Rehabilitation glove for external skeleton

Abstract

The invention discloses a rehabilitation glove for the external skeleton and belongs to the field of rehabilitation robots. According to the rehabilitation glove for the external skeleton, an electromyographic signal collection device is arranged for collecting an action intention of the forearm of a patient in real time, and action information is transmitted to an ARM control system; the data glove is used for feeding back the finger position and fingertip force information to the ARM control system, so that the system forms a touch sensing capacity, and a driving device is controlled to precisely control a glove body. Through man-machine interaction and resistance control, the control system is driven to form a control inner ring and a control outer ring, the inner ring collects hand position information through the data collection glove, the hand position information is compared with the target position of the system for adjusting the position output of the system, the data glove isused by the outer ring to obtain the fingertip force information, and a force signal is converted into a position signal through active flexible control, so that the control over the rehabilitation glove for the external skeleton is more precise. Accordingly, the motion expected by the patient is accurately made, and the glove helps the patient to restore the hand function.

Description

technical field [0001] The invention relates to a rehabilitation medical device, in particular to an exoskeleton rehabilitation glove. Background technique [0002] According to clinical statistics, the prevalence of stroke in my country is as high as 1.82%, and the age of stroke is becoming younger. About 1 / 4 of the patients are unable to walk independently or have hand disabilities. The human hand is the main actuator of people's daily life and is the most flexible part of the human body. If the hand dysfunction is caused by a stroke, the life of the patient will be seriously inconvenient . [0003] The traditional treatment method mainly relies on the physical therapist to continuously stimulate the patient's limbs. Although this method has better curative effect, the patient must have enough patience and material capital support. Traditional rehabilitation gloves use a fixed programming method to achieve several fixed actions, and use passive movement to repeatedly pul...

AI Technical Summary

Problems solved by technology

Traditional rehabilitation gloves use a fixed programming method to achieve several fixed actions, and use passive movement to repeatedly pull and exercise the patient's affected limb. Although it has a certain effect, the effect is not ideal

However, exoskeleton rehabilitation gloves that have appeared in recent years generally have problems such as complex structure, difficult processing, low control accuracy, and poor wearability.

For example, the exoskeleton rehabilitation manipulator HANDEXOS developed by Italian scholars is made of metal materials and driven by rope wheels. Its structure is relatively complex and processing is very difficult, and metal materials are uncomfortable to wear.

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