Variable-rigidity pneumatic flexible mechanical hand capable of realizing equal-length movement

Abstract

The invention discloses a variable-rigidity pneumatic flexible mechanical hand capable of realizing equal-length movement. The variable-rigidity pneumatic flexible mechanical hand comprises a glove comprising an upper-layer structure and a lower-layer structure, and five flexible fingers which are adhered to the upper layer of the glove and respectively provided with power cavities and variable-rigidity cavities, wherein the lower layer of the glove is used for being worn by a user. Each flexible finger is connected with a driving device through an air pipe, the driving device decodes a collected electroencephalogram signal of the user, an electromagnetic valve and a proportional valve are then controlled to realize the charge and discharge of air pressure and the adjustment on the negative pressure, so that active control for the flexible fingers is realized, and the equal-length movement under the confrontation mode is achieved. For the variable-rigidity pneumatic flexible mechanical hand, a super-elastic flexible material is adopted, so that the safety is greatly improved, meanwhile, the variable-rigidity cavities capable of realizing rigidity change are also added, so that the problem that the rigidity of the pure flexible fingers is too small, and thus the rehabilitation effect is not obvious is solved, the rehabilitation mode is enriched, and the variable-rigidity pneumatic flexible mechanical hand is particularly suitable for rehabilitation use of patients with hand dysfunction. The variable-rigidity pneumatic flexible mechanical hand is low in cost and light in weight, and is soft and comfortable, and a control mode of decoding the electroencephalogram signal realizes good interaction with the patients.

Description

technical field [0001] The invention belongs to the technical field of robots and industrial grippers, and relates to a pneumatic soft manipulator with variable stiffness that can realize isometric motion. Background technique [0002] Rehabilitation is mainly divided into upper limbs and lower limbs. Upper limb rehabilitation, especially hand rehabilitation, will have a significant impact on people's daily life. However, various traumas and strokes may cause hand function damage. Stroke, also known as apoplexy, can cause some limbs to lose motor function and cannot normally control limb movement. It has become one of the major diseases that affect human survival and health. At present, stroke patients cannot be cured by drugs, and hand function damage caused by various traumas also requires rehabilitation exercises to restore function. Therefore, rehabilitation therapy has become the first choice for hand function reconstruction. [0003] Since the 1960s, mechanical rehabi...

AI Technical Summary

Problems solved by technology

At present, there are many driving methods for soft rehabilitation hands, mainly including pneumatic, dielectric elastomer actuators, light deformation, shape memory alloys, etc. It is difficult to meet the needs of rehabilitation in a single form

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