WO2020124837A1 - 一种外骨骼手指康复训练装置 - Google Patents
一种外骨骼手指康复训练装置 Download PDFInfo
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- WO2020124837A1 WO2020124837A1 PCT/CN2019/079093 CN2019079093W WO2020124837A1 WO 2020124837 A1 WO2020124837 A1 WO 2020124837A1 CN 2019079093 W CN2019079093 W CN 2019079093W WO 2020124837 A1 WO2020124837 A1 WO 2020124837A1
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- motor
- transmission gear
- sleeve
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- finger
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- 238000012549 training Methods 0.000 title claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 90
- 210000003811 finger Anatomy 0.000 claims abstract description 80
- 210000003813 thumb Anatomy 0.000 claims abstract description 30
- 208000006011 Stroke Diseases 0.000 abstract description 6
- 210000004932 little finger Anatomy 0.000 abstract description 5
- 230000000694 effects Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 241000282412 Homo Species 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000001627 cerebral artery Anatomy 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
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- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
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Definitions
- the invention belongs to the field of medical rehabilitation equipment, and in particular relates to an exoskeleton finger rehabilitation training device.
- Stroke is a type of disease that causes pathological changes in the cerebral arteries and venous system due to various reasons.
- the hand is an important organ for humans and is an indispensable part of realizing life and labor.
- the department is paralyzed. Relevant research shows that after certain rehabilitation training, normal function can be restored.
- the existing hand rehabilitation treatment is mainly carried out through physical training by professional doctors.
- This treatment method has three disadvantages:
- the treatment effect depends on the doctor's experience, different doctors have different treatment effects
- the present invention proposes an exoskeleton finger rehabilitation training device to assist stroke patients to carry out rehabilitation training of finger spreading and clenching, which is safe and reliable to use.
- the present invention provides an exoskeleton finger rehabilitation training device, which includes a housing and a first motor and a second motor provided in the housing; the output shaft of the first motor and the output shaft of the second motor have opposite directions ;
- a first motor gear is provided on the output shaft of the first motor, and a first transmission gear is meshed and connected to the right side of the first motor gear; an edge of the first transmission gear is sequentially connected with an axially arranged index finger sleeve and a middle finger sleeve
- a second motor gear is provided on the output shaft of the second motor, and a second transmission gear is meshed and connected to the right side of the second motor gear; the edge of the second transmission gear is sequentially connected with an axially arranged small thumb sleeve and ring finger set;
- a first support arm for mounting a rotating shaft of a first transmission gear and a second support arm for mounting a rotating shaft of a second transmission gear are fixed on the outer wall of the housing;
- the support base is also provided with a thumb sleeve, and the relative positions of the thumb sleeve, the index finger sleeve, the middle finger sleeve, the ring finger sleeve, and the small thumb sleeve conform to the arrangement of human fingers.
- first motor and the second motor are arranged side by side in order from left to right; the first transmission gear is an arc-shaped external tooth gear; and the second transmission gear is an arc-shaped internal tooth gear.
- first transmission gear and the rotating shaft of the first transmission gear are connected by a first radius connecting rod; the second transmission gear and the rotating shaft of the second transmission gear are connected by a second radius connecting rod.
- first radius connecting rod and the index finger sleeve are respectively located at both ends of the arc of the first transmission gear; the second radius connecting rod and the little thumb sleeve are respectively located at both ends of the arc of the second transmission gear.
- the housing is provided with a first passage through the first transmission gear and a second passage through the second transmission gear.
- first transmission gear is provided with a first rotation limit protrusion between the first channel and the index finger sleeve; the second transmission gear is provided with a second rotation limit protrusion between the second channel and the little thumb sleeve unit.
- the exoskeleton finger rehabilitation training device further includes a control system;
- the control system includes a single-chip microcomputer, an encoder for measuring the rotation speed of the first motor and the second motor, fixed on the first support arm and sleeved A first angle sensor outside the rotating shaft of the first transmission gear, a second angle sensor fixed on the second support arm and sleeved outside the rotating shaft of the second transmission gear, and a thumb sleeve, an index finger sleeve, a middle finger sleeve, Five pressure sensors in the ring finger sleeve and the little thumb sleeve; the encoder, the first angle sensor, the second angle sensor, and the pressure sensor respectively transmit measurement signals to the single-chip microcomputer, and the single-chip microcomputer outputs to the first motor and the second motor The control signal used to control the motor speed.
- model of the single chip microcomputer is STM32F103
- models of the first angle sensor and the second angle sensor are SV01A103AEA01R00.
- the invention is suitable for helping patients with hand hemiplegia caused by stroke to carry out active and passive rehabilitation training, and has the following advantages:
- the exoskeleton finger rehabilitation training device consists of controlling the index finger sleeve and middle finger sleeve through the first transmission gear, and the ring finger sleeve and the little finger sleeve through the second transmission gear, which can effectively fit the trajectory of the finger and assist the stroke patient to carry out the finger Unfold and hold tightly, the pressure on the patient's fingers is small, the device is light, and will not cause secondary injury;
- the output of force is precisely controlled by the pressure sensor, and the limit rotation position of the finger cot is accurately controlled by the angle sensor, which is more stable, safe and reliable.
- FIG. 1 is a schematic diagram of a three-dimensional structure of the invention
- Figure 2 is a front view of the present invention
- FIG. 3 is a structural diagram of the present invention after disassembling and removing the housing.
- the present invention proposes an exoskeleton finger rehabilitation training device. As shown in FIGS. 1-3, in order to make a clear description of the present invention, the description of the left-right position relationship of each component in this specification is based on the front view of FIG. 2.
- the present invention includes a housing 1 and first and second motors 2 and 3 disposed in the housing 1; the output shaft of the first motor 2 and the output shaft of the second motor 3 have opposite directions.
- a first motor gear 4 is provided on the output shaft of the first motor 2, and a first transmission gear 5 is meshed and connected to the right side of the first motor gear 4.
- the rotating shaft of the first transmission gear 5 is mounted on the first support arm 12 on the outer wall of the housing 1.
- the edge of the first transmission gear 5 is sequentially connected with an index finger sleeve 6 and a middle finger sleeve 7 arranged in an axial direction.
- the first transmission gear 5 is an arc-shaped externally toothed gear, and the rotation shaft of the first transmission gear 5 and the first transmission gear 5 are connected by a first radius connecting rod 15; meanwhile, the The first radius connecting rod 15 and the index finger sleeve 6 are located at both ends of the arc of the first transmission gear 5 respectively.
- the arc of the first transmission gear 5 is designed according to the spread of the fingers, effectively using the entire circle of the first transmission gear 5
- the arc angle makes the whole device more compact and practical while realizing the effect of the invention.
- the housing 1 is provided with a first passage through which the first transmission gear 5 passes.
- the first transmission gear 5 is provided with a first rotation limit protrusion between the first channel and the index finger sleeve 6.
- the first rotation limit protrusion is stuck at the first channel to realize the limit function.
- the first radius connecting rod 15 fixed to the first transmission gear 5 can also be stuck at the first channel when the first transmission gear 5 rotates to the other end limit position to realize the limit function.
- a second motor gear 8 is provided on the output shaft of the second motor 3, and a second transmission gear 9 is meshed and connected to the right side of the second motor gear 8.
- the rotating shaft of the second transmission gear 9 is mounted on the second support arm 13 on the outer wall of the housing 1.
- the edge of the second transmission gear 9 is sequentially connected with an axially arranged small thumb sleeve 10 and ring finger sleeve 11.
- the second transmission gear 9 is an arc-shaped internal gear, and the rotation shaft of the second transmission gear 9 and the second transmission gear 9 are connected by a second radius connecting rod 16; meanwhile, the The second radius connecting rod 16 and the small thumb sleeve 10 are located at both ends of the arc of the second transmission gear 9 respectively.
- the arc of the second transmission gear 9 is designed according to the spread of the fingers, effectively using the entire circle of the first transmission gear 5 The arc angle makes the whole device more compact and practical while realizing the effect of the invention.
- the housing 1 is provided with a second passage through which the second transmission gear 9 passes.
- the second transmission gear 9 is provided with a second rotation limit protrusion between the second channel and the small thumb sleeve 10.
- the second rotation limit protrusion is stuck at the second channel to realize the limit function.
- the second radius connecting rod 16 fixed to the second transmission gear 9 can also be stuck at the second channel to realize the limit function.
- the housing 1 is also provided with a thumb sleeve 14.
- the relative positions of the thumb sleeve 14 and the index finger sleeve 6, the middle finger sleeve 7, the ring finger sleeve 11 and the little thumb sleeve 10 conform to the arrangement of human fingers.
- the present invention takes into account the different palm sizes of different users.
- the sizes of the upper and lower gears that determine the rotation radius of the device are calculated according to the different joints of the fingers.
- Table 1 shows the per capita finger statistics worldwide. For reference, as follows:
- the radius R 1 of the first transmission gear 5 can be calculated from the length of the near knuckle L 1 and the length of the middle knuckle L 2 of the index finger:
- the radius R 2 of the second transmission gear 9 can be calculated from the length of the proximal knuckle L 3 and the length of the middle knuckle L 4 of the little finger:
- the first motor 2 and the second motor 3 need to be arranged side by side in order, so that the distance between the first motor gear 4 and the second motor gear 8 is close to the palm width.
- the arrangement is such that the distance from the first motor gear 4 to the index finger sleeve 6 is greater than the distance from the second motor gear 8 to the little finger sleeve 10. Therefore, the first transmission gear 5 of the present invention is an arc-shaped external tooth gear, and the second transmission gear 9 is an arc-shaped internal tooth gear, so that the radius of the first transmission gear 5 and the radius of the second transmission gear 9 are closer to the hand shape
- the size and effective use of space at the same time make the device more compact and compact.
- the invention also includes a control system.
- the control system includes a single-chip microcomputer, an encoder for measuring the rotation speed of the first motor 2 and the second motor 3, a first angle sensor 17 fixed on the first support arm 12 and sleeved outside the rotating shaft of the first transmission gear 5 , A second angle sensor 18 fixed on the second support arm 13 and sleeved outside the rotating shaft of the second transmission gear 9, and a thumb sleeve 14, an index finger sleeve 6, a middle finger sleeve 7, a ring finger sleeve 11 and a little finger, respectively
- Five pressure sensors 19 in the sleeve 10; the encoder, the first angle sensor 17, the second angle sensor 18, and the pressure sensor 19 respectively transmit measurement signals to the single-chip microcomputer, and the single-chip microcomputer sends the first motor 2 and the second motor 3 Output a control signal for controlling the motor speed.
- the model of the single chip microcomputer in this embodiment is STM32F103, and the models of the first angle sensor 17 and the second angle sensor 18 are SV01A103AEA01R00.
- the single chip microcomputer receives the pressure signal of the pressure sensor 19 and the motor speed signal of the encoder, processes it with a PID algorithm, and then outputs a control signal to control the output force of the motor to remain stable.
- the PID algorithm specifically adopts a force stabilization control algorithm, which uses the deviation of the force to perform proportional integral and differential calculations and perform motor control.
- the force deviation E 1 of the first transmission gear 5 can be calculated from the thumb pressure value F 1 , the index finger pressure value F 2 , the middle finger pressure value F 3 , and the upper gear setting force magnitude S:
- the force deviation E 2 of the second transmission gear 9 can be calculated from the thumb pressure value F 1 , ring finger pressure value F 4 , little thumb pressure value F 5 , and upper gear setting force size S:
- the single chip microcomputer outputs the force stabilization control signal of the motor, so that the force output of the motor to the finger is more stable, and the secondary damage of the device to the finger is reduced.
- the angle sensor can be used to judge the position of the finger to ensure the safety of the device during operation.
- the single-chip microcomputer controls the motor to rotate forward, and when the value of the angle sensor is greater than the maximum value of the angle, the single-chip microcomputer controls the motor to rotate reversely.
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Abstract
Description
长度 | 大拇指 | 食指 | 中指 | 无名指 | 小拇指 |
近指节 | 42.4 | 42.7 | 43.4 | 41.4 | 32.7 |
中指节 | 31.2 | 24.2 | 28.6 | 25.6 | 18.1 |
远指节 | 27.2 | 21.4 | 23.6 | 21.2 | 19.7 |
Claims (8)
- 一种外骨骼手指康复训练装置,其特征在于:包括壳体(1)以及设置在壳体(1)内的第一电机(2)和第二电机(3);所述第一电机(2)的输出轴与第二电机(3)的输出轴的朝向相反;所述第一电机(2)输出轴上设置有第一电机齿轮(4),第一电机齿轮(4)的右侧啮合连接有第一传动齿轮(5);所述第一传动齿轮(5)的边缘依次连接有轴向排列的食指套(6)和中指套(7);所述第二电机(3)的输出轴上设置有第二电机齿轮(8),第二电机齿轮(8)右侧啮合连接有第二传动齿轮(9);所述第二传动齿轮(9)的边缘依次连接有轴向排列的小拇指套(10)和无名指套(11);所述壳体(1)的外壁固定有用于安装第一传动齿轮(5)转轴的第一支撑臂(12)和用于安装第二传动齿轮(9)转轴的第二支撑臂(13);所述壳体(1)上还设置有大拇指套(14),所述大拇指套(14)与食指套(6)、中指套(7)、无名指套(11)和小拇指套(10)的相对位置符合人体手指排布。
- 根据权利要求1所述的外骨骼手指康复训练装置,其特征在于:所述第一电机(2)和第二电机(3)左右依次并排布置;所述第一传动齿轮(5)为圆弧状外齿齿轮;所述第二传动齿轮(9)为圆弧状内齿齿轮。
- 根据权利要求2所述的外骨骼手指康复训练装置,其特征在于:所述第一传动齿轮(5)与第一传动齿轮(5)的转轴通过第一半径连接杆(15)连接;所述第二传动齿轮(9)与第二传动齿轮(9)的转轴通过第二半径连接杆(16)连接。
- 根据权利要求3所述的外骨骼手指康复训练装置,其特征在于:所述第一半径连接杆(15)和食指套(6)分别位于第一传动齿轮(5)的圆弧两端;所述第二半径连接杆(16)和小拇指套(10)分别位于第二传动齿轮(9)的圆弧两端。
- 根据权利要求3所述的外骨骼手指康复训练装置,其特征在于:所述壳体(1)上设置有被第一传动齿轮(5)穿过的第一通道和被第二传动齿轮(9)穿过的第二通道。
- 根据权利要求4所述的手指可穿戴式柔性力触觉反馈装置,其特征在于:所述第一传动齿轮(5)在第一通道和食指套(6)之间设有第一旋转限位突出部;所述第二传动齿轮(9)在第二通道和小拇指套(10)之间设有第二旋转限位突出部。
- 根据权利要求1-6任意一项所述的手指可穿戴式柔性力触觉反馈装置,其特征在于:还包括一个控制***;所述控制***包括单片机,用于测量第一电机(2)和第二电机(3)转速的编码器,固定在所述第一支撑臂(12)上并套在第一传动齿轮(5)转轴外的第一角度传感器(17),固定在所述第二支撑臂(13)上并套在第二传动齿轮(9)转轴外的第二角度传感器(18),以及分别设置在大拇指套(14)、食指套(6)、中指套(7)、无名指套(11)和小拇指套(10)内的五个压力传感器(19);所述编码器、第一角度传感器(17)、第二角度传感器(18)和压力传感器(19)分别将测量信号传输至单片机,所述单片机向第一电机(2)和第二电机(3)输出用于控制电机转速的控制信号。
- 根据权利要求7所述的手指可穿戴式柔性力触觉反馈装置,其特征在于:所述单片机的型号是STM32F103,所述第一角度传感器(17)和第二角度传感器(18)的型号是SV01A103AEA01R00。
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