CN115300330A - Hand dexterous rehabilitation robot driven by continuous flexible body - Google Patents
Hand dexterous rehabilitation robot driven by continuous flexible body Download PDFInfo
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- CN115300330A CN115300330A CN202211008164.XA CN202211008164A CN115300330A CN 115300330 A CN115300330 A CN 115300330A CN 202211008164 A CN202211008164 A CN 202211008164A CN 115300330 A CN115300330 A CN 115300330A
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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
- 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
- A61H2201/1657—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
- 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 discloses a hand dexterous rehabilitation robot driven by a continuous flexible body, which comprises protective gloves and a driving device, wherein the protective gloves comprise five finger sleeve parts; the driving device comprises a finger part assembly, a continuous flexible body and a driving assembly, wherein the finger part assembly is arranged on the back of one of the five finger sleeves, the outer side of the finger sleeve part corresponding to the thumb, the outer side of the finger sleeve part corresponding to the forefinger or the back of the protective glove corresponding to the carpometacarpal joint, one end of the continuous flexible body is connected with one end of the finger part assembly, and the other end of the continuous flexible body is connected with the driving assembly; the driving assembly controls the retraction of the continuous flexible body, and the force transmitted by the continuous flexible body is converted into bending moment through the finger assembly. The invention has the advantages of simple structure, low cost, high production efficiency, small volume, light weight, good portability, no large load bearing burden on the hand of a patient, small additional inertia, no rigid impact on fingers and good safety.
Description
Technical Field
The invention relates to the technical field of robots and medical rehabilitation, in particular to a hand dexterous rehabilitation robot driven by a continuous flexible body.
Background
The hand is one of the most important joints of the upper limbs of the human body, has the characteristics of high flexibility and strong functionality, and can not be used for various activities in daily life without the fine operation of the hand. Clinically, there are many patients who suffer from partial loss of hand functions, limited finger movement range and insufficient finger muscle strength caused by diseases such as spinal cord injury and stroke, but research shows that active hand function recovery training is performed on patients who suffer from hand function damage caused by spinal cord injury and stroke, and recovery of hand functions can be accelerated. The traditional hand rehabilitation training mainly adopts the auxiliary treatment of the hands of a doctor, one therapist can only train one patient at the same time, the workload is large, the training efficiency is low, the patient cannot be guaranteed to obtain enough training intensity, and the treatment effect is also mostly dependent on the experience and level of the therapist.
With the continuous progress of science and technology, rehabilitation training by using the robot technology becomes one of the important means for hand rehabilitation. The hand rehabilitation robot can reduce the workload of therapists, relieve the pressure of rehabilitation medical resources, can also realize the accurate record of rehabilitation data, help the therapists to objectively evaluate the rehabilitation effect, and ensure the timely adjustment and individualized formulation of the rehabilitation scheme.
Most of the existing hand rehabilitation robots are rigid exoskeletons, and the rehabilitation motion of fingers is realized by using a rigid connecting rod or other complex rigid transmission mechanisms, so that the following problems mainly exist: 1. the flexibility of the fingers is very high, and the precise and complex movement with multiple degrees of freedom is required to be realized, so that the structural design of the rigid transmission mechanism is very complex, the cost is high, and the production efficiency is low; 2. the rigid exoskeleton is large in overall volume, heavy in weight and poor in portability, and causes great load bearing burden to hands of patients; 3. the rigid rod and other rigid transmission mechanisms have larger application additional inertia and mass, and the dynamic characteristics of the hand are greatly changed; 4. the rigid member easily causes rigid impact on finger joints, generates secondary damage, and has high requirements on the accuracy, real-time performance and safety of a control system.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention aims to provide a hand dexterous rehabilitation robot driven by a continuous flexible body, which has the advantages of simple structure, low cost, high production efficiency, small volume, light weight, good portability, no large load bearing burden on the hands of a patient, small additional inertia, no rigid impact on fingers and good safety.
The hand dexterous rehabilitation robot driven by the continuous flexible body comprises:
a protective glove comprising five finger cuff portions;
the driving device comprises finger parts, a continuous flexible body and driving components, wherein the finger parts are arranged on the back of one of the five finger sleeve parts, the outer side of the finger sleeve part corresponding to a thumb, the outer side of the finger sleeve part corresponding to an index finger or the back of the protective glove corresponding to a carpometacarpal joint, one end of the continuous flexible body is connected with one end of the finger parts, and the other end of the continuous flexible body is connected with the driving components; the driving assembly controls the continuous flexible body to be retracted and retracted, and the finger assembly converts the force transmitted by the continuous flexible body into a bending moment;
when the finger assembly is disposed on the back of one of the five finger cuffs, the bending moment controls the corresponding finger to make an extension/flexion motion;
when the finger part assembly is arranged on the outer side of the finger sleeve part corresponding to the thumb or the outer side of the finger sleeve part corresponding to the forefinger, the bending moment controls the thumb or the forefinger to perform abduction/adduction movement correspondingly;
when the finger part assembly is arranged at the back of the protective glove corresponding to the carpometacarpal joint, the bending moment controls the thumb to do palmar movement.
According to the hand dexterous rehabilitation robot driven by the continuous flexible body, on one hand, the continuous flexible body is used for replacing a complex transmission mechanism on a finger joint in the prior art, and the fingers are directly driven to move; secondly, the finger cannot be subjected to rigid impact, and the safety is good; thirdly, the mass and the volume of the hand dexterous rehabilitation robot can be greatly reduced, the light weight of rehabilitation equipment is realized, the portability is good, and the load bearing burden of a user is reduced. On the other hand, the hand dexterous rehabilitation robot has the modularization characteristic, and can be combined differently according to the finger rehabilitation motion requirements so as to meet the diversified finger rehabilitation motion requirements.
In some embodiments, the continuous flexible body is a wire rope, thin steel strip, or fiber strip and the drive assembly is a power pusher bar assembly, a motor roller assembly, and a worm gear assembly; wherein, the first and the second end of the pipe are connected with each other,
when the continuous flexible body is the steel cable, the driving assembly is the electric push rod assembly or the worm rack assembly and is fixed on the anti-hand guard or is not fixed on the anti-hand guard, or the driving assembly is the motor roller assembly and is not fixed on the anti-hand guard;
when the continuous flexible body is the thin steel strip or the fiber strip, the driving component is the electric push rod component or the worm rack component and is fixed on the hand-proof sleeve.
In some embodiments, when the continuous flexible body is the steel cable and is not fixed on the hand-proof sleeve, a guiding assembly is arranged on the steel cable, and the guiding assembly is located between the driving assembly and the finger assembly and used for guiding the moving direction of the continuous flexible body.
In some embodiments, the guide assembly includes a first guide port, a hose, and a second guide port, the first guide port and the second guide port are respectively fixed at two ends of the hose, the first guide port is fixed on the hand guard sleeve and is close to the finger assembly, the second guide port is not fixed on the hand guard sleeve and is far away from the finger assembly, and the continuous flexible body movably passes through the first guide port, the hose, and the second guide port.
In some embodiments, the finger assembly includes a support plate; the support plate is bendable but not stretchable;
when the finger assembly is disposed on the back of one of the five finger sleeves, one end of the support plate is fixed to the fingertip of the corresponding finger sleeve, the other end of the support plate is fixed to the base of the corresponding finger sleeve, and one end of the continuous flexible body is fixed to one end of the support plate;
when the finger assembly is disposed on the outside of the finger sleeve portion corresponding to the thumb or the outside of the finger sleeve portion corresponding to the index finger, one end of the support plate is secured to the finger sleeve portion corresponding to the position between the proximal interphalangeal joint and the distal interphalangeal joint of the thumb or index finger, respectively, the other end of the support plate is secured to the base of the finger sleeve portion corresponding to the thumb or index finger, respectively, one end of the continuous flexible body is secured to one end of the support plate;
when the finger part assembly is arranged at the back part of the protective glove corresponding to the wrist-palm joint, one end of the supporting plate is fixed at the back part of the protective glove corresponding to the thumb-palm joint, the other end of the supporting plate is fixed at the back part of the protective glove corresponding to the index finger-palm joint, and one end of the continuous flexible body is fixed at one end of the supporting plate.
In some embodiments, the support plate is a corrugated plastic plate, corrugated fiberboard or chain plate.
In some embodiments, when the finger assembly is disposed on the back of one of the five finger sleeves, the finger assembly further comprises a fingertip cuff connected to one end of the support panel, the fingertip cuff fitting over the corresponding fingertip of the finger sleeve.
In some embodiments, the finger assembly further comprises a restraint disposed on an upper surface on the support plate, the continuous flexible body being movably threaded through the restraint.
In some embodiments, an anchor point is provided at one end of the support plate.
In some embodiments, the number of the driving devices is 1 to 8, wherein the finger assemblies not belonging to the same driving device are arranged at different positions on the protective glove.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a hand dexterous rehabilitation robot driven by a continuous flexible body according to an embodiment of the invention.
Figure 2 is a partial side view of a hand dexterous rehabilitation robot employing a continuous flexible body drive in accordance with one embodiment of the present invention.
Figure 3 is a partial front view of a hand dexterous rehabilitation robot using continuous flexible body drive in accordance with one embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a hand dexterous rehabilitation robot driven by a continuous flexible body according to another embodiment of the invention.
Fig. 5 is a schematic structural view of a hand dexterous rehabilitation robot using continuous flexible body driving according to still another embodiment of the present invention.
Fig. 6 is a schematic structural view of a hand dexterous rehabilitation robot using continuous flexible body driving according to another embodiment of the present invention.
Fig. 7 is a schematic structural view of a second guide port in the embodiment of the present invention.
FIG. 8 is a schematic diagram of a Bowden cable structure formed by cables penetrating hoses according to an embodiment of the present invention.
Figure 9 is a schematic diagram of a finger assembly of an embodiment of the present invention disposed on the back of one of the five finger cuffs.
Figure 10 is a schematic diagram of a finger assembly of an embodiment of the present invention positioned on the outside of the finger sleeve portion for the thumb or the finger corresponding to the index finger.
Fig. 11 is a schematic structural diagram of an electric push rod assembly according to an embodiment of the present invention.
Fig. 12 is a schematic view of the structure of a worm rack assembly according to an embodiment of the present invention.
Fig. 13 is a schematic structural diagram of a motor roller assembly according to an embodiment of the present invention.
FIG. 14 is a schematic view of the chain plate of the present invention.
Fig. 15 is a schematic view of a first configuration of a thin steel or fiber strip in an embodiment of the present invention.
Fig. 16 is a second structural schematic of a thin steel or fiber strip in an embodiment of the invention.
Reference numerals:
Finger sleeve part 101
Electric push rod fixing seat 20311 electric push rod 20312 motor roller assembly 2032
Supporting seat 20321, roller 20322 and joint motor 20323 worm gear assembly 2033
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The hand dexterity rehabilitation robot using continuous flexible body driving of the present invention will be described with reference to fig. 1 to 16.
As shown in fig. 1 to 16, the hand dexterous rehabilitation robot using continuous flexible body driving according to the embodiment of the present invention comprises a protective glove 1 and a driving device 2, wherein the protective glove 1 comprises five finger sleeve parts 101; the driving device 2 comprises a finger part assembly 201, a continuous flexible body 202 and a driving assembly 203, wherein the finger part assembly 201 is arranged on the back of one finger sleeve part 101 of the five finger sleeve parts 101, the outer side of the finger sleeve part 101 corresponding to the thumb, the outer side of the finger sleeve part 101 corresponding to the forefinger or the back of the protective glove 1 corresponding to the carpometacarpal joint, one end of the continuous flexible body 202 is connected with one end of the finger part assembly 201, and the other end is connected with the driving assembly 203; the driving assembly 203 controls the retraction of the continuous flexible body 202, and the force transmitted by the continuous flexible body 202 is converted into a bending moment through the finger assembly 201;
when the finger assembly 201 is disposed on the back of one of the five finger sleeve portions 101, the bending moment controls the corresponding finger to make an extension/flexion movement;
when the finger assembly 201 is disposed on the outer side of the finger stall 101 corresponding to the thumb or the outer side of the finger stall 101 corresponding to the forefinger, the bending moment controls the abduction/adduction of the thumb or the forefinger accordingly;
when the finger component 201 is arranged at the back of the protective glove 1 corresponding to the carpometacarpal joint, the bending moment controls the thumb to do palmar movement.
Specifically, when the hand dexterous rehabilitation robot is used, the protective glove 1 is worn on a human hand, on one hand, the protective glove 1 provides an installation position for the driving device 2 or part of components in the driving device 2, and the situation that the driving device 2 or part of components in the driving device 2 are directly installed on the human hand and are prone to causing discomfort is reduced or avoided; on the other hand, the safety of the human hand during rehabilitation training can be ensured.
The protective glove 1 comprises five finger sleeve parts 101, the five finger sleeve parts 101 correspond to five fingers of a human hand, and when the protective glove 1 is worn on the human hand, the five finger sleeve parts 101 are worn on a thumb, an index finger, a middle finger, a ring finger and a little finger in a one-to-one correspondence manner.
The driving device 2 comprises a finger part assembly 201, a continuous flexible body 202 and a driving assembly 203, wherein the finger part assembly 201 is arranged on the back of one finger sleeve part 101 of the five finger sleeve parts 101, the outer side of the finger sleeve part 101 corresponding to the thumb, the outer side of the finger sleeve part 101 corresponding to the forefinger or the back of the protective glove 1 corresponding to the carpometacarpal joint, one end of the continuous flexible body 202 is connected with one end of the finger part assembly 201, and the other end is connected with the driving assembly 203; the driving unit 203 controls the retraction and extension of the continuous flexible body 202, and converts the force transmitted from the continuous flexible body 202 into a bending moment by the finger unit 201. It will be appreciated that the continuously flexible body 202 is adapted to transmit the force and motion output from the drive assembly 203, and the finger assembly 201 is adapted to convert the force transmitted by the continuously flexible body 202 into a bending moment, thereby causing the fingers to bend or the joints of the hand to rotate. It should be noted that the continuous flexible body 202 has moderate bending stiffness and higher tension and compression stiffness, for example, the continuous flexible body 202 can be a steel cable 2021, a thin steel strip 2022 or a fiber strip 2023, so as to achieve good force transmission effect and can be bent, the invention directly drives fingers to move by using the continuous flexible body 202 to replace a complex transmission mechanism on a finger joint in the prior art, and has the following advantages that firstly, the structure is simpler, and a complex rigid structure does not exist, so the cost is lower, and the control is more convenient; secondly, the finger cannot be subjected to rigid impact, and the safety is good; thirdly, the weight and the volume of the hand dexterous rehabilitation robot can be greatly reduced, the load bearing burden of a user is reduced, the lightweight of rehabilitation equipment is realized, and the portability is good.
When the finger assembly 201 is placed on the back of one of the five finger sleeves 101, the bending moment controls the corresponding finger in extension/flexion movement. It should be noted that when the continuous flexible body 202 is pulled back by the driving assembly 203, the fingers perform an extending motion, and when the continuous flexible body 202 is pushed out by the driving assembly 203, the fingers perform a flexing motion, the flexing motion of the fingers is a motion in which the fingers are flexed, and the extending motion of the fingers is a motion opposite to the flexing motion of the fingers, that is, a motion in which the fingers return from a flexed state to a finger straightened state.
When finger assembly 201 is disposed on the outside of finger cuff 101 for the thumb or the outside of finger cuff 101 for the index finger, the bending moment controls abduction/adduction movement of the thumb or index finger accordingly. It is noted that when continuously flexible body 202 is retracted by drive assembly 203, the thumb or index finger performs an abduction motion, and when continuously flexible body 202 is pushed out by drive assembly 203, the thumb or index finger performs an adduction motion. Specifically, the outside of the finger stall 101 corresponding to the thumb is specifically the side of the finger stall 101 corresponding to the thumb away from the finger stall 101 corresponding to the index finger, and the outside of the finger stall 101 corresponding to the index finger is specifically the side of the finger stall 101 corresponding to the index finger facing the thumb. Abduction and adduction of fingers refers to the movement of the fingers in the coronal plane away from the midline of the hand and towards and even across the midline of the hand.
When the finger component 201 is arranged at the back of the protective glove 1 corresponding to the carpometacarpal joint, the bending moment controls the thumb to do volar movement. It is noted that when continuously flexible body 202 is pushed out by drive assembly 203, the thumb makes an antipodal movement, and when continuously flexible body 202 is pulled back by drive assembly 203, the thumb makes an opposite movement to the antipodal movement. Wherein, the palmar movement refers to the movement of the thumb touching the little finger root, ring finger root, middle finger root or index finger root.
As can be seen from the above, the hand dexterity rehabilitation robot of the present invention has modular features, and can be combined differently according to finger rehabilitation exercise requirements to meet diversified finger rehabilitation exercise requirements, for example, as shown in fig. 1 to 5, when on the back of each of five finger sleeve portions 101, on the outer side of the finger sleeve portion 101 corresponding to the thumb, on the outer side of the finger sleeve portion 101 corresponding to the forefinger, and on the back of the protective glove 1 corresponding to the carpometacarpal joint, finger components 201 can be provided at the same time, that is, 8 driving devices 2 can be provided at the same time on the user's hand, so that the combined hand dexterity rehabilitation robot can support rehabilitation motion of 8 degrees of freedom of the hand, that is, the flexion/extension degree of freedom of the carpometacarpal joint, the flexion/extension degree of freedom and the adduction/abduction degree of freedom of the thumb, the flexion/extension degree of freedom and the adduction/abduction degree of freedom of the forefinger, and the flexion/extension degree of freedom of the middle finger, ring finger and little finger. For another example, as shown in fig. 6, when the back of the glove part 101 corresponding to the thumb, the index finger and the middle finger is placed, the finger part assembly 201 can be placed on the outer side of the glove part 101 corresponding to the thumb, the outer side of the glove part 101 corresponding to the index finger and the back of the protective glove 1 corresponding to the carpometacarpal joint at the same time, that is, 6 driving devices 2 can be placed on the hand of the user at the same time, so that the combined hand dexterous rehabilitation robot can support rehabilitation motions of 6 degrees of freedom, that is, the flexion/extension degree of freedom of the carpometacarpal joint, the flexion/extension degree of freedom and the adduction/abduction degree of freedom of the thumb, the flexion/extension degree of freedom and the adduction/abduction degree of freedom of the index finger and the flexion/extension degree of freedom of the middle finger.
According to the hand dexterous rehabilitation robot driven by the continuous flexible body, on one hand, the continuous flexible body 202 is used for replacing a complex transmission mechanism on a finger joint in the prior art to directly drive fingers to move, and the hand dexterous rehabilitation robot has the following advantages that firstly, the structure is simpler, and no complex rigid structure exists, so that the hand dexterous rehabilitation robot is lower in cost and more convenient to control; secondly, the finger cannot be rigidly impacted, and the safety is good; thirdly, the mass and the volume of the hand dexterous rehabilitation robot can be greatly reduced, the load bearing burden of a user is reduced, the lightweight of rehabilitation equipment is realized, and the portability is good. On the other hand, the hand dexterous rehabilitation robot has the modularization characteristic, and can be combined differently according to the finger rehabilitation motion requirements so as to meet the diversified finger rehabilitation motion requirements.
In some embodiments, the finger assembly 201 is machined using 3D printing. The finger part assembly 201 is processed and prepared in a 3D printing mode, so that the finger part assembly 201 suitable for the hand of the user can be quickly constructed according to the hand characteristics of the user, the hand dexterous rehabilitation robot 1000 has the characteristics of individuation, accuracy and quick reconstruction, and individualized, accurate and low-cost rehabilitation exercise can be realized.
In some embodiments, the continuous flexible body 202 is a steel cable 2021, a thin steel strip 2022, or a fiber strip 2023. It will be appreciated that the steel cable 2021, thin steel strip 2022 or fiber strip 2023 has moderate bending stiffness and high tension and compression stiffness, and can well realize the transmission of force and motion. Specifically, the cross-section of the wire rope 2021 may be circular; the thin steel strip 2022 and the fiber strip 2023 may have a square or semi-circular cross section, but are not limited thereto, and other cross-sectional shapes or members made of other materials, which have moderate bending stiffness and high tension and compression stiffness, can realize force transmission, and can be used as the continuous flexible body 202.
The drive assembly 203 is a power push rod assembly 2031 (shown in fig. 1, 4, and 6), a motor-roller assembly 2032, and a worm-rack assembly 2033 (shown in fig. 5). Specifically, the electric push rod assembly 2031 comprises an electric push rod holder 20311 and an electric push rod 20312, wherein one end of the electric push rod 20312 is mounted on the electric push rod holder 20311, and the other end of the electric push rod 20312 is fixedly connected to the continuously flexible body 202 (as shown in fig. 11). The motor-roller assembly 2032 comprises a support base 20321, a roller 20322 and a joint motor 20323, the roller 20322 is rotatably mounted on the support base 20321, the joint motor 20323 is fixedly connected with a central rotating shaft of the roller 20322, the roller 20322 is used for winding the steel cable 2021, and the roller 20322 is driven to rotate by the joint motor 20323 to realize the winding and unwinding of the steel cable 2021 (as shown in fig. 13). Worm rack assembly 2033 comprises rack 20331, motor 20332, worm 20333, and bracket 20334, wherein the output shaft of motor 20332 is fixedly connected to worm 20333, worm 20333 is fixed to bracket 20334, rack 20331 is connected to continuously flexible body 202, and worm 20333 rotates to move rack 20331, thereby moving continuously flexible body 202 and realizing the retraction process of continuously flexible body 202 (as shown in fig. 12).
Wherein, when the continuous flexible body 202 is the cable 2021, the driving unit 203 is the electric push rod unit 2031 or the worm rack unit 2033 and is fixed on the protective glove 1 or not fixed on the protective glove 1. That is, the present invention includes the following embodiments, the electric push rod assembly 2031 is fixed on the protective glove 1, and the control cable 2021 is retracted; the worm rack assembly 2033 is fixed on the protective glove 1 to control the steel cable 2021 to retract; the electric push rod assembly 2031 is not fixed on the protective glove 1, for example, is fixed at a position far away from the protective glove 1, and controls the steel cable 2021 to retract; the worm-gear assembly 2033 is not fixed to the protective glove 1, for example, at a position away from the protective glove 1, and the control cable 2021 is retracted.
Or the continuous flexible body 202 is the cable 2021, the driving unit 203 is the motor roller 2032 and is not fixed on the protective glove 1. That is, the present invention includes an embodiment in which the motor roller assembly 2032 is fixed at a position remote from the protective glove 1 to control the winding and unwinding of the wire 2021. When the driving assembly 203 is the motor roller assembly 2032, the motor roller assembly 2032 is bulky and heavy, and therefore needs to be disposed at a position far from the protective glove 1 to reduce the load-bearing burden on the user's hand.
When the continuously flexible body 202 is a thin steel strip 2022 or a fiber strip 2023, the driving assembly 203 is a power push rod assembly 2031 or a worm gear assembly 2033 and is fixed on the protective glove 1. That is, the present invention includes an embodiment in which the electric putter assembly 2031 is fixed to the protective glove 1, and the thin steel bar 2022 is controlled to be drawn and unwound; the electric push rod component 2031 is fixed on the protective glove 1 and controls the retraction of the fiber strip 2023; the worm rack assembly 2033 is fixed on the protective glove 1 to control the folding and unfolding of the thin steel bar 2022; the worm gear assembly 2033 is fixed on the protective glove 1 to control the retraction of the fiber strip 2023. The electric push rod assembly 2031 and the worm rack assembly 2033 are arranged on the protective glove 1, so that the problems that the thin steel strip 2022 or the fiber strip 2023 is too long and the weight is too heavy, which increases the load on the hand of the user, can be avoided. As shown in fig. 12, 15 and 16, when the continuous flexible body 202 is a thin steel strip 2022 and a fiber strip 2023, a spline engaged with the worm 20333 may be directly formed on the thin steel strip 2022 and the fiber strip 2023 at a position near the end thereof, and used as the rack 20331.
In some embodiments, as shown in fig. 1 to 3, when the continuous flexible body 202 is a steel cable 2021 and is not fixed on the protective glove 1, a guiding assembly 3 is disposed on the steel cable 2021, and the guiding assembly 3 is located between the driving assembly 203 and the finger assembly 201 for guiding the moving direction of the continuous flexible body 202, so as to well avoid the abrasion or interference caused by the direct contact of the steel cable 2021 with other structures during the winding and unwinding process.
In some embodiments, the guide assembly 3 comprises a first guide port 301, a flexible tube 302 and a second guide port 303, the first guide port 301 and the second guide port 303 are respectively fixed at both ends of the flexible tube 302, the first guide port 301 is fixed on the protective glove 1 and close to the finger assembly 201, the second guide port 303 is not fixed on the protective glove 1 and far from the finger assembly 201, and the continuous flexible body 202 movably passes through the first guide port 301, the flexible tube 302 and the second guide port 303. It is understood that the first and second guide ports 301 and 303 are used to fix the positions of the two ends of the hose 302, the hose 302 is used to guide the transmission direction of the cable 2021, and the cable 2021 is wrapped around the hose 302 to form a bowden cable structure (as shown in fig. 8). When the driving assembly 203 controls the continuous flexible body 202 to be retracted and extended, the cable 2021 slides along the hose 302 in the hose 302, force and movement are transmitted, and the guiding assembly 3 is arranged to avoid the cable 2021 from directly contacting other structures to cause abrasion or interference.
In some embodiments, the first guide port 301 comprises a first seat by which the first guide port 301 is removably secured to the protective glove 1, and the second guide port 303 comprises a second seat (as shown in fig. 7) by which the second guide port 303 is removably secured at a location remote from the protective glove 1 (i.e., the second guide port 303 is not secured to the protective glove 1). Specifically, the first base and the second base can be fixed by nylon buckles, buckles or adhesion.
In some embodiments, the finger assembly 201 includes a support plate 2011; the support plate 2011 can bend but cannot stretch;
when the finger assembly 201 is disposed on the back of one finger stall 101 of the five finger stall 101, one end of the support plate 2011 is fixed to the fingertip of the corresponding finger stall 101, for example, the support plate 2011 may be fixed by a nylon buckle or a buckle, the other end of the support plate 2011 is fixed to the base of the corresponding finger stall 101, for example, the support plate 2011 may be fixed by a nylon buckle or a buckle, and one end of the continuous flexible body 202 is fixed to one end of the support plate 2011, so that the continuous flexible body 202 may drive the support plate 2011 on the corresponding finger stall 101 to bend, and further may control the corresponding finger to perform an extension/flexion motion.
When the finger assembly 201 is disposed on the outer side of the finger stall 101 corresponding to the thumb or the outer side of the finger stall 101 corresponding to the index finger, one end of the support plate 2011 is correspondingly fixed to the finger stall 101 corresponding to the position between the proximal interphalangeal joint and the distal interphalangeal joint of the thumb or the index finger, for example, the support plate 2011 may be fixed to the base of the finger stall 101 corresponding to the thumb or the index finger, for example, the support plate 2011 may be fixed to the base by a nylon fastener or a buckle, one end of the continuous flexible body 202 is fixed to one end of the support plate 2011, so that the continuous flexible body 202 may drive the support plate 2011 to bend, and further may control the thumb or the index finger to perform abduction/adduction movement.
When the finger assembly 201 is disposed at the back of the protective glove 1 corresponding to the wrist-palm joint, one end of the support plate 2011 is fixed to the back of the protective glove 1 corresponding to the thumb-palm joint, for example, the support plate 2011 can be fixed to the back of the protective glove 1 corresponding to the index finger-palm joint, for example, the support plate 2011 can be fixed to the back of the protective glove 1 corresponding to the thumb-palm joint through a nylon fastener or a buckle, one end of the continuous flexible body 202 is fixed to one end of the support plate 2011, so that the continuous flexible body 202 can drive the support plate 2011 to bend, and further, the thumb can be controlled to do the palmar movement.
In some embodiments, the support plate 2011 is a corrugated plastic plate, corrugated fiberboard, or chain plate 20111. It can be understood that the wavy plastic plate, the wavy fiber plate or the chain plate 20111 has the characteristics of being flexible and not easy to stretch, and other components which are flexible and not easy to stretch can also be used as the support plate 2011. As shown in fig. 14, chain plate 20111 is formed by a plurality of links hinged to each other.
In some embodiments, when finger assembly 201 is disposed on the back of one of five finger stalls 101, finger assembly 201 further includes a finger tip sleeve 2012, finger tip sleeve 2012 is connected to one end of support plate 2011, and finger tip sleeve 2012 is fitted over the tip of the corresponding finger stall 101. By providing the finger tip sleeve 2012, when the continuously flexible body 202 pulls the finger tip, the continuously flexible body 202 first pulls the finger tip sleeve 2012, and then the finger tip is pulled by the finger tip sleeve 2012, so that the risk of finger injury can be reduced. Specifically, when finger assembly 201 includes fingertip sleeve 2012, one end of support plate 2011 is secured to fingertip sleeve 2012 by a nylon clasp or snap.
In some embodiments, the finger assembly 201 further comprises a restraint 2013, the restraint 2013 being disposed on an upper surface on a support plate 2011, the continuous flexible body 202 being movable through the restraint 2013. It will be appreciated that the placement of constraints 2013 may serve to guide and constrain the movement of the continuously flexible body 202. Specifically, the constraining devices 2013 can be fixed on the supporting plate 2011 through nylon buckles or buckles, the number of the constraining devices 2013 on the supporting plate 2011 can be increased or decreased in a personalized mode according to the lengths of different fingers of a user, namely, one or more or no constraining devices 2013 can be arranged on the constraining devices 2013 according to the lengths of the fingers, so that effectiveness, rationality and adjustability of the hand dexterous rehabilitation robot disclosed by the embodiment of the invention in rehabilitation exercise can be guaranteed. Specifically, the restraint 2013 is provided with an opening, and the shape of the opening is matched with the cross-sectional shapes of the steel cable 2021, the thin steel strip 2022 and the fiber strip 2023. For example, when the cross section of the wire 2021 is circular, the shape of the opening in the restraint 2013 is also circular, and when the cross section of the thin steel bar 2022 or the fiber bar 2023 is square or circular, the shape of the opening in the restraint 2013 is also square or circular.
As shown in fig. 9, when a plurality of the constrainers 2013 are provided, the plurality of the constrainers 2013 are provided at intervals along the extending direction of the support plate 2011, and the constrainers 2013 are provided with the openings. The distance from the center of the opening of the plurality of constrainers 2013, which are sequentially arranged in the direction from the back of the hand to the tip of the finger, to the upper surface of the support plate 2011 is gradually reduced, and one end of the continuously flexible body 202 sequentially penetrates through the openings of the plurality of constrainers 2013 in the direction from the back of the hand to the tip of the finger, and then is fixed to one end of the support plate 2011. When the driving assembly 203 pushes out the continuous flexible body 202, the continuous flexible body 202 is restrained by the upper end of the opening of the restraint device 2013, bending occurs between different restraint devices 2013, one end of the support plate 2011 is pushed to drive the support plate 2011 to bend, and meanwhile, the support plate 2011 unloads the force in the extension direction of the continuous flexible body 202, so that the five fingers are bent; when the driving assembly 203 pulls back the continuous flexible body 202, the continuous flexible body 202 is constrained by the lower end of the opening of the restraint device 2013, the bending between different restraint devices 2013 is gradually reduced, one end of the supporting plate 2011 is pulled to drive the supporting plate 2011 to gradually recover from a bending state, and meanwhile, the force in the contraction direction is unloaded by the supporting plate 2011, so that the five fingers are extended. In summary, the plurality of constraining devices 2013 and the supporting plate 2011 are arranged to convert the pressure and the pulling force transmitted by the continuous flexible body 202 along the extending direction of the fingers into more forces for driving the fingers to bend, so that the hand dexterity rehabilitation robot 1000 of the present invention has better use effect.
In some embodiments, as shown in fig. 9 and 10, an anchor point 2014 is provided at one end of the support plate 2011. Note that anchor point 2014 is used to secure one end of continuous flexible body 202 at one end of support plate 2011. Adopt anchor point 2014 fixed continuous flexible body 202, fixed mode is simpler, and it is more convenient to operate. When the finger assembly 201 includes a fingertip sleeve 2012, the anchor point 2014 is secured to the fingertip sleeve 2012; when the finger assembly 201 is disposed on the outer side of the finger stall 101 corresponding to the thumb, the outer side of the finger stall 101 corresponding to the forefinger, or the back of the protective glove 1 corresponding to the carpometacarpal joint, the anchor point 2014 is fixed on the protective glove 1 corresponding to one end of the support plate 2011.
In some embodiments, the number of drives 2 is 1 to 8, wherein the finger assemblies 201 not belonging to the same drive 2 are arranged in different positions on the protective glove 1. The number of the driving devices 2 is 1 to 8, that is, only one driving device 2 may be provided on the hand, 8 driving devices 2 may be provided on the hand at the same time, or 5 driving devices 2 may be provided on the hand at the same time, and so on. The hand dexterous rehabilitation robot 1000 has the modular characteristic, and can be used for only arranging the driving device 2 on the fingers needing rehabilitation according to different hand characteristics and rehabilitation requirements of different patients so as to adapt to different hand rehabilitation requirements and realize the requirements of rapidity, accuracy and individuation for hand rehabilitation. The finger assemblies 201 not belonging to the same driving device 2 are disposed at different positions on the protective glove 1, for example, when the driving device 2 is provided with 8, correspondingly, the finger assemblies 201 are also provided with 8, and the 8 finger assemblies 201 are respectively and correspondingly disposed at the back of five finger sleeve portions 101, on the outer side of the finger sleeve portion 101 corresponding to the thumb, on the outer side of the finger sleeve portion 101 corresponding to the forefinger and at the back of the protective glove 1 corresponding to the carpometacarpal joint, as shown in fig. 1 and fig. 2, a first driving device 21 controls the adduction/abduction motion of the thumb, a second driving device 22 controls the flexion/extension motion of the thumb, a third driving device 23 controls the flexion/extension motion of the carpometacarpal joint, a fourth driving device 24 controls the adduction/abduction motion of the forefinger, a fifth driving device 25 controls the flexion/extension motion of the forefinger, a sixth driving device 26 controls the flexion/extension motion of the middle finger, a seventh driving device 27 controls the flexion/extension motion of the ring finger, an eighth driving device 28 controls the flexion/extension motion of the small finger to realize the driving device to perform the hand movement with one degree of freedom, and the two degrees of the thumb, and two degrees of freedom of the middle finger, two degrees of freedom, one degree of two degrees of freedom of the palm, and two degrees of freedom of the two degrees of the palm.
The following describes a specific structure of a hand dexterous rehabilitation robot using continuous flexible body driving according to an embodiment of the present invention with reference to the drawings. The embodiments of the present invention may be all embodiments in which a plurality of the aforementioned technical solutions are combined, and are not limited to the following specific embodiments.
Example 1
A hand dexterity rehabilitation robot using a continuous flexible body drive, as shown in fig. 1 to 3, comprises a protective glove 1, an electric push rod assembly 2031, a steel cable 2021, a first guide port 301, a hose 302, a second guide port 303, a support plate 2011, a restraint 2013, a fingertip cuff 2012 and an anchoring point 2014, wherein the support plate 2011 is arranged on the back of one cuff 101 of five cuff 101 of the protective glove 1. The electric push rod assembly 2031 is not fixed on the protective glove 1, the other end of the steel cable 2021 is connected with the electric push rod assembly 2031, the first guide port 301 and the second guide port 303 are respectively fixed at two ends of the hose 302, the first guide port 301 is fixed on the protective glove 1 and is close to the finger assembly 201, the second guide port 303 is not fixed on the protective glove 1 and is far away from the finger assembly 201, the steel cable 2021 penetrates through the second guide port 303, the hose 302 and the first guide port 301, the finger tip sleeve 2012 is sleeved on the fingertip of the corresponding finger sleeve 101, the first anchoring point 2014 is fixed on the finger tip sleeve 2012, one end of a supporting plate 2011 is fixed on a fingertip cover 2012, the other end of the supporting plate 2011 is fixed at the base of the corresponding fingertip 101, a plurality of constrainers 2013 are arranged on the upper surface of the supporting plate 2011, the constrainers 2013 are arranged at intervals along the extending direction of the supporting plate 2011, holes are formed in the constrainers 2013, the distance from the centers of the holes in the constrainers 2013, which are sequentially arranged along the direction from the back of the hand to the fingertip, to the upper surface of the supporting plate 2011 is gradually reduced, and one end of a steel cable 2021 sequentially penetrates through the holes in the constrainers 2013 along the direction from the back of the hand to the fingertip, and then is fixed on an anchoring point 2014.
Example 2
A hand dexterous rehabilitation robot driven by a continuous flexible body is disclosed, as shown in fig. 1, on the basis of embodiment 1, a fingertip sleeve 2012 and a restraint device 2013 are not arranged, a support plate 2011 is arranged at the back of a protective glove 1 corresponding to a wrist-palm joint, an anchor point 2014 is fixed at one end of the support plate 2011, one end of the support plate 2011 is fixed with the back of the protective glove 1 corresponding to a thumb-palm wrist joint, and the other end of the support plate 2011 is fixed with the back of the protective glove 1 corresponding to the index finger-palm-wrist joint.
In the description of the specification, references to "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like, mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A hand dexterous rehabilitation robot driven by a continuous flexible body, comprising:
a protective glove comprising five finger cuff portions;
the driving device comprises a finger part assembly, a continuous flexible body and a driving assembly, wherein the finger part assembly is arranged on the back of one of the five finger sleeves, the outer side of the finger sleeve corresponding to a thumb, the outer side of the finger sleeve corresponding to an index finger or the back of the protective glove corresponding to a carpometacarpal joint, one end of the continuous flexible body is connected with one end of the finger part assembly, and the other end of the continuous flexible body is connected with the driving assembly; the driving assembly controls the retraction and the extension of the continuous flexible body, and the finger assembly converts the force transmitted by the continuous flexible body into a bending moment;
when the finger assembly is disposed on the back of one of the five finger cuffs, the bending moment controls the corresponding finger to extend/flex;
when the finger part assembly is arranged on the outer side of the finger sleeve part corresponding to the thumb or the outer side of the finger sleeve part corresponding to the forefinger, the bending moment controls the thumb or the forefinger to perform abduction/adduction movement correspondingly;
when the finger part assembly is arranged at the back of the protective glove corresponding to the carpometacarpal joint, the bending moment controls the thumb to do palmar movement.
2. The robotic dexterous hand rehabilitation of claim 1 wherein the continuous flexible body is a wire, thin steel strip, or fiber strip and the drive assembly is a power push bar assembly, a motor roller assembly, and a worm rack assembly; wherein the content of the first and second substances,
when the continuous flexible body is the steel cable, the driving assembly is the electric push rod assembly or the worm rack assembly and is fixed on the anti-hand guard or is not fixed on the anti-hand guard, or the driving assembly is the motor roller assembly and is not fixed on the anti-hand guard;
when the continuous flexible body is the thin steel strip or the fiber strip, the driving component is the electric push rod component or the worm gear component and is fixed on the hand-proof sleeve.
3. The continuous flexible body driven hand dexterous rehabilitation robot according to claim 2, wherein when the continuous flexible body is the steel cable and is not fixed on the hand protection sleeve, a guiding component is arranged on the steel cable, and the guiding component is positioned between the driving component and the finger component and used for guiding the moving direction of the continuous flexible body.
4. The robotic dexterous hand rehabilitation robot having the continuous flexible body drive of claim 3, wherein the guide assembly comprises a first guide port, a hose, and a second guide port, the first guide port and the second guide port being fixed at respective ends of the hose, the first guide port being fixed on the hand guard and proximate to the finger assembly, the second guide port not being fixed on the hand guard and distal from the finger assembly, the continuous flexible body movably passing through the first guide port, the hose, and the second guide port.
5. The continuous flexible body driven hand dexterous rehabilitation robot of claim 1 wherein said finger assembly includes a support plate; the support plate is bendable but not stretchable;
when the finger assembly is disposed on the back of one of the five finger sleeves, one end of the support plate is fixed to the fingertip of the corresponding finger sleeve, the other end of the support plate is fixed to the base of the corresponding finger sleeve, and one end of the continuous flexible body is fixed to one end of the support plate;
when the finger assembly is disposed on the outside of the finger sleeve portion corresponding to the thumb or the outside of the finger sleeve portion corresponding to the index finger, one end of the support plate is secured to the finger sleeve portion corresponding to the position between the proximal interphalangeal joint and the distal interphalangeal joint of the thumb or index finger, respectively, the other end of the support plate is secured to the base of the finger sleeve portion corresponding to the thumb or index finger, respectively, one end of the continuous flexible body is secured to one end of the support plate;
when the finger parts are arranged at the back parts of the protective gloves corresponding to the wrist and palm joints, one end of the supporting plate corresponds to the thumb and palm wrist joints, the back parts of the protective gloves are fixed, the other end of the supporting plate corresponds to the index finger and palm wrist joints, the back parts of the protective gloves are fixed, and one end of the continuous flexible body is fixed at one end of the supporting plate.
6. The continuous flexible body driven robot for recovering hand dexterity as claimed in claim 5, wherein the supporting plate is a waved plastic plate, a waved fiber plate or a chain plate.
7. The continuous flexible body driven robot for dexterous hand rehabilitation according to claim 5, wherein when said finger assembly is disposed on the back of one of said five finger sleeves, said finger assembly further comprises a finger tip sleeve connected to one end of said support plate, said finger tip sleeve being fitted over the corresponding finger tip of said finger sleeve.
8. The hand dexterous rehabilitation robot of claim 5 employing a continuous flexible body drive, wherein the finger assembly further comprises a restraint disposed on an upper surface on the support plate, the continuous flexible body being movably passed through the restraint.
9. The continuous flexible body driven hand dexterous rehabilitation robot according to claim 5, wherein an anchor point is provided at one end of the support plate.
10. The continuous flexible body driven hand dexterous rehabilitation robot according to any of claims 1-9, characterized in that the number of said driving means is 1 to 8, wherein the finger assemblies not belonging to the same driving means are arranged in different positions on said protective glove.
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| CN202211008164.XA CN115300330B (en) | 2022-08-22 | 2022-08-22 | Hand dexterous rehabilitation robot driven by continuous flexible body |
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| CN202211008164.XA CN115300330B (en) | 2022-08-22 | 2022-08-22 | Hand dexterous rehabilitation robot driven by continuous flexible body |
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| CA2794193A1 (en) * | 2010-03-23 | 2011-09-29 | Idrogenet S.R.L. | A hand rehabilitation device |
| CN106943277A (en) * | 2017-04-18 | 2017-07-14 | 上海理工大学 | The submissive exoskeleton rehabilitation manipulator of self adaptation Wearable |
| WO2020056807A1 (en) * | 2018-09-20 | 2020-03-26 | 麦志邦 | Multifunctional hand rehabilitation training device |
| CN111643315A (en) * | 2020-04-27 | 2020-09-11 | 东南大学 | Flexible hand function rehabilitation device based on rope drive |
| CN113332097A (en) * | 2021-06-04 | 2021-09-03 | 燕山大学 | Flexible four-finger rehabilitation robot capable of being driven by far end |
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2022
- 2022-08-22 CN CN202211008164.XA patent/CN115300330B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2794193A1 (en) * | 2010-03-23 | 2011-09-29 | Idrogenet S.R.L. | A hand rehabilitation device |
| CN106943277A (en) * | 2017-04-18 | 2017-07-14 | 上海理工大学 | The submissive exoskeleton rehabilitation manipulator of self adaptation Wearable |
| WO2020056807A1 (en) * | 2018-09-20 | 2020-03-26 | 麦志邦 | Multifunctional hand rehabilitation training device |
| CN111643315A (en) * | 2020-04-27 | 2020-09-11 | 东南大学 | Flexible hand function rehabilitation device based on rope drive |
| CN113332097A (en) * | 2021-06-04 | 2021-09-03 | 燕山大学 | Flexible four-finger rehabilitation robot capable of being driven by far end |
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