Robotic equipment for rehabilitation of human fingers

Description

Robotic equipment for the rehabilitation of human fingers. Field of Invention

[001] The present invention relates to a robotic device for use in the rehabilitation of flexion and extension movements of human fingers in people who have suffered neurological or physical injuries / fractures. The robotic device consists of a base and two movable platforms that translate; one is projected under the hand and the other is responsible for tensioning a fabric that overlays the user's hand, allowing the fingers to be flexed and extended. The user's forearm is fixed to the base, and no fixation of elements to the fingers is necessary for the use of this device. The present invention allows for different operating speeds and ranges of motion of the finger phalanges. The finger movement occurs in a combined manner according to the natural opening and closing movements of the fingers, controlled by the robotic device's control software installed on a computer / notebook. State of the Art

[002] The movements of human hands play a fundamental role in daily life and in an individual's active participation in society, since most daily activities involve gesturing, holding or manipulating objects, and the hands are subject to various injuries that will require physiotherapy procedures. Among hand injuries, those frequently occurring in the fingers are common.

[003] Physiotherapy procedures are fundamental for the treatment of finger injuries with the aim of promoting the recovery of strength, restoring range of motion and functionality of the affected fingers. In many cases, finger physiotherapy involves therapeutic exercises and manual therapy techniques aimed at improving finger function, reducing pain and accelerating recovery in case of physical injuries.

[004] Among neurological diseases is stroke, which can affect various functions of the upper extremity, including the Petition 870250008547, dated 01 / 02 / 2025, page 9 / 26 / 9 fingers such as motor control, loss of strength, numbness, difficulty holding objects, loss of sensation. Another frequent problem is spasticity, in which there is an involuntary increase in muscle contraction, leading the hand to always bent / closed.

[005] Among the exercises used for hand finger rehabilitation, many involve opening and closing the fingers repeatedly, both for physical injuries and in the case of neurological diseases such as stroke. These movements lack reproducibility and are strenuous when performed by physiotherapists. Therefore, several researchers have proposed the use of robotic devices to assist in rehabilitation processes as tools for healthcare professionals.

[006] Robotic equipment can assist in the rehabilitation processes of human fingers by providing improvements in motor and functional control of the fingers, while simultaneously allowing the storage of information from the exercises performed with quantitative forms of movement.

[007] The present invention automates the flexion and extension movements of the fingers of the hand, which are the main movements used in manual rehabilitation procedures in cases of physical or neurological injuries such as stroke. The present invention eliminates the need to attach other elements to the fingers for its operation, and can be used for different patients, from children to the elderly, without the need for adjustments.

[008] In the literature, there are several devices aimed at the rehabilitation of human fingers. These can be active when they involve actuators / motors to perform finger movements, or they can be passive in which patients need to perform the movements for the device to interact with them (as in the case of the use of elastic elements). The devices in the literature are attached to the fingers from the phalanges or the fingertips with different constructions, types of mechanisms, and actuators. Petition 870250008547, dated 01 / 02 / 2025, page 10 / 26 / 9

[009] Several patents dealing with devices for the rehabilitation of human fingers are presented below.

[010] The MU 7001794U features a mechanism for finger exercises using elastic bands. There are several versions of commercial devices that are attached to the hand and use elastic bands for finger exercises performed by the user.

[011] BR 102020023717-9 A2 presents an orthosis for finger movement with flexion-extension of the fingers made by cables. CN203524947U also uses cables to perform finger rehabilitation movements.

[012] BR 112021020160-2 A2 discloses a therapeutic device to be applied to the fingers using articulated mechanisms. BR 112021020161-0 A2 is associated with the previous patent, detailing the articulated mechanism.

[013] WO2021012873A1 presents an articulated mechanism placed on the upper part of each finger for performing movements of the finger phalanges. Other patents using mechanisms coupled on top of the fingers are CN108261311B and CN 117838483A.

[014] EP 3 357 473 A3 features articulated mechanisms placed on the upper part of each finger to perform combined movements of all phalanges of each finger using linear actuators. A similar idea is presented in CN 110711110B. CN 11938987A features an articulated mechanism actuated by a linear actuator for the rehabilitation of a finger.

[015] JP200912518A presents a mechanism for rehabilitation of each finger individually from combined flexion and extension movements of the fingers with a pulley system. CN 107158660B also presents a device with cables and pulleys for rehabilitation of each finger separately.

[016] CN200963301Y presents a device for individual finger rehabilitation consisting of a glove and cables that allow flexion and extension movements of the fingers. CN204709321U also uses cables for movements. Petition 870250008547, dated 01 / 02 / 2025, p. 11 / 26 / 9

[017] CN204995747U presents a device for human finger rehabilitation with a mechanism actuated by liquid or gas fluid. CN112754870A presents a device for finger rehabilitation with pneumatic actuation.

[018] CN204484687U presents a device for finger rehabilitation using springs.

[019] CN111685966B presents a device for finger rehabilitation using cables actuated by memory alloys. CN118079331A presents a mechanism for finger movement with metal blades.

[020] CN106236505 uses articulated mechanisms in each finger for rehabilitation using pneumatic muscles. Another mechanism for finger rehabilitation using pneumatic muscles is presented in CN110772402A.

[021] JP2013017718A presents a mechanism for rehabilitation of all fingers in a coupled manner from rotation mechanisms.

[022] US 11,278,464 B2 discloses a mechanism consisting of gears for the rehabilitation of a finger.

[023] CN 109549819B features articulated devices fixed to the phalanges of each finger, but with the mechanisms positioned in the palmar region of the hand. KR101638499B1 also features a device for finger rehabilitation positioned in the palmar region of the hand with coupling to the mechanisms made only by the fingertips.

[024] CN221243884U shows a device for finger rehabilitation in which the finger ends are fixed in sliding guides. A similar idea is presented in CN221845369U.

[025] The present invention aims to rehabilitate flexion and extension movements of the fingers in a combined manner, with the exception of the thumb. The robotic equipment can be programmed for different speeds and amplitudes of flexion / extension by healthcare professionals, such as physiotherapists. The present invention allows for passive operation, i.e., the patient actively performs the movements with the equipment. Petition 870250008547, dated 01 / 02 / 2025, page 12 / 26 / 9 monitoring and storing the data from the rehabilitation section, or the equipment can perform the movements in the case of more complex injuries where the patient cannot move their fingers on their own. The control system of the present invention also allows assisting the patient when and as needed, that is, complementing the finger movements that the patient is unable to perform.

[026] Although the literature contemplates various ideas and prototypes for the rehabilitation of human fingers, no equipment has been found that does not require fixing elements to the fingers, either on the phalanges or fingertips. One of the major problems in the rehabilitation of human fingers is the variety of sizes and widths of fingers for each patient, which hinders the development of systems to fix devices to the fingers. It is also noteworthy that for the transmission of movement between devices in the state of the art, it is necessary to fix them to the fingers, which can cause discomfort and blood circulation problems at these fixation points. The present invention is unique both in its proposed movement to perform flexion and extension movements of the fingers and also because it does not need to fix any element to the fingers, as the movement of the fingers is performed by two mobile platforms and a fabric that overlaps the fingers.

[027] It is noteworthy that the patient's hand is quickly fixed to a base with thumb support, without the need to attach elements to the fingers, allowing immediate use of the equipment. The base accommodates different forearm and hand sizes and can be used for the entire population, from children to the elderly. The present invention can be used for the rehabilitation of the fingers of the left or right hand without the need for adjustments.

[028] Along with the present invention there is software for operating the equipment that allows the storage of physiotherapy session data such as name, age, date, session number, movements performed, graphs and values ​​of forces applied together with other variable parameters depending on serious games used in conjunction with the present invention. Petition 870250008547, dated 01 / 02 / 2025, p. 13 / 26 / 9

[029] As the present invention will work with patients and the hand in contact with the robotic equipment is made of a resistant and soft-to-the-touch / finger contact fabric, movement limits are provided for the platforms to limit unwanted movements, and an emergency stop button is also implemented that, when activated, immediately stops the equipment. The equipment software also allows adjustments by the healthcare professional such as flexion and extension speeds, movement limits and number of repetitions, as well as the session duration.

[030] The present invention can be associated with serious games using artificial intelligence techniques to motivate patients and assist in quantifying hand finger rehabilitation procedures, and learn together with the user when and how much to assist in performing the movements. List of Figures

[031] The present invention can be better understood when analyzed together with the figures and description accompanying this document. FIGURE 1: Three-dimensional model of robotic equipment for human finger rehabilitation highlighting its main parts. FIGURE 2: Three-dimensional model of the upper mobile platform of the robotic equipment for rehabilitation of human fingers. FIGURE 3: Three-dimensional model of the lower mobile platform of the robotic equipment for rehabilitation of human fingers. FIGURE 4: Isometric detail and side view of the initial position of the fingers and the lower mobile platform with the fingers in extension. FIGURE 5: Isometric detail and side view of the finger position and lower mobile platform with the fingers in flexion. FIGURE 6: Isometric representation of the robotic equipment with finger flexion. FIGURE 7: Representation of the side view of the robotic equipment with the fingers flexed. Petition 870250008547, dated 01 / 02 / 2025, page 14 / 26 / 9 FIGURE 8: Detailed view of the robotic equipment control system. FIGURE 9: Illustrative photo of the proposed equipment prototype. Detailed description of the invention

[032] The ROBOTIC EQUIPMENT FOR REHABILITATION OF HUMAN FINGERS, with its details represented in FIGURES 1 to 8, aims to be used in different patients from children to the elderly without the need for modifications to its dimensions. The present invention can be used for either the left or right hand without the need for alterations. The construction of the robotic equipment can utilize different types of materials such as steel, iron, aluminum, copper, different metal alloys, different types of wood, materials printed with 3D technology or any other compatible material and can use commercial components.

[033] FIGURE 1 shows a general representation of the equipment for rehabilitation of human fingers, consisting of large subassemblies called: fixed structure (EF1); upper mobile platform (PM1) and lower mobile platform (PM2). The fixed structure (EF1) is a base for fixing (PM1) and (PM2), allowing both platforms to slide along rails (TR1). The movement of the fingers to perform flexion / extension movements is possible through contact with a fabric (P1) that is moved by the combination of movements of (PM1) and (PM2). The patient / user's forearm is fixed to the robotic equipment on a base (BA1) by elastic bands, bandages, Velcro, belts or similar materials.

[034] Figure 2 details the main elements of the upper mobile platform (PM1) formed by a sliding base for finger support (BM1), a lower base for connecting the elements (BM3), a spindle (F2) coupled to a motor (A2) by a coupling (FA2), this motor being fixed in (EF1), Figure 1. The drive of the spindle (F2) causes the mobile platform to slide along the rails (TR1), Figure 1, using casters (R1).

[035] FIGURE 3 represents the main components of the lower mobile platform (PM2). This consists of a lower base (BM2) for connecting the Petition 870250008547, dated 01 / 02 / 2025, page 15 / 26 / 9 elements, a spindle (F1) that is connected to a motor (A1) by a coupling (FA1). The part responsible for moving the fabric (P1) is the part (EP1) that moves in function of the spindle (F1) supported by two rollers (R1) that have translational movement in relation to the rails (TR1), FIGURE 1.

[036] Figure 4 highlights the finger flexion principle, positioned in the initial configuration, according to the present invention, where the fingers rest on a sliding base for finger support (BM1) and the piece (EP1) is moved simultaneously with the base (BM1) and the contact of the fingers with the tissue (P1) causes the flexion movement, represented in Figure 5 as the final configuration. Rollers (E1) are used to support the tissue (P1) and ensure its correct orientation. The size of the tissue (P1) can be altered according to the patient simply by unwinding or winding the tissue (P1) around the bar (SP1).

[037] It is noteworthy that the finger extension movement occurs in reverse with the simultaneous movement of the sliding base (BM1) and the piece (EP1).

[038] FIGURE 6 shows an isometric view of the robotic equipment with finger flexion performed, in which the movement of the tissue (P1) is performed by the part (EP1).

[039] FIGURE 7 is a side view of the present invention highlighting the movement of the part (EP1) that leads to the flexion of the fingers of the hand (M1).

[040] The robotic equipment is controlled using a microcontroller (CR1) coupled to a computer or notebook or similar equipment (NB1), FIGURE 8, which allows control of the motor (A2) responsible for the movement of the upper mobile platform (PM1) and lower mobile platform (PM2) by the motor (A1). Different control techniques associated with artificial intelligence can be used in the present invention, and the robotic equipment software allows storing data such as position, speeds, flexion / extension movement cycles, and force values ​​performed by patients / users. The software processes this data in the form of tables and graphs, allowing quantitative feedback from the physiotherapy session. Petition 870250008547, dated 01 / 02 / 2025, page 16 / 26 / 9

[041] Robotic equipment can be associated with serious games that help motivate patients and quantify physiotherapy sessions. For safety reasons, the equipment has an emergency stop button (BP1) that automatically shuts down the equipment when activated.

[042] FIGURE 9 shows an illustrative photograph of the prototype of the robotic equipment.

Claims

1. ROBOTIC EQUIPMENT FOR REHABILITATION OF HUMAN FINGERS characterized by comprising 3 subassemblies called fixed structure (EF1), upper mobile platform (PM1) and lower mobile platform (PM2).

2. ROBOTIC EQUIPMENT FOR REHABILITATION OF HUMAN FINGERS according to claim 1, characterized in that the fixed structure (EF1) is a base for fixing the upper mobile platform (PM1) and the lower mobile platform (PM2), allowing both platforms to slide from rails (TR1) and also having a base (BA1).

3. ROBOTIC EQUIPMENT FOR REHABILITATION OF HUMAN FINGERS according to claim 1, characterized in that the upper mobile platform (PM1) is formed by a sliding base for finger support (BM1), a lower base for connecting the elements (BM3), a spindle (F2) coupled to a motor (A2) by a coupling (FA2), this motor being fixed in (EF1), and also having casters (R1).

4. ROBOTIC EQUIPMENT FOR REHABILITATION OF HUMAN FINGERS according to claim 1, characterized in that the lower mobile platform (PM2) is formed by a lower base (BM2) for connecting the elements, a spindle (F1) that is connected to a motor (A1) by a coupling (FA1), also having the piece (EP1) that moves according to the spindle (F1) supported by two casters (R1) that have translational movement in relation to the rails (TR1) and movement of the fabric (P1) whose size can be changed by unwinding or winding around the bar (SP1).

5. ROBOTIC EQUIPMENT FOR REHABILITATION OF HUMAN FINGERS according to claim 1, characterized by being controlled by a microcontroller (CR1) coupled to a computer, notebook or similar equipment (NB1) allowing control of the motor (A2) that moves the upper mobile platform (PM1) and the motor (A1) that moves the lower mobile platform (PM2).

6. ROBOTIC EQUIPMENT FOR REHABILITATION OF HUMAN FINGERS according to claim 1, characterized by having an emergency stop button (BP1).

7. ROBOTIC EQUIPMENT FOR REHABILITATION OF HUMAN FINGERS according to claim 1, characterized by using specific software or being associated with serious games.

8. ROBOTIC EQUIPMENT FOR REHABILITATION OF HUMAN FINGERS according to any of the preceding claims, characterized by being usable for either the left or right hand without the need for modifications and constructed from different types of materials such as steel, iron, aluminum, copper, metal alloys, wood, and materials printed using 3D technology.

Images