WO2022233043A1 - Rehabilitation assistance glove - Google Patents

Rehabilitation assistance glove Download PDF

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Publication number
WO2022233043A1
WO2022233043A1 PCT/CN2021/092192 CN2021092192W WO2022233043A1 WO 2022233043 A1 WO2022233043 A1 WO 2022233043A1 CN 2021092192 W CN2021092192 W CN 2021092192W WO 2022233043 A1 WO2022233043 A1 WO 2022233043A1
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WO
WIPO (PCT)
Prior art keywords
finger
link
connecting rod
driving
glove
Prior art date
Application number
PCT/CN2021/092192
Other languages
French (fr)
Chinese (zh)
Inventor
张笑千
尚鹏
刘程祥
杨德龙
侯增涛
付威廉
王博
Original Assignee
中国科学院深圳先进技术研究院
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Application filed by 中国科学院深圳先进技术研究院 filed Critical 中国科学院深圳先进技术研究院
Priority to PCT/CN2021/092192 priority Critical patent/WO2022233043A1/en
Publication of WO2022233043A1 publication Critical patent/WO2022233043A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising

Definitions

  • the present application relates to the technical field of rehabilitation equipment, in particular to a rehabilitation auxiliary glove.
  • the movement mode of the finger bones of the existing auxiliary equipment is relatively simple, and cannot simulate the natural bending or straightening of the human hand, which is not conducive to the rehabilitation of the hand of the patient with hand disease.
  • the main purpose of the present application is to provide a rehabilitation auxiliary glove, which solves the technical problem that the existing auxiliary equipment cannot simulate the natural bending or straightening of the human hand.
  • a technical solution adopted in the present application is to provide a rehabilitation auxiliary glove, the rehabilitation auxiliary glove includes a plurality of finger units and a plurality of driving components;
  • Each finger unit includes at least two finger cuffs
  • the plurality of driving assemblies are connected to the plurality of finger units in a one-to-one correspondence, and each driving assembly is used to drive the corresponding finger unit, and when the corresponding finger unit is driven, the rotation speed ratio of at least two finger hoops in the finger unit is constant .
  • each driving assembly includes a connected driving device and a connecting rod assembly
  • the connecting rod assembly is connected with each finger cuff of the corresponding finger unit
  • the driving device drives each finger of the corresponding finger unit through the corresponding connecting rod assembly Hoop turns.
  • each finger unit includes a first finger cuff, a second finger cuff and a third finger cuff
  • the connecting rod assembly includes a first connecting rod, a second connecting rod connected to the first finger cuff, and a second connecting rod connected to the second finger cuff.
  • the third link and the fourth link connected to the third finger hoop, the second link, the third link and the fourth link are connected to different nodes of the first link.
  • each finger unit in the straight state, has a first finger cuff, a second finger cuff and a third finger cuff in sequence from approaching to the driving device;
  • the first end of the first connecting rod is connected to the driving device, and the first connecting rod is sequentially provided with the point where the first connecting rod and the second connecting rod are connected, the first connecting rod and the third connecting rod from the close to the first end.
  • the connecting rod assembly includes:
  • one end of the fifth connecting rod is connected to the first corner of the fulcrum connecting rod, and the other end of the fifth connecting rod is connected to the first end of the first connecting rod;
  • the sixth connecting rod one end of the sixth connecting rod is connected to the second corner of the fulcrum connecting rod, and the other end of the sixth connecting rod is connected to the first finger hoop;
  • the seventh connecting rod one end of the seventh connecting rod is connected to the third corner of the fulcrum connecting rod, and the other end of the seventh connecting rod is connected to the mounting seat of the driving device.
  • the rehabilitation auxiliary glove includes an inner glove layer and an outer glove layer sleeved on the outside of the inner glove layer, and the inside of the outer glove layer is divided into a first accommodating cavity and a second accommodating cavity for accommodating the hand by the inner glove layer,
  • the driving assembly is arranged in the first accommodating cavity.
  • the rehabilitation auxiliary glove includes a control device, the control device is coupled to a plurality of driving devices, the driving device is provided with a torque sensor and/or a stroke sensor, and the control device is used to control the corresponding The driving device operates to drive the corresponding finger unit.
  • the rehabilitation auxiliary glove includes a plurality of pressure sensors coupled to the control device, each finger cuff is provided with a pressure sensor, and the control device is used for detecting according to the torque sensor and/or the stroke sensor and the pressure sensor on the corresponding finger unit data to control the operation of the corresponding driving device to drive the corresponding finger unit.
  • the rehabilitation auxiliary glove includes a control device, the control device is coupled to a plurality of driving devices, a communication module is arranged in the control device, and the control device is used to communicate and connect with an external device through the communication module, so as to obtain an instruction issued by the external device, and based on the communication module The instruction controls the operation of the driving device, and then drives the corresponding finger unit.
  • the rehabilitation auxiliary glove includes a built-in battery, and the built-in battery is electrically connected with the driving component.
  • the rehabilitation auxiliary glove of the present application includes a plurality of finger units and a plurality of driving devices, and the plurality of driving assemblies are connected to the plurality of finger units in a one-to-one correspondence.
  • Each driving component is used to drive the corresponding finger unit, and when driving the corresponding finger unit, the rotation speed ratio of at least two finger cuffs in the finger unit is constant, so that under the driving of the driving device, the finger unit of the glove can simulate The natural bending or straightening function of the human hand can effectively train patients with hand diseases. That is, you only need to input a certain speed in one finger cuff of the finger unit, and the other finger cuffs rotate according to the fixed multiple of this speed, simulating the bending of real fingers to the greatest extent.
  • FIG. 1 is a schematic structural diagram of an embodiment of a rehabilitation auxiliary glove of the present application
  • FIG. 2 is a schematic structural diagram of another embodiment of the rehabilitation auxiliary glove of the present application.
  • FIG. 3 is a schematic structural diagram of another embodiment of the rehabilitation auxiliary glove of the present application.
  • FIG. 4 is a schematic structural diagram of yet another embodiment of the rehabilitation auxiliary glove of the present application.
  • the present application provides a rehabilitation auxiliary glove 100 , and the rehabilitation auxiliary glove 100 includes a plurality of finger units and a plurality of driving components.
  • the number of finger units may be 4, 5, or 6, etc., which are specifically set based on the user's hand condition, which is not limited herein.
  • each finger unit includes at least two finger cuffs.
  • the four finger units corresponding to the index finger, middle finger, ring finger or little finger respectively in the rehabilitation auxiliary glove 100 of the present application may include a first finger cuff 111, a second finger cuff 112 and The third finger cuff 113, the finger unit corresponding to the thumb may only include two finger cuffs, so that when the user wears the rehabilitation auxiliary glove 100 of the present application, each phalanx has a corresponding finger cuff, so that the user can pass the
  • the drive assembly then drives all of the user's phalanges to train the user's fingers. It is unavoidable that, in order to adapt to some users with abnormal hand shapes, the number of finger hoops in the finger unit can be adjusted, for example, each finger unit in the glove includes 2 finger hoops and so on.
  • the plurality of driving assemblies are connected with the plurality of finger units in one-to-one correspondence.
  • Each driving component is used to drive the corresponding finger unit, and when driving the corresponding finger unit, the rotation speed ratio of at least two finger cuffs in the finger unit is constant, so that under the driving of the driving device, the finger unit of the glove can simulate The natural bending or straightening function of the human hand can effectively train patients with hand diseases. That is, you only need to input a certain speed in one finger cuff of the finger unit, and the other finger cuffs rotate according to a fixed multiple of this speed, simulating the bending of real fingers to the greatest extent.
  • each drive assembly may include an interconnected drive and connection assembly.
  • the connecting components are connected with at least two finger hoops of the corresponding finger unit, so that the driving device can drive the finger hoops of the corresponding finger unit to rotate through the corresponding connecting components, so as to drive the user's fingers to bend or straighten through the finger hoops.
  • each drive assembly may include at least two drive devices, and the at least two drive devices in each drive assembly are connected with at least two finger hoops in the corresponding finger unit in a one-to-one correspondence, such that one drive The device drives a finger cuff, and when driving the finger unit to move, by controlling at least two driving devices in the driving component corresponding to the finger unit, the rotation speed ratio of the at least two finger cuffs in the finger unit is constant.
  • the driving device may be any device that can drive the movement of the connecting assembly, such as a linear motor or an air cylinder.
  • the connecting assembly of this embodiment may be a connecting rod assembly.
  • the driving device is connected with the corresponding connecting assembly, the connecting rod assembly is connected with each finger cuff of the corresponding finger unit, and the driving device drives each finger cuff of the corresponding finger unit to rotate through the corresponding connecting rod assembly.
  • the connecting rod assembly of the present application can also be replaced with other types of connecting assemblies, for example, in other embodiments, the connecting assembly can also be a gear transmission assembly.
  • the corresponding link assembly may include a first link 131 , a second link 132 connected to the first finger hoops 111 , and a third link connected to the second finger hoops 112 .
  • the rod 133 and the fourth link 134 connected to the third finger band 113 .
  • the second connecting rod 132, the third connecting rod 133 and the fourth connecting rod 134 are connected to different nodes of the first connecting rod 131, so that the connecting rods connected to all the finger hoops on the finger unit are connected to the first connecting rod 131, so that the The ratio of the force arms of the three finger hoops is a fixed value, so the rotation speed ratio of the three finger hoops of the finger unit is a fixed value, so as to achieve the function of simulating the natural bending and straightening of human fingers.
  • the first connection The first end A of the rod 131 can be connected to the driving device, and the first connecting rod 131 is sequentially provided with a point B where the first connecting rod 131 and the second connecting rod 132 are connected, the first connecting rod 131 and the third link 133 are connected to the point C, and the second link 132 and the fourth link 134 are connected to the point D, so that the moment arm of the first finger hoop 111 connected to the second link 132 is the shortest, While the moment arm of the second finger cuff 112 connected to the third link 133 is slightly longer, the moment arm of the third finger cuff 113 connected to the fourth link 134 is the longest, thus corresponding to the first finger cuff of the distal phalanx
  • the linkage assembly may also include a fulcrum link 138 connected to the drive.
  • the fulcrum link 138 may have at least three corners. Three of the corners of the fulcrum link 138 can be respectively connected with the drive device mounting seat or the fixing member relatively stationary with the mounting seat, the first finger band 111 and the first end A of the first link 131, so that the drive device is installed.
  • the seat or fixing member fixes one corner of the fulcrum link 138.
  • the driving device drives the fulcrum link 138 to move, the remaining corners of the fulcrum link 138 move with the movement of the driving device, and there is no extra degree of freedom, thereby driving the first finger.
  • the ring 111 and the first link 131 , and then the second finger ring 112 connected with the third link 133 and the third finger ring 113 connected with the fourth link 134 are driven to rotate by the first link 131 .
  • the link assembly may further include a fifth link 135 , a sixth link 136 and a seventh link 137 .
  • the first end A of the fifth link 135 is connected to the first corner of the fulcrum link 138, and the other end of the fifth link 135 is connected to the first end A of the first link 131;
  • One end is connected to the second corner of the fulcrum link 138, the other end of the sixth link 136 is connected to the first finger hoop 111;
  • one end of the seventh link 137 is connected to the third corner of the fulcrum link 138, and the seventh link 137
  • the other end is connected to a fixing member such as a mounting seat of the driving device. As shown in FIG.
  • the driving device drives the fulcrum link 138 to rotate around the fixed fulcrum below (the point connected to the fulcrum link 138 on the fixing member) to drive the device.
  • the fulcrum link 138 drives the fifth link 135 to move to the right, the first finger hoop 111 moves downward, and the sixth link 136 and the first finger hoop 111 are hard-connected, so the sixth link 136 It will also rotate around the fulcrum of the reference first finger hoop 111, and with the sixth link 136 as a reference, the fifth link 135 is moving to the upper left at this time, thereby driving the first link 131 to move counterclockwise, and the fourth link 135 moves counterclockwise.
  • the connecting rod 134 receives a rightward thrust in the macro coordinate system, and moves clockwise relative to the first connecting rod 131 to drive the third finger hoop 113 to move.
  • the upper position that is, the moment arm is slightly shorter than the fourth link 134, and the speed is slightly slower, which drives the second finger hoop 112 to move. It can be seen that since the force arm is a fixed value and there is no extra degree of freedom (the three finger hoops correspond to the rotational degrees of freedom around a certain axis respectively), the rotation speed ratio of the three finger hoops is a fixed value, and the simulation of human fingers is achieved. Naturally curved features.
  • the rehabilitation assisting glove 100 of the present application may include a control device, and the control device is coupled to a plurality of driving devices, so that the control device can drive the corresponding finger unit to perform corresponding movement by controlling the driving device.
  • the control device may be a single-chip microcomputer or a microprocessor or the like.
  • the control device of the present application may have at least one training gesture built in.
  • Each training gesture program defines 5 travels for the movement of the drive unit.
  • the user can directly make the rehabilitation assistant glove 100 perform a training gesture through the control device, that is, control each driving device to move the corresponding stroke, so that the corresponding finger unit reaches the specified position of the training gesture, so as to complete the training of the training gesture. Therefore, the user can be assisted to make different gestures through different combinations of the motion strokes of the driving device.
  • a program for controlling the driving device can be set inside the control device, and the program specifies the maximum torque and limit stroke applied to the driving device to ensure the safety of the user.
  • control device of the present application controls the driving device, it can obtain user hand data from at least one sensor of the glove, so as to regulate the driving device based on the user hand data, and then control the operation of the finger unit, so as to control the operation of the finger unit based on the user hand data.
  • the actual situation is precisely controlled to improve the training effect.
  • the above-mentioned at least one sensor can be a torque sensor provided inside the driving device of the application, the torque sensor can detect the stiffness of the user's finger, and after the torque sensor detects the data, the detected data can be transmitted to the control device, so that the control device is based on
  • the stiffness of the user's finger adjusts the applied torque of the driving device, so as to avoid the finger movement caused by too much force and damage the finger, and also to avoid too little force to drive the too stiff finger movement, through the torque sensor and control device
  • the formed closed-loop feedback system automatically adapts the appropriate strength for the user to ensure the training effect without causing damage to the user.
  • the above-mentioned at least one sensor can also be a position sensor provided in the driving device of the application.
  • the position sensor can detect the operating state of the driving device, and then determine the flexion and extension state of the finger wearing the corresponding finger unit. After the position sensor detects the data, The detected data can be transmitted to the control device, so that the control device can adjust the operation of the driving device based on the state of the finger flexion and extension of the finger unit, so as to control the finger unit to train according to the prescribed training posture, and can judge the movement stroke of each finger to determine the specific Whether the gesture is achieved.
  • the data detected by the control device combined with the torque sensor and the position sensor can be determined according to the pre-specified program whether the afterburner is too large to cause the speed to be too fast, or on the contrary, the afterburner is too small to drive the too stiff finger movement, and then decide whether it needs to be reduced again. force, force.
  • This closed loop feedback is automatic.
  • the above-mentioned at least one sensor can also be a first pressure sensor disposed at the finger unit, the first pressure sensor is used to detect the contact pressure of the user's finger, and the first pressure sensor can transmit the detected data after detecting the data.
  • the control device is given so that the control device can adjust the force and the stroke of the corresponding drive device based on the contact pressure of the finger.
  • a plurality of first pressure sensors may be disposed at the finger cuff in a one-to-one correspondence, so as to confirm the contact pressure of each phalanx of the user based on the first pressure sensors, and then finely control each driving device.
  • the above-mentioned at least one sensor may also be a second pressure sensor disposed at the palm unit, the second pressure sensor is used to detect the pressure on the palm of the user, and is used to perform pressure feedback when training the user's grasping posture, the second pressure sensor After the pressure sensor detects the data, it can transmit the detected data to the control device, so that the control device can judge the user's grasping gesture and pressure based on the pressure feedback of the palm, and then confirm whether it is enough to realize the "pick up" action, and respond to the corresponding drive.
  • the device performs strength adjustment and stroke adjustment, that is, adding or reducing force, until successful.
  • control device of the present application may further include a communication module, so as to communicate with the external device through the communication module.
  • the control device can also obtain the instruction issued by the external device through the communication module, and control the operation of the driving device based on the instruction, so as to train the user's hand.
  • the communication module may be a Bluetooth module or a wifi module or the like.
  • the external device may be a mobile terminal.
  • the user can view the state of the hand wearing the rehabilitation auxiliary glove 100 through the communication connection between the mobile terminal and the rehabilitation auxiliary glove 100 .
  • the user can also issue motion instructions (including strength, stroke and time, etc.) for each finger unit to the rehabilitation assistant glove 100 through the mobile terminal, and can also issue gesture combination commands to realize various hand rehabilitation training modes.
  • the external device can also be an EEG analysis device.
  • the user can send finger movement instructions to the control device through the EEG analysis equipment worn, so as to realize the rehabilitation training through human to control the movement of the fingers.
  • the external device can also be a motion detection glove.
  • the motion detection gloves can be used to detect the gesture and/or the movement speed of the hand wearing the motion detection gloves, etc.
  • the motion detection gloves can send the hand information detected wearing the motion detection gloves to the control device, so that the control device can control the drive device
  • the hand wearing the rehabilitation auxiliary glove 100 is driven to move synchronously, which is convenient for the training instructor to guide the user to perform hand training.
  • the motion detection glove can detect the hand information of wearing the motion detection glove through the resistance value of the potentiometer.
  • the rehabilitation aid glove 100 includes an inner glove layer 150 and an outer glove layer 140 sleeved on the outside of the inner glove layer 150 .
  • the inside of the outer glove layer 140 is divided into a first accommodating cavity 160 and a second accommodating cavity 170 by the inner glove layer 150 .
  • the second accommodating cavity 170 is used for accommodating the user's hand, wherein the inner layer 150 of the glove can be made of elastic material, so that the rehabilitation assisting glove 100 can be adapted to hands of different sizes.
  • the first accommodating cavity 160 is used for accommodating the driving assembly, the control device, and a plurality of finger cuffs, wherein the finger cuffs clamp the inner layer 150 of the glove, so as to fix the fingers and enable the fingers to move.
  • a first pressure sensor may be provided in the finger area of the inner glove layer 150 for detecting the contact pressure of the finger
  • a second pressure sensor may be provided in the palm area of the inner glove layer 150 for detecting the pressure on the palm. This allows for pressure feedback when performing the grip test.
  • the rehabilitation auxiliary glove 100 is divided into an inner glove layer 150 and an outer glove layer 140.
  • the inner glove layer 150 will tightly wrap the fingers and has elasticity, and the first accommodating cavity 160 is placed in the glove.
  • Connecting components and electronic components, and three finger hoops are arranged on the three segments of the finger to fix the finger and drive the finger to perform auxiliary movement, and as shown in Figure 1, the finger hoops and the connecting components form a hard connection; in addition; ,
  • the pressure sensors located on the belly of the fingers, the underside of the fingertips and the inside of the palm can detect the pressure on the fingers of the palm, and the data is sent back to the single-chip computer, and the single-chip computer judges whether the grasping gesture and pressure are sufficient "Pick up" action, and do a boost or de-energize until it succeeds.
  • the rehabilitation aid glove 100 of the present application further includes a built-in battery.
  • the built-in battery is electrically connected to the control device and the driving device, so as to supply power to the control device and the driving device through the built-in battery, so as to perform mobile training.
  • the control device can have multiple training gestures built in (and by judging the movement stroke of each finger unit, it can be determined whether a specific gesture is achieved).
  • the control device is connected to the mobile terminal through the communication module in it, and is combined with the corresponding mobile terminal APP to issue corresponding gesture commands for training, as well as physical grasping training.
  • the control device can connect to more external devices through the communication module, such as EEG analysis settings, or a motion detection glove, etc., to input more and more synchronized training instructions; after receiving the instructions from the external device, the control device can Control the movement of the driving device.
  • each finger includes a three-finger cuff similar to the real finger, and each finger cuff has one degree of freedom (rotation along a certain axis), that is, each finger has three rotational degrees of freedom, these three freedoms.
  • the rotation speed is achieved in a fixed ratio, that is, only a certain speed is required in the initial finger cuff, and the other finger cuffs rotate according to a fixed multiple of this speed, simulating real finger bending to the greatest extent.
  • the inside of the glove outer layer 140 is divided into two accommodating cavities, the above-mentioned actuator will be arranged in the first accommodating cavity 160 in the glove, and the second accommodating cavity 170 (the glove inner layer 150 ) is used for accommodating the user's palm.
  • the accommodating cavities are separated by the glove, and the outer glove layer 140 and the inner glove layer 150 are integral in appearance.
  • the upper mechanical structure is connected with a clamp, the clamp clamps the inner layer 150 of the glove, and the inner layer of the glove 150 is a finger, so as to fix and drive the movement of the finger; on the inner side of the finger of the inner layer 150 of the glove, a pressure sensor is distributed in the palm for Pressure feedback is performed while the grasp is being exercised.
  • the rehabilitation auxiliary glove 100 includes a plurality of finger units and a plurality of driving devices, and the plurality of driving assemblies are connected with the plurality of finger units in a one-to-one correspondence.
  • Each driving component is used to drive the corresponding finger unit, and when driving the corresponding finger unit, the rotation speed ratio of at least two finger cuffs in the finger unit is constant, so that under the driving of the driving device, the finger unit of the glove can simulate The natural bending or straightening function of the human hand can effectively train patients with hand diseases. That is, you only need to input a certain speed in one finger cuff of the finger unit, and the other finger cuffs rotate according to a fixed multiple of this speed, simulating the bending of real fingers to the greatest extent.

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  • Rehabilitation Therapy (AREA)
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Abstract

The present application discloses a rehabilitation assistance glove. The rehabilitation assistance glove comprises a plurality of finger units and a plurality of driving units; each finger unit comprises at least two finger hoops; a plurality of driving assemblies are connected to the plurality of finger units in a one-to-one correspondence manner; each driving assembly is used for driving a corresponding finger unit; and when the corresponding finger unit is driven, the at least two finger hoops in the finger unit have a constant rotating speed proportion. The present application can simulate the function of naturally bending or straightening human hands and can effectively train a patient having hand diseases.

Description

康复辅助手套Rehabilitation aid gloves 【技术领域】【Technical field】
本申请涉及康复设备技术领域，特别是涉及一种康复辅助手套。The present application relates to the technical field of rehabilitation equipment, in particular to a rehabilitation auxiliary glove.
【背景技术】【Background technique】
对于手部疾病患者，包括意外伤害、中风等，科学的康复训练治疗对于最大限度的恢复手部灵活有着非常重要的意义。For patients with hand diseases, including accidental injury, stroke, etc., scientific rehabilitation training and treatment is of great significance to maximize the recovery of hand flexibility.
现有的辅助设备的手指骨骼的运动方式较为简单，且无法模拟人手自然弯曲或伸直，不利于手部疾病患者手部的康复。The movement mode of the finger bones of the existing auxiliary equipment is relatively simple, and cannot simulate the natural bending or straightening of the human hand, which is not conducive to the rehabilitation of the hand of the patient with hand disease.
【发明内容】[Content of the invention]
本申请主要的目的是提供一种康复辅助手套，解决现有辅助设备无法模拟人手自然弯曲或伸直的技术问题。The main purpose of the present application is to provide a rehabilitation auxiliary glove, which solves the technical problem that the existing auxiliary equipment cannot simulate the natural bending or straightening of the human hand.
为解决上述问题，本申请采用的一个技术方案是：提供一种康复辅助手套，该康复辅助手套包括多个手指单元和多个驱动组件；In order to solve the above problem, a technical solution adopted in the present application is to provide a rehabilitation auxiliary glove, the rehabilitation auxiliary glove includes a plurality of finger units and a plurality of driving components;
每个手指单元包括至少两个指箍；Each finger unit includes at least two finger cuffs;
多个驱动组件一一对应地与多个手指单元连接，每个驱动组件用于驱动对应的手指单元，且在驱动对应的手指单元时，手指单元中的至少两个指箍的旋转速度比例恒定。The plurality of driving assemblies are connected to the plurality of finger units in a one-to-one correspondence, and each driving assembly is used to drive the corresponding finger unit, and when the corresponding finger unit is driven, the rotation speed ratio of at least two finger hoops in the finger unit is constant .
其中，每个驱动组件包括相连接的驱动装置和连杆组件，连杆组件与对应的手指单元的每个指箍均连接，驱动装置通过对应的连杆组件驱动对应的手指单元的每个指箍转动。Wherein, each driving assembly includes a connected driving device and a connecting rod assembly, the connecting rod assembly is connected with each finger cuff of the corresponding finger unit, and the driving device drives each finger of the corresponding finger unit through the corresponding connecting rod assembly Hoop turns.
其中，每个手指单元包括第一指箍、第二指箍和第三指箍，连杆组件包括第一连杆、连接于第一指箍的第二连杆、连接于第二指箍的第三连杆以及连接于第三指箍的第四连杆，第二连杆、第三连杆和第四连杆连接于第一连杆的不同节点。Wherein, each finger unit includes a first finger cuff, a second finger cuff and a third finger cuff, and the connecting rod assembly includes a first connecting rod, a second connecting rod connected to the first finger cuff, and a second connecting rod connected to the second finger cuff. The third link and the fourth link connected to the third finger hoop, the second link, the third link and the fourth link are connected to different nodes of the first link.
其中，在伸直状态下，每个手指单元从靠近到远离驱动装置依次有第一指箍、第二指箍和第三指箍；Wherein, in the straight state, each finger unit has a first finger cuff, a second finger cuff and a third finger cuff in sequence from approaching to the driving device;
第一连杆的第一端连接于驱动装置，第一连杆从靠近到远离第一端依次设 有第一连杆和第二连杆相连接的点、第一连杆和第三连杆相连接的点、以及第二连杆和第四连杆相连接的点。The first end of the first connecting rod is connected to the driving device, and the first connecting rod is sequentially provided with the point where the first connecting rod and the second connecting rod are connected, the first connecting rod and the third connecting rod from the close to the first end. The point of connection, and the point of connection of the second link and the fourth link.
其中，连杆组件包括：Among them, the connecting rod assembly includes:
具有至少三个角的支点连杆，连接于驱动装置；a fulcrum link with at least three corners, connected to the drive device;
第五连杆，第五连杆的一端连接于支点连杆的第一角，第五连杆的另一端连接于第一连杆的第一端；a fifth connecting rod, one end of the fifth connecting rod is connected to the first corner of the fulcrum connecting rod, and the other end of the fifth connecting rod is connected to the first end of the first connecting rod;
第六连杆，第六连杆的一端连接于支点连杆的第二角，第六连杆的另一端连接于第一指箍；the sixth connecting rod, one end of the sixth connecting rod is connected to the second corner of the fulcrum connecting rod, and the other end of the sixth connecting rod is connected to the first finger hoop;
第七连杆，第七连杆的一端连接于支点连杆的第三角，第七连杆的另一端连接于驱动装置的安装座。The seventh connecting rod, one end of the seventh connecting rod is connected to the third corner of the fulcrum connecting rod, and the other end of the seventh connecting rod is connected to the mounting seat of the driving device.
其中，康复辅助手套包括手套内层、以及套设于手套内层外部的手套外层，手套外层内部被手套内层分隔成第一容置腔和用于容纳手的第二容置腔，驱动组件设置于第一容置腔内。Wherein, the rehabilitation auxiliary glove includes an inner glove layer and an outer glove layer sleeved on the outside of the inner glove layer, and the inside of the outer glove layer is divided into a first accommodating cavity and a second accommodating cavity for accommodating the hand by the inner glove layer, The driving assembly is arranged in the first accommodating cavity.
其中，康复辅助手套包括控制装置，控制装置耦接于多个驱动装置，驱动装置内设有力矩传感器和/或行程传感器，控制装置用于根据力矩传感器和/或行程传感器检测的数据控制对应的驱动装置运行，以驱动对应的手指单元。Wherein, the rehabilitation auxiliary glove includes a control device, the control device is coupled to a plurality of driving devices, the driving device is provided with a torque sensor and/or a stroke sensor, and the control device is used to control the corresponding The driving device operates to drive the corresponding finger unit.
其中，康复辅助手套包括多个与控制装置耦接的压力传感器，每一指箍处设置有一压力传感器，控制装置用于根据力矩传感器和/或行程传感器、以及对应的手指单元上的压力传感器检测的数据，控制对应的驱动装置运行，以驱动对应的手指单元。Wherein, the rehabilitation auxiliary glove includes a plurality of pressure sensors coupled to the control device, each finger cuff is provided with a pressure sensor, and the control device is used for detecting according to the torque sensor and/or the stroke sensor and the pressure sensor on the corresponding finger unit data to control the operation of the corresponding driving device to drive the corresponding finger unit.
其中，康复辅助手套包括控制装置，控制装置耦接于多个驱动装置，控制装置内设有通信模块，控制装置用于通过通信模块与外部设备通信连接，以获得外部设备下达的指令，并基于指令控制驱动装置运行，进而驱动对应的手指单元。Among them, the rehabilitation auxiliary glove includes a control device, the control device is coupled to a plurality of driving devices, a communication module is arranged in the control device, and the control device is used to communicate and connect with an external device through the communication module, so as to obtain an instruction issued by the external device, and based on the communication module The instruction controls the operation of the driving device, and then drives the corresponding finger unit.
其中，康复辅助手套包括内置电池，内置电池与驱动组件电性连接。Among them, the rehabilitation auxiliary glove includes a built-in battery, and the built-in battery is electrically connected with the driving component.
本申请康复辅助手套包括多个手指单元和多个驱动装置，多个驱动组件一一对应地与多个手指单元连接。每个驱动组件用于驱动对应的手指单元，且在驱动对应的手指单元时，手指单元中的至少两个指箍的旋转速度比例恒定，从而在驱动装置的驱动下，手套的手指单元可以模拟人手之自然弯曲或伸直的功能，可以对手部疾病患者进行有效的训练。即只需在手指单元的一指箍输入某 速度，其他指箍按照此速度的固定倍数进行旋转，最大程度模拟真实手指弯曲。The rehabilitation auxiliary glove of the present application includes a plurality of finger units and a plurality of driving devices, and the plurality of driving assemblies are connected to the plurality of finger units in a one-to-one correspondence. Each driving component is used to drive the corresponding finger unit, and when driving the corresponding finger unit, the rotation speed ratio of at least two finger cuffs in the finger unit is constant, so that under the driving of the driving device, the finger unit of the glove can simulate The natural bending or straightening function of the human hand can effectively train patients with hand diseases. That is, you only need to input a certain speed in one finger cuff of the finger unit, and the other finger cuffs rotate according to the fixed multiple of this speed, simulating the bending of real fingers to the greatest extent.
【附图说明】【Description of drawings】
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图，其中：In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, under the premise of no creative work, other drawings can also be obtained from these drawings, wherein:
图1是本申请康复辅助手套一实施方式的结构示意图；FIG. 1 is a schematic structural diagram of an embodiment of a rehabilitation auxiliary glove of the present application;
图2是本申请康复辅助手套另一实施方式的结构示意图；FIG. 2 is a schematic structural diagram of another embodiment of the rehabilitation auxiliary glove of the present application;
图3是本申请康复辅助手套又一实施方式的结构示意图；FIG. 3 is a schematic structural diagram of another embodiment of the rehabilitation auxiliary glove of the present application;
图4是本申请康复辅助手套再一实施方式的结构示意图。FIG. 4 is a schematic structural diagram of yet another embodiment of the rehabilitation auxiliary glove of the present application.
【具体实施方式】【Detailed ways】
下面将结合本申请实施方式中的附图，对本申请实施方式中的技术方案进行清楚、完整地描述，显然，所描述的实施方式仅是本申请的一部分实施方式，而不是全部的实施方式。基于本申请中的实施方式，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施方式，都属于本申请保护的范围。The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.
需要说明，若本申请实施方式中有涉及方向性指示(诸如上、下、左、右、前、后……)，则该方向性指示仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。It should be noted that if there are directional indications (such as up, down, left, right, front, back, etc.) involved in the embodiments of the present application, the directional indications are only used to explain a certain posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly.
另外，若本申请实施方式中有涉及“第一”、“第二”等的描述，则该“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施方式之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本申请要求的保护范围之内。In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for the purpose of description, and should not be construed as an indication or suggestion Its relative importance or implicitly indicates the number of technical features indicated. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In addition, the technical solutions between the various embodiments can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that the combination of technical solutions does not exist. , is not within the scope of protection claimed in this application.
如图1所示，本申请提供一种康复辅助手套100，该康复辅助手套100包括多个手指单元和多个驱动组件。As shown in FIG. 1 , the present application provides a rehabilitation auxiliary glove 100 , and the rehabilitation auxiliary glove 100 includes a plurality of finger units and a plurality of driving components.
其中，手指单元的数量可以为4个、5个或6个等，具体基于用户手部情况而设置，在此不做限定。Wherein, the number of finger units may be 4, 5, or 6, etc., which are specifically set based on the user's hand condition, which is not limited herein.
而每个手指单元包括至少两个指箍。可选地，为使手指单元适配人的手指，本申请康复辅助手套100中分别对应于食指、中指、无名指或小拇指的四个手指单元可以包括第一指箍111、第二指箍112和第三指箍113这三个指箍，对应于拇指的手指单元可以仅包括两个指箍，这样用户在佩戴本申请的康复辅助手套100时，每一个指骨均对应有一个指箍，从而通过驱动组件就可驱使用户所有指骨运动，以便训练用户手指。不可排除的是，为适配某些手型异常的用户，手指单元中指箍的数量可以调节，例如手套中的每个手指单元均包括2个指箍等。And each finger unit includes at least two finger cuffs. Optionally, in order to adapt the finger units to human fingers, the four finger units corresponding to the index finger, middle finger, ring finger or little finger respectively in the rehabilitation auxiliary glove 100 of the present application may include a first finger cuff 111, a second finger cuff 112 and The third finger cuff 113, the finger unit corresponding to the thumb may only include two finger cuffs, so that when the user wears the rehabilitation auxiliary glove 100 of the present application, each phalanx has a corresponding finger cuff, so that the user can pass the The drive assembly then drives all of the user's phalanges to train the user's fingers. It is unavoidable that, in order to adapt to some users with abnormal hand shapes, the number of finger hoops in the finger unit can be adjusted, for example, each finger unit in the glove includes 2 finger hoops and so on.
多个驱动组件一一对应地与多个手指单元连接。每个驱动组件用于驱动对应的手指单元，且在驱动对应的手指单元时，手指单元中的至少两个指箍的旋转速度比例恒定，从而在驱动装置的驱动下，手套的手指单元可以模拟人手之自然弯曲或伸直的功能，可以对手部疾病患者进行有效的训练。即只需在手指单元的一指箍输入某速度，其他指箍按照此速度的固定倍数进行旋转，最大程度模拟真实手指弯曲。The plurality of driving assemblies are connected with the plurality of finger units in one-to-one correspondence. Each driving component is used to drive the corresponding finger unit, and when driving the corresponding finger unit, the rotation speed ratio of at least two finger cuffs in the finger unit is constant, so that under the driving of the driving device, the finger unit of the glove can simulate The natural bending or straightening function of the human hand can effectively train patients with hand diseases. That is, you only need to input a certain speed in one finger cuff of the finger unit, and the other finger cuffs rotate according to a fixed multiple of this speed, simulating the bending of real fingers to the greatest extent.
可选地，每个驱动组件可以包括相互连接的驱动装置和连接组件。连接组件与对应的手指单元的至少两个指箍连接，这样驱动装置可通过对应的连接组件驱动对应的手指单元的指箍转动，从而可以通过指箍驱使用户手指弯曲或伸直。在其他实施例中，每个驱动组件可以包括至少两个驱动装置，每个驱动组件中的至少两个驱动装置一一对应地与对应的手指单元中的至少两个指箍连接，这样一个驱动装置驱动一个指箍，且在驱动手指单元运动时，通过控制该手指单元对应的驱动组件中的至少两个驱动装置，使得手指单元中的至少两个指箍的旋转速度比例恒定。Optionally, each drive assembly may include an interconnected drive and connection assembly. The connecting components are connected with at least two finger hoops of the corresponding finger unit, so that the driving device can drive the finger hoops of the corresponding finger unit to rotate through the corresponding connecting components, so as to drive the user's fingers to bend or straighten through the finger hoops. In other embodiments, each drive assembly may include at least two drive devices, and the at least two drive devices in each drive assembly are connected with at least two finger hoops in the corresponding finger unit in a one-to-one correspondence, such that one drive The device drives a finger cuff, and when driving the finger unit to move, by controlling at least two driving devices in the driving component corresponding to the finger unit, the rotation speed ratio of the at least two finger cuffs in the finger unit is constant.
其中，驱动装置可为直线电机或气缸等任意能够驱动连接组件运动的装置。Wherein, the driving device may be any device that can drive the movement of the connecting assembly, such as a linear motor or an air cylinder.
本实施方式的连接组件可为连杆组件。驱动装置和对应的连接组件相连，连杆组件与对应的手指单元的每个指箍均连接，驱动装置通过该对应的连杆组件驱动对应的手指单元的每个指箍转动。实务上本申请的连杆组件也可替换为其他类型的连接组件，例如在其他实施例中，连接组件也可为齿轮传动组件。The connecting assembly of this embodiment may be a connecting rod assembly. The driving device is connected with the corresponding connecting assembly, the connecting rod assembly is connected with each finger cuff of the corresponding finger unit, and the driving device drives each finger cuff of the corresponding finger unit to rotate through the corresponding connecting rod assembly. In practice, the connecting rod assembly of the present application can also be replaced with other types of connecting assemblies, for example, in other embodiments, the connecting assembly can also be a gear transmission assembly.
以具有三个指箍的手指单元为例，对应的连杆组件可以包括第一连杆131、 连接于第一指箍111的第二连杆132、连接于第二指箍112的第三连杆133以及连接于第三指箍113的第四连杆134。第二连杆132、第三连杆133和第四连杆134连接于第一连杆131的不同节点，这样与手指单元上所有指箍连接的连杆均连接于第一连杆131，从而3个指箍的力臂的比例为定值，从而手指单元的3个指箍的旋转速度比为定值，以达成模拟人手指自然弯曲和伸直的功能。Taking a finger unit with three finger hoops as an example, the corresponding link assembly may include a first link 131 , a second link 132 connected to the first finger hoops 111 , and a third link connected to the second finger hoops 112 . The rod 133 and the fourth link 134 connected to the third finger band 113 . The second connecting rod 132, the third connecting rod 133 and the fourth connecting rod 134 are connected to different nodes of the first connecting rod 131, so that the connecting rods connected to all the finger hoops on the finger unit are connected to the first connecting rod 131, so that the The ratio of the force arms of the three finger hoops is a fixed value, so the rotation speed ratio of the three finger hoops of the finger unit is a fixed value, so as to achieve the function of simulating the natural bending and straightening of human fingers.
可选地，在手指单元的第一指箍111、第二指箍112和第三指箍113分别对应于一根手指的远节指骨、中节指骨和近节指骨的前提下，第一连杆131的第一端A可连接于驱动装置，第一连杆131从靠近到远离第一端A依次设有第一连杆131和第二连杆132相连接的点B、第一连杆131和第三连杆133相连接的点C、以及第二连杆132和第四连杆134相连接的点D，这样与第二连杆132相连的第一指箍111的力臂最短，而与第三连杆133相连的第二指箍112的力臂稍长，与第四连杆134相连的第三指箍113的力臂最长，从而对应于远节指骨的第一指箍111旋转速度最慢，对应于中节指骨的第二指箍112的旋转速度稍快，而对应于近节指箍的第三指箍113的旋转速度最快，也符合于人手指自然弯曲或伸直时三个指骨的旋转状态。Optionally, on the premise that the first finger cuff 111, the second finger cuff 112 and the third finger cuff 113 of the finger unit correspond to the distal phalanx, middle phalanx and proximal phalanx of a finger, respectively, the first connection The first end A of the rod 131 can be connected to the driving device, and the first connecting rod 131 is sequentially provided with a point B where the first connecting rod 131 and the second connecting rod 132 are connected, the first connecting rod 131 and the third link 133 are connected to the point C, and the second link 132 and the fourth link 134 are connected to the point D, so that the moment arm of the first finger hoop 111 connected to the second link 132 is the shortest, While the moment arm of the second finger cuff 112 connected to the third link 133 is slightly longer, the moment arm of the third finger cuff 113 connected to the fourth link 134 is the longest, thus corresponding to the first finger cuff of the distal phalanx The rotation speed of 111 is the slowest, the rotation speed of the second finger cuff 112 corresponding to the middle phalanx is slightly faster, and the rotation speed of the third finger cuff 113 corresponding to the proximal finger cuff is the fastest, which is also in line with the natural bending of human fingers or Rotation of the three phalanges when straightened.
此外，连杆组件还可包括连接于驱动装置的支点连杆138。其中，支点连杆138可以具有至少三个角。支点连杆138的其中三个角可以分别与驱动装置安装座或与安装座相对静止的固定件、第一指箍111和第一连杆131的第一端A相连接，这样通过驱动装置安装座或固定件将支点连杆138的一角固定住，在驱动装置驱动支点连杆138运动时，支点连杆138的其余角随着驱动装置运动而运动，没有多余自由度，从而驱动第一指箍111和第一连杆131，进而通过第一连杆131驱使与第三连杆133连接的第二指箍112和与第四连杆134连接的第三指箍113旋转。Additionally, the linkage assembly may also include a fulcrum link 138 connected to the drive. Therein, the fulcrum link 138 may have at least three corners. Three of the corners of the fulcrum link 138 can be respectively connected with the drive device mounting seat or the fixing member relatively stationary with the mounting seat, the first finger band 111 and the first end A of the first link 131, so that the drive device is installed. The seat or fixing member fixes one corner of the fulcrum link 138. When the driving device drives the fulcrum link 138 to move, the remaining corners of the fulcrum link 138 move with the movement of the driving device, and there is no extra degree of freedom, thereby driving the first finger. The ring 111 and the first link 131 , and then the second finger ring 112 connected with the third link 133 and the third finger ring 113 connected with the fourth link 134 are driven to rotate by the first link 131 .
连杆组件还可包括第五连杆135、第六连杆136和第七连杆137。其中，第五连杆135的第一端A连接于支点连杆138的第一角，第五连杆135的另一端连接于第一连杆131的第一端A；第六连杆136的一端连接于支点连杆138的第二角，第六连杆136的另一端连接于第一指箍111；第七连杆137的一端连接于支点连杆138的第三角，第七连杆137的另一端连接于驱动装置的安装座等固定件，如图1所示，驱动装置驱动支点连杆138绕下方固定支点(固定件上与支点连杆138相连的点)进行旋转，以驱动装置向右运动为例，支点连杆138 带动第五连杆135向右运动，第一指箍111向下运动，第六连杆136与第一指箍111为硬连接，因此第六连杆136也将绕参考第一指箍111支点进行旋转运动，而以第六连杆136作为参考，第五连杆135此时是向左上运动的，从而带动第一连杆131逆时针运动，第四连杆134在宏观坐标系下受到向右的推力，相对于第一连杆131做顺时针运动，带动第三指箍113运动，而此时第三连杆133位于第一连杆131下端稍上的位置，即力臂相对于第四连杆134稍短，速度即稍慢，带动第二指箍112运动。由此可见，因力臂为定值，且无多余自由度(3个指箍分别对应围绕某轴的旋转自由度)，则三个指箍的旋转速度比是定值，达成了模拟人手指自然弯曲的功能。The link assembly may further include a fifth link 135 , a sixth link 136 and a seventh link 137 . The first end A of the fifth link 135 is connected to the first corner of the fulcrum link 138, and the other end of the fifth link 135 is connected to the first end A of the first link 131; One end is connected to the second corner of the fulcrum link 138, the other end of the sixth link 136 is connected to the first finger hoop 111; one end of the seventh link 137 is connected to the third corner of the fulcrum link 138, and the seventh link 137 The other end is connected to a fixing member such as a mounting seat of the driving device. As shown in FIG. 1, the driving device drives the fulcrum link 138 to rotate around the fixed fulcrum below (the point connected to the fulcrum link 138 on the fixing member) to drive the device. Taking the movement to the right as an example, the fulcrum link 138 drives the fifth link 135 to move to the right, the first finger hoop 111 moves downward, and the sixth link 136 and the first finger hoop 111 are hard-connected, so the sixth link 136 It will also rotate around the fulcrum of the reference first finger hoop 111, and with the sixth link 136 as a reference, the fifth link 135 is moving to the upper left at this time, thereby driving the first link 131 to move counterclockwise, and the fourth link 135 moves counterclockwise. The connecting rod 134 receives a rightward thrust in the macro coordinate system, and moves clockwise relative to the first connecting rod 131 to drive the third finger hoop 113 to move. The upper position, that is, the moment arm is slightly shorter than the fourth link 134, and the speed is slightly slower, which drives the second finger hoop 112 to move. It can be seen that since the force arm is a fixed value and there is no extra degree of freedom (the three finger hoops correspond to the rotational degrees of freedom around a certain axis respectively), the rotation speed ratio of the three finger hoops is a fixed value, and the simulation of human fingers is achieved. Naturally curved features.
另外，如图2所示，本申请的康复辅助手套100可包括控制装置，控制装置耦接于多个驱动装置，从而控制装置可通过控制驱动装置驱使对应的手指单元进行相应的运动。控制装置可为单片机或微处理器等。In addition, as shown in FIG. 2 , the rehabilitation assisting glove 100 of the present application may include a control device, and the control device is coupled to a plurality of driving devices, so that the control device can drive the corresponding finger unit to perform corresponding movement by controlling the driving device. The control device may be a single-chip microcomputer or a microprocessor or the like.
本申请的控制装置可内置至少一种训练手势。每种训练手势程序规定了5个驱动装置运动的行程。用户可以直接通过控制装置使康复辅助手套100执行一种训练手势，即控制每个驱动装置运动相应的行程，使对应的手指单元达到训练手势规定位置，以完成该训练手势的训练。从而可通过不同的驱动装置运动行程组合，辅助用户作出不同的手势。控制装置内部可设置有控制驱动装置的程序，该程序规定了施加给驱动装置的最大力矩和极限行程，以确保用户的安全性。The control device of the present application may have at least one training gesture built in. Each training gesture program defines 5 travels for the movement of the drive unit. The user can directly make the rehabilitation assistant glove 100 perform a training gesture through the control device, that is, control each driving device to move the corresponding stroke, so that the corresponding finger unit reaches the specified position of the training gesture, so as to complete the training of the training gesture. Therefore, the user can be assisted to make different gestures through different combinations of the motion strokes of the driving device. A program for controlling the driving device can be set inside the control device, and the program specifies the maximum torque and limit stroke applied to the driving device to ensure the safety of the user.
可选地，本申请的控制装置在控制驱动装置时，可以从手套的至少一种传感器获得用户手部数据，以基于用户手部数据调控驱动装置，进而控制手指单元运行，以便基于用户手部的实际情况进行精确控制，以提高训练效果。Optionally, when the control device of the present application controls the driving device, it can obtain user hand data from at least one sensor of the glove, so as to regulate the driving device based on the user hand data, and then control the operation of the finger unit, so as to control the operation of the finger unit based on the user hand data. The actual situation is precisely controlled to improve the training effect.
上述的至少一种传感器可为本申请的驱动装置内部设置的力矩传感器，该力矩传感器可以检测用户手指的僵硬程度，力矩传感器检测到数据后可将检测的数据传输给控制装置，以便控制装置基于用户手指的僵硬程度调整驱动装置的施加力矩，从而可以避免加力过大导致手指运动速度过快从而损伤手指，也可避免加力过小无法带动过于僵硬的手指运动，通过力矩传感器和控制装置构成的闭环反馈***自动为用户适配合适的力度，以保证训练效果，且不会对用户造成损伤。The above-mentioned at least one sensor can be a torque sensor provided inside the driving device of the application, the torque sensor can detect the stiffness of the user's finger, and after the torque sensor detects the data, the detected data can be transmitted to the control device, so that the control device is based on The stiffness of the user's finger adjusts the applied torque of the driving device, so as to avoid the finger movement caused by too much force and damage the finger, and also to avoid too little force to drive the too stiff finger movement, through the torque sensor and control device The formed closed-loop feedback system automatically adapts the appropriate strength for the user to ensure the training effect without causing damage to the user.
上述的至少一种传感器还可为本申请的驱动装置内设置的位置传感器，该 位置传感器可以检测驱动装置的运行状态，进而确定佩戴有对应手指单元的手指屈伸的状态，位置传感器检测到数据后可将检测的数据传输给控制装置，以便控制装置基于手指单元的手指屈伸的状态调整驱动装置的运行情况，以控制手指单元按照规定训练姿势进行训练，并且可判断每个手指运动行程来确定具体手势是否达成。The above-mentioned at least one sensor can also be a position sensor provided in the driving device of the application. The position sensor can detect the operating state of the driving device, and then determine the flexion and extension state of the finger wearing the corresponding finger unit. After the position sensor detects the data, The detected data can be transmitted to the control device, so that the control device can adjust the operation of the driving device based on the state of the finger flexion and extension of the finger unit, so as to control the finger unit to train according to the prescribed training posture, and can judge the movement stroke of each finger to determine the specific Whether the gesture is achieved.
控制装置结合力矩传感器和位置传感器检测的数据可根据预先指定好的程序判断出是否加力过大造成速度过快，或相反加力太小无法带动过于僵硬的手指运动，再决策是否需要再减力、加力。该闭环反馈为自动进行。The data detected by the control device combined with the torque sensor and the position sensor can be determined according to the pre-specified program whether the afterburner is too large to cause the speed to be too fast, or on the contrary, the afterburner is too small to drive the too stiff finger movement, and then decide whether it needs to be reduced again. force, force. This closed loop feedback is automatic.
另外，上述的至少一种传感器还可为设置于手指单元处的第一压力传感器，第一压力传感器用于检测用户手指的接触压力，第一压力传感器检测到数据后可将检测到的数据传输给控制装置，以便控制装置基于手指的接触压力对相应的驱动装置进行力度调节和行程调节。其中，多个第一压力传感器可一一对应地设置于指箍处，以便基于第一压力传感器确认用户每个指骨的接触压力，进而对每个驱动装置进行精细控制。In addition, the above-mentioned at least one sensor can also be a first pressure sensor disposed at the finger unit, the first pressure sensor is used to detect the contact pressure of the user's finger, and the first pressure sensor can transmit the detected data after detecting the data. The control device is given so that the control device can adjust the force and the stroke of the corresponding drive device based on the contact pressure of the finger. Wherein, a plurality of first pressure sensors may be disposed at the finger cuff in a one-to-one correspondence, so as to confirm the contact pressure of each phalanx of the user based on the first pressure sensors, and then finely control each driving device.
此外，上述的至少一种传感器还可为设置于手掌单元处的第二压力传感器，第二压力传感器用于检测用户手掌所受压力，用于在训练用户抓握姿势时进行压力反馈，第二压力传感器检测到数据后可将检测到的数据传输给控制装置，以便控制装置基于手掌的压力反馈判断用户抓握手势、压力，进而确认是否已经足够实现“拿起”动作，并对相应的驱动装置进行力度调节和行程调节，即进行加力或减力，直到成功。In addition, the above-mentioned at least one sensor may also be a second pressure sensor disposed at the palm unit, the second pressure sensor is used to detect the pressure on the palm of the user, and is used to perform pressure feedback when training the user's grasping posture, the second pressure sensor After the pressure sensor detects the data, it can transmit the detected data to the control device, so that the control device can judge the user's grasping gesture and pressure based on the pressure feedback of the palm, and then confirm whether it is enough to realize the "pick up" action, and respond to the corresponding drive. The device performs strength adjustment and stroke adjustment, that is, adding or reducing force, until successful.
另外，本申请的控制装置还可包括通信模块，以通过通信模块与外部设备通信连接。这样就可将由各个传感器检测到的数据整合的手部信息上传给用户终端，以便用户知晓。另外控制装置还可通过通信模块获取到外部设备下达的指令，并基于指令控制驱动装置运行，进而对用户手部进行训练。In addition, the control device of the present application may further include a communication module, so as to communicate with the external device through the communication module. In this way, the hand information integrated with the data detected by each sensor can be uploaded to the user terminal for the user to know. In addition, the control device can also obtain the instruction issued by the external device through the communication module, and control the operation of the driving device based on the instruction, so as to train the user's hand.
其中，通信模块可以为蓝牙模块或wifi模块等。Wherein, the communication module may be a Bluetooth module or a wifi module or the like.
其中，外部设备可以是移动终端。用户可以通过移动终端与康复辅助手套100的通信连接，查看到佩戴有康复辅助手套100的手部的状态。并且用户还可通过移动终端给康复辅助手套100下达每个手指单元的运动指令(包括力度、行程和时间等)，另外还可下达手势组合命令，以实现多种手部康复训练模式。Wherein, the external device may be a mobile terminal. The user can view the state of the hand wearing the rehabilitation auxiliary glove 100 through the communication connection between the mobile terminal and the rehabilitation auxiliary glove 100 . In addition, the user can also issue motion instructions (including strength, stroke and time, etc.) for each finger unit to the rehabilitation assistant glove 100 through the mobile terminal, and can also issue gesture combination commands to realize various hand rehabilitation training modes.
可选地，外部设备还可以为脑电分析设备。建立脑电分析设备和康复手套 的通信连接后，用户可通过佩戴的脑电分析设备向控制装置发出手指运动指令，从而实现通过人的以使控制手指运动的康复训练。Optionally, the external device can also be an EEG analysis device. After establishing the communication connection between the EEG analysis equipment and the rehabilitation gloves, the user can send finger movement instructions to the control device through the EEG analysis equipment worn, so as to realize the rehabilitation training through human to control the movement of the fingers.
可选地，外部设备还可为一只运动检测手套。运动检测手套可用于检测佩戴运动检测手套的手的手势和/或手的运动速度等，运动检测手套可将检测到佩戴运动检测手套的手部信息发送给控制装置，以让控制装置控制驱动装置带动佩戴康复辅助手套100的手部同步运动，这样便于训练指导师指导用户进行手部训练。具体地，运动检测手套可通过电位器阻值检测佩戴运动检测手套的手部信息。Optionally, the external device can also be a motion detection glove. The motion detection gloves can be used to detect the gesture and/or the movement speed of the hand wearing the motion detection gloves, etc. The motion detection gloves can send the hand information detected wearing the motion detection gloves to the control device, so that the control device can control the drive device The hand wearing the rehabilitation auxiliary glove 100 is driven to move synchronously, which is convenient for the training instructor to guide the user to perform hand training. Specifically, the motion detection glove can detect the hand information of wearing the motion detection glove through the resistance value of the potentiometer.
此外，康复辅助手套100包括手套内层150以及套设于手套内层150外部的手套外层140。手套外层140内部被手套内层150分隔成第一容置腔160和第二容置腔170。第二容置腔170用于容纳用户手部，其中，手套内层150可由弹性材料制成，以便使康复辅助手套100适应于不同尺寸大小的手。而第一容置腔160用于容纳驱动组件和控制装置、多个指箍，其中指箍夹住手套内层150，以便固定手指并能够带动手指运动。另外，在手套内层150的手指区域可设置有第一压力传感器，以用于检测手指接触压力，在手套内层150的手掌区域可设置有第二压力传感器，用于检测手掌所受压力，从而在实行抓握测试时进行压力反馈。具体地，可如图3和图4所示，康复辅助手套100分为手套内层150与手套外层140，手套内层150将紧紧包裹住手指并具有弹性，第一容置腔160放置连接组件以及电子元器件，而在手指的三个段分别布置了三个指箍，用来固定手指并带动手指进行辅助运动，并且如图1所示，指箍与连接组件形成硬连接；此外，在进行抓握实物训练时，位于手指肚、指尖下侧以及手掌内部的压力传感器可以检测手掌手指所受到压力，数据传回单片机，经由单片机判断抓握手势、压力，是否已经足够实现“拿起”动作，并进行加力或减力，直到成功。In addition, the rehabilitation aid glove 100 includes an inner glove layer 150 and an outer glove layer 140 sleeved on the outside of the inner glove layer 150 . The inside of the outer glove layer 140 is divided into a first accommodating cavity 160 and a second accommodating cavity 170 by the inner glove layer 150 . The second accommodating cavity 170 is used for accommodating the user's hand, wherein the inner layer 150 of the glove can be made of elastic material, so that the rehabilitation assisting glove 100 can be adapted to hands of different sizes. The first accommodating cavity 160 is used for accommodating the driving assembly, the control device, and a plurality of finger cuffs, wherein the finger cuffs clamp the inner layer 150 of the glove, so as to fix the fingers and enable the fingers to move. In addition, a first pressure sensor may be provided in the finger area of the inner glove layer 150 for detecting the contact pressure of the finger, and a second pressure sensor may be provided in the palm area of the inner glove layer 150 for detecting the pressure on the palm. This allows for pressure feedback when performing the grip test. Specifically, as shown in FIG. 3 and FIG. 4 , the rehabilitation auxiliary glove 100 is divided into an inner glove layer 150 and an outer glove layer 140. The inner glove layer 150 will tightly wrap the fingers and has elasticity, and the first accommodating cavity 160 is placed in the glove. Connecting components and electronic components, and three finger hoops are arranged on the three segments of the finger to fix the finger and drive the finger to perform auxiliary movement, and as shown in Figure 1, the finger hoops and the connecting components form a hard connection; in addition; , During the training of grasping objects, the pressure sensors located on the belly of the fingers, the underside of the fingertips and the inside of the palm can detect the pressure on the fingers of the palm, and the data is sent back to the single-chip computer, and the single-chip computer judges whether the grasping gesture and pressure are sufficient "Pick up" action, and do a boost or de-energize until it succeeds.
此外，本申请的康复辅助手套100还包括内置电池。内置电池电性连接于控制装置和驱动装置，以通过内置电池为控制装置和驱动装置供电，以便进行移动训练。In addition, the rehabilitation aid glove 100 of the present application further includes a built-in battery. The built-in battery is electrically connected to the control device and the driving device, so as to supply power to the control device and the driving device through the built-in battery, so as to perform mobile training.
在一具体地实施例中，控制装置可内置多种训练手势(并且通过判断每个手指单元的运动行程可确定具体手势是否达成)。控制装置通过其内的通信模块连接移动终端，结合配套的移动终端APP下达相应的手势指令进行训练，以及实物抓握训练。控制装置通过通信模块可连接更多的外部设备，例如脑电分析 设置，或者一只运动检测手套等，来进行更多更同步的训练指令输入；在收到外部设备的指令后，控制装置可控制驱动装置运动，在运动过程中，驱动装置中的力矩传感器、行程传感器、以及手套夹层中的压力传感器会反馈给单片机数据，单片机据此综合判断，进行力度调节、行程调节；在机械手臂的连杆设计上，每个手指的机构部分包含了与真实手指类似的三指箍，每个指箍一个自由度(沿某轴旋转)，即每个手指有三个旋转自由度，这三个自由度通过多个连杆的不同力臂设计，达成旋转速度成固定比例，即只需在起始指箍输入某速度，其他指箍按照此速度的固定倍数进行旋转，最大程度模拟真实手指弯曲。手套外层140内部被分为两个容置腔，上述执行机构将布置于手套中的第一容置腔160，而第二容置腔170(手套内层150)用于容纳用户手掌，两个容置腔通过手套进行分隔，手套外层140和手套内层150在外形上是一个整体。上部的机械结构连接卡箍，卡箍夹住手套内层150，手套内层150内部为手指，以此固定并带动手指运动；在手套内层150手指内侧，手掌内分布有压力传感器，用于在实行抓握时进行压力反馈。In a specific embodiment, the control device can have multiple training gestures built in (and by judging the movement stroke of each finger unit, it can be determined whether a specific gesture is achieved). The control device is connected to the mobile terminal through the communication module in it, and is combined with the corresponding mobile terminal APP to issue corresponding gesture commands for training, as well as physical grasping training. The control device can connect to more external devices through the communication module, such as EEG analysis settings, or a motion detection glove, etc., to input more and more synchronized training instructions; after receiving the instructions from the external device, the control device can Control the movement of the driving device. During the movement, the torque sensor, stroke sensor in the driving device, and the pressure sensor in the glove interlayer will feed back data to the microcontroller, and the microcontroller will make a comprehensive judgment based on this to adjust the strength and stroke; In the design of the link, the mechanism part of each finger includes a three-finger cuff similar to the real finger, and each finger cuff has one degree of freedom (rotation along a certain axis), that is, each finger has three rotational degrees of freedom, these three freedoms. Through the design of different force arms of multiple links, the rotation speed is achieved in a fixed ratio, that is, only a certain speed is required in the initial finger cuff, and the other finger cuffs rotate according to a fixed multiple of this speed, simulating real finger bending to the greatest extent. The inside of the glove outer layer 140 is divided into two accommodating cavities, the above-mentioned actuator will be arranged in the first accommodating cavity 160 in the glove, and the second accommodating cavity 170 (the glove inner layer 150 ) is used for accommodating the user's palm. The accommodating cavities are separated by the glove, and the outer glove layer 140 and the inner glove layer 150 are integral in appearance. The upper mechanical structure is connected with a clamp, the clamp clamps the inner layer 150 of the glove, and the inner layer of the glove 150 is a finger, so as to fix and drive the movement of the finger; on the inner side of the finger of the inner layer 150 of the glove, a pressure sensor is distributed in the palm for Pressure feedback is performed while the grasp is being exercised.
总而言之，康复辅助手套100包括多个手指单元和多个驱动装置，多个驱动组件一一对应地与多个手指单元连接。每个驱动组件用于驱动对应的手指单元，且在驱动对应的手指单元时，手指单元中的至少两个指箍的旋转速度比例恒定，从而在驱动装置的驱动下，手套的手指单元可以模拟人手之自然弯曲或伸直的功能，可以对手部疾病患者进行有效的训练。即只需在手指单元的一指箍输入某速度，其他指箍按照此速度的固定倍数进行旋转，最大程度模拟真实手指弯曲。To sum up, the rehabilitation auxiliary glove 100 includes a plurality of finger units and a plurality of driving devices, and the plurality of driving assemblies are connected with the plurality of finger units in a one-to-one correspondence. Each driving component is used to drive the corresponding finger unit, and when driving the corresponding finger unit, the rotation speed ratio of at least two finger cuffs in the finger unit is constant, so that under the driving of the driving device, the finger unit of the glove can simulate The natural bending or straightening function of the human hand can effectively train patients with hand diseases. That is, you only need to input a certain speed in one finger cuff of the finger unit, and the other finger cuffs rotate according to a fixed multiple of this speed, simulating the bending of real fingers to the greatest extent.
以上仅为本申请的实施方式，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。The above are only the embodiments of the present application, and are not intended to limit the scope of the patent of the present application. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present application, or directly or indirectly applied in other related technical fields, All are similarly included in the scope of patent protection of the present application.

Claims (10)

  1. 一种康复辅助手套，其特征在于，所述康复辅助手套包括：A rehabilitation auxiliary glove, characterized in that the rehabilitation auxiliary glove comprises:
    多个手指单元，每个所述手指单元包括至少两个指箍；a plurality of finger units, each of the finger units including at least two finger cuffs;
    多个驱动组件，多个驱动组件一一对应地与多个手指单元连接，每个驱动组件用于驱动对应的手指单元，且在驱动对应的手指单元时，所述手指单元中的至少两个指箍的旋转速度比例恒定。A plurality of driving assemblies, the plurality of driving assemblies are connected with the plurality of finger units in a one-to-one correspondence, each driving assembly is used to drive the corresponding finger unit, and when driving the corresponding finger unit, at least two of the finger units The rotational speed of the finger cuff is proportionally constant.
  2. 根据权利要求1所述的康复辅助手套，其特征在于，每个所述驱动组件包括相连接的驱动装置和连杆组件，所述连杆组件与对应的手指单元的每个所述指箍均连接，所述驱动装置通过对应的所述连杆组件驱动对应的所述手指单元的每个所述指箍转动。The rehabilitation assisting glove according to claim 1, wherein each of the driving assemblies comprises a connected driving device and a connecting rod assembly, and the connecting rod assembly and each of the finger cuffs of the corresponding finger unit are identical to each other. connected, the driving device drives each of the finger cuffs of the corresponding finger unit to rotate through the corresponding link assembly.
  3. 根据权利要求2所述的康复辅助手套，其特征在于，每个所述手指单元包括第一指箍、第二指箍和第三指箍，所述连杆组件包括第一连杆、连接于所述第一指箍的第二连杆、连接于所述第二指箍的第三连杆以及连接于所述第三指箍的第四连杆，所述第二连杆、所述第三连杆和所述第四连杆连接于所述第一连杆的不同节点。The rehabilitation auxiliary glove according to claim 2, wherein each of the finger units includes a first finger cuff, a second finger cuff and a third finger cuff, and the link assembly includes a first link, connected to The second link of the first finger band, the third link connected to the second finger band, and the fourth link connected to the third finger band, the second link, the first link The third link and the fourth link are connected to different nodes of the first link.
  4. 根据权利要求3所述的康复辅助手套，其特征在于，在伸直状态下，每个所述手指单元从靠近到远离所述驱动装置依次有第一指箍、第二指箍和第三指箍；The rehabilitation auxiliary glove according to claim 3, wherein in a straightened state, each finger unit has a first finger cuff, a second finger cuff and a third finger in sequence from approaching to the driving device away from the driving device hoop;
    所述第一连杆的第一端连接于驱动装置，所述第一连杆从靠近到远离所述第一端依次设有所述第一连杆和所述第二连杆相连接的点、所述第一连杆和所述第三连杆相连接的点、以及所述第二连杆和所述第四连杆相连接的点。The first end of the first connecting rod is connected to the driving device, and the first connecting rod is sequentially provided with points where the first connecting rod and the second connecting rod are connected from approaching to the first end. , the point where the first link and the third link are connected, and the point where the second link and the fourth link are connected.
  5. 根据权利要求4所述的康复辅助手套，其特征在于，所述连杆组件包括：The rehabilitation auxiliary glove according to claim 4, wherein the connecting rod assembly comprises:
    具有至少三个角的支点连杆，连接于驱动装置；a fulcrum link with at least three corners, connected to the drive device;
    第五连杆，所述第五连杆的一端连接于所述支点连杆的第一角，所述第五连杆的另一端连接于所述第一连杆的第一端；a fifth link, one end of the fifth link is connected to the first corner of the fulcrum link, and the other end of the fifth link is connected to the first end of the first link;
    第六连杆，所述第六连杆的一端连接于所述支点连杆的第二角，所述第六连杆的另一端连接于所述第一指箍；a sixth connecting rod, one end of the sixth connecting rod is connected to the second corner of the fulcrum connecting rod, and the other end of the sixth connecting rod is connected to the first finger hoop;
    第七连杆，所述第七连杆的一端连接于所述支点连杆的第三角，所述第七连杆的另一端连接于所述驱动装置的安装座。A seventh connecting rod, one end of the seventh connecting rod is connected to the third corner of the fulcrum connecting rod, and the other end of the seventh connecting rod is connected to the mounting seat of the driving device.
  6. 根据权利要求1所述的康复辅助手套，其特征在于，所述康复辅助手套 包括手套内层、以及套设于所述手套内层外部的手套外层，所述手套外层内部被所述手套内层分隔成第一容置腔和用于容纳手的第二容置腔，所述驱动组件设置于所述第一容置腔内。The rehabilitation auxiliary glove according to claim 1, wherein the rehabilitation auxiliary glove comprises an inner glove layer and an outer glove layer sleeved on the outside of the inner glove layer, and the inner glove outer layer is covered by the glove The inner layer is divided into a first accommodating cavity and a second accommodating cavity for accommodating a hand, and the driving assembly is arranged in the first accommodating cavity.
  7. 根据权利要求2所述的康复辅助手套，其特征在于，所述康复辅助手套包括控制装置，所述控制装置耦接于多个驱动装置，所述驱动装置内设有力矩传感器和/或行程传感器，所述控制装置用于根据所述力矩传感器和/或所述行程传感器检测的数据控制对应的所述驱动装置运行，以驱动对应的手指单元。The rehabilitation auxiliary glove according to claim 2, wherein the rehabilitation auxiliary glove comprises a control device, the control device is coupled to a plurality of driving devices, and a torque sensor and/or a stroke sensor are arranged in the driving device , the control device is configured to control the operation of the corresponding driving device according to the data detected by the torque sensor and/or the stroke sensor, so as to drive the corresponding finger unit.
  8. 根据权利要求7所述的康复辅助手套，其特征在于，所述康复辅助手套包括多个与所述控制装置耦接的压力传感器，每一所述指箍处设置有一压力传感器，所述控制装置用于根据所述力矩传感器和/或所述行程传感器、以及对应的所述手指单元上的所述压力传感器检测的数据，控制对应的所述驱动装置运行，以驱动对应的手指单元。The rehabilitation auxiliary glove according to claim 7, wherein the rehabilitation auxiliary glove comprises a plurality of pressure sensors coupled to the control device, each of the finger cuffs is provided with a pressure sensor, and the control device It is used for controlling the corresponding driving device to operate according to the data detected by the torque sensor and/or the stroke sensor and the corresponding pressure sensor on the finger unit, so as to drive the corresponding finger unit.
  9. 根据权利要求2所述的康复辅助手套，其特征在于，所述康复辅助手套包括控制装置，所述控制装置耦接于多个驱动装置，所述控制装置内设有通信模块，所述控制装置用于通过所述通信模块与外部设备通信连接，以获得所述外部设备下达的指令，并基于所述指令控制所述驱动装置运行，进而驱动对应的手指单元。The rehabilitation auxiliary glove according to claim 2, wherein the rehabilitation auxiliary glove comprises a control device, the control device is coupled to a plurality of driving devices, a communication module is arranged in the control device, and the control device It is used to communicate and connect with an external device through the communication module, so as to obtain an instruction issued by the external device, and control the operation of the driving device based on the instruction, so as to drive the corresponding finger unit.
  10. 根据权利要求1所述的康复辅助手套，其特征在于，所述康复辅助手套包括内置电池，所述内置电池与所述驱动组件电性连接。The rehabilitation auxiliary glove according to claim 1, wherein the rehabilitation auxiliary glove comprises a built-in battery, and the built-in battery is electrically connected to the driving component.
PCT/CN2021/092192 2021-05-07 2021-05-07 Rehabilitation assistance glove WO2022233043A1 (en)

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CN101455609A (en) * 2008-12-29 2009-06-17 哈尔滨工业大学 Exoskeleton mechanism based on parallelogram connection-rod and wire rope
CN106618967A (en) * 2017-01-25 2017-05-10 东北大学 Novel portable hand exoskeleton recovery device
CN106618948A (en) * 2016-11-09 2017-05-10 矽魅信息科技（上海）有限公司 Intelligent power assisting rehabilitation gloves
CN106943279A (en) * 2017-04-27 2017-07-14 东北大学 Hand ectoskeleton both hands are servo-actuated convalescence device
CN108703867A (en) * 2018-06-11 2018-10-26 郑州大学 A kind of movable type hand software rehabilitation training system
CN110916973A (en) * 2019-11-29 2020-03-27 燕山大学 Pneumatic wearable exoskeleton hand rehabilitation device
US20200329794A1 (en) * 2019-04-17 2020-10-22 Harley Luplow Self-tensioning and releasable gripping gloves

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101455609A (en) * 2008-12-29 2009-06-17 哈尔滨工业大学 Exoskeleton mechanism based on parallelogram connection-rod and wire rope
CN106618948A (en) * 2016-11-09 2017-05-10 矽魅信息科技（上海）有限公司 Intelligent power assisting rehabilitation gloves
CN106618967A (en) * 2017-01-25 2017-05-10 东北大学 Novel portable hand exoskeleton recovery device
CN106943279A (en) * 2017-04-27 2017-07-14 东北大学 Hand ectoskeleton both hands are servo-actuated convalescence device
CN108703867A (en) * 2018-06-11 2018-10-26 郑州大学 A kind of movable type hand software rehabilitation training system
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