206 and a forefinger rod piece nine 2209; the other end of the forefinger rod piece six 2206 is hinged with a connecting boss corresponding to the forefinger on the palm sleeve 1600 and the forefinger rod piece five 2205, and the other end of the forefinger rod piece five 2205 is hinged with the forefinger rod piece four 2204; the other end of the forefinger rod piece four 2204 is hinged with a connecting boss at the tail end of the forefinger tail sleeve 1203, and the other end of the forefinger rod piece nine 2209 is fixedly connected with a cylinder rod of the forefinger cylinder 3200 in the axial direction.
The middle finger mechanism 1300, the ring finger mechanism 1400 and the little finger mechanism 1500 have the same structure as the index finger mechanism 1200, and the difference is that the length and thickness of each sleeve are changed according to the length of the fingers of a person, and the structure of the three mechanisms is not described again.
The structures of the middle finger set 2300, the ring finger set 2400, the small finger set 2500 and the index finger set 2200 are completely the same, but the difference is that the lengths of the respective bars are changed according to the difference between the lengths and the motion tracks of the fingers, and the structures of the three bar sets are not described again.
As shown in fig. 4 and 6, the thumb opening and closing rod group 2600 is composed of a first opening and closing rod 2601, a second opening and closing rod 2602, a third opening and closing rod 2603 and a fourth opening and closing rod 2604, wherein one end of the first opening and closing rod 2601 is hinged to the ball-and-socket connecting platform on the first tiger's mouth sleeve 1103 to form a ball joint, and the other end is hinged to the second opening and closing rod 2602 and the third opening and closing rod 2603; the other end of the second opening-closing rod piece 2602 is hinged with a ball socket connecting platform on the palm sleeve 1600 to form a ball joint, the other end of the third opening-closing rod piece 2603 is hinged with the fourth opening-closing rod piece 2604, the fourth opening-closing rod piece 2604 is fixedly connected with the cylinder rod of the thumb opening-closing cylinder 3600 in the axial direction, and when the cylinder rod reciprocates, the thumb opening-closing rod group is driven to move, so that the tiger's mouth can be opened and closed.
As shown in fig. 7, the palm cover 1600 is a curved palm cover conforming to the palm configuration of a human body and is used for being worn on the palm of the patient, four connecting bosses and a ball socket-shaped connecting platform are arranged above the palm cover 1600, the four connecting bosses are positioned at the same height and respectively correspond to a forefinger rod group 2200, a middle finger rod group 2300, a ring finger rod group 2400 and a little finger rod group 2500, and the ball socket-shaped connecting platform is arranged at the back of the palm cover 1600 and corresponds to a thumb opening and closing rod group 2600.
As shown in fig. 8, the forearm sleeve 1700 is an integrally designed curved surface configuration conforming to the shape of the forearm of a person, is worn on the forearm of a patient and plays a role of placing a cylinder in the pneumatic drive 3, and comprises a forearm sleeve 1701, a cylinder placing shelf 1702, an opening and closing cylinder placing shelf 1703 and a distal cylinder placing shelf 1704, wherein the cylinder placing shelf 1702 is placed right above the forearm sleeve 1701, and four side-by-side cylindrical groove structures are arranged on the cylinder placing shelf 1702 and are respectively used for placing an index finger cylinder 3200, a middle finger cylinder 3300, a ring finger cylinder 3400 and a little finger cylinder 3500; the opening and closing cylinder mounting frame 1703 is arranged on the side surface of the small arm sleeve 1700 and is used for mounting the thumb opening and closing cylinder 3600; a distal cylinder mount 1704 mounts laterally distal of the forearm sleeve 1700 through rigid structural support for mounting the thumb cylinder 3100.
The structures of the thumb cylinder 3100, the index finger cylinder 3200, the middle finger cylinder 3300, the ring finger cylinder 3400, the little finger cylinder 3500 and the thumb opening and closing cylinder 3600 are the same, as shown in fig. 5, the thumb cylinder 3100 mainly comprises a cylinder rod 3101, a spring 3102 and a cylinder body 3103; the spring 3102 penetrates through the cylinder rod 3101, the cylinder rod 3101 is axially and fixedly connected with a rod piece at the tail end of the transmission rod group, a flange is arranged on the rod piece at the tail end of the transmission rod group and used for axially limiting the spring 3102, and the spring 3102 can perform telescopic motion along with the reciprocating linear motion of the cylinder rod 3101.
The thumb cylinder 3100 is arranged at the far-end cylinder placement frame 1704 and is responsible for the movement of the thumb; the forefinger cylinder 3200, the middle finger cylinder 3300, the ring finger cylinder 3400 and the little finger cylinder 3500 are arranged at the cylinder arrangement bent 1702 and are respectively responsible for the movement of the forefinger, the middle finger, the ring finger and the little finger; the thumb open-close cylinder 3600 is installed at the place where the open-close cylinder is placed 1703 and is responsible for the open-close movement of the thumb.
Specifically, the cylinder rod is connected with a rod piece at the tail end of the transmission rod group in a threaded connection mode, or a sleeve is arranged on the rod piece at the tail end of the transmission rod group, and the cylinder rod penetrates into the sleeve and is fixedly connected through inserting a cylindrical pin; the cylinder block 3103 is a common standard cylinder, and its specific structure is not described in detail.
The air inflation and deflation process of the thumb cylinder 3100 drives the cylinder rod 3101 to do reciprocating linear motion, the reciprocating linear motion of the cylinder rod 3101 pushes the thumb rod three 2103 to push the whole thumb rod group 2100 to move, the motion of the thumb rod group 2100 drives the whole thumb part to do flexion and extension motion, as shown in fig. 9, the mechanism formed by the thumb rod group 2100 and the thumb mechanism 1100 has one degree of freedom, so the length of the specific rod after optimized calculation can achieve the purpose of enabling the thumb mechanism 1100 to move according to the motion track of the human thumb, and the motion track of the thumb part is fixed due to the fact that the thumb part is designed with one degree of freedom, and the flexibility of the thumb part is achieved by the spring 3102.
The inflation and deflation process of the forefinger cylinder 3200 drives the cylinder rods to do reciprocating linear motion, the motion of the cylinder rods pushes the forefinger rod nine 2209 so as to push the whole forefinger rod group 2200 to drive the whole forefinger part to do flexion and extension motion, the forefinger rod four 2204 and the forefinger rod five 2205 are designed for slight displacement between the forefinger mechanism 1200 and the palm sleeve 1600, the two rod pieces can be ignored during theoretical calculation, the forefinger end sleeve 1203 and the palm sleeve 1600 are regarded as a rigid rod which can not move mutually, then a forefinger model with three degrees of freedom can be obtained, as shown in fig. 10, as only one drive is needed, the motion of the forefinger is not free, according to the optimized design calculation, a group of rod piece lengths which can be well matched with the motion trail of the human body can be obtained by calculation, so that the forefinger mechanism 1200 can achieve the, the lack of freedom drives and the spring can enable the mechanism to have certain flexibility.
When the cylinder rod of the thumb opening and closing cylinder 3600 performs reciprocating linear motion, the tiger's mouth can perform opening and closing motion, and the opening and closing motion is designed for providing certain strength for a patient.
The wearable auxiliary rehabilitation instrument glove is used for assisting and rehabilitating the hand rehabilitation of a patient, each cylinder rod is enabled to do reciprocating linear motion through inflation and deflation of each cylinder body, the reciprocating linear motion of each cylinder rod pushes each rod group to move, each rod group is driven to do human-like hand motion according to theoretical calculation results and actual stress results, and the human-like hand motion comprises the bending and stretching of a thumb of a human hand and the bending and stretching of an index finger, a middle finger, a ring finger and a little finger of the human hand, so that various grabbing and opening and closing motions of the human hand are simulated; due to the design of the spring and the under-actuated structure, the mechanism has good flexibility, and the safety of human-computer interaction is guaranteed. The invention creatively introduces the design of the elastic control and the under-actuated rod piece, and lays a structural foundation for the design and invention of the wearable rehabilitation instrument glove based on the pneumatic series elastic driver.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A wearable rehabilitation instrument glove based on a pneumatic series elastic driver is used for assisting a patient to perform hand rehabilitation and comprises a glove part, a transmission rod group and a cylinder driving part, and is characterized in that the glove part comprises a thumb mechanism, an index finger mechanism, a middle finger mechanism, a ring finger mechanism, a little finger mechanism, a palm sleeve and a forearm sleeve, the transmission rod group comprises a thumb rod group, an index finger rod group, a middle finger rod group, a ring finger rod group, a little finger rod group and a thumb opening and closing rod group, a pneumatic drive comprises a thumb cylinder, an index finger cylinder, a middle finger cylinder, a ring finger cylinder, a little finger cylinder and a thumb opening and closing cylinder, all parts of the glove part are respectively connected together through all rod pieces of the transmission rod group, the pneumatic drive is arranged on the glove part and connected with the transmission rod group, an elastic element is connected in series between the pneumatic drive cylinder and the transmission rod group, and the glove part is worn by the rehabilitee, each pneumatic cylinder drives the transmission rod group to act so as to drive each finger mechanism of the glove part to simulate the track motion of a human hand.
2. The wearable rehabilitation instrument glove based on the pneumatic series elastic driver as claimed in claim 1, wherein the thumb mechanism comprises a thumb fingertip sleeve, a thumb tip sleeve and a tiger's mouth sleeve, a connecting boss is arranged at the top of the thumb fingertip sleeve, two connecting bosses are arranged at the top of the thumb tip sleeve, a connecting boss and a ball socket connecting platform are arranged on the tiger's mouth sleeve, the four connecting bosses are respectively connected with the thumb rod group, the ball socket connecting platform is used for being connected with the thumb opening and closing rod group, two connecting positions are respectively arranged at the tail part of the thumb fingertip sleeve and the head part of the thumb tip sleeve, and the tail part of the thumb fingertip sleeve and the thumb tip sleeve are connected together by inserting cylindrical tips at the two connecting positions.
3. The wearable rehabilitation instrument glove based on the pneumatic series elastic driver as claimed in claim 2, wherein the thumb lever group comprises a first thumb lever, a second thumb lever, a third thumb lever, a fourth thumb lever, a fifth thumb lever and a sixth thumb lever, wherein one end of the first thumb lever is hinged to the connecting boss at the top of the thumb fingertip sleeve, the other end of the first thumb lever is hinged to the second thumb lever and the fourth thumb lever, the other end of the fourth thumb lever is hinged to the connecting boss at the front end of the top of the thumb end sleeve, and the connecting boss at the rear end of the top of the thumb end sleeve is hinged to one end of the sixth thumb lever; the other end of the thumb rod piece is hinged with a connecting boss above the first web sleeve; a thumb rod piece V is hinged with the connecting boss above the first web sleeve; the other end of the thumb rod piece V is hinged with the other end of the thumb rod piece II; a thumb rod piece III is hinged with the other end of the thumb rod piece II; the other end of the thumb rod piece III is fixedly connected with the cylinder rod of the thumb cylinder in the axial direction.
4. The wearable rehabilitation instrument glove based on the pneumatic series elastic driver as claimed in claim 2, wherein the thumb opening-closing rod set is composed of a first opening-closing rod piece, a second opening-closing rod piece, a third opening-closing rod piece and a fourth opening-closing rod piece, wherein one end of the first opening-closing rod piece is hinged with the ball socket connecting platform on the first jaw sleeve to form a ball joint, and the other end of the first opening-closing rod piece is hinged with the second opening-closing rod piece and the third opening-closing rod piece; the other end of the second opening and closing rod piece is hinged with the ball socket connecting platform on the palm sleeve to form a ball joint, the other end of the third opening and closing rod piece is hinged with the fourth opening and closing rod piece, the fourth opening and closing rod piece is fixedly connected with the cylinder rod of the thumb opening and closing cylinder in the axial direction, and when the cylinder rod reciprocates, the thumb opening and closing rod group is driven to move, so that the tiger's mouth can be opened and closed.
5. The wearable rehabilitation device glove based on the pneumatic series elastic driver as claimed in claim 1, wherein the index finger mechanism comprises an index finger tip sleeve, an index finger middle sleeve and an index finger end sleeve, the top of the index finger tip sleeve is provided with a connecting boss, the top of the index finger middle sleeve is provided with a connecting boss, the top of the index finger end sleeve is provided with two connecting bosses, the four connecting bosses are respectively connected with the index finger rod set, the tail of the index finger tip sleeve and the head of the index finger end sleeve are respectively provided with two connecting parts, the head and the tail of the index finger middle sleeve are respectively provided with two connecting parts, and the cylindrical pin is used for sequentially connecting the tail of the index finger tip sleeve, the head of the index finger middle sleeve, the tail of the index finger middle sleeve and the head of the index finger end sleeve.
6. The wearable rehabilitation device glove based on pneumatic series elastic drivers of claim 5, wherein the index finger rod set is composed of an index finger rod I, an index finger rod II, an index finger rod III, an index finger rod IV, an index finger rod V, an index finger rod VI, an index finger rod VII, an index finger rod VIII and an index finger rod VII, wherein one end of the index finger rod I is hinged with the connecting boss on the index finger tip sleeve; the other end is hinged with the index finger rod piece II and the index finger rod piece VII; the other end of the second forefinger rod piece is hinged with the connecting boss on the middle sleeve of the forefinger, and the seventh other end of the forefinger rod piece is hinged with the eighth forefinger rod piece and the third forefinger rod piece; the other end of the forefinger rod piece III is hinged with the connecting boss at the front end of the forefinger tail sleeve, and the other end of the forefinger rod piece eight is hinged with the forefinger rod piece six and the forefinger rod piece nine; the other end of the forefinger rod piece six is hinged with a connecting boss corresponding to the forefinger on the palm sleeve and a forefinger rod piece five, and the other end of the forefinger rod piece five is hinged with a forefinger rod piece four; the other end of the forefinger rod piece is hinged with the connecting boss at the tail end of the forefinger tail sleeve, and the other end of the forefinger rod piece is fixedly connected with the cylinder rod of the forefinger cylinder in the axial direction.
7. The wearable rehabilitation device glove based on pneumatic series elastic drivers of claim 6, wherein the middle finger mechanism, the ring finger mechanism and the little finger mechanism are the same as the index finger mechanism except that each sleeve has a length and a thickness which are changed according to different fingers of a human body, and the middle finger rod group, the ring finger rod group, the little finger rod group and the index finger rod group have the same structure except that each rod has a length which is changed according to the length and the motion track of the fingers of the human body.
8. The wearable rehabilitation device glove based on the pneumatic series elastic driver as claimed in claim 1, wherein the palm cover is a curved palm cover conforming to the palm configuration of the human body, four connecting bosses and a ball socket connecting platform are arranged above the palm cover, the four connecting bosses are located at the same height and respectively correspond to the index finger rod group, the middle finger rod group, the ring finger rod group and the little finger rod group, and the ball socket connecting platform is arranged at the rear part of the upper part of the palm cover and corresponds to the thumb opening and closing rod group.
9. The wearable rehabilitation device glove based on the pneumatic series elastic driver as claimed in claim 1, wherein the forearm sleeve is an integrally designed curved surface configuration conforming to the shape of the human forearm, and comprises a forearm sleeve, a cylinder arrangement bent frame, an opening and closing cylinder arrangement bent frame and a far-end cylinder arrangement bent frame, wherein the cylinder arrangement bent frame is arranged right above the forearm sleeve, and four side-by-side cylindrical grooves are formed in the cylinder arrangement bent frame and are respectively used for arranging a forefinger cylinder, a middle finger cylinder, a ring finger cylinder and a little finger cylinder; the opening and closing cylinder placing frame is arranged on the side surface of the small arm sleeve and is used for placing the thumb opening and closing cylinder; the far-end cylinder placing frame is supported and placed at the far end of the side face of the small arm sleeve through a rigid structure and used for placing the thumb cylinder.
10. The wearable rehabilitation device glove based on the pneumatic series elastic driver as claimed in claim 1, wherein the thumb cylinder, the index finger cylinder, the middle finger cylinder, the ring finger cylinder, the little finger cylinder and the thumb opening and closing cylinder have the same structure and mainly comprise a cylinder rod, a spring and a cylinder body, wherein the spring is arranged on the cylinder rod in a penetrating manner, the cylinder rod is fixedly connected with a rod piece at the tail end of the transmission rod group in an axial direction, a flange is arranged on the rod piece at the tail end of the transmission rod group for axially limiting the spring, and the spring can perform telescopic motion along with the reciprocating linear motion of the cylinder rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110013149.3A CN112587373A (en) | 2021-01-06 | 2021-01-06 | Wearable rehabilitation instrument glove based on pneumatic series elastic driver |
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| CN202110013149.3A CN112587373A (en) | 2021-01-06 | 2021-01-06 | Wearable rehabilitation instrument glove based on pneumatic series elastic driver |
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| CN113143691A (en) * | 2021-04-27 | 2021-07-23 | 中国民航大学 | Sports training apparatus for hand muscle rehabilitation |
| CN114469643A (en) * | 2022-01-21 | 2022-05-13 | 南京理工大学 | Wearable adjustable hand assistance exoskeleton |
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| CN110974605A (en) * | 2019-12-06 | 2020-04-10 | 江苏理工学院 | Finger rehabilitation training device and finger rehabilitation training system based on electroencephalogram control |
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| US20130175816A1 (en) * | 2010-09-24 | 2013-07-11 | Dainichi Co. Ltd. | Humanoid electric hand |
| CN104015202A (en) * | 2014-06-20 | 2014-09-03 | 北京航空航天大学 | Hydraulic tandem elastic driver |
| CN206577092U (en) * | 2016-09-29 | 2017-10-24 | 杭州电子科技大学 | A kind of rehabilitation of anklebone servicing unit |
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Application publication date: 20210402 |