A shape memory alloy driven software rehabilitation glove and its 3D printing preparation method

Abstract

The invention relates to a shape memory alloy driven software rehabilitation glove and a 3D printing preparation method thereof. The glove includes a palm cover, a finger cover and an SMA spring. Gloves include three types of joints: one-way flex joints, side swing joints, and anti-carpal joints. There is a V-shaped joint gap on the front of the one-way bending joint and SMA springs are installed to complete the bending action, and SMA springs are installed on the back to assist the bent joints to return to their original shape; SMA springs are installed on the left and right sides of the side swing joints to complete the side swing action; The palm joint includes two SMA springs, one end of the spring is connected to the root of the thumb sleeve, and the other end is connected to the palm sleeve; both ends of all SMA springs are connected to the DC stabilized voltage power supply with wires. The preparation of rehabilitation gloves adopts the method of multi-material integrated 3D printing. The rehabilitation glove has the following advantages: strong dexterity and low control difficulty; good functional integrity; simple and efficient driving mode; good comfort and human-computer interaction safety; light weight and good portability; advanced technology and high preparation efficiency.

Description

technical field [0001] The invention relates to a human body movement rehabilitation device, in particular to a soft rehabilitation glove driven by a shape memory alloy spring (ShapeMemory Alloy, SMA) and a 3D printing preparation method thereof. Background technique [0002] The human hand is a complex biological system. Impaired functions will cause inconvenience to daily life, and the complexity of the structure makes it difficult to treat and take a long recovery period after damage. [0003] The main causes of impaired hand function are trauma and hemiplegia (caused by cerebrovascular disease). [0004] Hand injuries are especially common in manual workers. After trauma surgery, it is usually necessary to fix the affected finger in a specific position for 3 to 4 weeks. During this period, the congestion near the joint may cause fibrous deformation, which will make the joint and tendon adhere to form stiffness. Auxiliary rehabilitation treatment is very important for th...

AI Technical Summary

Problems solved by technology

Rigid manipulators can achieve precise control, but there are also significant disadvantages: complex structure, heavy weight, high production cost, poor comfort in use, and most importantly, poor safety in human-computer interaction

The affected finger is in a state of low muscle strength at the initial stage of rehabilitation, and the movement trajectory of the rigid device is fixed, and the position cannot be adjusted automatically with the deviation of the affected finger. Therefore, once the affected finger is out of the original wearing position, secondary injuries may occur

[0009] The existing software rehabilitation gloves generally have the disadvantages of complex structure, insufficient functional integrity, and poor size adaptability. Air-driven rehabilitation gloves have poor portability and low precision. Wire-driven rehabilitation gloves have complex structures and are difficult to manufacture and control.

In addition, rehabilitation gloves often need to be customized according to the size characteristics of individual hands. The traditional "making mold → pouring → demoulding" process has limited ability to prepare small batches of complex soft structures that are personalized and customized, and the process is complicated, the preparation cycle is long, and the cost is high. high

[0010] Most of the existing soft rehabilitation gloves are air-driven or wire-driven, and the structure is relatively complicated. The preparation mostly adopts traditional technology, which has a long cycle and high cost.

Traditional techniques are difficult to achieve individualized customization for individual differences, so the resulting rehabilitation gloves basically cannot fit closely with human hands, and the rehabilitation effect, wearing comfort, and human-computer interaction safety need to be improved

In addition, due to the limitation of the driving principle, the functional integrity of the prepared rehabilitation hand is insufficient, and the control is difficult, and the control difficulty and functional integrity cannot be balanced.

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