CN117159324A - Hybrid driving hand exoskeleton with flexible rope reed - Google Patents
Hybrid driving hand exoskeleton with flexible rope reed Download PDFInfo
- Publication number
- CN117159324A CN117159324A CN202311134557.XA CN202311134557A CN117159324A CN 117159324 A CN117159324 A CN 117159324A CN 202311134557 A CN202311134557 A CN 202311134557A CN 117159324 A CN117159324 A CN 117159324A
- Authority
- CN
- China
- Prior art keywords
- reed
- finger
- module
- thumb
- seat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 235000014676 Phragmites communis Nutrition 0.000 title claims abstract description 150
- 210000003811 finger Anatomy 0.000 claims abstract description 124
- 210000003813 thumb Anatomy 0.000 claims abstract description 80
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 38
- 244000273256 Phragmites communis Species 0.000 claims abstract description 15
- 230000009471 action Effects 0.000 claims abstract description 8
- 210000001503 joint Anatomy 0.000 claims description 47
- 238000005452 bending Methods 0.000 claims description 15
- 229910052573 porcelain Inorganic materials 0.000 claims description 12
- 210000000811 metacarpophalangeal joint Anatomy 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000004026 adhesive bonding Methods 0.000 claims 1
- 210000004553 finger phalanx Anatomy 0.000 abstract description 2
- 101100291369 Mus musculus Mip gene Proteins 0.000 description 63
- 101150116466 PALM gene Proteins 0.000 description 63
- 238000010586 diagram Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Landscapes
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
Abstract
The invention relates to a flexible rope reed hybrid drive hand exoskeleton, which comprises a flexible rope, a palm module, a thumb module, four finger modules, a guide module and a drive module. The finger bones of the finger modules are connected through the sliding reed, each finger module comprises a plurality of finger bone blocks, and the finger modules are worn on the fingers through the finger rings. The palm module is connected with the finger module and is fixed on the palm of a person through a binding belt. The five flexible wires respectively drive one finger module, the flexible wires sequentially penetrate through guide holes in the phalanges and are connected to a driving module arranged on the back of a human body through a hand and arm guiding module, the length of the flexible wires is shortened under the action of the driving module, so that the reeds of the five finger modules are driven to bend, and the driving module slowly loosens the flexible wires and gradually stretches under the action of the elasticity of the reeds. The invention combines the flexible rope and the sliding reed, ensures flexibility and simultaneously can meet larger gripping force, and the phalangeal blocks are convenient to assemble and disassemble and replace parts.
Description
Technical Field
The invention relates to a hand exoskeleton, in particular to a flexible rope reed hybrid drive hand exoskeleton, and belongs to the field of rehabilitation robots.
Background
Cerebral apoplexy is a common disease in the population of the old and has high disability rate. As the population ages. Assisting a patient with a large number of repeated finger flexion and extension movements with the aid of a skilled therapist may promote rehabilitation of the nervous system, but such rehabilitation training requires a specialized medical staff not only to expend a great deal of labor but also to be expensive, which can put a heavy economic burden on the patient. The hand exoskeleton provides a new solution for rehabilitation training of patients, can make up for the deficiency of professionals, reduces the working strength of physiotherapists and provides effective rehabilitation medical services for patients.
The currently common hand exoskeleton forms are mechanically rigid and pneumatically flexible exoskeletons. The mechanically rigid exoskeleton is cumbersome, and the arrangement of the drive device on the hand increases the burden on the hand and is inconvenient for daily wear. Although the pneumatic flexible exoskeleton has good flexibility, the air pump has large volume, air tightness is ensured, and the strength is small, so that the pneumatic flexible exoskeleton is difficult to grasp.
In the chinese patent literature, the invention name is "reed-based push-pull hand exoskeleton" (CN 112641595B), which can provide a large tensile bending force although reducing the use of rigid components, but cannot meet the bending of individual fingers, cannot perform rehabilitation exercises of the thumb, and the transmission device is arranged on the wrist to affect wearing experience.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the flexible rope reed hybrid driving hand exoskeleton which has the advantages of simple structure, convenience in assembly and disassembly, good flexibility and large bending force, is suitable for daily rehabilitation and auxiliary grabbing, and is separated from a hand device.
The invention relates to a flexible rope reed hybrid driving hand exoskeleton, which comprises a flexible rope 1, a thumb module 2, four finger modules 3, a palm module 4, a guide module 5 and a driving module 6; the thumb module 2, the four finger modules 3 and the flexible index guide device 5-1 in the guide module are respectively connected with the palm module 4, a sliding reed structure is adopted between the thumb module 2 and the phalanges of the four finger modules 3, the bending and stretching movement of finger joints can be adapted, the palm module 4 is used for connecting and restraining the thumb module 2 and the four finger modules 3 and is worn on a human hand through the binding belt 4-4, the thumb module 2 and the four finger modules 3 respectively comprise two and three phalanges, the phalanges are provided with finger rings, the finger rings are provided with protruding parts, guide holes are arranged on the protruding parts, the flexible cable 1 penetrates into the guide module 5 from porcelain eyes in the finger bone guide holes and is connected with the driving module 6, and one end of the flexible cable is convexly clamped on the guide holes of the finger rings at the distal end of the finger module so as to transfer flexible cable traction force. Each finger module is driven by a motor, so that the bending and stretching movements of a single finger can be completed, and a plurality of fingers can be mutually matched to complete the gripping movements. The flexible rope 1 is contracted to a short length under the action of the driving device 6, so that the five finger module reeds are driven to slide and bend, and the driving module drives the loosening flexible rope reversely and stretches the fingers by means of resilience of the elastic reeds.
The thumb module 2 consists of a thumb far-section phalanx seat 2-1, a thumb near-section phalanx seat 2-2, a thumb palm connecting seat 2-3, an elastic reed, a pin 2-7, a phalanx cover 2-8 and a porcelain eye 2-9. The elastic reed comprises a thumb far interphalangeal joint reed 2-4, a thumb near interphalangeal joint reed 2-5 and a thumb palm connecting reed 2-6. The thumb module 2 is slidably coupled in a groove on the palm cover 4-2 by the thumb-palm coupling reed 2-6 so that the thumb module 2 has 3 degrees of freedom with respect to the palm.
For the thumb module 2, one end of the thumb far interphalangeal joint elastic reed 2-4 is provided with a hole, the thumb far interphalangeal joint elastic reed is connected in the thumb far interphalangeal bone seat 2-1 through a pin 2-7, the other end of the thumb far interphalangeal joint elastic reed is provided with a groove, the thumb near interphalangeal joint reed 2-5 is in a T shape, one end of the thumb near interphalangeal joint reed is provided with a hole, the thumb far interphalangeal joint reed is connected in the thumb near interphalangeal bone 2-2 through a pin 2-7, and the other end of the thumb near interphalangeal joint reed slides in a certain range in the T-shaped groove of the thumb palm connection 2-3 seat. The thumb palm connecting reed 2-6 is also T-shaped, one end of the thumb palm connecting reed is provided with a hole and is connected with the thumb palm connecting seat 2-3 through a pin 2-7 to form a revolute pair, and the other end of the thumb palm connecting reed slides in a certain range in a T-shaped groove of the palm cover 4-2.
The four finger modules 3 have the same structure and connection mode, and consist of a distal phalanx 3-1, a middle phalanx 3-2 and a proximal phalanx 3-3, a palm connecting seat 3-4, an elastic reed, a pin 3-8, a phalanx cover 3-9 and a porcelain eye 3-10, wherein the elastic reed comprises a distal interphalangeal joint reed 3-5, a proximal interphalangeal joint reed 3-6 and a metacarpophalangeal joint reed 3-7, and the thickness of the elastic reeds adopted by each joint is different.
For the four finger modules 3, one end of the far interphalangeal joint elastic reed 3-5 is provided with a hole, the far interphalangeal joint elastic reed is connected into the far interphalangeal bone seat through the pin 3-8 and the phalangeal cover 3-9, the other end of the far interphalangeal joint elastic reed is provided with a groove, the far interphalangeal joint elastic reed is connected onto the cylindrical boss of the middle interphalangeal bone seat 3-2 in a sliding manner, one end of the four interphalangeal joint reed 3-6 is connected into the middle phalangeal bone seat 3-2 through the pin 3-8 and the phalangeal cover 3-9, and the other end of the four interphalangeal joint reed is connected onto the cylindrical boss of the near phalangeal bone seat 3-3 in a sliding manner. The metacarpophalangeal joint reed 3-7 is T-shaped, one end of the metacarpophalangeal joint reed is provided with a hole and is connected in the proximal phalangeal 3-3 through a pin 3-8, and the other end of the metacarpophalangeal joint reed is connected with the palm connecting seat 3-4 in a sliding way.
The index finger is taken as an example to describe the phalangeal structure, and the three phalangeal seats are all provided with finger rings for fixing the fingers of a person; the finger ring of the far-section finger bone seat 3-1 is closed to prevent the finger ring from sliding on the finger, grooves are formed in two sides of the middle-section finger bone seat 3-2, a reed and a finger bone cover are inserted into one side of the middle-section finger bone seat, the grooves of the finger bone cover are wider than the grooves of the reed, and the reed slides on the cylindrical protrusions in the finger bone seat. The other side groove is used for inserting the reeds and is connected together by a pin, and the reed grooves on the two sides are not on the same plane, so that the two reeds are prevented from interfering. The proximal phalanx seat 3-3 is provided with a groove structure at the end on the basis of the middle phalanx seat 3-2, and a steel sheet can be inserted between the proximal phalanx seat and the palm cover 4-2 to fix the palm phalanx and the palm so as to change the training mode.
The palm module 4 consists of a palm shell 4-1, a palm cover 4-2, screws 4-3 and a palm binding belt 4-4, wherein the palm shell 4-1 is connected with the palm cover 4-2 through the screws 4-3, four grooves are formed in the palm cover 4-2 and tangent to cylindrical blocks on the palm connecting seat 3-4 corresponding to the four finger modules 3, so that the palm module has two degrees of freedom of sliding and rotating. Palm straps 4-4 are mounted on the palm shell for securing the palm of a person.
The guiding module consists of a flexible index guiding device 5-1, a wire tube 5-2, five guiding sheets 5-3 and an arm binding belt 5-4. The five flexible wires 1 respectively drag one finger, and one end of each flexible wire 1 is convexly clamped on a guide hole of a distal phalanx and is used for transmitting the traction force of the flexible wires to drive the finger to bend. The other end sequentially passes through the porcelain eye on the finger bone guide hole, passes through the flexible rope traction device 5-1 and the guide piece 5-3 fixed on the arm of the human body through the arm binding belt 5-4, and finally is connected with the driving device 6. The flexible index guide 5-1 is mounted on the palm side of the palm shell 4-1 through a pin, both ends of the spool 5-2 are provided with spool caps, one end of the spool cap is mounted on the flexible index guide 5-1, the other end of the spool cap is mounted on the driving device shell 6, and the length between the spool caps and the driving device shell is kept unchanged in the finger bending process.
The driving device consists of a motor shell 6-1, a motor cover 6-2, five linear motors 6-3, screws 6-4 and a flexible cable connecting block 6-5, wherein the motor shell and the motor cover are connected together through the four screws 6-4, a hole is formed in the wall of the motor shell and used for connecting a cable cap, a stop block is arranged in the motor shell 6-1 and used for fixing the linear motor 5-3, one end of the flexible cable connecting block 6-5 is connected to the linear motor 6-3 through a threaded hole, and a small hole is formed in the other end of the flexible cable connecting block 6-5 and used for connecting the flexible cable 1.
Compared with the prior art, the invention has the following beneficial effects:
the invention adopts a flexible rope reed mixed driving structure, the elastic reed has better flexibility, the flexible rope driving can put the driving module on the back to lighten the burden of hands, and simultaneously, larger gripping force can be generated, the daily life requirement of a patient is met, the phalangeal blocks are convenient to assemble and disassemble and replace parts, each finger is driven by a motor, and the bending of any finger or a plurality of fingers can be independently controlled. The thickness of the elastic reed can be changed in the later period of rehabilitation to carry out hand training. The whole hand exoskeleton reduces the use of rigid components, so that the hand exoskeleton is lighter in weight and convenient to carry.
Drawings
Fig. 1 is a schematic illustration of a hybrid drive hand exoskeleton with cord reed for human body wear
Fig. 2 is a schematic diagram of a structure of a back side of a hand of a hybrid drive hand exoskeleton of a flexible reed
Fig. 3 is a schematic diagram of a hand-palm side structure of a hybrid drive hand exoskeleton with flexible reed
Fig. 4 is a schematic structural view of a guide device at the arm of a hybrid drive hand exoskeleton with flexible reed
Fig. 5 is a schematic diagram of a structure of a flexible reed hybrid drive hand exoskeleton index finger module
Fig. 6 is a schematic diagram of a structure of a flexible reed hybrid drive hand exoskeleton index finger module
Fig. 7 is a schematic diagram of an explosion structure of a hybrid-driven hand exoskeleton index finger module with flexible reed
Fig. 8 is a schematic view of a semi-section of a phalangeal seat in a hybrid drive hand exoskeleton index finger module with a flexible wire reed
Fig. 9 is an exploded view of a hybrid drive hand exoskeleton driving device with flexible reed
In the figure: 1-flexible rope; a 2-thumb module; a 3-four finger module; 4-palm module; 5-a guiding module; 6-a driving module.
Detailed Description
The invention will be described in further detail with reference to fig. 1, 2, 3 and 4:
the invention relates to a flexible rope reed mixed driving hand exoskeleton, which comprises a flexible rope 1, a thumb module 2, four finger modules 3, a palm module 4, a guide module 5 and a driving module 6, wherein sliding reeds are adopted at joints of the finger modules, the flexible rope reed can adapt to bending and stretching movements of the joints of the fingers, finger rings are arranged on finger bone seats of the thumb module 2 and the four finger modules 3, guide holes are arranged on protrusions, and a flexible rope 1 penetrates through a porcelain eye in the guide holes of the finger bones to enter a flexible rope guide device 5-1 to be connected with the driving device 6, and one end of the flexible rope is clamped on the guide holes of the finger bone at the far end in a protruding mode to transfer flexible rope traction force. Each finger module is driven by a motor, so that the bending and stretching movements of a single finger can be completed, and a plurality of fingers can be mutually matched to complete the gripping movements. The flexible rope 1 is contracted to a short length under the action of the driving device 6 so as to drive the five finger module reeds to slide and bend, and the driving device drives the loosening flexible rope reversely and stretches the fingers by means of resilience of the elastic reeds. When the electric belt is worn, fingers penetrate through the finger rings, the hand structure is fixed on the palm of a human body through the palm binding belt 4-4, the guide piece 5-3 in the guide module is fixed on the arm of the human body through the arm binding belt 5-4, and the drive module is carried on the back of the human body through the motor box back belt to finish the wearing.
The invention is further described with reference to fig. 2:
the palm module 4 consists of a palm shell 4-1, a palm cover 4-2, screws 4-3 and a palm binding belt 4-4, wherein the palm shell 4-1 is connected with the palm cover 4-2 through the screws 4-3, four grooves are formed in the palm cover 4-2 and are tangent with cylindrical blocks on the palm connecting seat 3-4 corresponding to the four finger modules 3 respectively, so that the palm module has two degrees of freedom of sliding and rotating. The palm binding band 4-4 is fixed on the palm shell and is used for fixing the palm of a person.
The invention is further described with reference to fig. 3 and 4:
the guiding module consists of a flexible index guiding device 5-1, a wire tube 5-2, five guiding sheets 5-3 and an arm binding belt 5-4. The five flexible wires 1 respectively drag one finger, one end of each flexible wire 1 is convexly clamped on the guide hole of the distal phalanx, and the guide hole is used for transmitting the traction force of the flexible wires to drive the reed of the finger module to bend. The other end sequentially passes through the porcelain eye on the finger bone guide hole, passes through the flexible rope traction device 5-1 and the guide piece 5-3 fixed on the arm of the human body through the arm binding belt 5-4, and finally is connected with the driving module 6.
The flexible cable traction device 5-1 is arranged on the palm side of the palm shell 4-1 through a pin, a certain height is reserved between the flexible cable traction device and the palm shell, the bending and gripping actions of the thumb are not affected, five guide holes with parallel axes are arranged on the flexible cable traction device, the flexible cable 1 for dragging five fingers is sequentially and correspondingly arranged on the flexible cable traction device, a section of wire tube 5-2 is connected between the guide holes of the flexible cable traction device and the guide holes on the shell of the driving device and used for wrapping the flexible cable, the flexible cable is clamped in the guide holes through wire tube caps at two ends and is fixedly glued, small holes are reserved on the wire tube caps to allow the flexible cable 1 to pass through, and the length between the two guide holes is kept unchanged in the finger bending process.
The invention is further described with reference to fig. 5, 6, 7 and 8:
taking a thumb and an index finger as examples, the structure of the finger module is described, and the thumb module 2 consists of a thumb far-joint phalanx seat 2-1, a thumb near-joint phalanx seat 2-2, a thumb palm connecting seat 2-3, an elastic reed, a pin 2-7, a phalanx cover 2-8 and a porcelain eye 2-9. The elastic reed 2-4 comprises a thumb far interphalangeal joint reed 2-4, a thumb near interphalangeal joint reed 2-5 and a thumb palm connecting reed 2-6. One end of the thumb far interphalangeal joint elastic reed is provided with a hole, the thumb far interphalangeal joint elastic reed is connected with the thumb far interphalangeal bone seat 2-1 through a pin 2-7, the other end of the thumb far interphalangeal joint elastic reed is provided with a groove, the thumb near interphalangeal joint reed slides on a cylindrical bulge in the thumb near interphalangeal bone seat 2-2, the thumb near interphalangeal joint reed 2-5 is of a T shape, one end of the thumb near interphalangeal joint reed is provided with a hole, the thumb near interphalangeal bone seat 2-2 is connected with the thumb near interphalangeal bone seat 2-2 through the pin 2-7, and the other end of the thumb near interphalangeal joint reed slides in a certain range in a T-shaped groove of the thumb palm connecting seat 2-3. The thumb palm connecting reed 2-6 is T-shaped and has a certain bending, one end is provided with a hole and is connected with the thumb palm connecting seat 2-3 through a pin 2-7 to form a revolute pair, and the other end slides in a certain range in a T-shaped groove of the palm cover. Is connected with the metacarpophalangeal joint reed and is connected with the palm cover through the thumb and palm connecting reed 2-6.
The four finger modules 3 have the same structure and connection mode and consist of a far-section finger bone 3-1, a middle-section finger bone 3-2 and a near-section finger bone 3-3, a palm connecting seat 3-4, an elastic reed, a pin 3-8, a finger bone cover 3-9 and a porcelain eye 3-10; the elastic reed comprises a far interphalangeal joint reed 3-5, a near interphalangeal joint reed 3-6 and a metacarpophalangeal joint reed 3-7, and the thickness of the elastic reed adopted by each joint is different. One end of the far interphalangeal joint elastic reed 3-5 is provided with a hole, the far interphalangeal joint elastic reed is connected into the far phalangeal seat 3-1 through a pin 3-8, the other end of the far interphalangeal joint elastic reed is provided with a groove, the far interphalangeal joint elastic reed slides on a cylindrical bulge in the middle phalangeal seat 3-2, one end of the near interphalangeal joint reed 3-6 is connected into the middle phalangeal 3-2 through the pin 3-8, and the other end of the near interphalangeal joint reed is provided with a groove, and the near interphalangeal joint reed slides on the cylindrical bulge in the near phalangeal 3-3. The metacarpophalangeal joint reed 3-7 is T-shaped, one end of the metacarpophalangeal joint reed is provided with a hole and is connected in the proximal phalangeal 3-3 through a pin 3-8, and the other end slides in a certain range in a T-shaped groove of the palm connecting seat 3-4.
The index finger is taken as an example to describe the phalangeal structure, and the three phalangeal seats are all provided with finger rings for fixing the fingers of a person; the finger ring of the far-section finger bone seat 3-1 is closed to prevent the finger ring from sliding on the finger, grooves are formed in two sides of the middle-section finger bone seat 3-2, a reed and a finger bone cover are inserted into one side of the middle-section finger bone seat, the grooves of the finger bone cover are wider than the grooves of the reed, and the reed slides on the cylindrical protrusions in the finger bone seat. The other side groove is used for inserting the reeds and is connected together by a pin, and the reed grooves on the two sides are not on the same plane, so that the two reeds are prevented from interfering. The proximal phalanx seat 3-3 is provided with a groove structure at the end on the basis of the middle phalanx seat 3-2, and a steel sheet can be inserted between the proximal phalanx seat and the palm cover 4-2 to fix the palm phalanx and the palm so as to change the training mode.
The invention is further described with reference to fig. 9:
the driving module consists of a motor shell 6-1, a motor cover 6-2, five linear motors 6-3, screws 6-4 and a flexible cable connecting block 6-5, wherein the motor shell and the motor cover are connected together through the four screws 6-4, a hole is formed in the wall of the motor shell and used for connecting a cable cap, a stop block is arranged in the motor shell 6-1 and used for fixing the linear motor 5-3, one end of the flexible cable connecting block 6-5 is connected to the linear motor 6-3 through a threaded hole, and a small hole is formed in the other end of the flexible cable connecting block 6-5 and used for connecting the flexible cable 1.
Finally, it should be noted that the foregoing is only a part of the preferred embodiments of the present invention, and any person skilled in the art may modify the present invention or make modifications to the present invention with the technical solutions described above, and therefore any simple modifications or equivalent substitutions made according to the technical solutions of the present invention fall within the scope of the present invention.
Claims (7)
1. A cord reed hybrid drive hand exoskeleton comprising: the device comprises a flexible rope (1), a thumb module (2), four finger modules (3), a palm module (4), a guide module (5) and a driving module (6). The finger module joint adopts a sliding reed which is divided into a tail end grooving structure and a T-shaped structure, and the tail end grooving reed slides in a thumb proximal phalanx seat (2-2), a middle phalanx seat (3-2) of the four finger modules (3) and the proximal phalanx seat (3-3). The T-shaped reed slides in the thumb palm connecting seat (2-3) and the palm connecting seats (3-4) of the four finger modules (3). The thumb module (2) is provided with two phalangeal blocks, the four finger modules (3) are provided with three phalangeal blocks, the thumb module is worn on fingers through the finger ring, the phalangeal cover is fixed on the phalangeal seat in a mode of connecting the slot with the pin, the phalangeal seat is provided with a cylindrical bulge for limiting the reed, and the porcelain eye is fixed in a guide hole on the phalangeal seat in a gluing way for guiding the traction direction of the flexible rope. Five flexible wires (1) are arranged on the palm side, each of the five flexible wires drives one finger module, the flexible wires sequentially pass through porcelain eyes arranged on guide holes of the phalangeal base and are connected with a driving module (6) through a guide module (5) positioned at the hand and the arm, and a bulge at one end of each flexible wire (1) can be clamped on the guide holes of the phalangeal base rings at the far end of the finger module so as to transfer flexible wire traction force. Each finger module is driven by a linear motor (6-3), so that the bending and stretching movements of a single finger can be completed, and a plurality of fingers can be mutually matched to complete the gripping movements. The flexible rope (1) is shortened along the length of the guide module (5) under the action of the driving module (6), so that the reeds of the five finger modules are driven to slide and bend, and the driving module (6) relaxes the flexible rope and stretches the five finger modules under the action of the elasticity of the reeds.
2. The cord reed hybrid drive hand exoskeleton of claim 1, wherein: the thumb module (2) consists of a thumb far-section phalanx seat (2-1), a thumb near-section phalanx seat (2-2), a thumb palm connecting seat (2-3), an elastic reed, a pin (2-7), a phalanx cover (2-8) and a porcelain eye (2-9). The elastic reed comprises a thumb far interphalangeal joint reed (2-4), a thumb near interphalangeal joint reed (2-5) and a thumb palm connecting reed (2-6), wherein the thumb far interphalangeal joint elastic reed (2-4) belongs to a tail end grooving type, one end of the elastic reed is provided with a hole and is connected in a far phalanx seat (2-1) through a pin (2-7), the other end of the elastic reed is provided with a groove, the elastic reed slides tangentially with a cylindrical bulge in the thumb near phalanx seat (2-2), the thumb near interphalangeal joint reed (2-5) is in a T shape, one end of the elastic reed is provided with a hole and is connected in the thumb near phalanx seat (2-2) through the pin (2-7), and the other end of the elastic reed slides in a T-shaped groove of the thumb palm connecting seat (2-3). The thumb palm connecting reed (2-6) is also T-shaped and has a certain bending, one end of the thumb palm connecting reed is provided with a hole and is connected with the thumb palm connecting seat (2-3) through a pin (2-7) to form a revolute pair, and the other end of the thumb palm connecting reed slides in a T-shaped groove on the palm cover (4-2).
3. The cord reed hybrid drive hand exoskeleton of claim 1, wherein: the four finger modules (3) have the same structure and connection mode, and are composed of a far-section phalangeal seat (3-1), a middle-section phalangeal seat (3-2) and a near-section phalangeal seat (3-3), a palm connecting seat (3-4), an elastic reed, a pin (3-8), a phalangeal cover (3-9) and a porcelain eye (3-10), and a cylindrical block on the palm connecting seat (3-4) is embedded into a groove on the palm cover (4-2) and is tangential to the groove. The elastic reed comprises a far interphalangeal joint reed (3-5), a near interphalangeal joint reed (3-6) and a metacarpophalangeal joint reed (3-7). The shape and the connection mode of the far interphalangeal joint reed (3-5) and the near interphalangeal joint reed (3-6) are the same as those of the thumb far interphalangeal joint reed (2-4), and the shape and the connection mode of the metacarpophalangeal joint reed (3-7) are the same as those of the thumb near interphalangeal joint reed (2-5).
4. A cord reed hybrid drive hand exoskeleton as in claim 3, wherein: the three phalangeal seats of the four finger modules (3) are provided with finger rings for fixing the fingers of a person; the finger ring of the far-section finger bone seat (3-1) is sealed to prevent the finger ring from sliding on the finger, grooves are formed in two sides of the middle-section finger bone seat (3-2), a reed and a finger bone cover are inserted into one side of the middle-section finger bone seat, the grooves of the finger bone cover are wider than the reed grooves, and the reed slides on the cylindrical protrusions in the finger bone seat. The other side groove is used for inserting the reeds and is connected together by a pin, and the reed grooves on the two sides are not in the same plane. The proximal phalanx seat (3-3) is provided with a groove structure at the tail end on the basis of the middle phalanx seat (3-2), and a steel sheet can be inserted between the proximal phalanx seat and the palm cover (4-2) to fix the palm phalanx and the palm.
5. The cord reed hybrid drive hand exoskeleton of claim 1, wherein: the guiding module consists of a flexible index guiding device (5-1), a wire tube (5-2), five guiding sheets (5-3) and an arm binding belt (5-4), wherein the flexible index guiding device (5-1) is installed on the palm side of a palm shell (4-1) through a pin, wire tube caps are arranged at two ends of the wire tube (5-2), one end of the wire tube is installed on the flexible index guiding device (5-1), the other end of the wire tube passes through the guiding sheets (5-3) and is installed in a hole of a shell (6-1) of the driving device, the guiding sheets (5-3) are worn on the arm of a human body through the arm binding belt, and the distance between two points is kept unchanged in the finger bending process.
6. The cord reed hybrid drive hand exoskeleton of claim 1, wherein: the length of the flexible rope (1) is shortened under the action of the driving module (6) along the guide hole of the finger module under the constraint of the guiding module (5), traction force is transmitted to the finger module by virtue of the bulge on the flexible rope (1), the reed is stressed to slide and bend, and the driving module (6) slowly releases the elastic force of the flexible rope released and stored by the reed to drive the finger to stretch.
7. The cord reed hybrid drive hand exoskeleton of claim 1, wherein: the driving module consists of a motor shell (6-1), a motor cover (6-2), five linear motors (6-3), screws (6-4), a flexible cable connecting block (6-5) and motor box braces (6-6), wherein the motor shell is connected with the motor cover through the four screws (6-4), holes are formed in the wall of the motor shell and used for connecting a cable pipe cap, a stop block is arranged in the motor shell (6-1) and used for fixing the linear motors (6-3), one end of the flexible cable connecting block (6-5) is connected to the linear motors (6-3) through threaded holes, and small holes are formed in the other end of the flexible cable connecting block and used for connecting the flexible cable (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311134557.XA CN117159324A (en) | 2023-09-05 | 2023-09-05 | Hybrid driving hand exoskeleton with flexible rope reed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311134557.XA CN117159324A (en) | 2023-09-05 | 2023-09-05 | Hybrid driving hand exoskeleton with flexible rope reed |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117159324A true CN117159324A (en) | 2023-12-05 |
Family
ID=88929403
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311134557.XA Pending CN117159324A (en) | 2023-09-05 | 2023-09-05 | Hybrid driving hand exoskeleton with flexible rope reed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117159324A (en) |
-
2023
- 2023-09-05 CN CN202311134557.XA patent/CN117159324A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111643315B (en) | Flexible hand function rehabilitation device based on rope drive | |
| CN110731880B (en) | Flexible rehabilitation exoskeleton glove | |
| CN106983634A (en) | A kind of exoskeleton finger functional rehabilitation device based on multistage continuous structure | |
| CN103519970B (en) | Micro-intelligent exoskeleton finger recovery robot | |
| CN105496728A (en) | Soft-bodied robot glove for hand movement function recovery | |
| CN109907939B (en) | Finger movement rehabilitation training robot based on lasso driving and myoelectricity control | |
| CN108743227A (en) | A kind of flexible exoskeleton wrist functional rehabilitation device based on spring leaf driving | |
| CN109464265B (en) | A kind of upper limb rehabilitation robot based on Coupling System of Flexible Structures And Rigid Body | |
| CN110141456A (en) | A kind of software hand restoring gloves of a variety of rehabilitation training modes of combination | |
| CN210301638U (en) | Rigid-flexible coupling type exoskeleton hand rehabilitation training device | |
| CN214318519U (en) | Rigid-flexible exoskeleton glove device based on line driving | |
| CN210998696U (en) | Exoskeleton mechanical auxiliary hand | |
| CN211512540U (en) | Concave-convex type resettable multi-section flexible rehabilitation glove | |
| CN112545830A (en) | Flexible exoskeleton glove | |
| CN117159324A (en) | Hybrid driving hand exoskeleton with flexible rope reed | |
| CN106913446A (en) | A kind of new hand exoskeleton rehabilitation system | |
| CN215841463U (en) | Cardiovascular internal medicine rehabilitation training nursing device | |
| CN210145017U (en) | Wearable hand mechanical exoskeleton with auxiliary grasping and rehabilitation training functions | |
| CN211067800U (en) | Hand rehabilitation device based on flexible driver | |
| CN210452801U (en) | Flexible driver | |
| CN115300330B (en) | Hand dexterous rehabilitation robot driven by continuous flexible body | |
| CN208611269U (en) | A kind of novel and multifunctional finger rehabilitation training robot | |
| CN112641595B (en) | Push-pull hand exoskeleton based on reed | |
| CN111281739A (en) | Recovered ectoskeleton robot | |
| CN213099143U (en) | Five-finger gripping rehabilitation training robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |