WO2018068233A1 - 穿戴式手部复健辅具*** - Google Patents
穿戴式手部复健辅具*** Download PDFInfo
- Publication number
- WO2018068233A1 WO2018068233A1 PCT/CN2016/101915 CN2016101915W WO2018068233A1 WO 2018068233 A1 WO2018068233 A1 WO 2018068233A1 CN 2016101915 W CN2016101915 W CN 2016101915W WO 2018068233 A1 WO2018068233 A1 WO 2018068233A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- thumb
- finger
- joint
- wire
- joint mechanism
- Prior art date
Links
- 210000003813 thumb Anatomy 0.000 claims abstract description 276
- 230000007246 mechanism Effects 0.000 claims abstract description 159
- 230000005540 biological transmission Effects 0.000 claims abstract description 111
- 210000001145 finger joint Anatomy 0.000 claims abstract description 76
- 210000003811 finger Anatomy 0.000 claims description 209
- 210000000811 metacarpophalangeal joint Anatomy 0.000 claims description 39
- 210000004553 finger phalanx Anatomy 0.000 claims description 4
- 239000007769 metal material Substances 0.000 claims 4
- 238000005452 bending Methods 0.000 description 44
- 238000013461 design Methods 0.000 description 23
- 238000000034 method Methods 0.000 description 15
- 238000010586 diagram Methods 0.000 description 14
- 230000033001 locomotion Effects 0.000 description 11
- 230000008569 process Effects 0.000 description 10
- 238000004088 simulation Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000004308 accommodation Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 3
- 210000003414 extremity Anatomy 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 210000004932 little finger Anatomy 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 241000203475 Neopanax arboreus Species 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001255 hallux Anatomy 0.000 description 1
- 210000002478 hand joint Anatomy 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
Definitions
- the present invention relates to a mechanical aid or a rehabilitation device, and more particularly to a wearable hand rehabilitation aid system.
- a wearable mechanical aid is a mechanical device that can be worn by the human body. Its main function is to strengthen the user's local limb ability by mechanical ability and assist or control the wearer to complete the designated task. In order to strengthen the physical ability of a specific part of a human body, the user's local limbs are promoted by mechanically stable force, and the mechanical repeatability and reliability are used to assist the user's limbs to perform precise and repeated round-trip movements. With the arrival of the aging society and the increasing demand for use, the development of related types of mechanical products will gradually become mainstream.
- the design of the wearable mechanical aid has certain difficulty.
- the number of patents with the finger as the rehabilitation part is the majority, and the technical development feature is mainly the bending and stretching technology.
- the driving method of the carrier is the feed-forward passive opening device. the Lord.
- Taiwan Patent No. TW500316 exposes the use of guide rods to drive joint movement.
- Taiwanese invention patent No. I374734 has revealed the method of setting the periodic variation of the joint angle; and the Taiwanese open patent No. TW201440752 has revealed that the specific movement can be burned. mode.
- the present invention provides a hand rehabilitation aid system that is lightweight and conforms to the structure of the human hand.
- the main object of the present invention is to provide a wearable hand rehabilitation aid system comprising:
- the hand assisting device is formed by a palm base and an articulated joint portion that is approximately L-shaped with the palm base.
- the thumb joint mechanism is fixed to the first end of the joint connecting portion, and the plurality of finger joint mechanisms are respectively fixed.
- the tension sensing unit is disposed adjacent to the hand accessory unit, and is configured with a plurality of elastic sensing columns thereon;
- the driving unit is disposed adjacent to the tension sensing unit and is composed of a plurality of motors, and the rotation angle is provided by the motor;
- each drive wire is connected to the thumb joint mechanism and the finger joint mechanism, and the other end is connected to the drive unit and is in contact with each elastic sensing column; and the control unit, the drive unit and the tension sensing Unit connection; among them,
- the thumb joint mechanism has a accommodating space for accommodating a slide rail link, and the accommodating space is formed by at least two side walls, and a thumb slide rail is disposed on the two side walls for connecting with the slide rail
- One end of the rod is pivotally connected, and a plurality of wire pulleys are disposed on one of the side walls, and the transmission wire is in contact with the wire pulley and the wire column;
- the palmar knuckle has a receiving space for accommodating the rail connecting rod, the accommodating space is formed by at least two side walls, and a thumb slide rail is arranged on the two side walls for sliding One end of the rail link is pivotally connected, and a plurality of wire pulleys are disposed on one of the side walls, and the transmission wire is in contact with the wire pulley and the wire column.
- the wearable hand of the present invention is made in the structure of the palm joint by the wearable hand rehabilitation aid system in combination with the design of the slide link, the wire pulley, and the concentrating column.
- the rehabilitation aid system can eliminate the need to arrange various sensing components in the thumb joint mechanism or the finger joint mechanism, and can be simplified to the result of pulling with the wire; at the same time, it can also reduce the weight of the auxiliary device and reduce the manufacturing cost of the auxiliary device. .
- the design of the driving unit and the palm joint can accurately control the change of the bending angle in the thumb joint mechanism or the finger joint mechanism, It can accurately drive the patient's thumb or finger to perform rehabilitation.
- the design of the tension sensing unit and the palm joint can accurately measure the thumb or finger of the patient during the rehabilitation process.
- the feedback power can accurately assess the patient's rehabilitation status.
- the design of the tension sensing unit and the palm joint can accurately measure the thumb or finger of the patient during the rehabilitation process.
- the feedback strength so you can accurately set the default value of the patient in the rehabilitation, to protect the patient during the rehabilitation process, will not be injured again.
- Another object of the present invention is to provide a hand accessory unit having a rehabilitation function, comprising:
- a palm base having a plane and an articulation joint that is approximately L-shaped with the plane;
- the thumb joint mechanism is fixed to the first end of the joint connecting portion, and the thumb joint mechanism has an accommodating space for accommodating the rail connecting rod, and the accommodating space is formed by at least two side walls, and two a thumb rail is disposed on one side wall for pivoting with one end of the rail link, and a plurality of wire pulleys are disposed on one of the side walls;
- the plurality of finger joint mechanisms are respectively fixed on the first end of the palm base, and the finger palm joint has an accommodation space for receiving the slide rail link, and the accommodation space is composed of at least two side walls. Forming a thumb rail on the two side walls for pivoting with one end of the rail link, and arranging a plurality of wire pulleys on one of the side walls;
- a plurality of collecting columns are disposed on the second end of the palm base
- a plurality of transmission wires one end of each transmission wire is connected with the thumb joint mechanism and the finger joint mechanism, and the other end is in contact with the collecting column, and at the same time, the driving wire is also in contact with the wire pulley.
- the structural design of the hand assisted device unit can be customized by the medical staff according to the shape of the palm of the patient, so that the patient wears the hand assisted device unit of the present invention. Can be very comfortable.
- the design of the rail link, the wire pulley, the concentrating column, and the like is matched, so that the hand assisting device of the present invention can be eliminated from the thumb joint mechanism or the finger joint mechanism.
- Various sensing components are arranged, which can be simplified to the result of pulling with wires; at the same time, the weight of the auxiliary tools can be reduced and the manufacturing cost of the auxiliary tools can be reduced.
- Still another object of the present invention is to provide a rehabilitated finger joint mechanism comprising:
- the palmar knuckle has a receiving space for accommodating the rail connecting rod, the accommodating space is formed by at least two side walls, and a thumb slide rail is arranged on the two side walls for the sliding rail
- One end of the connecting rod is pivotally connected, and a plurality of wire pulleys are disposed on one of the side walls;
- the proximal phalanx of the finger has two open ends and a top end, one open end of which is connected to the other end of the slide rail link, and the other open end has opposite sides connected to the top end, and is disposed on both sides Configuring an auxiliary pivot hole, and forming a first protruding end protruding upward on the end surface of the top end;
- the phalanx of the finger is formed by two open ends and a top end, and the open end of the proximal joint of the adjacent finger is connected to the other open end of the proximal phalanx of the finger;
- the distal joint of the finger has two open ends and a top end, and the open end of the phalanx of the adjacent finger is connected with the other open end of the phalanx of the finger, and a second connection protruding upward is formed on the end surface of the tip. end;
- the finger drive shaft is formed by the driving portion, the first connecting arm, the second connecting arm and the third connecting arm, and has two open ends, and the open end of the first connecting arm is connected to the open end of the second connecting arm, and The other open end of the first connecting arm is connected to the open end of the driving portion, and the second connecting arm is further disposed on the terminal end adjacent to the connecting end of the first connecting arm, and further configured with a pair of positioning pivot holes, wherein the driving portion is further An open end is connected to the first connecting end protruding from the top end surface of the proximal joint of the finger, and the other open end of the second connecting arm is connected with the second connecting end protruding from the top end surface of the distal joint of the thumb, and the third connection One end of the arm is connected to the positioning pivot hole, and the other open end is connected to the auxiliary pivot hole;
- first transmission wire one end of which is fixed to the motor, and the other end of which is fixed to the second connecting portion, and at the same time, the first transmission wire is in contact with the wire pulley;
- a second transmission wire has one end fixed to the motor and the other end fixed to the second connection portion, the second transmission wire is in contact with the wire pulley, and the second transmission wire is in contact with the slide link.
- the finger joint rail and the rail link can be designed, so that the finger joint mechanism can generate a virtual center for use as a reference center when the finger proximal phalanx is bent. point.
- the design of the finger joint mechanism can accurately drive the finger bending by the design of the finger drive shaft, and measure the feedback force of the finger during the rehabilitation process, so that the precision can be accurately Assess the patient's recovery status.
- Still another object of the present invention is to provide a rehabilitation thumb joint mechanism, comprising: a thumb metacarpophalangeal joint having an accommodating space for accommodating a slide rail link, and the accommodating space is at least two a side wall is formed, and a thumb slide rail is disposed on the two side walls for pivoting with one end of the slide rail link, and a plurality of wire pulleys are disposed on one of the side walls;
- the proximal joint of the thumb has two open ends and a top end, the open end of which is connected to the other end of the slide rail link, and the other open end of the thumb has two sides connected to the top end, and at the end surface of the top end Forming a first connecting end protruding upward;
- the distal joint of the thumb has two open ends and a top end, and the open end of the adjacent proximal joint of the thumb is connected to the other open end of the proximal joint of the thumb, and at the same time, a second connection protruding upward is formed on the end surface of the tip end. end;
- the thumb drive shaft is formed by the first connecting portion and the second connecting portion.
- the first connecting portion and the second connecting portion each have two open ends, and an open end of the first connecting portion and the second connecting portion are The open end is connected, and the other open end of the first connecting portion is connected with the second connecting end protruding from the end surface of the top end of the thumb distal joint, and the other open end of the second connecting portion and the proximal end surface of the thumb proximal joint a first protruding end connected to the upper end;
- first transmission wire one end of which is fixed to the motor, and the other end of which is fixed to the second connecting portion, and at the same time, the first transmission wire is in contact with the wire pulley;
- the second transmission wire has one end fixed to the motor and the other end fixed to the second connecting portion, the second transmission wire is in contact with the wire pulley, and the second transmission wire is further in contact with the rail link.
- the thumb joint mechanism by the design of the thumb joint mechanism, the thumb joint and the design of the slide link can make the thumb joint mechanism generate a virtual center for use as a reference center for bending the proximal phalanx of the thumb. Point and avoid interference with the finger joint mechanism.
- the design of the thumb joint of the finger joint can accurately drive the thumb bending by the design of the thumb drive shaft, and the feedback force of the thumb can be measured during the rehabilitation process, so that the precision can be accurately Assess the patient's recovery status.
- FIG. 1 is a schematic diagram of a system architecture of a wearable hand rehabilitation aid system of the present invention
- FIG. 2A is a top plan view of a wearable hand rehabilitation aid system according to the present invention.
- FIG. 2B is a side view of the wearable hand rehabilitation aid system of the present invention.
- FIG. 2C is a top view of the wearable hand rehabilitation aid system of the present invention.
- 3A is a top plan view of a palm joint mechanism of a wearable hand rehabilitation aid system according to the present invention.
- 3B is a schematic view showing the palm joint mechanism of the wearable hand rehabilitation aid system according to the present invention.
- 3C is a side view showing the palm joint mechanism of the wearable hand rehabilitation aid system according to the present invention.
- FIG. 4A is a schematic exploded view of a thumb joint mechanism of a wearable hand rehabilitation aid system according to the present invention.
- FIG. 4B is a schematic view showing the combination of a thumb joint mechanism of a wearable hand rehabilitation aid system according to the present invention.
- 5A is a schematic cross-sectional view showing a portion of a thumb metacarpophalangeal joint mechanism of a wearable hand rehabilitation aid system according to the present invention
- 5B is a schematic exploded view of the thumb metacarpophalangeal joint mechanism of the wearable hand rehabilitation aid system according to the present invention.
- FIG. 5C is a schematic view showing the bending of the thumb joint mechanism of the wearable hand rehabilitation aid system according to the present invention.
- 6A is a schematic exploded view of a finger joint mechanism of a wearable hand rehabilitation aid system according to the present invention.
- 6B is a schematic view showing the combination of a finger joint mechanism of a wearable hand rehabilitation aid system according to the present invention.
- 6C is a schematic cross-sectional view showing a finger joint mechanism of a wearable hand rehabilitation aid system according to the present invention.
- FIG. 7 is a schematic view showing the principle of a tension sensor of a wearable hand rehabilitation aid system according to the present invention.
- FIG. 8A is a schematic diagram of a rotation angle of a joint mechanism motor of a wearable hand rehabilitation aid system and a degree of bending of a thumb joint;
- 8B is a schematic diagram of a rotation angle of a joint mechanism motor of a wearable hand rehabilitation aid system and a degree of bending of a finger joint;
- 9A is a schematic view showing a comparison between a rotation angle of a motor of a wearable hand rehabilitation aid system and a degree of bending of a thumb joint;
- 9B is a schematic diagram showing a comparison between the rotation angle of the motor of the wearable hand rehabilitation aid system and the degree of bending of the proximal palm joint.
- FIG. 9C is a schematic diagram of the rotation angle of the motor of the wearable hand rehabilitation aid system and the degree of bending of the distal palm joint of the finger.
- FIG. 1 is a schematic diagram of a system architecture of a wearable hand rehabilitation aid system according to the present invention.
- the wearable hand rehabilitation aid system (10) comprises: a base (11), a hand assisted device unit (100), a driving unit (200), a tension sensing unit (300), and a transmission.
- the wire (400) and the control unit (500) are composed; wherein the hand accessory unit (100) comprises a thumb joint mechanism (110), four finger joint mechanisms (130) and a palm base (150).
- the hand accessory unit (100) is connected to the detachable base (11), and the tension sensing unit (300) is disposed adjacent to the rear of the hand accessory unit (100), and has a plurality of internal configurations.
- a flexible sensing column shown in Figure 3C and can be in communication with the control unit (500) via wired/wireless communication.
- the wearable hand rehabilitation aid system (10) of the present invention is a hand assist device unit (100), a tension sensing unit (300), and a plurality of transmission wires (400).
- the driving unit (200) is connected; therefore, the driving unit (200) can be activated by an instruction of the control unit (500), so that the driving unit (200) pulls the driving wire (400) according to the rotational torque and the rotation angle of the command, and then
- the thumb joint mechanism (110) or the finger joint mechanism (130) on the hand assisting device unit (100) can be bent by the driving wire (400) to drive the user's finger to follow the thumb joint mechanism (110) or
- the finger joint mechanism (130) is synchronously bent; wherein the control unit (500) can be connected to the driving unit (200) by wired or wireless communication; meanwhile, by the driving wire (400) and the tension sensing unit (300)
- the rotational torque of the drive unit (200) and the feedback force of the user's finger to the rotation of the drive unit (200) are detected.
- the hand accessory unit (100) includes a thumb joint mechanism (110) and a plurality of finger joint mechanisms (130).
- the wearable hand rehabilitation aid system (10) of the present invention comprises: a detachable base (11), and the base (11) is provided with at least one support platform (101) for use.
- the arm support is in the preferred embodiment of the invention, the support platform (101) is symmetrically disposed on the base (11).
- the hand assisting device unit (100) is locked to a base fixing seat (103) and a palm fixing seat (105) disposed on the base (11); then, the hand assisting unit (100) And the tension sensing unit (300) is disposed on one side of the support platform (101) of the base (11), that is, the hand assisting unit (100) and the tension sensing unit (300) are protruded On the support platform (101).
- the hand assisting device unit (100) comprises a thumb joint mechanism (110), a plurality of finger joint mechanisms (130) and a palm base (150); wherein the thumb joint mechanism (110) And a plurality of finger joint mechanisms (130) are respectively fixed on one end of the palm base (150), and the plurality of finger joint mechanisms (130) include a human index finger, a middle finger, a ring finger and a little finger, etc.; obviously, the thumb
- the joint mechanism (110) and the plurality of finger joint mechanisms (130) are fixed on different planes; for example, the angle between the thumb joint mechanism (110) and the plurality of finger joint mechanisms (130) is nearly perpendicular.
- a detachable fixing mechanism 153
- the other end is connected to the base fixing seat (103) through the palm fixing seat (105), and can be fixed by the base
- the seat (103) connects the hand accessory unit (100) detachable base (11).
- FIG. 2B is a side view of the wearable hand rehabilitation aid system of the present invention.
- the hand assisting unit (100) and the tension sensing unit (300) are located above the base (11) and the support platform (101), and the driving unit formed by the plurality of motors (220) (200) is located below the base (11) and the support platform (101).
- the hand assist device unit (100) comprises a thumb joint mechanism (110), four finger joint mechanisms (130) and a palm base (150); wherein the thumb joint mechanism (110) and The four finger joint mechanisms (130) are respectively fixed to one end of the palm base (150); obviously, the thumb joint mechanism (110) and the plurality of finger joint mechanisms (130) are fixed on different planes.
- the fixing mechanism (153) is connected to connect the hand accessory unit (100) detachable base (11).
- a through groove (152) is formed on the palm base (150), whereby the arrangement of the through groove (152) can be used as the position of each finger when the patient wears the hand accessory unit (100) of the present invention. Is it appropriate?
- the driving unit (200) located under the base (11) and the supporting platform (101) is composed of five motors (220). Obviously, five motors (220) are used to correspond. a thumb joint mechanism (110) and four finger joint mechanisms (130), wherein each motor (220) is provided with an encoder and a decoder, and can receive an instruction of the control device (500) to start the motor (220) to rotate, And the rotation angle can be encoded back to the control unit (500).
- the plurality of transmission wires (400) are five sets of transmission wires corresponding to the thumb joint mechanism (110) and the four finger joint mechanisms (130), and each set of transmission wires (400) It is composed of a flexing end transmission wire (420) and a protruding end transmission wire (410), wherein one end of the pair of flexing end transmission wire (420) and the extension end transmission wire (410) is fixed to the hand assisting device unit. (100) on the thumb joint mechanism (110) and the finger joint mechanism (130); and the other end is fixed to a motor (220).
- a pair of flexing end drive wires (420) and extension end drive wires (410) are used for more stable traction of the thumb joint mechanism (110) and the finger joint mechanism (130), for example: when the flexion drive wire (420) And one end of the extension drive wire (410) is fixed to the finger joint mechanism (130), and when the motor (220) rotates counterclockwise, the flexion drive wire (420) is pulled, and at the same time, the extension is also followed. End drive wire (410).
- each finger is connected to the tension sensing unit (300) and the driving unit (200) through a pair of driving wires (400), so that each finger is visible Being a single institutional system allows the control device (500) to independently assist the patient in performing a single finger reconstruction.
- the wearable hand rehabilitation aid system (10) of the present invention is a hand accessory unit (100), a tension sensing unit (300) and a driving unit (200) by five pairs of transmission wires (400).
- the driving unit (200) can be activated by the instruction of the control unit (500), so that the driving unit (200) is Turn of instructions Dynamic angle and rotational torque to pull the flexure drive wire (420) in the drive wire (400), and then the flexion drive wire (420) drives the thumb joint mechanism (110) on the hand assist device unit (100) or
- the finger joint mechanism (130) can be bent to drive the user's finger to follow the bending; at the same time, the user's finger is detected by the transmission wire (400) and the tension sensing unit (300) for the driving unit (200)
- the feedback force of the bending command is reached (ie, the resistance of the finger can be determined by the tension measured by the tension sensing component), and the power
- FIG. 2C is a top view of the wearable hand rehabilitation aid system of the present invention.
- the hand accessory unit (100) on the wearable hand rehabilitation aid system (10) of the present invention includes a thumb joint mechanism (110), a plurality of finger joint mechanisms (130), and a palm.
- the base (150), the hand accessory unit (100) is followed by a tension sensing unit (300); the palm base (150) can be used to attach the hand accessory unit (100) by a detachable fixing mechanism (153) Connected to the base (11); in addition, as can be seen from Fig.
- the five pairs of drive wires (400) connecting the thumb joint mechanism (110) and the finger joint mechanism (130) are all introduced to the palm base (150). Thereafter, it is connected to five sets of elastic sensing columns (321) in the tension sensing unit (300).
- a plurality of fixing posts (320) in the tension sensing unit (300) are used to fix the relative distances of the two sides of the tension sensing unit (300), and are fixed.
- Five sets of elastic sensing columns (321) are arranged between the columns (320); in addition, referring to FIG. 2C, FIG. 5C and FIG.
- the flexing end wires (420) in the driving wire (400) are The extension drive wires (410) are in contact with one of the elastic sensing posts (321) in the tension sensing unit (300).
- the five sets of flexure drive wires (420) and the extension drive wires (410) are respectively composed of five fingers, and one end of each of the flex drive wires (420) and the extension drive wires (410) is Connected to the five-finger drive shaft 114/134 (shown in Figures 5C and 6C), and then connected to the plurality of sets of elastic sensing posts (321) on the tension sensing unit (300) via the palm base (150). ), then will The other end is pulled down and connected to the corresponding motor (220).
- the present invention is provided by five pairs of elastic sensing columns (321) arranged in the tension sensing unit (300) for respectively corresponding to the flexing end transmission wire (420) and the extension end driving wire (410).
- the five pairs of transmission wires (400) are used to detect the tension of the transmission wire (400); after that, the measured tension value data is transmitted to the control unit (500) for analysis as a control unit (500) ) Evaluate the user's finger condition.
- control unit (500) can set a preset value.
- the control unit (500) commands the wearable hand rehabilitation aid system to stop the operation to avoid patient injury.
- This preset value is set by the physician according to different patient conditions.
- FIG. 3A is a top plan view of the hand accessory unit in the wearable hand rehabilitation aid system of the present invention.
- the hand assisting device unit (100) comprises a thumb joint mechanism (110), four finger joint mechanisms (130) and a palm base (150), and the thumb joint mechanism (110) and The four finger joint mechanisms (130) are respectively fixed to one end of the palm base (150); wherein the thumb joint mechanism (110) is an L-shaped joint joint with the palm base (150) ( 151)
- the connection is such that the thumb joint mechanism (110) and the plurality of finger joint mechanisms (130) are fixed on different planes to conform to the natural configuration of the human body in the thumb of the finger.
- the thumb joint mechanism (110) and the finger joint mechanism (130) are respectively fixed to the approximate L-shaped structure formed by the palm base (150) and the joint connecting portion (151), the thumb can be freely bent; in addition, in the palm base
- the approximate L-shaped structure formed by the seat (150) and the joint connecting portion (151) can easily allow the user's five fingers to fit into the hand assisting unit (100), and can also be based on the physiology of the human palm.
- the structure does not interfere with the finger joint mechanism (130) when the thumb joint mechanism (110) is bent.
- the palm base (150) is disposed on one side of the detachable fixing mechanism (153) (shown in FIG. 2A), and is provided with a plurality of collecting posts (154) for Five pairs of drive wires (400) on five finger joint mechanisms (including thumb joint mechanism 110 and finger joint mechanism 130) in a horizontal plane are in contact; obviously, five pairs of drive wires (400) are introduced to the palm base ( 150)
- the plurality of collecting columns (154) on the assembly are concentrated.
- the thumb joint mechanism (110) passes through the joint of the thumb joint (151) an approximately L-shaped connection structure formed with the palm base (150) such that the thumb joint portion (151) and the palm base (150) are not on a horizontal surface, and therefore, on the thumb joint portion (151)
- a plurality of hubs (154) are also provided for guiding the drive wires (400) on the thumb joint mechanism (110).
- five concentrating columns (154) are used to be correspondingly configured with five pairs of elastic sensing columns (321) in the tension sensing unit (300).
- a recess (155) is formed to allow the transmission wire (400) to pass through the recess (155), so that the transmission wire (400) can be easily fixed.
- FIG. 3B is a bottom view of the hand accessory unit in the wearable hand rehabilitation aid system of the present invention.
- a plurality of pairs of fixing holes are disposed on the palm base (150), wherein the fixing holes (159) are groove-like structures for the purpose of placing the fingers on the palm base (150).
- the thumb joint mechanism (110) and each finger joint mechanism 130 can be coupled to the palm base (150) by these fixing holes (157, 159).
- each pair of fixing holes (157, 159) can be adjusted and fixed according to the distribution of the finger of the user, the effect of customization can be achieved, and the wear and operation of the patient can be improved.
- FIG. 3C is a side view of the hand accessory unit in the wearable hand rehabilitation aid system of the present invention.
- a detachable fixing mechanism 153
- the other end is connected to the base fixing seat (103) through the palm fixing seat (105)
- the hand accessory unit (100) detachable base (11) can be connected by means of the base holder (103).
- the palm base (150) is connected to the thumb joint mechanism 110 and the plurality of finger joint mechanisms 130; in addition, the palm base (150) is disposed on one end of the detachable fixing mechanism (153). Alignment column (154).
- a cover (160) is used to cover the palm base (150) except In addition, it is mainly used to protect a plurality of transmission wires (400) to prevent the patient from touching the transmission wire (400) during the rehabilitation process, thereby causing an error in the tension detection.
- the thumb joint mechanism (110) of the present invention is composed of a thumb metacarpophalangeal joint (111), a thumb proximal joint (113), a thumb drive shaft (114), and a thumb distal joint (115);
- the thumb metacarpophalangeal joint (111) is a structure having an accommodating space, and can be used for accommodating the slide rail connecting rod (112); and the accommodating space is formed by at least one pair of side walls (1111, 1112).
- a wire pulley block (600) formed by a plurality of wire pulleys disposed on one of the side walls (for example, the side wall 1112), and the wire pulley block (600) formed by the plurality of wire pulleys can be paired with the drive wire ( 400) contact for use as a moving track of the drive wire (400); at the same time, a pair of thumb slides (1113) are further disposed on a pair of thumb side walls (1111, 1112) of the thumb metacarpophalangeal joint (111),
- the thumb slide (1113) is an arcuate rail groove, and the thumb slide (1113) can be selectively disposed in the wire pulley of the wire pulley block (600);
- a thumb slide link (112) can be accommodated, and the thumb slide rail
- One end (1121) of the connecting rod (112) is connected to a top end (1135) of the proximal phalanx (113)
- the proximal phalanx (113) of the thumb is formed by two open ends (1131/1133) and a top end (1135), and a top end (1135) and a thumb rail link (112) are attached.
- One end (1121) is connected, and one open end (1133) has two sides (1137) connected to both ends of the top end (1135), and is outward and downward of the top end (1135) of the both sides (1137).
- the top end (1135) has a width, and an upwardly projecting connecting end (1136) is formed on the end surface of the top end (1135), and at the connecting end (1136)
- a pivot hole (11361) is formed on the open end; wherein the width of the top end (1135) and the outward and downward extension distances of the two sides (1137) are used to match the size of the user's thumb.
- the thumb distal joint (115) is also formed by two open ends and a top end (1155), and an open end (1153) of the adjacent thumb proximal joint (113) has a top end. (1155) the two sides (1157) connected at both ends, and the pivot hole (1159) is disposed on the outer side of the two sides (1157) toward the outer end (1155) and the open end extending downward by a distance;
- the pivot hole (1159) on the thumb distal joint (115) is pivoted corresponding to the pivot hole (1139) on the thumb proximal joint (113), and is pivotally connected to the pivot hole (1159).
- a rotatable thumb joint (117) is formed; in addition, the opposite end (1151) of one end (1153) of the thumb distal phalanx (115) is an open terminal; Further, an upwardly projecting connecting end (1156) is formed on the end surface of the tip end (1155) of the thumb distal joint (115), and a pivot hole (11561) is formed on the open end of the connecting end (1156).
- the thumb drive shaft (114) is formed by pivoting the first connecting portion (1141) and the second connecting portion (1143), wherein the first connecting portion (1141) and the The two open ends of the two connecting portions (1143) are respectively provided with pivoting holes; after the first connecting portion (1141) and the second connecting portion (1143) are connected to the pivoting holes on the open end, the connection can be connected by The pivot point is integrally connected and can freely move with the pivot point as the axis; then, the pivot hole on the other open end (11411) of the first connecting portion (1141) and the distal joint (115) of the thumb are first The pivoting hole (11561) of the connecting end (1156) is pivotally connected, and the pivoting hole on the other open end (11431) of the second connecting portion (1143) is connected with the thumb proximal joint (113) (1136).
- the proximal joints (113) of the thumb can be connected together. Therefore, when the first connecting portion (1141) and the second connecting portion (1143) of the thumb drive shaft (114) are driven, the first connecting portion (1141) and the second connecting portion (1143) can be activated.
- the proximal joint of the thumb (113) and the distal joint of the thumb (115) move together.
- the first connecting portion (1141) may be an arm structure
- the second connecting portion (1143) may be a structure having a larger volume than the first connecting portion (1141);
- the shape, structure or material used of the first connecting portion (1141) and the second connecting portion (1143) are not limited in the present invention.
- FIG. 4B is a schematic diagram of the joint of the thumb joint mechanism in the wearable hand rehabilitation aid system of the present invention.
- the thumb joint mechanism (110) when integrally connected, the normal intersection of the two terminals of the thumb slide (1113) is a virtual center point (119), and the virtual center point (119) is The thumb knuckle (117) can be maintained on a horizontal line, wherein the virtual center point (119) is the reference center point when the thumb proximal joint (113) is bent, and the thumb knuckle (117) is used as the thumb.
- the axis of rotation of the phalanx (115) which is the junction of the pivot hole (1139) and the pivot hole (1159) in FIG.
- the position of the virtual center point (119) is sized according to the user's palm And the shape is determined, and the virtual center point (119) can be adjusted by adjusting the curvature of the thumb rail (1113), whereby the design of the virtual center point (119) allows the user to Let the palms not interfere with the thumb joint mechanism, for example: avoid the meat that is caught on the palm of your hand when the thumb joint mechanism is active. Therefore, in the embodiment of the present invention, when the thumb drive shaft (114) is driven by the drive wire (400), the drive wire (400) will first drive the thumb slide link (112) on the thumb slide (1113). The terminal moves to drive the proximal joint (113) of the thumb to bend.
- FIG. 5A is a schematic cross-sectional view of a portion of the thumb metacarpophalangeal joint mechanism of the wearable hand rehabilitation aid system of the present invention.
- a wire pulley block (600) formed by a plurality of wire pulleys is disposed on a side wall (1111) of the thumb joint mechanism (110) for use as a moving track of the drive wire (400), in the implementation of the present invention.
- the drive wire (400) is composed of two independent line segments, including: a flex drive wire (420) bent as a traction finger and a stretch drive wire extending straight from the traction finger (410).
- the wire pulley block (600) includes a first pulley block (611, 612, 613) and a second pulley block (621, 622,) for respectively contacting the extended end drive wire (410) and the flex end drive wire (420) in the drive wire (400);
- the first pulley block (611, 612, 613) is in contact with the extension drive wire (410) and the second pulley block (621, 622) is in contact with the flexion drive wire (420).
- extension drive wire (410) and the flex drive wire (420) are connected to different positions of the same motor (220), and the other end of the extension drive wire (410) and the flex drive wire (420) Separately fixed at the same position or at different positions on the second connecting portion (1143) of the thumb drive shaft (114); since the second connecting portion (1143) of the thumb drive shaft (114) of the present invention can be formed by combination Therefore, the inside of the second connecting portion (1143) may be hollow or partially hollow, so that a turntable (not shown) may be disposed therein, and the extension end transmission wire (410) and the flexing end transmission wire (420) may be arranged. The end of the) is fixed to the turntable inside the second connecting portion (1143).
- the primary purpose of the present invention is to provide a displacement distance by the ends of different sizes of the turntable.
- the flexing end transmission wire (420) When the motor (220) rotates in the counterclockwise direction, on the one hand, the flexing end transmission wire (420) is moved in the counterclockwise direction, and on the other hand, the extension end transmission wire (410) is simultaneously moved to the counterclockwise direction;
- the flexion drive lead (420) will first move the thumb slide link (112) in the thumb metacarpophalangeal joint (111) along the thumb slide (1113), as the thumb slide link (112) moves to the thumb
- the end of the slide rail (1113) is not bent, the flexure drive wire (420) and the extension drive wire (410) continue to drive the second connection portion (1143) of the thumb drive shaft (114). Rotating in the counterclockwise direction; and then, driving the first connecting portion (1141) to drive the thumb distal joint (115) to bend with the thumb knuckle (117) as the axis.
- the first pulley block (611, 612, 613) and the second pulley block (621, 622) are used in contact with the extension drive wire (410) and the flexion drive wire (420), respectively. It is used to maintain the extension drive wire (410) and the flex drive wire (420) in a tension state, and also to prevent the extension drive wire (410) and the flex drive wire (420) from occurring during the movement. Winding.
- the extension drive wire (410) is in contact with one end of the pulley (611) and the pulley (612), and then the extension drive wire (410)
- the pulley (613) is bypassed and brought into contact with the other end of the pulley (613) such that the pulley (612) forms a similar S-shaped staggered contact with the pulley (613), and then the extension drive wire (410) is wound.
- the other end of the pulley (622) contacts and forms an S-shaped staggered contact with the pulley (621); and then, the flexure drive wire (420) passes through the thumb rail latch (1124) and then passes through In the thumb rail link (112); finally, the flex end drive wire (420) is fixed to the turntable inside the second connecting portion (1143).
- FIG. 5B is a schematic exploded view of the metacarpophalangeal joint of the thumb metacarpophalangeal joint in the thumb joint of the present invention.
- the thumb metacarpophalangeal joint (111) is composed of one side wall (1111) and the other side wall (1112), and an accommodation is formed between the side wall (1111) and the side wall (1112). a space for receiving a thumb rail link (112); wherein the wire pulley block (600) can be selectively fixed in the accommodating space of the two side walls (1111, 1112), and at the same time, the side wall can be A plurality of fixing screws (not shown) on (1112) are combined and fixed integrally with the side wall (1111) and the side wall (1112).
- a pair of through holes (1123) are arranged at the ends of the thumb rail link (112) at the two ends of the base, so that the flexing end transmission wire (420) can pass through the through hole (1123), so that the flexing end transmission wire (420) in contact with the thumb rail link (112); therefore, when the flexing end drive wire (420) is driven, the thumb rail link (112) will be driven by the flexure drive wire (420) such that the thumb slide link (112) can move between the two ends of the thumb slide (1113).
- the present invention uses the pulley block (600) as the motion track of the drive wire (400) when the thumb joint mechanism (110) is bent; the foregoing description is only one of the embodiments of the present invention; The present invention is not limited to the manner or direction in which several pulleys are used to contact the drive wire (400), and the drive wire (400) is in contact with each of the pulleys.
- the material of the extension end transmission wire (410) and the flexion end transmission wire (420) is a selection metal.
- the wire in particular, a metal wire having a diameter of 0.5 to 1 mm; similarly, the present invention is not limited to which metal wire is used.
- FIG. 5C is a schematic cross-sectional view of the thumb joint mechanism in the wearable hand rehabilitation aid system of the present invention.
- a wire pulley block (600) formed by a plurality of wire pulleys is disposed on a sidewall (1111) of the thumb metacarpophalangeal joint (111) for use as a moving track of the transmission wire (400);
- the drive wire (400) is composed of two independent segments, including: a extension drive wire (410) and a flex drive wire (420).
- the wire pulley block (600) includes a first pulley block (611, 612, 613) and a second pulley block (621, 622) for contacting the extension drive wire (410) and the flex drive wire (420); wherein the extension drive wire (410) is The first pulley block (611, 612, 613) and the wheel set (622) are in contact, and the flexing end drive wire (420) is in contact with at least the second pulley block (621, 622).
- the other ends of the extension drive wire (410) and the flex drive wire (420) are They are respectively fixed to the turntables in the thumb drive shaft (114).
- the motor (220) rotates in the counterclockwise direction, on the one hand, the flexing end transmission wire (420) is moved in the counterclockwise direction, and on the other hand, the extension end transmission wire (410) is simultaneously moved in the counterclockwise direction.
- the end drive wire (420) and the extension drive wire (410) drive the second connecting portion (1143) of the finger drive shaft (114) to rotate in a counterclockwise direction;
- the flexion drive wire (420) first drives the thumb slide link (112) in the thumb metacarpophalangeal joint (111) to move along the thumb slide (1113), when the thumb slide link (112) moves to When the thumb rail (1113) is terminated, it will not bend again; then, the flexing drive wire (420) and the extension drive wire (410) will continue to drive the rotation of the second connecting portion (1143) for pushing the first a connecting portion (1141) such that the second connecting portion (1143) and the first connecting portion (1141) drive the thumb proximal phalanx (113) and the thumb distal phalanx (115) to bend; for example, in an embodiment of the present invention
- the thumb distal joint (115) is bent by the thumb joint (117) by driving the first connecting portion (1141), and the maximum bending angle is 90 degrees, as shown in FIG. 5C.
- FIG. 6A is a schematic exploded view of the finger joint mechanism in the wearable hand rehabilitation aid system.
- the finger joint mechanism (130) of the present invention is composed of a finger palm joint (131), a finger proximal phalanx (133), a finger drive shaft (134), a finger middle phalanx (135), and a finger far.
- the phalanx (137) is composed of a finger palm joint (131) having the same structure as the thumb metacarpophalangeal joint (111) in Fig. 4A, and is a structure having a space for accommodating a finger slide.
- a finger slide link (132) is disposed, and one end (1322) of the finger slide link (132) and the proximal phalanx of the finger (133) The top end (1335) is connected, and the other end of the finger rail link (132) has a finger rail latch (1324); when the finger rail link (132) is disposed on the finger palm joint (131) After accommodating the space, the finger rail latch (1324) can be pivotally connected in the finger rail (1313), so that the finger rail link (132) can be pivoted by the finger rail latch (1324) and By pulling the drive wire (400), the finger slide link (132) is on the finger Move between the rails (1313).
- a pair of through holes (1323) are disposed at the ends of the base rail link (132) at the two ends of the base, so that the flexure drive wire (420) can pass through the through hole of the finger slide link (132) ( 1323) is then coupled to the drive portion (1341) in the finger drive shaft (134); in addition, the wire pulley block (600) is disposed in the finger palm joint (131) for the purpose of helping to stabilize the drive wire (400) )track.
- the proximal joint (133) of the finger is formed by two open ends (1331, 1333) and a top end (1335), and the top end (1335) and the finger rail link (132) One end (1322) is connected, and the other open end (1333) has opposite side edges (13331) connected to both side ends of the top end (1335), and is on the outer side (1335) of the both sides (13331).
- the top end (1335) has a width, and an upwardly projecting connecting end (1337) is formed on the end surface of the top end (1335); wherein the width of the top end (1335) and The outward and downward extension of the sides (13331) are designed to fit the user's finger size.
- the finger phalanx (135) is formed by two open ends (1351, 1353) and a top end (1355), and an open end of the adjacent finger proximal joint (133) (1353). ) having two side edges (13531) connected to both ends of the top end (1355), and forming a pair of middle end terminal pivot holes (13535) on the terminals of the side edges (13531) of each finger, the pair of pivotal connections
- the hole (13535) can be coupled to the proximal pivot hole (13333) on the proximal joint (133) of the finger and form a rotatable proximal palm joint (138); and the other of the finger phalanx (135)
- the open end (1353) has two side edges (13531) connected to both ends of the middle end (1355), and a pair of middle end terminal pivot holes (13535) are disposed at the beginning of each side (13531).
- the distal phalanx (137) of the finger is formed by two open ends (1371, 1373) and a top end (1375), and one end (1373) of the phalanx (135) of the adjacent finger has a pair of sides (1377) connected to the ends of the top end (1375) and to the outside of the top side (1377) on both sides (1377) And a pivot hole (13731) is disposed on the open end extending downward by a distance; obviously, the pivot hole (13533) on the phalanx (135) of the finger is a pivotal connection with the distal phalanx (137) of the finger After the corresponding hole (13731) is pivoted, a distal distal joint (139) of the finger is formed; and the other end (1371) of the distal phalanx (137) of the finger is an open terminal;
- the tip end (1375) of the phalanx (137) has a connecting end (1372) on its end face, and a pair of pivot holes (13721
- the finger drive shaft (134) is composed of a driving portion (1341), a first connecting arm (1343), a second connecting arm (1345), and a third connecting arm (1347).
- the driving part (1341), the first connecting arm (1343), the second connecting arm (1345) and the third connecting arm (1347) each have two open ends, and each of the open ends is respectively provided with a pair of pivoting a hole; therefore, the pivoting hole on one end of the first connecting arm (1343) can be pivotally connected to the pivoting hole (13453) on one end of the adjacent first connecting arm (1343) of the second connecting arm (1345),
- the pivot hole (13431) on the other end of the first connecting arm (1343) is connected to the pivot hole (13411) on one end of the driving portion (1341); and the pivot hole on the other end of the driving portion (1341) ( 13413) is connected to a pair of pivot holes (13371) on the connecting end (1337) of the proximal phalanx (
- the terminal at the other end of the second connecting arm (1345) has a pair of pivoting holes (13451), and the pair of pivoting holes (13451) are used to pivot the connecting end (1372) of the distal phalanx (137) with the finger. Connect the holes (13721). Further, the second connecting arm (1345) is further provided with a pair of positioning pivot holes (13457) on the terminal end adjacent to the connecting end of the first connecting arm (1343).
- the terminal at one end of the third connecting arm (1347) has a pair of pivot holes (13471), and the pair of pivot holes (13471) are auxiliary pivot holes for the proximal phalanx (133) of the finger (13335)
- the other end of the third connecting arm (1347) is pivotally connected to the positioning pivot hole (13457) of the second connecting arm (1345); it is obvious that the finger joint mechanism (130) is connected and maintained at In the straight posture, the angle between the third connecting arm (1347) and the second connecting arm (1345) is close to 90 degrees.
- FIG. 6B is a schematic diagram of the joint of the finger joint mechanism in the wearable hand rehabilitation aid system of the present invention.
- the finger joint mechanism (130) is driven by the finger drive shaft (134) and the finger
- the phalanx (133) and the distal phalanx (137) of the finger are combined and push the joint to the terminal to form a straight line shape, and the normal intersection of the two terminals of the finger slide (132) is a virtual central point (140).
- the virtual center point (140) and the finger proximal joint (138) and the finger distal joint (139) can be maintained on a horizontal line; wherein the virtual center point (140) is used as a finger proximal phalanx (133)
- the finger near palm joint (138) is the axis of rotation of the phalanx (135) in the finger
- the distal palm joint (139) is the axis of rotation of the finger distal phalanx (137).
- the third link arm (1347) is used as a guide for the transmission force when the drive portion (1341) rotates, so that the finger slide link (132) Move between the two terminals of the finger slide (1313).
- the second connecting arm (1345) and the third connecting arm (1347) may be integrally formed.
- FIG. 6C is a schematic diagram of the finger joints of the wearable hand rehabilitation aid system of the present invention being pulled by the transmission wire.
- a wire pulley block (600) formed by a plurality of wire pulleys is disposed on a side wall (1311) of the finger joint mechanism (130) for use as a moving track of the drive wire (400); in the implementation of the present invention
- the drive wire (400) is composed of two independent segments, including: a extension drive wire (410) and a flex drive wire (420).
- the wire pulley block (600) includes a first pulley block (611, 612, 613) and a second pulley block (621, 622) for contacting the extension drive wire (410) and the flex drive wire (420); wherein the first pulley block (611, 612, 613) and the extension The end drive wires (410) are in contact and the second block (621, 622) is in contact with the flex drive wires (420).
- one end of the flex drive wire (420) and the extension drive wire (410) are connected to different positions of the same motor (220), and the other end of the flex drive wire (420) and the extension drive wire (410) One end is fixed to a different position of a turntable (not shown in the figure) inside the driving part (1341); since the driving part (1341) of the present invention can be formed by a combination, the inside of the driving part (1341) can be It is hollow or partially hollow, so that a turntable can be disposed therein.
- the main purpose of the configuration of the turntable of the present invention is to provide a displacement distance by the ends of different sizes of the turntable.
- the extension drive wire (410) is The first pulley block (611, 612, 613) and the pulley (622) are in contact, and the flexing end transmission wire (420) is first passed through the finger sliding rail (132) and then in contact with the second pulley block (621, 622); wherein the turntable can guide the extension end transmission wire (410) smoothly slides with the flexure drive wire (420) in the drive portion (1341).
- the finger metacarpophalangeal joint (131) has the same structure as the thumb metacarpophalangeal joint (111) in Fig.
- extension end transmission wire (410) and the flexion end transmission wire (420) and the first pulley block ( 611, 612, 613), the second pulley block (621, 622) and the finger rail link (132) are in the same manner (please refer to the description of paragraph 21), and will not be described again.
- the other ends of the flex drive wire (420) and the extension drive wire (410) are They are respectively fixed to the finger drive shaft (134).
- the motor (220) rotates in the counterclockwise direction, on the one hand, the flexing end transmission wire (420) is moved in the counterclockwise direction, and on the other hand, the extension end transmission wire (410) is simultaneously moved in the counterclockwise direction.
- the end drive wire (420) and the extension drive wire (410) drive the drive portion (1341) of the finger drive shaft (134) to rotate counterclockwise; at this time, the flex drive wire (420) first drives the finger palm joint The finger rail link (132) in (131) moves along the finger rail (1313), and when the finger rail link (132) moves to the end of the finger rail (1313), it does not bend again; Then, the flexing end drive wire (420) and the extension end drive wire (410) continue to drive the rotation of the driving portion (1341) for pushing the first connecting arm (1343) and the second connecting arm (1345), so that the first The connecting arm (1343) and the second connecting arm (1345) respectively rotate the finger proximal palm joint (138) and the distal palm joint (139) to drive the finger middle phalanx (135) and the finger distal phalanx (137) Bending, as shown in Fig.
- Fig. 6C is a schematic view of the bending of the finger joint in the wearable hand rehabilitation aid system of the present invention.
- the exploded view of the finger palm joint (131) of the present invention is the same as the exploded view of the thumb metacarpophalangeal joint (111) in the thumb joint shown in FIGS. 5A and 5B, and will not be described again.
- the thumb metacarpophalangeal joint (111) in the thumb joint mechanism (110) and the finger metacarpophalangeal joint (131) in the finger joint mechanism (130) The structural design is the same, including: finger rail link (132), first pulley block (611, 612, 613) and the design of the second pulley block (621, 622); thus the thumb drive shaft (114) in the thumb metacarpophalangeal joint (111) and the finger drive shaft (134) in the finger metacarpophalangeal joint (131) are flexed
- the drive wire (420) and the extension drive wire (410) are driven to drive the same design; the difference is that when the thumb drive shaft (114) is flexed to the drive wire (420) and the extension drive wire (410)
- the thumb proximal phalanx (113) and the thumb distal phalanx (115) can be bent or straightened with the thumb knuckle (117) as the axis; and
- the hand accessory unit (100) of the present invention comprises a thumb joint mechanism (110), a plurality of finger joint mechanisms (130) and a palm base (150);
- the finger joint mechanism (130) can be used as the index finger, the middle finger, the ring finger and the little finger, etc., and will not be described again;
- the finger joint mechanism (130) differs in size and size only when used as the index finger, the middle finger, the ring finger, and the little finger.
- the transmission wire (400) is five pairs of transmission wires respectively corresponding to five fingers, that is, comprising: five pairs of extension end transmission wires (410) and a flexing end transmission wire (420), each consisting of A pair of extension drive wires (410) and one end of the flex drive wire (420) are connected to the drive shaft (114/134) of the five finger structure, and then connected to the tension sense unit via the palm base (150).
- the tension sensing unit (300) should also be configured with five pairs of elastic sensing a column (321) for respectively corresponding to the five pairs of extension end transmission wires (410) and the flexion end transmission wires (420) for detecting the tension of the extension end transmission wires (410) and the flexing end transmission wires (420);
- an elastic pulley (312) is further disposed for the extension end transmission wire (410) and the flex end transmission wire (420). When in contact with the elastic sensing column (321), the resistance can be lowered.
- FIG. 7 is a schematic diagram of the principle of the tension sensor of the wearable hand rehabilitation aid system of the present invention.
- each of the elastic sensing columns (321) is in contact with the flexing drive wire (420) and the extension end drive wire (410) when the motor (220)
- the flexing end transmission wire (420) and the extension end transmission wire (410) are tightened, so Centering on the elastic sensing column (321), forming an angle ( ⁇ ) with the motor (220) and the driving shaft (114/134), respectively, when the system knows that the driving wire (400) acts on the elastic sensing column (321)
- the tension value on the flex drive wire (420) and the extension drive wire (410) can be obtained using the relationship of the trigonometric function; after that, the measured tension is obtained.
- FIG. 8A is a schematic diagram of a curved curve of the thumb joint mechanism of the wearable hand rehabilitation aid system driven by the motor rotation angle.
- the horizontal axis is the motor rotation angle
- the vertical axis is the thumb joint mechanism bending angle (angles)
- the dotted line is the metacarpophalangeal joint (MCP, Metacarpophalangeal) is the corresponding thumb metacarpophalangeal joint (111).
- MCP metacarpophalangeal
- the angle of rotation, the long dashed line is ⁇ 2 is the angle of rotation of the thumb knuckle (117), and the solid line is the angle of rotation of the thumb knuckle (IP, Interphalangeal) corresponding to the thumb drive shaft (114).
- the motor (220) rotates to about 30 degrees, it will start to drive the flexing end transmission wire (420) and the extension end transmission wire (410) to move.
- the flexion drive wire (420) first drives the thumb slide link (112) in the thumb metacarpophalangeal joint (111), the thumb slide link (112) first feels the flexion drive wire (420).
- the sliding force is applied to start sliding and bending; then, when the motor (220) continues to rotate to about 140 degrees, the thumb rail latch (1124) has moved to the end of the thumb rail (1113), obviously, the thumb
- the metacarpophalangeal joint (111) is no longer curved; at this time, as can be seen from the longitudinal axis coordinates, the thumb metacarpophalangeal joint (111) is bent close to 60 degrees, in other words, in the embodiment of the present invention, the thumb metacarpal The maximum bending angle of the joint (111) is 60 degrees.
- the metacarpophalangeal joint (111) is connected between the palm base (150) and the thumb near the phalanx (113), so the thumb metacarpophalangeal joint (111) will push the thumb near the finger phalanx (113) to bend together.
- the angle of rotation of the shaft (114) drives the thumb distal phalanx (115) to bend with the thumb knuckle (117) as an axis; for example, when the motor (220) pulls the flexion drive wire (420) and the extension drive wire
- the thumb drive shaft (114) starts to rotate due to the feeling of the pulling force, and the angle ( ⁇ 2) of the thumb drive shaft (114) rises.
- the thumb drive shaft (114) is first bent by the tensile force of the flexing end transmission wire (420) and the extension end transmission wire (410), so that the bending angle is faster, and then During the bending of the thumb drive shaft (114), the thumb distal phalanx (115) is pulled to bend the thumb knuckle (117); when the ⁇ 2 angle of the thumb drive shaft (114) reaches 130 degrees, the thumb is reached. The maximum bending angle of the joint (117).
- the thumb palm joint (111) has been bent to 20 degrees, and at the same time, the thumb drive shaft (114) will begin to be subjected to the flexure drive wire (420). The bending begins with the tension of the extension drive wire (410), and then the distal phalanx (115) of the thumb is pulled. It will be apparent that in the embodiment of the present invention, the thumb metacarpophalangeal joint (111), the thumb drive shaft (114) and the thumb are far away in the thumb joint (110) during the rotation of the motor (220) to 60-140 degrees. The phalanx (115) will bend at the same time.
- the motor When a patient who needs to perform thumb rehabilitation has been inserted into the thumb joint mechanism of the wearable hand rehabilitation aid system, the motor is issued by the control unit (500) after the patient is evaluated by the rehabilitation personnel ( 220) The command to turn.
- the motor (220) rotates according to the command, the flexing end transmission wire (420) and the extension end transmission wire (410) are simultaneously moved, and the flexing end transmission wire (420) and the extension end transmission wire (410) are followed by the movement. Both are in contact with the elastic sensing column (321) in the tension sensing unit (300), so that the tension on the flexing end transmission wire (420) and the extension end transmission guide can be measured.
- control unit (500) can set a preset value, and when the thumb tension value exceeds the preset value, the control device (500) commands the wearable hand rehabilitation aid system to stop. Action to avoid patient injury, this preset value is set by the physician according to different patient conditions.
- FIG. 8B is a schematic diagram of a curved curve of the finger joint mechanism of the wearable hand rehabilitation aid system driven by the motor rotation angle.
- the horizontal axis is the motor rotation angle
- the vertical axis is the finger joint mechanism bending angle (angles)
- the metacarpophalangeal joint (MCP) of the dotted line marker is the corresponding finger metacarpophalangeal joint (131).
- the angle of rotation, the long interdigitated joint (PIP, proximal interphalangeal) is the rotation angle of the finger near the palm joint (138), and the short palm line (DIP, Distal interphalangeal) is the corresponding distal palm joint ( The rotation angle of 139), and ⁇ 2 of the solid line corresponds to the rotation angle of the finger drive shaft (134).
- the maximum bending angle of the finger palm joint (131) is 70 degrees.
- the finger proximal finger bone (133) is driven by the bending of the finger palm joint (131). motion.
- the rotation of the finger drive shaft (134) pushes the proximal palm joint (138) between the proximal phalanx (133) of the finger and the phalanx (135) of the finger to bend; for example, when the motor (220) pulls the flexion end
- the finger drive shaft (134) starts to rotate due to the tensile force being felt, and the drive shaft angle ( ⁇ 2) rises.
- the finger drive shaft (134) is first rotated by the tension of the flex drive wire (420) and the extension drive wire (410), so the angle of rotation is more obvious; After the motor (220) is rotated to 120 degrees, the finger proximal phalanx (133) and the finger proximal phalanx (135) are driven by the angle of rotation of the finger drive shaft (134) (138). Bending, also driving the distal distal joint (139) of the finger between the distal phalanx (137) and the phalanx (135) of the finger, wherein the proximal palm joint (138) is curved more than the distal palm joint (139) The bend is obvious.
- the finger palm joint (131) is maintained at a maximum bending angle of 70 degrees, and the finger near palm joint (138) is bent at an angle of approximately 90 degrees, and the finger distal joint (139)
- the bending angle is approximately 50 degrees and the finger drive shaft (134) can be rotated to approximately 160 degrees.
- the embodiment of the invention in which the finger joint mechanism (130) is bent is not the same as the embodiment of the thumb joint mechanism (110).
- the finger joint mechanism (130) of the present invention is curved, before the motor (220) is rotated to 120 degrees, the finger palm joint (131) in the finger joint (130) is forced to force the finger to drive the shaft ( 134) Bending, while other parts include: the finger near palm joint (138) and the finger distal palm joint (139) have not rotated yet; and when the motor (220) is rotated from 120 degrees to 240 degrees, the finger drive shaft (134) At the same time, the finger near palm joint (138) and the distal palm joint (139) are bent together, but the proximal palm joint (138) is more curved than the distal palm joint (139); during this period, the finger palm refers to The joint (131) bending angle is maintained at about 70 degrees.
- control unit (500) can set a preset value, and when the finger tension value exceeds the preset value, the control device (500) commands the wearable hand rehabilitation aid system to stop. Action to avoid patient injury, this preset value is set by the physician according to different patient conditions.
- FIG. 9A a simulation (solid line) and an actual experiment (dashed line) of a motor rotation angle and a thumb joint (IP) bending angle trajectory of the wearable hand rehabilitation aid system of the present invention are shown.
- the thumb knuckle (IP) is a relative angle between the distal phalanx of the thumb (115) and the proximal phalanx of the thumb (113), that is, the angle of rotation of the thumb joint (117), wherein
- the line is a simulation result of the thumb joint bending process of the wearable hand rehabilitation assisting system according to the present invention
- the broken line is the bending result of the thumb joint of the wearable hand rehabilitation aid system according to the present invention actually driven by the motor.
- the thumb drive shaft (114) angle ( ⁇ 2) reaches about 40 degrees
- the thumb knuckle (117) begins to bend.
- the simulated curve (solid line) in Figure 9A is consistent with the curve (dashed line) that actually drives the bending of the thumb joint at the motor rotation angle, showing that the design of the hallux joint mechanism (110) of the present invention is close to the theoretical value.
- the present invention can eliminate the need to arrange various sensing components in the thumb joint mechanism (110), and can be simplified to the result of pulling with wires; at the same time, the weight of the auxiliary device can be reduced and the manufacturing cost of the auxiliary device can be reduced. Wait for the purpose.
- FIG. 9B is a simulation (solid line) and actual experiment (dashed line) of the motor rotation angle and the finger proximal joint (PIP) bending angle trajectory of the wearable hand rehabilitation aid system.
- the finger near palm joint (PIP) is the angle of rotation of the finger near palm joint (138).
- the angle ( ⁇ 2) of the finger drive shaft (134) is about 20 degrees
- the finger near palm joint (138) starts to bend; when the finger drive shaft (134) angle ( ⁇ 2) rotates from 20 degrees to about 150 degrees.
- the bending of the finger near the palm joint (138) during the period It is close to linear.
- the simulated curve (solid line) in Figure 9B is consistent with the curve (dashed line) that actually drives the finger near palm joint (PIP) bending at the motor rotation angle.
- a simulation (solid line) and actual experiment (dashed line) of the motor rotation angle and the distal palm joint (DIP) bending angle trajectory of the wearable hand rehabilitation aid system is the distal palm joint (DIP) is the angle of rotation of the proximal palm joint (139).
- the angle ( ⁇ 2) of the finger drive shaft (134) is about 15 degrees, the distal palm joint (139) begins to bend.
- the simulated curve (solid line) in Figure 9C is consistent with the curve (dashed line) that actually drives the distal palm joint (DIP) bend at the motor rotation angle.
Landscapes
- 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
一种穿戴式手部复健辅具***(10),包括:手部辅具单元(100),其由手掌基座(150)、一个拇指关节机构(110)和四个手指关节机构(130)组成,其中,拇指关节机构(110)和四个手指关节机构(130)分别固接于手掌基座(150)的第一端上,多个集线柱(154)配置于手掌基座(150)的第二端上;张力感测单元(300),与手部辅具单元(100)相邻配置,其配置有多个弹性感测柱(321);驱动单元(200),与张力感测单元(300)相邻配置,由多个马达(220)组成;多条传动导线(410, 420),每一传动导线(410, 420)的一端与拇指关节机构(110)及手指关节机构(130)连接,另一端与驱动单元(200)连接,并与每一弹性感测柱(321)接触;及控制单元(500),与驱动单元(200)及张力感测单元(300)连接。
Description
本发明是关于一种机械辅具或一种复健设备,特别是关于一种可穿戴式手部复健辅具***。
穿戴式机械辅具,是一种可以由人体穿戴之机械器材,其主要之功能为藉由机械的能力来强化使用者的局部肢体能力,并协助或支配穿戴者完成指定之任务。为强化人类特定部位的肢体能力,透过机械的稳定施力来推动使用者的局部肢体,藉由机械的重复性与可靠度,来协助使用者的肢体完成精确且重复的往返动作,随着老年化社会的到来与使用需求的增加,相关类型的机械产品开发将逐渐成为主流。
由于人类手指结构上的复杂度与关节高自由度的关系,为了使得穿戴式机械辅具能尽可能地达成与人手相同之运动能力,使得穿戴式机械辅具之机构设计上存在着一定的难度。此外,在本技术的相关领域中,以手指为复健部位的专利件数为多数,技术发展特征又以弯曲及伸展技术为主,另外,在载具驱动的方式是以前馈式被动开启装置为主。
首先,在薄壳外骨骼相关专利前案中美国公开专利第US20140072829A1号、中国台湾专利第TW495845号、中国台湾专利第TW474206号、中国台湾专利第TW355708号皆已揭露使用线带动关节运动;此外中国台湾专利第TW500316则是揭露以导杆来带动关节运动。
另外,在与本发明技术相关的单滑轨式机械关节前案中,美国专利第US8574179B2号与中国发明专利第CN101897643B号已揭露双滑轨设计;而美国
专利第US8574179B2号及中国发明专利第CN101897643号则是已揭露滑轨旋转中心设于指关节;以及,中国台湾专利第M500316号与中国台湾专利第TW355708号则是揭露以单指马达做为驱动动力的设计。
另外,在复健疗程方法相关前案中,中国台湾发明专利第I374734号则是已揭露设定关节角度周期变化的方法;以及,中国台湾公开专利第TW201440752号则是已揭露可烧录特定运动模式。
综观上述技术零散,因此,本发明提供一种具有重量轻且符合人体手掌结构的手部复健辅具***。
发明内容
本发明的主要目的是提供一种穿戴式手部复健辅具***,包括:
手部辅具单元,是由手掌基座及与手掌基座成近似L型的关节连接部所形成,拇指关节机构固接于关节连接部的第一端上,而多个手指关节机构分别固接于手掌基座的第一端上,且多个集线柱,是配置于手掌基座的第二端上;
张力感测单元,是与手部辅具单元相邻配置,其上配置有多个弹性感测柱;
驱动单元,与张力感测单元相邻配置,是由多个马达所组成,藉由马达提供转动角度;
多条传动导线,每一传动导线的一端与拇指关节机构及手指关节机构连接,而另一端与驱动单元连接,并与每一弹性感测柱接触;及控制单元,与驱动单元及张力感测单元连接;其中,
拇指关节机构具有容置空间,用以容置一滑轨连杆,容置空间是由至少两个侧壁所形成,并于两个侧壁上配置一个拇指滑轨,用以与滑轨连杆的一端枢接,同时于其中一个侧壁上配置多个导线滑轮,并使传动导线与导线滑轮及集线柱接触;
手指掌指关节中,具有容置空间,用以容置滑轨连杆,容置空间是由至少两个侧壁所形成,并于两个侧壁上配置一个拇指滑轨,用以与滑轨连杆的一端枢接,同时于其中一个侧壁上配置多个导线滑轮,并使传动导线与导线滑轮及集线柱接触。
根据本发明上述的主要目的,藉由穿戴式手部复健辅具***在手掌关节的结构中,配合滑轨连杆、导线滑轮以及集线柱等的设计,使得本发明的穿戴式手部复健辅具***可以不需要在拇指关节机构或手指关节机构中配置各种感应组件,而可以简化到以导线来牵引之结果;同时也可以达到降低辅具重量及降低辅具制作成本等目的。
根据本发明上述的主要目的,藉由穿戴式手部复健辅具***中,藉由驱动单元与手掌关节的设计,可以准确的控制拇指关节机构或手指关节机构中的弯曲角度的变化,故可以精准的带动病患的拇指或手指执行复健。
根据本发明上述的主要目的,藉由穿戴式手部复健辅具***中,藉由张力感测单元与手掌关节的设计,可以准确的量测到病患的拇指或手指在复健过程中的回馈力量,故可以精准的评估病患的复健状况。
根据本发明上述的主要目的,藉由穿戴式手部复健辅具***中,藉由张力感测单元与手掌关节的设计,可以准确的量测到病患的拇指或手指在复健过程中的回馈力量,故可以精准的设定病患在复健握成的默认值,以保护病患在复健过程中,不会再次受伤。
本发明的另一目的,是提供一种具有复健功能的手部辅具单元,包括:
手掌基座,具有平面以及与平面成近似L型的关节连接部所形成;
拇指关节机构,是固接于关节连接部的第一端上,拇指关节机构具有容置空间,用以容置滑轨连杆,容置空间是由至少两个侧壁所形成,并于两个侧壁上配置一个拇指滑轨,用以与滑轨连杆的一端枢接,同时于其中一个侧壁上配置多个导线滑轮;
多个手指关节机构,是分别固接于手掌基座的第一端上,手指掌指关节中,具有容置空间,用以容置滑轨连杆,容置空间是由至少两个侧壁所形成,并于两个侧壁上配置一个拇指滑轨,用以与滑轨连杆的一端枢接,同时于其中一个侧壁上配置多个导线滑轮;
多个集线柱,是配置于手掌基座的第二端上;
多条传动导线,每一传动导线的一端与拇指关节机构及手指关节机构连接,而另一端与集线柱接触,同时,传动导线也与导线滑轮接触。
根据本发明上述的目的,通过手部辅具单元的结构设计,可透过医疗人员协助,根据患者的手掌形状,进行客制化的设计,让患者穿戴本发明的手部辅具单元时,可以很舒适。
根据本发明上述的目的,通过手掌关节的结构中,配合滑轨连杆、导线滑轮以及集线柱等的设计,使得本发明的手部辅具单元可以不需要在拇指关节机构或手指关节机构中配置各种感应组件,而可以简化到以导线来牵引之结果;同时,也可以达到降低辅具重量及降低辅具制作成本等目的。
本发明还有一目的,是提供一种复健的手指关节机构,包括:`
手指掌指关节,具有容置空间,用以容置滑轨连杆,容置空间是由至少两个侧壁所形成,并于两个侧壁上配置一个拇指滑轨,用以与滑轨连杆的一端枢接,同时于其中一个侧壁上配置多个导线滑轮;
手指近节指骨,具有两开放端及顶端,其一开放端与滑轨连杆上的另一端连接,而其相对的另一开放端具有与顶端连接的两侧边,并于两侧边上配置辅助枢接孔,同时,于顶端的端面上形成一个向上凸出的第一连接端;
手指中节指骨,由两开放端及一顶端所形成,其相邻手指近节关节的开放端与手指近节指骨的另一开放端连接;
手指远节关节,具有两开放端及顶端,其相邻手指中节指骨的开放端与手指中节指骨的另一开放端连接,同时,于顶端的端面上形成一个向上凸出的第二连接端;
手指驱动轴,是由驱动部、第一连接臂、第二连接臂及第三连接臂所形成,均具有两开放端,第一连接臂的开放端与第二连接臂的开放端连接,而第一连接臂的另一开放端与驱动部的开放端连接,第二连接臂在与第一连接臂连接端靠近外侧的终端上,进一步配置一对定位枢接孔,其中,驱动部的另一开放端与手指近节关节顶端端面上凸出的第一连接端连接,第二连接臂的另一开放端与拇指远节关节顶端端面上凸出的第二连接端连接,而第三连接臂的一端与定位枢接孔连接,而另一开放端与辅助枢接孔连接;
第一传动导线,其一端固接于马达上,而其另一端固接于第二连接部上,同时,第一传动导线与导线滑轮接触;及
一第二传动导线,其一端固接于马达上,而其另一端固接于第二连接部上,第二传动导线与导线滑轮接触,同时,第二传动导线与滑轨连杆接触。
根据本发明上述的目的,通过手指关节机构的设计,可以藉由手指滑轨以及滑轨连杆的设计,使得手指关节机构可以产生一个虚拟中心,用以作为手指近节指骨弯曲时的参考中心点。
根据本发明上述的目的,通过手指关节机构的设计,可以藉由手指驱动轴的设计,可以准确的带动手指弯曲,并在在复健过程中的量测到手指的回馈力量,故可以精准的评估病患的复健状况。
本发明还有再一目的,是提供一种复健的拇指关节机构,包括:一拇指掌指关节,具有一容置空间,用以容置一滑轨连杆,容置空间是由至少两个侧壁所形成,并于两个侧壁上配置一个拇指滑轨,用以与滑轨连杆的一端枢接,同时于其中一个侧壁上配置多个导线滑轮;
拇指近节关节,具有两开放端及顶端,其开放端与滑轨连杆上的另一端连接,而其相对的另一开放端具有与顶端连接的两侧边,同时,于顶端的端面上形成一个向上凸出的第一连接端;
拇指远节关节,具有两开放端及顶端,其相邻拇指近节关节的开放端与拇指近节关节的另一开放端连接,同时,于顶端的端面上形成一个向上凸出的第二连接端;
拇指驱动轴,是由第一连接部及第二连接部所形成,第一连接部及第二连接部均具有两个开放端,并将第一连接部的一开放端与第二连接部的开放端连接,而第一连接部的另一开放端与拇指远节关节顶端的端面上凸出的第二连接端连接,同时,第二连接部的另一开放端与拇指近节关节顶端端面上凸出的第一连接端连接;
第一传动导线,其一端固接于马达上,而其另一端固接于第二连接部上,同时,第一传动导线与导线滑轮接触;及
第二传动导线,其一端固接于马达上,而其另一端固接于第二连接部上,第二传动导线与导线滑轮接触,同时,第二传动导线进一步与滑轨连杆接触。
根据本发明上述的目的,通过拇指关节机构的设计,可以藉由拇指滑轨以及滑轨连杆的设计,使得拇指关节机构可以产生一个虚拟中心,用以作为拇指近节指骨弯曲时的参考中心点,并且可以避免与手指关节机构产生干扰。
根据本发明上述的目的,通过手指关节拇构的设计,可以藉由拇指驱动轴的设计,可以准确的带动拇指弯曲,并在在复健过程中的量测到拇指的回馈力量,故可以精准的评估病患的复健状况。
图1为本发明穿戴式手部复健辅具***之***架构示意图
图2A为本发明对穿戴式手部复健辅具***俯视示意图;
图2B为本发明对穿戴式手部复健辅具***侧视示意图;
图2C为本发明对穿戴式手部复健辅具***上视示意图;
图3A为本发明对穿戴式手部复健辅具***手掌关节机构俯视示意图;
图3B为本发明对穿戴式手部复健辅具***手掌关节机构仰视示意图;
图3C为本发明对穿戴式手部复健辅具***手掌关节机构侧视示意图;
图4A为本发明对穿戴式手部复健辅具***拇指关节机构分解示意图;
图4B为本发明对穿戴式手部复健辅具***拇指关节机构结合示意图;
图5A为本发明对穿戴式手部复健辅具***拇指掌指关节机构局部的剖面示意图;
图5B为本发明对穿戴式手部复健辅具***拇指掌指关节机构分解示意图;
图5C为本发明对穿戴式手部复健辅具***拇指关节机构弯曲示意图
图6A为本发明对穿戴式手部复健辅具***手指关节机构分解示意图;
图6B为本发明对穿戴式手部复健辅具***手指关节机构结合示意图;
图6C为本发明对穿戴式手部复健辅具***手指关节机构弯曲剖面示意图;
图7为本发明穿戴式手部复健辅具***张力感测器原理示意图;
图8A为穿戴式手部复健辅具***关节机构马达的旋转角度与拇指关节弯曲程度的对照示意图;
图8B为穿戴式手部复健辅具***关节机构马达的旋转角度与手指关节弯曲程度的对照示意图;
图9A为穿戴式手部复健辅具***马达的旋转角度与拇指指关节弯曲程度对照示意图;
图9B为穿戴式手部复健辅具***马达的旋转角度与手指近掌关节弯曲程度的对照示意图;及
图9C为穿戴式手部复健辅具***马达的旋转角度与手指远掌关节弯曲程度的对照示意图。
为使本发明的目的、技术方案和优点更加清楚明白,下面结合实施例和附图,对本发明进一步详细说明。另外,本发明有关之穿戴式手部复健辅具的基本原理与功能,由背景技术中的多件相关专利之揭露,已为相关技术领域具有通常知识者所能明了,故以下文中之说明,仅针对与本发明的穿戴式手部复健辅具有关的技术特征处,进行详细说明。此外,于下述内文中之图式,亦并未依据实际之相关尺寸完整绘制,其作用仅在表达与本创作特征有关之示意图。
首先,请参考图1,是为本发明穿戴式手部复健辅具***之***架构示意图。如图1所示,穿戴式手部复健辅具***(10)包括:基座(11)、手部辅具单元(100)、驱动单元(200)、张力感测单元(300)、传动导线(400)及控制单元(500)所组成;其中,手部辅具单元(100)包括一个拇指关节机构(110)、四个手指关节机构(130)及一个手掌基座(150)所组成,手部辅具单元(100)是与可拆卸式基座(11)连接,而张力感测单元(300)是相邻配置于手部辅具单元(100)的后方,其内部配置有多个弹性感测柱(显示于图3C中),并且可以通过有线/无线通讯方式与控制单元(500)联系。由图1可以看到,本发明的穿戴式手部复健辅具***(10),是由复数条传动导线(400)将手部辅具单元(100)、张力感测单元(300)及驱动单元(200)连接;因此,可以通过控制单元(500)的指令来启动驱动单元(200),使得驱动单元(200)根据指令的转动扭力及转动角度来牵引传动导线(400),进而再通过传动导线(400)来带动手部辅具单元(100)上的拇指关节机构(110)或是手指关节机构(130)能够弯曲,用以带动使用者的手指跟随拇指关节机构(110)或是手指关节机构(130)同步弯曲;其中,控制单元(500)可以通过有线或无线通讯方式与驱动单元(200)联系;同时,藉由传动导线(400)与张力感测单元(300)来侦测出驱动单元(200)的转动扭力以及使用者的手指对于驱动单元(200)转动的反馈力量。接着,手部辅具单元(100)包括一个拇指关节机构(110)及多个手指关节机构(130)所组成。
接着,请参考2A图,是本发明穿戴式手部复健辅具***俯视示意图。如图2A所示,本发明穿戴式手部复健辅具***(10)包括:一个可拆卸式基座(11),基座(11)配置至少一个支撑平台(101),用以供使用者的手臂支撑处;在本发明的较佳实施例中,支撑平台(101)是对称的配置在基座(11)上。此外,手部辅具单元(100)是锁固于一个配置在基座(11)上的基座固定座(103)及手掌固定座(105)上;接着,手部辅具单元(100)及张力感测单元(300)是配置在基座(11)的支撑平台(101)的一侧边上,也就是说,手部辅具单元(100)及张力感测单元(300)是突出在支撑平台(101)上。
请继续参考图2A,手部辅具单元(100)包括一个拇指关节机构(110)、多个手指关节机构(130)及一个手掌基座(150)所组成;其中,拇指关节机构(110)及多个手指关节机构(130)是分别固接于手掌基座(150)的一端上,而多个手指关节机构(130)包括人类的食指、中指、无名指及小指等;很明显的,拇指关节机构(110)与多个手指关节机构(130)是固接在不同的平面上;例如:拇指关节机构(110)与多个手指关节机构(130)之间的夹角接近垂直。另外,在手掌基座(150)一端是与一个可拆卸式固定机构(153),另一端上透过手掌固定座(105)与基座固定座(103)衔接,可以藉由此基座固定座(103)将手部辅具单元(100)可拆卸式基座(11)连接。
再接着,请参见图2B,是本发明穿戴式手部复健辅具***侧视示意图。如图2B所示,手部辅具单元(100)及张力感测单元(300)位于基座(11)及支撑平台(101)的上方,而由多个马达(220)所形成的驱动单元(200)位于基座(11)及支撑平台(101)的下方。由图2B可知,手部辅具单元(100)包括一个拇指关节机构(110)、四个手指关节机构(130)及一个手掌基座(150)所组成;其中,拇指关节机构(110)及四个手指关节机构(130)是分别固接于手掌基座(150)的一端上;很明显的,拇指关节机构(110)与多个手指关节机构(130)是固接在不同的平面上。另外,在手掌基座(150)的另一端上,则是与一个可拆卸式
固定机构(153)连接,用以将手部辅具单元(100)可拆卸式基座(11)连接。同时,手掌基座(150)上形成一个贯穿槽(152),藉由此贯穿槽(152)的配置,可以作为观察患者穿戴本发明的手部辅具单元(100)时,各手指的位置是否妥当。
请继续参考图2B,位于基座(11)及支撑平台(101)下方的驱动单元(200)是由五个马达(220)所组成,很明显的,五个马达(220)是用来对应拇指关节机构(110)及四个手指关节机构(130),其中,每一个马达(220)皆配置有编码器及解码器,可以接收控制装置(500)的指令来启动马达(220)转动,并且可以将转动角度编码回传至控制单元(500)。另外,在本发明的实施例中,多条传动导线(400)是以五组传动导线来对应拇指关节机构(110)及四个手指关节机构(130),且每一组传动导线(400)是由屈端传动导线(420)与伸端传动导线(410)所组成,其中,此对屈端传动导线(420)与伸端传动导线(410)的一端是固接于手部辅具单元(100)的拇指关节机构(110)及手指关节机构(130)上;而另一端是固接于一个马达(220)上。同时,使用一对屈端传动导线(420)及伸端传动导线(410)是为了能够更稳定的牵引拇指关节机构(110)及手指关节机构(130),例如:当屈端传动导线(420)及伸端传动导线(410)的一端固接于手指关节机构(130)后,并当马达(220)逆时针转动时,会拉动屈端传动导线(420),同时,也会跟着放出伸端传动导线(410)。此外,在本发明的穿戴式手部复健辅具***中,每一手指通过一对传动导线(400)与张力感测单元(300)及驱动单元(200)连接,使得每一个手指可视成为单一机构***,使得控制装置(500)可独立辅助患者进行单一手指的复建工作。
根据上述说明,本发明穿戴式手部复健辅具***(10)是藉由五对传动导线(400)将手部辅具单元(100)、张力感测单元(300)及驱动单元(200)连接;当一位需要进行手指复健的病患戴上手部辅具单元(100)后,可以通过控制单元(500)的指令来启动驱动单元(200)转动,使得驱动单元(200)根据指令的转
动角度及转动扭力来牵引传动导线(400)中的屈端传动导线(420),再由屈端传动导线(420)带动手部辅具单元(100)上的拇指关节机构(110)或是手指关节机构(130)能够弯曲,用以带动使用者的手指跟着弯曲;同时,藉由传动导线(400)与张力感测单元(300)来侦测出使用者的手指对于驱动单元(200)转动指令所达到弯曲的反馈力量(即可以通过张力感测组件所测得的张力大小来判断出手指的抵抗力量),而此反馈的力量是由传动导线(400)中的屈端传动导线(420)侦测出来。很明显地,藉由张力感测单元(300)所量测到的屈端传动导线(420)张力值,并将屈端传动导线(420)张力值传送至控制单元(500)进行分析后,即可评估出使用者的手指状况。
接着,请参见图2C,是本发明穿戴式手部复健辅具***之上视示意图。由图2C所示,本发明穿戴式手部复健辅具***(10)上的手部辅具单元(100)包括一个拇指关节机构(110)、多个手指关节机构(130)及一个手掌基座(150),手部辅具单元(100)后方为张力感测单元(300);手掌基座(150)可以藉由可拆卸式固定机构(153)将手部辅具单元(100)与基座(11)连接;另外,由图2C可以看出,连接拇指关节机构(110)及手指关节机构(130)的五对传动导线(400)皆引入至手掌基座(150)整理集中后,会与张力感测单元(300)中的五组弹性感测柱(321)连接。此外,如图2C的放大区块可以看到,张力感测单元(300)中的复数个固定柱(320)是用来固定张力感测单元(300)两个侧边的相对距离,而固定柱(320)之间配置五组呈间隔配对的弹性感测柱(321);另外,请一同参考图2C、图5C及图6C,传动导线(400)中的屈端传动导线(420)与伸端传动导线(410)是分别与一个作为张力感测单元(300)中的弹性感测柱(321)接触。而使用五组的屈端传动导线(420)与伸端传动导线(410)是分别对应五个手指所组成,而每一条屈端传动导线(420)与伸端传动导线(410)的一端是与五个手指的驱动轴114/134(显示于图5C及图6C中)连接,之后经过手掌基座(150)再连接到张力感测单元(300)上的多组弹性感测柱(321),随后再将
另一端拉往下方并与相对应的马达(220)连接。很明显的,本发明是藉由张力感测单元(300)中所配置的五对弹性感测柱(321),用以分别对应由屈端传动导线(420)与伸端传动导线(410)的五对传动导线(400),用以侦测出传动导线(400)的张力大小;之后,再将量测到的张力值资料传送至控制单元(500)中分析,以作为控制单元(500)评估使用者的手指状况。
另外,控制单元(500)可设定一预设值,当拇指或手指张力数值超越此预设值时,控制单元(500)便命令穿戴式手部复健辅具***停止动作,避免患者受伤,此预设值由医师根据不同患者状况设定条件。
请参见图3A,是本发明穿戴式手部复健辅具***中的手部辅具单元俯视示意图。如图3A所示,手部辅具单元(100)包括一个拇指关节机构(110)、四个手指关节机构(130)及一个手掌基座(150)所组成,并且拇指关节机构(110)及四个手指关节机构(130)是分别固接于手掌基座(150)的一端上;其中,拇指关节机构(110)是由一个与手掌基座(150)成近似L型的关节连接部(151)连接,使得拇指关节机构(110)与多个手指关节机构(130)是固接在不同的平面上,用以符合人体在手指拇指的自然构造。当拇指关节机构(110)及手指关节机构(130)分别固定于手掌基座(150)与关节连接部(151)所形成的近似L型结构后,能够使拇指自由弯曲;此外,在手掌基座(150)与关节连接部(151)所形成的近似L型结构,除了可以很容易地让使用者的五个手指能套入手部辅具单元(100)外,也能根据人类手掌的生理结构,让拇指关节机构(110)弯曲时,不会与手指关节机构(130)产生干扰。
请继续参见图3A,手掌基座(150)在与可拆卸式固定机构(153)(显示于图2A)连接的一侧边上,配置有多个集线柱(154),用以与同在一水平面的五个手指关节机构(包括拇指关节机构110及手指关节机构130)上的五对传动导线(400)接触;很明显的,五对传动导线(400)皆引入至手掌基座(150)上的多个集线柱(154)整理集中。此外,拇指关节机构(110)通过拇指关节连接部
(151)与手掌基座(150)所形成的近似L型连接结构,使得拇指关节连接部(151)与手掌基座(150)不在一水平面上,因此,在拇指关节连接部(151)上也配置了多个集线柱(154),用以引导拇指关节机构(110)上的传动导线(400)。另外,请再参考图2C,在本发明的实施例中,是使用五个集线柱(154)来与张力感测单元(300)中的五对弹性感测柱(321)是相应配置的;同时,在本发明的一个较佳实施例中,在每一个集线柱(154)接近顶端处,形成一个凹部(155),可以让传动导线(400)通过凹部(155),使得传动导线(400)可以容易被固定。
请参见第3B图,是本发明穿戴式手部复健辅具***中的手部辅具单元仰视图。如图3B所示,手掌基座(150)上的配置有多对固定孔(157,159),其中,固定孔(159)是槽状结构,其目的是要让手指在与手掌基座(150)连接时,可以做左右角度的微调。例如:拇指关节机构(110)及每一手指关节机构130可藉由这些固定孔(157,159)连接至手掌基座(150)上。由于每一对的固定孔(157,159)间的槽状结构、距离及角度,可以根据使用者的手指分布大小进行调整并加以固定后,即可以达到客制化之效果,并且提高患者穿戴及操作时的舒适度;至于固定的方式,可以根据手掌基座(150)的材质而调整,本发明并不加以限制。
请参见第3C图,是本发明穿戴式手部复健辅具***中的手部辅具单元侧视示意图。如图3C所示,在手掌基座(150)的一端上是一个可拆卸式固定机构(153),另一端上透过手掌固定座(105)与基座固定座(103)衔接(于第2B图显示),可以藉由此基座固定座(103)将手部辅具单元(100)可拆卸式基座(11)连接。,而手掌基座(150)则是与拇指关节机构110及多个手指关节机构130连接;此外,手掌基座(150)在靠近可拆卸式固定机构(153)的一端上,配置有多个集线柱(154)。最后,一个外罩(160),用来覆盖手掌基座(150),除了
美观外,主要是用来保护多条传动导线(400),以避免病患在复健过程中,碰触到传动导线(400),而造成张力侦测的误差。
请参见图4A,是本发明穿戴式手部复健辅具***中的拇指关节机构的分解示意图。如图4A所示,本发明的拇指关节机构(110)是由拇指掌指关节(111)、拇指近节关节(113)、拇指驱动轴(114)及拇指远节关节(115)所组成;其中,拇指掌指关节(111)为一个具有容置空间的结构,可以用来容置滑轨连杆(112);而容置空间是由至少一对侧壁(1111,1112)所形成,并于其中一个侧壁上(例如:侧壁1112上)配置多个导线滑轮所形成的导线滑轮组(600),这些由多个导线滑轮所形成的导线滑轮组(600)可以配对的与传动导线(400)接触,用以作为传动导线(400)的运动轨道;同时,于拇指掌指关节(111)的一对拇指侧壁(1111,1112)上进一步还配置一对拇指滑轨(1113),在本发明的较佳实施例中,此拇指滑轨(1113)为一弧状轨槽,并且可以选择将拇指滑轨(1113)配置在导线滑轮组(600)的导线滑轮之中;此外,于拇指掌指关节(111)的容置空间中,可以容置一个拇指滑轨连杆(112),此一拇指滑轨连杆(112)的一端(1121)与拇指近节指骨(113)的一顶端(1135)连接,而拇指滑轨连杆(112)的另一端上具有一个拇指滑轨卡楯(1124);当拇指滑轨连杆(112)配置于拇指掌指关节(111)的容置空间后,此拇指滑轨卡楯(1124)可以枢接在拇指滑轨(1113)中,使得拇指滑轨连杆(112)可以藉由拇指滑轨卡楯(1124)的枢接,并藉由传动导线(400)的牵引,而可以在拇指滑轨(1113)之间移动。此外,于拇指掌指关节(111)中配置导线滑轮组(600)的设计目的,是用来帮助稳定传动导线(400)的轨道。
请继续参考图4A所示,拇指近节指骨(113)是由两开放端(1131/1133)及一顶端(1135)所形成,其一顶端(1135)与拇指滑轨连杆(112)上的一端(1121)连接,而其一开放端(1133)具有与顶端(1135)两端连接的两侧边(1137),并于两侧边(1137)的向顶端(1135)外侧及向下延伸一距离的开放端上配置枢接
孔(1139);在本发明的实施例中,顶端(1135)具有一宽度,并于顶端(1135)的端面上形成一个向上凸出的连接端(1136),而于连接端(1136)的开放端上形成枢接孔(11361);其中,顶端(1135)的宽度及两侧边(1137)的向外侧及向下延伸距离,都是用来配合使用者的拇指尺寸设计。
请继续参考图4A所示,拇指远节关节(115)亦是由两开放端及一顶端(1155)所形成,其相邻拇指近节关节(113)的一开放端(1153)具有与顶端(1155)两端连接的两侧边(1157),并于两侧边(1157)的向顶端(1155)外侧及向下延伸一距离的开放端上配置枢接孔(1159);很明显的,拇指远节关节(115)上的枢接孔(1159)是与拇指近节关节(113)上的置枢接孔(1139)相应的枢接,并于枢接孔(1159)与枢接孔(1139)完成枢接后,即会形成一个可以转动的拇指指关节(117);此外,在拇指远节指骨(115)一端(1153)的相对另一端(1151)为一开放的终端;再者,在拇指远节关节(115)的顶端(1155)端面上形成一个向上凸出的连接端(1156),并于连接端(1156)的开放端上形成枢接孔(11561)。
再接着,请继续参考图4A所示,拇指驱动轴(114)是由第一连接部(1141)及第二连接部(1143)枢接所形成,其中,第一连接部(1141)及第二连接部(1143)的两开放端上,均配置有枢接孔;将第一连接部(1141)及第二连接部(1143)一开放端上的枢接孔连接后,可以藉由连接的枢接点连接成一体并可以以枢接点为轴心自由活动;接着,先将第一连接部(1141)的另一开放端(11411)上的枢接孔与拇指远节关节(115)上的连接端(1156)的枢接孔(11561)枢接,再将第二连接部(1143)的另一开放端(11431)上的枢接孔与拇指近节关节(113)连接端(1136)上的枢接孔(11361)枢接后,可以使得拇指近节关节(113)连接成一体。故当拇指驱动轴(114)的第一连接部(1141)及第二连接部(1143)被驱动后,可以藉由第一连接部(1141)及第二连接部(1143)活动时,带动拇指近节关节(113)及拇指远节关节(115)一起运动。在本发明的
较佳实施例中,第一连接部(1141)可以是一种手臂的结构,而第二连接部(1143)可以是一种体积较第一连接部(1141)大的结构体来形成;很明显的,本发明对于第一连接部(1141)及第二连接部(1143)的形状、结构或是使用的材质并不加以限制。
接着,请参考图4B,是本发明穿戴式手部复健辅具***中的拇指关节机构结合示意图。如图4B所示,当拇指关节机构(110)连接成一体后,拇指滑轨(1113)两个终端的法线交叉点即为一个虚拟中心点(119),此虚拟中心点(119)与拇指指关节(117)可以维持在一条水平线上,其中,虚拟中心点(119)是做为拇指近节关节(113)弯曲时的参考中心点,而拇指指关节(117)是做为拇指远节指骨(115)转动的轴心,此轴心为图4A中枢接孔(1139)与枢接孔(1159)之结合处;其中,虚拟中心点(119)的位置是可以根据用户的手掌尺寸及形状来决定,并且可以藉由调整拇指滑轨(1113)的弧度来调整虚拟中心点(119),藉由此虚拟中心点(119)的设计,可以让使用者在复健过程中,可以让手掌不会与拇指关节机构产生干扰,例如:避免拇指关节机构在活动时,会夹到手掌上的肉。故在本发明的实施例中,当拇指驱动轴(114)被传动导线(400)驱动后,传动导线(400)会先带动拇指滑轨连杆(112)在拇指滑轨(1113)的两个终端间移动,用以带动拇指近节关节(113)弯曲,当滑轨连杆(112)移动到拇指滑轨(1113)终端后,拇指近节关节(113)就不在弯曲,接着,拇指远节关节(115)会以拇指指关节(117)为轴心进行弯曲,其最大弯曲角度为90度;其详细的操作过程,说明如后。
再接着,请参考图5A,是本发明穿戴式手部复健辅具***拇指掌指关节机构局部的剖面示意图。如图5A所示,拇指关节机构(110)的侧壁(1111)上配置多个导线滑轮所形成的导线滑轮组(600),用以作为传动导线(400)的运动轨道,在本发明的实施例中,传动导线(400)是由两个独立线段所组成,包括:作为牵引手指弯曲的屈端传动导线(420)与牵引手指伸直的伸端传动导线
(410)。导线滑轮组(600)包括第一滑轮组(611,612,613)及第二滑轮组(621,622,),分别用来与传动导线(400)中的伸端传动导线(410)与屈端传动导线(420)接触;其中,第一滑轮组(611,612,613)与伸端传动导线(410)接触,而第二滑轮组(621,622)与屈端传动导线(420)接触。伸端传动导线(410)与屈端传动导线(420)的一端与同一个马达(220)的不同位置上连接,而伸端传动导线(410)与屈端传动导线(420)的另一端则分别固接在拇指驱动轴(114)第二连接部(1143)上的同一位置或是不同的位置上;由于本发明的拇指驱动轴(114)第二连接部(1143)可以由组合方式形成,故第二连接部(1143)的内部可以为中空或是部分中空,故可以配置一个转盘(未显示于图中)于其中,可以让伸端传动导线(410)与屈端传动导线(420)的末端是固定在第二连接部(1143)内部的转盘上。很明显的,本发明配置转盘的主要目的,是藉由不同大小的转盘两端来提供一个位移距离。当复健辅具***(10)要驱动拇指驱动轴(114)的第二连接部(1143)时,伸端传动导线(410)与第一滑轮组(611,612,613)及滑轮(622)接触,而屈端传动导线(420)则先穿过拇指滑轨连杆(112)再与个拇指滑轨卡楯(1124)及第二滑轮组(621,622)接触;其中,转盘可引导伸端传动导线(410)与屈端传动导线(420)于第二连接部(1143)内顺畅滑动。
当马达(220)以逆时钟方向转动时,一方面带动屈端传动导线(420)往逆时钟方向移动,另一方面,则同时带动伸端传动导线(410)往逆时钟方向移动;此时,屈端传动导线(420)会先带动拇指掌指关节(111)中的拇指滑轨连杆(112)沿着拇指滑轨(1113)移动,当拇指滑轨连杆(112)移动至拇指滑轨(1113)的终端时,即不会再弯曲;接着,屈端传动导线(420)与伸端传动导线(410)会继续带动拇指驱动轴(114)的第二连接部(1143)往逆时钟方向转动;再接着,驱动第一连接部(1141)来带动拇指远节关节(115)以拇指指关节(117)为轴心进行弯曲。
很明显的,在本发明的较佳实施例中,使用第一滑轮组(611,612,613)及第二滑轮组(621,622)分别与伸端传动导线(410)与屈端传动导线(420)接触的设计,除了用来使伸端传动导线(410)与屈端传动导线(420)维持在一个的张力状态之外,还可以避免伸端传动导线(410)与屈端传动导线(420)在运动过程中发生缠绕。例如,当第一滑轮组(611,612,613)与伸端传动导线(410)接触时,伸端传动导线(410)会与滑轮(611)及滑轮(612)的一端接触,接着,伸端传动导线(410)会绕过滑轮(613)并与滑轮(613)的另一端接触,使得在滑轮(612)与滑轮(613)形成类似S型的交错接触,再接着,伸端传动导线(410)会绕过滑轮(622),并与滑轮(622)的另一端接触,同样于滑轮(622)与滑轮(613)形成类似S型的交错接触;最后,将伸端传动导线(410)固定在第二连接部(1143)内部的转盘上。同样的,当第二滑轮组(621,622)与屈端传动导线(420)接触时,屈端传动导线(420)会先与滑轮(621)的一端接触,接着,屈端传动导线(420)会绕过滑轮(622)的另一端接触并与滑轮(621)形成类似S型的交错接触;再接着,屈端传动导线(420)会在绕过拇指滑轨卡楯(1124)后,再穿过拇指滑轨连杆(112)中;最后,将屈端传动导线(420)固定在第二连接部(1143)内部的转盘上。
请参考图5B,是本发明拇指关节中的拇指掌指关节中的拇指掌指关节分解图示意图。如图5B所示,拇指掌指关节(111)是由一个侧壁(1111)及另一个侧壁(1112)所组成,且侧壁(1111)与侧壁(1112)之间形成一个容置空间,用以容置拇指滑轨连杆(112);其中,导线滑轮组(600)可以选择性的固接于两侧壁(1111、1112)的容置空间中,同时,可以藉由侧壁(1112)上的多个固定螺丝(未显示于图中)将侧壁(1111)与侧壁(1112)之间组合固定成一体。此外,在拇指滑轨连杆(112)位于底座的两端点处,配置一对贯穿孔(1123),可以让屈端传动导线(420)能够穿过贯穿孔(1123),使得屈端传动导线(420)与拇指滑轨连杆(112)形成接触;故当屈端传动导线(420)被驱动时,拇指滑轨连杆
(112)会被屈端传动导线(420)带动,使得拇指滑轨连杆(112)可以在拇指滑轨(1113)的两个终端间移动。
在此要强调的是,本发明是使用滑轮组(600)来作为驱动拇指关节机构(110)弯曲时的传动导线(400)的运动轨道;前述说明仅为本发明的实施例之一;很明显的,对于使用几个滑轮来与传动导线(400)接触,以及传动导线(400)与每一个滑轮接触的方式或方向,本发明均不加以限制。此外,为了能够准确地得到伸端传动导线(410)与屈端传动导线(420)上的张力数据,本发明在伸端传动导线(410)与屈端传动导线(420)的材质是选择金属线,特别是直径0.5~1mm的金属线;同样的,本发明对于使用何种材质的金属线,也并不加以限制。
接着,请参考图5C,是本发明穿戴式手部复健辅具***中拇指关节机构弯曲剖面示意图。如图5C所示,拇指掌指关节(111)的侧壁(1111)上配置多个导线滑轮所形成的导线滑轮组(600),用以作为传动导线(400)的运动轨道;在本发明的实施例中,传动导线(400)是由两个独立线段所组成,包括:伸端传动导线(410)与屈端传动导线(420)。导线滑轮组(600)包括第一滑轮组(611,612,613)及第二滑轮组(621,622),用来与伸端传动导线(410)与屈端传动导线(420)接触;其中,伸端传动导线(410)与第一滑轮组(611,612,613)及轮组(622)接触,而屈端传动导线(420)则至少会与第二滑轮组(621,622)接触。
由于伸端传动导线(410)与屈端传动导线(420)的一端与同一个马达(220)的不同位置连接,而伸端传动导线(410)与屈端传动导线(420)的另一端则分别固接在拇指驱动轴(114)内的转盘上。当马达(220)以逆时钟方向转动时,一方面带动屈端传动导线(420)往逆时钟方向移动,另一方面则同时带动伸端传动导线(410)往逆时钟方向移动,藉由屈端传动导线(420)与伸端传动导线(410)带动手指驱动轴(114)的第二连接部(1143)往逆时钟方向转动;此
时,屈端传动导线(420)会先带动拇指掌指关节(111)中的拇指滑轨连杆(112)沿着拇指滑轨(1113)移动,当拇指滑轨连杆(112)移动至拇指滑轨(1113)的终端时,即不会再弯曲;接着,屈端传动导线(420)与伸端传动导线(410)会继续带动第二连接部(1143)的转动,用以推动第一连接部(1141),使得第二连接部(1143)及第一连接部(1141)带动带动拇指近节指骨(113)及拇指远节指骨(115)弯曲;例如,在本发明的实施例中,藉由驱动第一连接部(1141)来带动拇指远节关节(115)以拇指指关节(117)为轴心进行弯曲,其最大弯曲角度为90度,如图5C所示。
请参见图6A,是穿戴式手部复健辅具***中的手指关节机构分解示意图。如图6A所示,本发明的手指关节机构(130)是由手指掌指关节(131)、手指近节指骨(133)、手指驱动轴(134)、手指中节指骨(135)及手指远节指骨(137)所组成,其中,手指掌指关节(131)与图4A中的拇指掌指关节(111)结构相同,为一个具又容置空间的结构,可以用来容置手指滑轨连杆(132);而容置空间是由至少一对侧壁(1311,1312)所形成,并于其中一个侧壁(1312)上配置多个导线滑轮所形成的导线滑轮组(600),这些由多个导线滑轮所形成的导线滑轮组(600)可以配对的与传动导线(400)接触,用以作为传动导线(400)的运动轨道;同时,于手指掌指关节(131)的一对侧壁(1311,1312)上进一步还配置一个手指滑轨(1313),在本发明的较佳实施例中,此手指滑轨(1313)为一弧状轨槽,并且可以选择将手指滑轨(1313)配置在导线滑轮组(600)中。此外,于手指掌指关节(131)的容置空间中,配置一个手指滑轨连杆(132),此一手指滑轨连杆(132)的一端(1322)与手指近节指骨(133)的顶端(1335)连接,而手指滑轨连杆(132)的另一端上具有一个手指滑轨卡楯(1324);当手指滑轨连杆(132)配置于手指掌指关节(131)的容置空间后,此手指滑轨卡楯(1324)可以枢接在手指滑轨(1313)中,使得手指滑轨连杆(132)可以藉由手指滑轨卡楯(1324)的枢接并藉由传动导线(400)的牵引,而使手指滑轨连杆(132)在手指
滑轨(1313)之间移动。此外,在手指滑轨连杆(132)位于底座的两端点处,配置一对贯穿孔(1323),可以让屈端传动导线(420)穿过手指滑轨连杆(132)的贯穿孔(1323)之后,与手指驱动轴(134)中的驱动部(1341)连接;此外,于手指掌指关节(131)中配置导线滑轮组(600)的设计目的,是用来帮助稳定传动导线(400)轨道。
请继续参考图6A所示,手指近节关节(133)是由两开放端(1331、1333)及一顶端(1335)所形成,其顶端(1335)与手指滑轨连杆(132)上的一端(1322)连接,而其相对的另一开放端(1333)具有与顶端(1335)两侧端连接的两侧边(13331),并于两侧边(13331)的向顶端(1335)外侧及向下延伸一距离的开放端上配置第一枢接孔(13333);而于一对手指近节侧边(13331)的近节枢接孔(13333)旁边另外配置近节辅助枢接孔(13335);在本发明的实施例中,顶端(1335)具有一宽度,并于顶端(1335)的端面上形成一个向上凸出的连接端(1337);其中,顶端(1335)的宽度及两侧边(13331)的向外侧及向下延伸距离,都是用来配合使用者的手指尺寸设计。
请继续参考图6A所示,手指中节指骨(135)是由两开放端(1351、1353)及一顶端(1355)所形成,其相邻手指近节关节(133)的一开放端(1353)具有与顶端(1355)两端连接的两侧边(13531),且在每一手指中节侧边(13531)的终端上形成一对中节终端枢接孔(13535),此对枢接孔(13535)可以与手指近节关节(133)上的近节枢接孔(13333)连接并形成一个可以转动的手指近掌关节(138);而于手指中节指骨(135)的另一开放端(1353),具有与中节顶端(1355)两端连接的两侧边(13531),且在每一侧边(13531)的始端上配置一对中节终端枢接孔(13535)。
请继续参考图6A所示,手指远节指骨(137)是由两开放端(1371,1373)及一顶端(1375)所形成,其相邻手指中节指骨(135)的一端(1373)具有与顶端(1375)两端连接的一对侧边(1377),并于两侧边(1377)的向顶端(1375)外侧
及向下延伸一距离的开放端上配置枢接孔(13731);很明显的,手指中节指骨(135)上的枢接孔(13533)是与手指远节指骨(137)上的置枢接孔(13731)相应的枢接后,形成一个可以转动的手指远掌关节(139);而于手指远节指骨(137)的另一端(1371)为一开放的终端;此外,在手指远节指骨(137)的顶端(1375)端面上具有一的连接端(1372),并且于凸出的连接端(1372)的终端上形成一对枢接孔(13721)。
再接着,请继续参考图6A所示,手指驱动轴(134)是由驱动部(1341)、第一连接臂(1343)、第二连接臂(1345)及第三连接臂(1347)所组成;驱动部(1341)、第一连接臂(1343)、第二连接臂(1345)及第三连接臂(1347)均具有两开放端,并于每一开放端上均各自配置有一对枢接孔;因此,可以藉由第一连接臂(1343)一端上的枢接孔与第二连接臂(1345)的相邻第一连接臂(1343)一端上的枢接孔(13453)枢接,而第一连接臂(1343)另一端上的枢接孔(13431)与驱动部(1341)一端上的枢接孔(13411)连接;而驱动部(1341)的另一端上的枢接孔(13413)是与手指近节指骨(133)的连接端(1337)上的一对枢接孔(13371)连接。第二连接臂(1345)另一端的终端具有一对枢接孔(13451),而此对枢接孔(13451)是用来与手指远节指骨(137)的连接端(1372)上的枢接孔(13721)连接。此外,第二连接臂(1345)在与第一连接臂(1343)连接端的靠近外侧的终端上,进一步配置一对定位枢接孔(13457)。另外,在第三连接臂(1347)一端的终端具有一对枢接孔(13471),而此对枢接孔(13471)是用来与手指近节指骨(133)的辅助枢接孔(13335)连接;另外,第三连接臂(1347)的另一端与第二连接臂(1345)的定位枢接孔(13457)枢接;很明显的,在手指关节机构(130)完成连接并维持在伸直的姿势下,第三连接臂(1347)与第二连接臂(1345)之间的夹角接近90度。
请参考图6B,是本发明穿戴式手部复健辅具***中的手指关节机构结合示意图。如图6B所示,当手指关节机构(130)藉由手指驱动轴(134)与手指近
节指骨(133)及手指远节指骨(137)结合并将关节推动至终端形成一直线形状,手指滑轨(132)两个终端的法线交叉点即为一个虚拟中心点(140),此虚拟中心点(140)与手指近掌关节(138)以及手指远掌关节(139)可以维持在一条水平线上;其中,虚拟中心点(140)是做为手指近节指骨(133)弯曲时的参考中心点,而手指近掌关节(138)是做为手指中节指骨(135)转动的轴心,以及手指远掌关节(139)是做为手指远节指骨(137)转动的轴心。故当手指驱动轴(134)被传动导线(400)驱动后,以第三连接臂(1347)作为驱动部(1341)转动时的传动作用力的导杆,使得手指滑轨连杆(132)在手指滑轨(1313)的两个终端间移动。此外,在本发明的一个较佳实施例中,可以将第二连接臂(1345)与第三连接臂(1347)以一体成型方式形成。
请参考图6C,是本发明穿戴式手部复健辅具***中的手指关节由传动导线牵引活动的示意图。如图6C所示,手指关节机构(130)的侧壁(1311)上配置多个导线滑轮所形成的导线滑轮组(600),用以作为传动导线(400)的运动轨道;在本发明的实施例中,传动导线(400)是由两个独立线段所组成,包括:伸端传动导线(410)与屈端传动导线(420)。导线滑轮组(600)包括第一滑轮组(611,612,613)及第二滑轮组(621,622),用来与伸端传动导线(410)与屈端传动导线(420)接触;其中,第一滑轮组(611,612,613)与伸端传动导线(410)接触,而第二滑轮组(621,622)与屈端传动导线(420)接触。
此外,屈端传动导线(420)与伸端传动导线(410)的一端与同一个马达(220)的不同位置上连接,而屈端传动导线(420)与伸端传动导线(410)的另一端则分别固接在驱动部(1341)内部的转盘(未显示于图中)不同的位置上;由于本发明的驱动部(1341)可以由组合方式形成,故驱动部(1341)的内部可以为中空或是部分中空,故可以配置一个转盘于其中,然而,本发明配置转盘的主要目的,是藉由不同大小的转盘两端来提供一个位移距离。当复健辅具***(10)要驱动手指驱动轴(134)的驱动部(1341)时,伸端传动导线(410)与
第一滑轮组(611,612,613)及滑轮(622)接触,而屈端传动导线(420)则先穿过手指滑轨(132)再与第二滑轮组(621,622)接触;其中,转盘可引导伸端传动导线(410)与屈端传动导线(420)于驱动部(1341)内顺畅滑动。在此要强调,由于手指掌指关节(131)与图4A中的拇指掌指关节(111)结构相同,因此,伸端传动导线(410)及屈端传动导线(420)与第一滑轮组(611,612,613)、第二滑轮组(621,622)及手指滑轨连杆(132)的接触方式相同(请参考第21段的说明),不再赘述。
由于屈端传动导线(420)与伸端传动导线(410)的一端与同一个马达(220)的不同位置连接,而屈端传动导线(420)与伸端传动导线(410)的另一端则分别固接在手指驱动轴(134)上。当马达(220)以逆时钟方向转动时,一方面带动屈端传动导线(420)往逆时钟方向移动,另一方面则同时带动伸端传动导线(410)往逆时钟方向移动,藉由屈端传动导线(420)与伸端传动导线(410)带动手指驱动轴(134)的驱动部(1341)往逆时钟方向转动;此时,屈端传动导线(420)会先带动手指掌指关节(131)中的手指滑轨连杆(132)沿着手指滑轨(1313)移动,当手指滑轨连杆(132)移动至手指滑轨(1313)的终端时,即不会再弯曲;接着,屈端传动导线(420)与伸端传动导线(410)会继续带动驱动部(1341)的转动,用以推动第一连接臂(1343)及第二连接臂(1345),使得第一连接臂(1343)及第二连接臂(1345)分别带动手指近掌关节(138)以及手指远掌关节(139)转动,用以带动手指中节指骨(135)及手指远节指骨(137)弯曲,如图6C所示,其中,图6C是本发明穿戴式手部复健辅具***中的手指关节弯曲示意图。此外,本发明的手指掌指关节(131)分解图与图5A及图5B所示的拇指关节中的拇指掌指关节(111)分解示意图是相同的,不再赘述。
此外,要进一步说明的是,在本发明的较佳实施例中,拇指关节机构(110)中的拇指掌指关节(111)与手指关节机构(130)中的手指掌指关节(131)两者在结构上是相同的设计,包括:手指滑轨连杆(132)、第一滑轮组
(611,612,613)及第二滑轮组(621,622)的设计;故使得拇指掌指关节(111)中的拇指驱动轴(114)与手指掌指关节(131)中的手指驱动轴(134)藉由屈端传动导线(420)与伸端传动导线(410)的牵引来驱动的设计也相同;其间的差异在于:当拇指驱动轴(114)被屈端传动导线(420)与伸端传动导线(410)驱动后,可以带动拇指近节指骨(113)与拇指远节指骨(115)以拇指指关节(117)为轴心弯曲或伸直;而当手指驱动轴(134)被屈端传动导线(420)与伸端传动导线(410)驱动后,可以带动手指近节指骨(133)与手指中节指骨(135)以手指近掌关节(138)为轴心弯曲或伸直,以及同时带动手指中节指骨(135)及手指远节指骨(137)以手指远掌关节(139)为轴心弯曲或伸直。
此外,如前述的图2A所示,本发明的手部辅具单元(100)包括一个拇指关节机构(110)、多个手指关节机构(130)及一个手掌基座(150)所组成;其中,对应至人体的手部时,由于手指关节机构(130)结构及运动方式均相同,故每一个手指关节机构(130)可以做为食指、中指、无名指及小指等,不再赘述;此外,手指关节机构(130)只有在做为食指、中指、无名指及小指时,每一关节的大小尺寸不同。
请参考前述的图2C所示,传动导线(400)是分别对应五个手指的五对传动导线,即包括:五对伸端传动导线(410)与屈端传动导线(420)所组成,每一对伸端传动导线(410)与屈端传动导线(420)的一端与五个手指结构中的驱动轴(114/134)连接,之后,经过手掌基座(150)再连接到张力感单元(300)上的多组弹性感测柱(321),随后再拉往下方并与相对应的马达(220)连接;因此,张力感测单元(300)中亦应配置有五对弹性感测柱(321),用以分别对应五对伸端传动导线(410)与屈端传动导线(420),来侦测出伸端传动导线(410)与屈端传动导线(420)的张力大小;而在本发明的较佳实施例中,在每一弹性感测柱(321)的端点上,进一步配置弹性滑轮(312),以供伸端传动导线(410)与屈端传动导线(420)在与弹性感测柱(321)接触时,可以降低阻力。
接着,请参考图7,是本发明穿戴式手部复健辅具***张力感测器原理示意图。如图7所示并参考图2C,首先,在本发明的实施例中,每一个弹性感测柱(321)是与屈端传动导线(420)及伸端传动导线(410)接触,当马达(220)转动并带动屈端传动导线(420)与伸端传动导线(410)运动时,很明显的,屈端传动导线(420)与伸端传动导线(410)会被拉紧,故会以弹性感测柱(321)为中心,分别与马达(220)及驱动轴(114/134)之渐形成夹角(θ),当***知道传动导线(400)作用在弹性感测柱(321)的等效力量(Feq)后,就可以使用三角函数的关系得到屈端传动导线(420)与伸端传动导线(410)上的张力值(tension);之后,再将量测到的张力值资料传送至控制单元(500)中分析,以作为控制单元(500)评估使用者的手指状况。
请参考图8A,为穿戴式手部复健辅具***的拇指关节机构被马达旋转角度带动之弯曲曲线示意图。如图8A所示,横轴为马达旋转角度(motor position),纵轴为拇指关节机构弯曲角度(angles),其中,点线是掌指关节(MCP,Metacarpophalangeal)为对应拇指掌指关节(111)的旋转角度,长虚线是θ2为拇指指关节(117)的旋转角度,而实线是拇指指关节(IP,Interphalangeal)为对应拇指驱动轴(114)的旋转角度。首先,以拇指掌指关节(111)的旋转角度来看,当马达(220)转动至30度左右时,会开始带动屈端传动导线(420)与伸端传动导线(410)跟着移动,此时,屈端传动导线(420)会先带动拇指掌指关节(111)中的拇指滑轨连杆(112)移动,使得拇指滑轨连杆(112)最先感受到屈端传动导线(420)施予的拉力而开始滑动并弯曲;接着,马达(220)继续旋转至140度左右时,拇指滑轨卡楯(1124)已经移动至拇指滑轨(1113)的终端,很明显的,拇指掌指关节(111)即不再弯曲;此时,由纵轴座标可看出,拇指掌指关节(111)弯曲接近60度,换句话说,在本发明的实施例中,拇指掌指关节(111)最大的弯曲角度为60度。另外,要说明的是,拇指
掌指关节(111)连接手掌基座(150)与拇指近指指骨(113)之间,因此拇指掌指关节(111)会带动拇指近指指骨(113)一起弯曲。
再接着,以拇指驱动轴(114)的旋转角度来看,由图8A可看出,当马达(220)转动至60度时,马达(220)继续转动并拉动屈端传动导线(420)与伸端传动导线(410),使得屈端传动导线(420)与伸端传动导线(410)会驱动拇指驱动轴(114)运动,其运动的角度如实线的θ2所示,故藉由拇指驱动轴(114)转动的角度来驱动拇指远节指骨(115)以拇指指关节(117)为轴心弯曲;例如:当随着马达(220)拉动屈端传动导线(420)与伸端传动导线(410)并转动至60度左右时,拇指驱动轴(114)因感受到拉力而开始旋转,拇指驱动轴(114)的角度(θ2)因而上升。很明显的,在本发明的实施例中,拇指驱动轴(114)会先受到屈端传动导线(420)与伸端传动导线(410)的拉力而弯曲,故其弯曲的角度较快,接着,在拇指驱动轴(114)弯曲的过程中,会牵引拇指远节指骨(115)使拇指指关节(117)弯曲;当拇指驱动轴(114)的θ2角度到达130度时,即达到拇指指关节(117)最大的弯曲角度。此外,在马达(220)转动至60度左右时,此时拇指掌指关节(111)已弯曲至20度,而在此同时,拇指驱动轴(114)会开始受到屈端传动导线(420)与伸端传动导线(410)的拉力而开始弯曲,随后,会牵引拇指远节指骨(115)弯曲。很明显的,在本发明的实施例中,在马达(220)转动至60~140度的期间,拇指关节(110)中的拇指掌指关节(111)、拇指驱动轴(114)及拇指远节指骨(115)会同时弯曲。
当一个需要进行拇指复健的患者,其拇指已经套进了穿戴式手部复健辅具***的拇指关节机构中时,经由复健人员评估患者状况后,由控制单元(500)发出马达(220)转动的命令。当马达(220)依命令转动时,即会同时带动屈端传动导线(420)与伸端传动导线(410)跟着移动,由于屈端传动导线(420)与伸端传动导线(410)跟着移动均与张力感测单元(300)中的弹性感测柱(321)接触,因此,可以量测到屈端传动导线(420)上的张力以及伸端传动导
线(410)上的张力。另外,在进行复健过程中,控制单元(500)可以设定一预设值,当拇指张力数值超过此预设值时,控制装置(500)便命令穿戴式手部复健辅具***停止动作,避免患者受伤,此预设值由医师根据不同患者状况设定条件。
请参见第8B图,为穿戴式手部复健辅具***的手指关节机构被马达旋转角度带动之弯曲曲线示意图。如图8B所示,横轴为马达旋转角度(motor position),纵轴为手指关节机构弯曲角度(angles),其中,点线标志的掌指关节(MCP)为对应手指掌指关节(131)的旋转角度,长虚线标示的近掌关节(PIP,proximal interphalangeal)为对应手指近掌关节(138)的旋转角度,短虚线标示的远掌关节(DIP,Distal interphalangeal)为对应手指远掌关节(139)的旋转角度,而实线的θ2是对应手指驱动轴(134)的旋转角度。首先,由图8B所示,当马达(220)转动至30度左右时,会开始带动屈端传动导线(420)与伸端传动导线(410)跟着移动,此时,屈端传动导线(420)会先带动手指掌指关节(131)中的手指滑轨连杆(132)移动,使得手指滑轨连杆(132)最先感受到拉力而滑动,并带动手指掌指关节(131)开始弯曲,直到马达旋转角度至150度左右时,手指滑轨卡楯(1324)已经移动至手指滑轨(1313)的终端,故手指掌指关节(131)即不再弯曲;此时,由纵轴座标可知,手指掌指关节(131)弯曲约70度左右,换句话说,在本发明的实施例中,手指掌指关节(131)最大的弯曲角度为70度。另外,要说明的是,由于手指掌指关节(131)与手指近指指骨(133)是连接成一体的,故手指近指指骨(133)会被手指掌指关节(131)的弯曲带动一起运动。
再接着,由图8B可看出,当马达(220)旋转至120度以后,马达(220)继续转动并拉动屈端传动导线(420)与伸端传动导线(410),使得屈端传动导线(420)与伸端传动导线(410)会驱动手指驱动轴(134)运动,其运动的角度如θ2所示,并带动手指近掌关节(138)与手指远掌关节(139)旋转。当马达(220)
转动至120度后,手指掌指关节(131)即已滑动至手指滑轨(1313)的终端而不再弯曲,此时传动导线(400)的拉力会引导至手指驱动轴(134),藉由手指驱动轴(134)的转动来推动手指近节指骨(133)与手指中节指骨(135)之间的手指近掌关节(138)弯曲;例如:当随着马达(220)拉动屈端传动导线(420)与伸端传动导线(410)并转动至120度左右时,手指驱动轴(134)因感受到拉力而开始旋转,驱动轴角度(θ2)因而上升。很明显的,在本发明的实施例中,手指驱动轴(134)会先受到屈端传动导线(420)与伸端传动导线(410)的拉力而转动,故其转动的角度较明显;接着,当马达(220)转动至120度后,藉由手指驱动轴(134)转动的角度来驱动手指近节指骨(133)与手指中节指骨(135)之间的手指近掌关节(138)弯曲,也同时驱动手指远节指骨(137)与手指中节指骨(135)之间的手指远掌关节(139)弯曲,其中,手指近掌关节(138)弯曲较手指远掌关节(139)弯曲明显。一直到马达(220)转动至240度后,手指掌指关节(131)维持在最大的弯曲角度为70度,手指近掌关节(138)弯曲角度为接近90度,手指远掌关节(139)弯曲角度为接近50度,而手指驱动轴(134)可以转动到达接近160度。
很明显的,在本发明在手指关节机构(130)弯曲的实施例与拇指关节机构(110)弯曲的实施例的驱动是不相同的。在本发明的手指关节机构(130)弯曲的实施例中,在马达(220)转动至120度之前,手指关节(130)中的手指掌指关节(131)会受力而使手指驱动轴(134)弯曲,而其他的部分包括:手指近掌关节(138)及手指远掌关节(139)均还没有转动;而当马达(220)自120度转动至240度期间,手指驱动轴(134)会同时带动手指近掌关节(138)及手指远掌关节(139)一起弯曲,但手指近掌关节(138)弯曲幅度较手指远掌关节(139)明显;而在此期间,手指掌指关节(131)弯曲角度保持在70度左右。
同样的,当一个需要进行手指复健的患者,其手指已经套进了穿戴式手部复健辅具***(10)的手指关节机构(130)中时,经由复健人员评估患者状况
后,由控制单元(500)发出马达(220)转动的命令。当马达(220)依命令转动时,即会同时带动屈端传动导线(410)与伸端传动导线(420)跟着移动,由于屈端传动导线(410)与伸端传动导线(420)均与张力感测单元(300)中的弹性感测柱(321)接触,因此,可以量测到屈端传动导线(410)上的张力以及伸端传动导线(420)上的张力。另外,在进行复健过程中,控制单元(500)可以设定一预设值,当手指张力数值超过此预设值时,控制装置(500)便命令穿戴式手部复健辅具***停止动作,避免患者受伤,此预设值由医师根据不同患者状况设定条件。
请参见图9A,为本发明穿戴式手部复健辅具***的马达旋转角度与拇指指关节(IP)弯曲角度轨迹的模拟(实线)与实际实验(虚线)对照图。如图9A所示,拇指指关节(IP)为对应拇指远节指骨(115)与拇指近节指骨(113)之间的相对角度,也就是拇指指关节(117)的转动角度,其中,实线为根据本发明穿戴式手部复健辅具***的拇指关节弯曲过程的模拟结果,而虚线为根据本发明穿戴式手部复健辅具***的拇指关节实际被马达驱动后的弯曲结果。由图9A可知,当拇指驱动轴(114)角度(θ2)到达约40度时,拇指指关节(117)开始弯曲。很明显的,图9A中的模拟曲线(实线)与实际以马达旋转角度驱动拇指关节弯曲的曲线(虚线)是一致的,显示本发明的拇趾关节机构(110)的设计是接近理论值,基于此点,使得本发明可以不需要在拇指关节机构(110)中配置各种感应组件,而可以简化到以导线来牵引之结果;同时也可以达到降低辅具重量及降低辅具制作成本等目的。
请参见图9B,为穿戴式手部复健辅具***的马达旋转角度与手指近掌关节(PIP)弯曲角度轨迹的模拟(实线)与实际实验(虚线)。首先,手指近掌关节(PIP)是对应手指近掌关节(138)的转动角度。由图9B可知,当手指驱动轴(134)角度(θ2)约在20度时,手指近掌关节(138)开始弯曲;当手指驱动轴(134)角度(θ2)自20度转动到达约150度期间时,手指近掌关节(138)的弯曲
是接近线性。很明显的,图9B中的模拟曲线(实线)与实际以马达旋转角度驱动手指近掌关节(PIP)弯曲的曲线(虚线)是一致的。
请参见图9C,为穿戴式手部复健辅具***的马达旋转角度与远掌关节(DIP)弯曲角度轨迹的模拟(实线)与实际实验(虚线)。首先,远掌关节(DIP)是对应手指近掌关节(139)的转动角度。由图9C可知,当手指驱动轴(134)角度(θ2)约在15度时,手指远掌关节(139)开始弯曲。很明显的,图9C中的模拟曲线(实线)与实际以马达旋转角度驱动远掌关节(DIP)弯曲的曲线(虚线)是一致的。
根据图9B及图9C之对照图,很明显的,由本发明在马达旋转角度与手指近掌关节(PIP)弯曲角度轨迹、马达旋转角度与远掌关节(DIP)弯曲角度轨迹模拟曲线(实线)与实际以马达旋转角度驱动拇指关节弯曲的曲线(虚线)是一致的,显示本发明的手指关节机构(130)的设计是接近理论值,基于此点,使得本发明可以不需要在手指关节机构(130)中配置各种感应组件,而可以简化到以导线来牵引之结果。再根据图9A、图9B及图9C的结果,显示本发明的穿戴式手部复健辅具***也可以达到降低重量及降低制作成本等目的。
以上所述仅为本发明之较佳实施例,并非用以限定本发明之权利范围;同时以上的描述,对于相关技术领域之专门人士应可明了及实施,因此其他未脱离本发明所揭示之精神下所完成的等效改变或修饰,均应包含在申请专利范围中。
Claims (13)
- 一种复健的拇指关节机构,其特征在于,包括:拇指掌指关节,具有容置空间,用以容置滑轨连杆,所述容置空间是由至少两个侧壁所形成,并于所述两个侧壁上配置一个拇指滑轨,用以与所述滑轨连杆的一端枢接,同时于其中一个侧壁上配置多个导线滑轮;拇指近节关节,具有两开放端及顶端,其一开放端与所述滑轨连杆上的另一端连接,而其相对的另一开放端具有与顶端连接的两侧边,同时,于所述顶端的端面上形成一个向上凸出的第一连接端;拇指远节关节,具有两开放端及顶端,其相邻所述拇指近节关节的开放端与该拇指近节关节的另一开放端连接,同时,于所述顶端的端面上形成一个向上凸出的第二连接端;拇指驱动轴,是由第一连接部及第二连接部所形成,所述第一连接部及所述第二连接部均具有两个开放端,并将所述第一连接部的开放端与所述第二连接部的开放端连接,而所述第一连接部的另一开放端与所述拇指远节关节顶端的端面上凸出的第二连接端连接,同时,所述第二连接部的另一开放端与所述拇指近节关节顶端端面上凸出的第一连接端连接;第一传动导线,其一端固接于马达上,而其另一端固接于所述第二连接部上,同时,所述第一传动导线与所述导线滑轮接触;及第二传动导线,其一端固接于所述马达上,而其另一端固接于所述第二连接部上,所述第二传动导线与所述导线滑轮接触,同时,所述第二传动导线进一步与所述滑轨连杆接触。
- 如权利要求1所述的复健的拇指关节机构,其特征在于:所述第一传动导线及所述第二传动导线为金属材质。
- 如权利要求1所述的复健的拇指关节机构,其特征在于:所述拇指滑轨为弧型结构。
- 一种复健的手指关节机构,其特征在于,包括手指掌指关节,具有容置空间,用以容置滑轨连杆,所述容置空间是由至少两个侧壁所形成,并于所述两个侧壁上配置一个拇指滑轨,用以与所述滑轨连杆的一端枢接,同时于其中一个侧壁上配置多个导线滑轮;手指近节指骨,具有两开放端及顶端,其一开放端与所述滑轨连杆上的另一端连接,而其相对的另一开放端具有与顶端连接的两侧边,并于所述两侧边上配置辅助枢接孔,同时,于所述顶端的端面上形成一个向上凸出的第一连接端;手指中节指骨,由两开放端及顶端所形成,其相邻所述手指近节关节的开放端与该手指近节指骨的另一开放端连接;手指远节关节,具有两开放端及顶端,其相邻所述手指中节指骨的开放端与所述手所述指中节指骨的另一开放端连接,同时,于所述顶端的端面上形成一个向上凸出的第二连接端;手指驱动轴,是由驱动部、第一连接臂、第二连接臂及第三连接臂所形成,每一该所述驱动部、所述第一连接臂、所述第二连接臂及所述第三连接臂均具有两开放端,所述第一连接臂的开放端与所述第二连接臂的开放端连接,而所述第一连接臂的另一开放端与驱动部的开放端连接,所述第二连接臂在与所述第一连接臂连接端靠近外侧的终端上,进一步配置一对定位枢接孔,其中,所述驱动部的另一开放端与所述手指近节关节顶端端面上凸出的第一连接端连接,所述第二连接臂的另一开放端与所述拇指远节关节顶端端面上凸出的第二连接端连接,而所述第三连接臂的一端与所述定位枢接孔连接,而另一开放端与所述辅助枢接孔连接;第一传动导线,其一端固接于马达上,而其另一端固接于所述第二连接部上,同时,所述第一传动导线与所述些导线滑轮接触;及第二传动导线,其一端固接于所述马达上,而其另一端固接于所述第二连接部上,所述第二传动导线与所述导线滑轮接触,同时,所述第二传动导线进一步与所述滑轨连杆接触。
- 如权利要求4所述的复健的手指关节机构,其特征在于:所述第一传动导线及所述第二传动导线为金属材质。
- 如权利要求4所述的复健的手指关节机构,其特征在于:所述手指滑轨为弧型结构。
- 一种具有复健功能的手部辅具单元,其特征在于,包括:手掌基座,具有平面以及与所述平面成近似L型的关节连接部所形成;拇指关节机构,是固接于所述关节连接部的第一端上,所述拇指关节机构具有容置空间,用以容置滑轨连杆,所述容置空间是由至少两个侧壁所形成,并于所述两个侧壁上配置一个拇指滑轨,用以与所述滑轨连杆的一端枢接,同时于其中一个侧壁上配置多个导线滑轮;多个手指关节机构,是分别固接于手掌基座的第一端上,所述手指掌指关节中,具有容置空间,用以容置滑轨连杆,所述容置空间是由至少两个侧壁所形成,并于所述两个侧壁上配置一个拇指滑轨,用以与所述滑轨连杆的一端枢接,同时于其中一个侧壁上配置多个导线滑轮;多个集线柱,是配置于所述手掌基座的第二端上;多条传动导线,每一所述传动导线的一端与所述拇指关节机构及所述手指关节机构连接,而另一端与所述集线柱接触,同时,所述传动导线也与所述导线滑轮接触。
- 如权利要求7所述的具有复健功能的手部辅具单元,其特征在于:所述传动导线为金属材质。
- 如权利要求7所述的具有复健功能的手部辅具单元,其特征在于:所述手指滑轨为弧型结构。
- 一种穿戴式手部复健辅具***,其特征在于,包括:手部辅具单元,是由手掌基座及与所述手掌基座成近似L型的关节连接部所形成,拇指关节机构固接于所述关节连接部的第一端上,而多个手指关节机构分别固接于手掌基座的第一端上,且多个集线柱,是配置于所述手掌基座的第二端上;张力感测单元,是与所述手部辅具单元相邻配置,其上配置有多个弹性感测柱;驱动单元,与所述张力感测单元相邻配置,是由多个马达所组成,藉由所述马达提供转动角度;多条传动导线,每一所述传动导线的一端与所述拇指关节机构及所述手指关节机构连接,而另一端与所述驱动单元连接,并与每一所述弹性感测柱接触;及控制单元,与所述驱动单元及所述张力感测单元连接;其中,所述拇指关节机构具有容置空间,用以容置滑轨连杆,所述容置空间是由至少两个侧壁所形成,并于所述两个侧壁上配置一个拇指滑轨,用以与所 述滑轨连杆的一端枢接,同时于其中一个侧壁上配置多个导线滑轮,并使所述传动导线与所述导线滑轮及所述集线柱接触;所述手指掌指关节中,具有容置空间,用以容置滑轨连杆,所述容置空间是由至少两个侧壁所形成,并于所述两个侧壁上配置一个拇指滑轨,用以与所述滑轨连杆的一端枢接,同时于其中一个侧壁上配置多个导线滑轮,并使所述传动导线与所述导线滑轮及所述集线柱接触。
- 如权利要求10所述的穿戴式手部复健辅具***,其特征在于:所述传动导线为金属材质。
- 如权利要求10所述的穿戴式手部复健辅具***,其特征在于:所述拇指滑轨为弧型结构。
- 如权利要求10所述的穿戴式手部复健辅具***,其特征在于:所述手指滑轨为弧型结构。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2016/101915 WO2018068233A1 (zh) | 2016-10-12 | 2016-10-12 | 穿戴式手部复健辅具*** |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2016/101915 WO2018068233A1 (zh) | 2016-10-12 | 2016-10-12 | 穿戴式手部复健辅具*** |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2018068233A1 true WO2018068233A1 (zh) | 2018-04-19 |
Family
ID=61905083
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2016/101915 WO2018068233A1 (zh) | 2016-10-12 | 2016-10-12 | 穿戴式手部复健辅具*** |
Country Status (1)
Country | Link |
---|---|
WO (1) | WO2018068233A1 (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11537219B2 (en) | 2018-08-07 | 2022-12-27 | The Research Foundation For The State University Of New York | Feedback input apparatus and method for use thereof |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101181176A (zh) * | 2007-12-10 | 2008-05-21 | 华中科技大学 | 一种穿戴式手功能康复机器人及其控制*** |
CN101518491A (zh) * | 2009-04-03 | 2009-09-02 | 北京航空航天大学 | 手指运动功能康复机器人 |
CN101897643A (zh) * | 2009-05-26 | 2010-12-01 | 香港理工大学 | 帮助用户移动手的可佩戴式助力设备 |
US20130261514A1 (en) * | 2012-03-30 | 2013-10-03 | The Hong Kong Polytechnic University | Wearable power assistive device for hand rehabilitation |
ES2558024A1 (es) * | 2014-07-31 | 2016-02-01 | Universidad Miguel Hernández De Elche | Dispositivo robótico modular y auto-adaptativo para la rehabilitación de la mano y procedimiento de uso |
-
2016
- 2016-10-12 WO PCT/CN2016/101915 patent/WO2018068233A1/zh active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101181176A (zh) * | 2007-12-10 | 2008-05-21 | 华中科技大学 | 一种穿戴式手功能康复机器人及其控制*** |
CN101518491A (zh) * | 2009-04-03 | 2009-09-02 | 北京航空航天大学 | 手指运动功能康复机器人 |
CN101897643A (zh) * | 2009-05-26 | 2010-12-01 | 香港理工大学 | 帮助用户移动手的可佩戴式助力设备 |
US20130261514A1 (en) * | 2012-03-30 | 2013-10-03 | The Hong Kong Polytechnic University | Wearable power assistive device for hand rehabilitation |
ES2558024A1 (es) * | 2014-07-31 | 2016-02-01 | Universidad Miguel Hernández De Elche | Dispositivo robótico modular y auto-adaptativo para la rehabilitación de la mano y procedimiento de uso |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11537219B2 (en) | 2018-08-07 | 2022-12-27 | The Research Foundation For The State University Of New York | Feedback input apparatus and method for use thereof |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
TWI620558B (zh) | 穿戴式手部復健輔具系統 | |
KR102421437B1 (ko) | 손 운동장치 | |
JP6382282B2 (ja) | 練習器具 | |
CN109542236B (zh) | 具有手指位置同步测量和指尖力反馈功能的外骨骼手套 | |
CN108201497B (zh) | 穿戴式手部复健辅具*** | |
JP4811868B2 (ja) | 上肢手指機能回復訓練装置 | |
KR101515951B1 (ko) | 손가락 운동 장치 | |
KR101968533B1 (ko) | 손가락 및 손목 능동 재활 훈련 장치 | |
KR101794703B1 (ko) | 착용형 손 재활장치 | |
US5697892A (en) | Continuous passive motion device for the hand and a method of using the same | |
JPH0514583B2 (zh) | ||
JP2011529760A (ja) | 人の腕の動きを制御するロボットアーム | |
JP5207565B1 (ja) | 指機能回復訓練装置 | |
JP2016168645A (ja) | 多指ハンド装置 | |
CN110037890B (zh) | 一种基于双四杆机构的手功能康复外骨骼机器人 | |
CN112155947A (zh) | 一种腕关节训练机器人 | |
KR101934270B1 (ko) | 손 재활을 위한 착용형 메커니즘 | |
WO2018068233A1 (zh) | 穿戴式手部复健辅具*** | |
JP7103703B2 (ja) | 動作補助装置 | |
KR101849478B1 (ko) | 손 및 손목 재활 로봇 | |
CN117297927A (zh) | 穿戴式拇指康复训练机械手及具有其的康复训练装置 | |
JP7411317B2 (ja) | 音声認識機能付き、小型、及び携帯型ロボットシステム | |
AU2020268487A1 (en) | Finger motion rail for carrying out a continuous, passive and/or actively assisted movement of a finger and/or a thumb of a patient, as well as a therapeutic device comprising a finger motion rail of this type | |
WO2022233043A1 (zh) | 康复辅助手套 | |
KR102591396B1 (ko) | 손가락 관절 운동 장치 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 16918546 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 12/08/2019) |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 16918546 Country of ref document: EP Kind code of ref document: A1 |