Variable-rigidity soft driver and hand rehabilitation training robot using same

Abstract

The invention provides a variable-rigidity soft driver and a hand rehabilitation training robot using the same. The driver comprises a layered driver body, a gas source and a control system, wherein the driver body is made of an elastic material; a double-helix fiber winding layer coats outside the driver body; a gas cavity is arranged in the driver body; a variable-rigidity layer is arranged at the middle position of the gas cavity and divides the gas cavity into an upper-layer chamber and a lower-layer chamber; the substrate of the variable-rigidity layer is made of a flexible material withhigh tensile modulus, has high strength and flexibility and can limit axial strain of the driver; a low-melting-point alloy is arranged in the snake-shaped flow channel in the variable-rigidity layer;an electrode is connected with the low-melting-point alloy; the gas source respectively communicates with the upper-layer chamber and the lower-layer chamber through gas pipelines; the control systemcomprises a controller and a rigidity control switch; the rigidity control switch is connected with a power supply device of the electrode; and the controller is simultaneously connected with a driver of the gas source and the rigidity control switch. The driver provided by the invention has large bending range, can meet the movement requirements of hand joints, and has high bearing capacity at the same time.

Description

technical field [0001] The application belongs to the technical field of medical rehabilitation robots, and in particular relates to a variable stiffness soft driver and a hand rehabilitation training robot using the driver. Background technique [0002] There are 1.5 million to 2 million new stroke patients in my country every year, and more than 75% of stroke patients suffer from different degrees of impairment of hand motor function. The rehabilitation of the basic functions of flexion and extension of the hand joints depends on passive and active grasping and other movement training. This process often requires the participation and guidance of a physical therapist. However, the price of rehabilitation intervention by physical therapists is high and depends heavily on the rehabilitation treatment level of the therapist. In order to reduce the treatment cost of patients with hand motor dysfunction, shorten the rehabilitation treatment cycle, and reduce the work intensity ...

AI Technical Summary

Problems solved by technology

[0004] This application solves the technical problem that the software driver in the prior art has poor load capacity and cannot meet the clinical needs of stroke patients' hand rehabilitation, and then provides a variable stiffness software that can bear a large load and has a flexible range of motion. Driver and hand rehabilitation training robot using the driver

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