Wearable hand mechanical exoskeleton with auxiliary grasping and rehabilitation training functions

A rehabilitation training and wearable technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of expensive rehabilitation medical equipment and scarcity of rehabilitation facilities, and achieve the effect of simple structure, low cost and high transmission efficiency

Pending Publication Date: 2019-06-28
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Rehabilitation facilities are still relatively scarce in the market, and most of the medical equipment for rehabilitation is relatively expensive. There is a lack of a simple and cost-effective facility that can complete auxiliary grasping and help the elderly complete rehabilitation training and exercise hand muscles.

Method used

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  • Wearable hand mechanical exoskeleton with auxiliary grasping and rehabilitation training functions

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0026] A wearable hand mechanical exoskeleton with auxiliary grasping and rehabilitation training functions, including a flexibly connected arm ring 1 and a hand support, the hand support including a palm frame 21, a thumb frame rotatably connected to the palm frame 21 22. Index finger skeleton 23, middle finger skeleton 24, ring finger skeleton 25, little finger skeleton 26; the index finger skeleton 23, middle finger skeleton 24, ring finger skeleton 25 and little finger skeleton 26 all include three phalanges 201 connected by rotation; the index finger skeleton 23 , The middle finger skeleton 24, the ring finger skeleton 25, and the little finger skeleton 26 are provided with torsion springs at the rotational connection between the palm skeleton 22 and the adjacent phalanges 201; one side of the palm skeleton 21 There is a rotating shaft frame 3, the rotating shaft frame 3 is provided with a rotating shaft 4 parallel to the palm frame 21, and the thumb frame 22 is rotatably c...

Embodiment 2

[0029] On the basis of Embodiment 1, the rope steering gear 6 has two rope steering gears, one rope steering gear 6 connects the index finger skeleton 23 and the middle finger skeleton 24 through a rope, and the rope rope steering gear 6 The ring finger skeleton 25 and the little finger skeleton 26 are connected by a drawstring. The design can effectively reduce the working pressure of each rope steering gear, thereby improving the stability of operation.

[0030] In addition, the arm ring 1 is provided with a control board, the control board is electrically connected to the gear steering gear 5 and the rope steering gear 6, and the arm ring 1 and the thumb skeleton 22 are both provided with operation Button, the operation button is electrically connected to the control board. The control board adopts the Raspberry Pi control board in this embodiment, and the setting position of the operation button provides the user with more operation choices and operation convenience. At the...

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Abstract

The invention relates to a wearable hand mechanical exoskeleton with auxiliary grasping and rehabilitation training functions and belongs to the technical field of medical rehabilitation instruments.The wearable hand mechanical exoskeleton comprises an arm ring and a hand support which are flexibly connected, wherein the hand support comprises a palm skeleton, a thumb skeleton and other four-finger skeleton; the thumb skeleton and the other four-finger skeleton are rotationally connected with the palm skeleton; the four-finger skeleton comprises three phalanges which are connected in a rotating manner; a torsion spring is arranged at a rotary joint of the four-finger skeleton and the palm skeleton and the rotary joint between adjacent phalanges; one side of the palm skeleton is provided with a rotating shaft frame, the rotating shaft frame is provided with a rotating shaft parallel to the palm skeleton, and the thumb skeleton is rotatably connected with the rotating shaft; a gear steering engine and a pull rope steering engine are arranged above the palm skeleton, and the pull rope steering engine is connected with the four-finger skeleton through the pull rope; and an output endof the gear steering engine is provided with a driving gear, and the rotating shaft is provided with a driven gear. The wearable hand mechanical exoskeleton with the auxiliary grasping and rehabilitation training functions has the advantages of being simple and portable in structure, lower in cost, high in transmission efficiency, and capable of effectively promoting rehabilitation of hand jointsof the disabled senior citizens.

Description

Technical field [0001] The present invention relates to the technical field of medical rehabilitation equipment, in particular to a wearable hand mechanical exoskeleton with functions of assisting grasping and rehabilitation training. Background technique [0002] At present, there are more than 8 million patients with senile diseases such as stroke in my country alone, and their disability rate has reached 75%. In China, the mortality rate of stroke patients is about 30%, and among the remaining survivors, the disability rate is as high as 70%. This means that there are a large number of elderly people with a certain degree of disability, and 38% of these disabled people have a handicap. [0003] The main symptoms of hemiplegia in the hand include: (1) weakness of specific muscles; (2) abnormal muscle tension or muscle tone (spasticity); (3) decreased exercise capacity: (4) abnormal muscle coordination: (5) Loss of joint coordination; (6) Reduced range of motion; (7) Reduced fin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02B25J9/00
Inventor 梅哲晖袁以明史思邈宋宇欣
Owner HANGZHOU DIANZI UNIV
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