Corrugated-pipe-shaped soft actuator and hand rehabilitation training device

A technology of actuators and bellows segments, which is applied in passive exercise equipment, physical therapy, etc., can solve problems such as distortion, easy lateral bending, and large overall size, and achieve avoidance of lateral disturbance, difficulty in lateral bending, and bending moment big effect

Pending Publication Date: 2021-06-11
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of the above-mentioned shortcomings of the prior art, the object of the present invention is to provide a bellows-shaped soft actuator and hand rehabilitation training device, which is used to solve the problem that the equal-wave-high bellows soft actuator in the prior art is prone to sideways movement. Technical issues with bending, twisting, larger overall dimensions

Method used

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  • Corrugated-pipe-shaped soft actuator and hand rehabilitation training device
  • Corrugated-pipe-shaped soft actuator and hand rehabilitation training device
  • Corrugated-pipe-shaped soft actuator and hand rehabilitation training device

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Experimental program
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Effect test

Embodiment 1

[0082] see Figure 1-Figure 4 , in order to solve the problems in the prior art that the equal-wave height bellows soft actuator is easy to bend laterally, twist, and have a large overall size, this embodiment provides a bellows-shaped soft actuator, wherein, figure 1 It is a schematic diagram of the three-dimensional structure of the bellows-shaped soft actuator of this embodiment, figure 2 is the projection in the axial direction of the outer contour of the crest structure and the outer contour of the trough structure of the bellows-shaped soft actuator in this embodiment, image 3 for along figure 2 The cross-sectional view of A-A direction in the middle; Figure 4 for along figure 2 The cross-sectional view of B-B direction in the middle.

[0083] see Figure 1-4 , in this embodiment, the bellows-shaped soft actuator is mainly composed of the first interface pipe section 4, the hollow bellows section 3 and the second interface pipe section 5 arranged in sequence, a...

Embodiment 2

[0091] see Figure 9-Figure 12 , this embodiment provides another bellows-shaped soft body actuator, wherein, Figure 9 It is a schematic three-dimensional structure diagram of the bellows-shaped soft body actuator of this embodiment, Figure 10 is the projection of the outer contour of the wave crest structure and the outer contour of the wave trough structure in the axial direction of the bellows-shaped soft body actuator of this embodiment, Figure 11 for the edge figure 2 Sectional view in the direction C-C; Figure 4 for the edge figure 2 Sectional view in D-D direction.

[0092] see Figure 9-Figure 12 , the bellows-shaped soft body actuator of this embodiment is a modified embodiment of the bellows-shaped soft body actuator of the first embodiment, which consists of a first interface pipe section 4, a hollow bellows section 3 and a second interface pipe section 5 arranged in sequence Structure, the bellows-shaped soft actuator is a left-right and up-down symmet...

Embodiment 3

[0095] see Figure 13-Figure 16 , this embodiment provides yet another bellows-shaped soft body actuator, wherein, Figure 13 It is a schematic three-dimensional structure diagram of the bellows-shaped soft body actuator of this embodiment, Figure 14 is the projection of the outer contour of the wave crest structure and the outer contour of the wave trough structure in the axial direction of the bellows-shaped soft body actuator of this embodiment, Figure 15 for the edge Figure 14 Sectional view in the direction of E-E; Figure 16 is along the Figure 14 Sectional view in the direction F-F.

[0096] see Figure 13-Figure 16 , the bellows-shaped soft body actuator of this embodiment is another modified embodiment of the bellows-shaped soft body actuator of the first embodiment, which consists of a first interface pipe section 4, a hollow bellows section 3 and a second interface pipe section arranged in sequence 5. The bellows-shaped soft actuator is a left-right and up-d...

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Abstract

The invention discloses a corrugated pipe-shaped soft actuator and a hand rehabilitation training device. The corrugated pipe-shaped soft actuator comprises a hollow corrugated pipe section; a first connector pipe section connected with one end of the hollow corrugated pipe section; a second connector pipe section connected with the other end of the hollow corrugated pipe section; and a first installation support arranged on the outer wall of the first connector pipe section and the outer wall of the second connector pipe section so that the corrugated pipe type soft actuator can be installed on an installation base face. The wave height of the hollow corrugated pipe section has the maximum value and the minimum value in the circumferential direction, the maximum value is larger than the minimum value, and the axial section where the maximum value of the wave height of the hollow corrugated pipe section is located is perpendicular to the back face of the finger portion of the rehabilitation glove. As a driving unit, the corrugated-pipe-shaped soft actuator is not prone to lateral bending, and the using effect and the wearing comfort can be effectively improved.

Description

technical field [0001] The invention relates to the technical field of soft robots and hand health care and rehabilitation, in particular to a bellows-shaped soft body actuator and a hand rehabilitation trainer. Background technique [0002] Nowadays, the aging of the social population is increasing, and the number of hemiplegia caused by diseases such as stroke is increasing. At the same time, the number of people with impaired hand motor function due to accidents such as production accidents and traffic accidents is also increasing year by year. These patients are often unable to take care of themselves due to limb motor dysfunction, which brings a lot of pressure to the family and society. Robot-assisted health care rehabilitation training can save a lot of manpower and material resources, and can quantitatively evaluate the patient's rehabilitation progress, and carry out training step by step according to the patient's rehabilitation status. [0003] In hand health reh...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02
CPCA61H1/0285A61H1/0288A61H2201/1238A61H2205/065A61H2205/067
Inventor 王勇张健吕仲明肖飞云钟金宏
Owner HEFEI UNIV OF TECH
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