Tiny robot capable of helping old people to tie clothes and buttons

Abstract

The invention relates to the field of instruments for helping old people, and particularly discloses a miniature robot capable of helping old people to fasten clothes and buttons, the miniature robot comprises at least two robot units which can be worn on fingers of a user, and the robot units work cooperatively to assist in completing button fastening or zipper pulling actions; each robot unit comprises an adjustable finger ring base body which is used for being matched with finger sizes of different users and ensuring stable wearing; the flexible operation surface module is positioned on the outer side of the ring base body; by adopting the dual-mode adjusting finger ring base body and combining thermoplastic material deformation and a micro motor driving technology, different finger sizes and physiological changes can be accurately adapted, the wearing stability and comfort are ensured, and the problems that a traditional auxiliary device is prone to falling off and high in compression feeling are solved; millimeter-level deformation is achieved through voltage regulation and control, the miniature button can be gently pinched and held, enough friction force can be provided to complete the button penetrating action, and the defects of finger strength attenuation and poor coordination of old people are effectively overcome.

Description

Technical Field

[0001] This invention belongs to the field of assistive devices for the elderly, specifically a tiny robot that can help the elderly fasten their clothes buttons. Background Technology

[0002] With the accelerating trend of global population aging, the elderly population continues to expand. According to the World Health Organization (WHO), as of 2023, the global population aged 60 and over had exceeded 1 billion, and is projected to reach 2.1 billion by 2050, accounting for 22% of the total population. Against this backdrop, maintaining the self-care abilities of the elderly in daily life has become a core issue concerning social welfare, the allocation of medical resources, and the burden on families. Among these issues, the decline in hand function, a common physiological challenge faced by the elderly, directly impacts basic activities such as independent dressing, eating, and writing, and is a key factor restricting their quality of life and social participation.

[0003] Studies show that over 70% of people over 65 years old experience decreased finger joint mobility, and the main physiological mechanisms include:

[0004] Joint degenerative diseases: Osteoarthritis, rheumatoid arthritis and other diseases lead to wear and tear of articular cartilage and inflammation of the synovium, resulting in joint stiffness (morning stiffness lasting more than 30 minutes) and reduced range of motion (average reduction of 30%-50%).

[0005] Muscle atrophy and decreased muscle strength: Age-related reduction of type II muscle fibers (approximately 1%-2% per year) leads to weakened grip strength (an average decrease of 40% in men and 50% in women), with maximum pinching force decreasing from 30-40N in adolescence to 10-15N;

[0006] Slowed nerve conduction velocity: Peripheral neuropathy reduces tactile sensitivity (vibration threshold increases by 2-3 times) and significantly reduces fine motor control ability, manifested as an increase in button perforation deviation rate (from 5% to 35%) and a longer zipper alignment time (from 3 seconds to 15 seconds).

[0007] These kinds of obstacles are particularly prominent in the context of clothing:

[0008] Buttoning action: It requires the simultaneous completion of three coordinated operations: "thumb-index finger pinch", "button hole positioning" and "longitudinal push". It has extremely high requirements for joint flexibility (flexion and extension range > 90°), muscle strength (pinching force > 0.5N) and proprioception (spatial error < 1mm).

[0009] Zippering action: Relies on the lateral pinch and linear traction of the thumb and forefinger. People with stiff joints often cannot maintain the pinch angle (it needs to be bent at 15°-30°), causing the zipper head to slip off, resulting in a success rate of less than 40%.

[0010] Currently, there is no microrobot that can accurately adapt to the physiological changes of the fingers, achieve millimeter-level precision operation, and reduce the risk of joint damage. Summary of the Invention

[0011] To address the aforementioned technical problems, this invention provides a miniature robot that can help elderly people button their clothes, thus solving the problem in the prior art of lacking a device that can simultaneously meet the needs of dynamically adapting to physiological changes in the fingers and helping elderly people button their clothes.

[0012] A tiny robot that helps elderly people button their clothes includes at least two wearable robotic units on the user's fingers. These units work together to assist in buttoning or zipping. Each robotic unit includes:

[0013] The adjustable ring base is designed to fit different users' finger sizes, ensuring a secure fit.

[0014] The flexible operating surface module located on the outside of the ring base can undergo controllable physical deformation according to the control signal to simulate finger pressure and increase friction with buttons or zippers.

[0015] The control module integrated inside the ring base includes a sensor unit, a microprocessor, a power module, and a communication unit;

[0016] The sensor unit is used to collect the user's hand gestures, finger spacing, and relative position information of buttons / zippers;

[0017] The microprocessor is used to process sensor data and generate control commands to drive the flexible operating surface module to perform corresponding auxiliary actions.

[0018] The power module provides electrical energy to the entire robot unit;

[0019] The communication unit is used for the transmission of collaborative control signals between multiple robot units.

[0020] Preferably, the adjustable ring base adopts a telescopic design with an electromechanical drive structure, which can automatically or manually adjust its inner diameter to fit the finger size.

[0021] Preferably, the flexible operating surface module is made of an electroactive polymer, and its surface roughness, shape or hardness can be precisely controlled by changing the voltage to achieve grasping, pressing and pushing actions.

[0022] Preferably, the sensor unit includes:

[0023] A distance sensor is used to detect the relative distance and movement trajectory between the fingers of the wearing unit;

[0024] A pressure sensor, integrated on the flexible operating surface module, is used to sense the pressure applied to buttons or zippers.

[0025] An inertial measurement unit is used to sense the posture and speed of finger movement.

[0026] Preferably, it also includes a main control unit, which is integrated into one of the robot units; the main control unit further includes:

[0027] The image acquisition module is used to acquire a global image of clothing buttons or zippers in order to identify the button's position, status, and type.

[0028] The voice processing module includes a voice player and a microphone; the voice player is used to broadcast system status, operation instructions, and reminders to the user; the microphone is used to receive the user's voice commands.

[0029] The microprocessor is also configured to plan the optimal path for fastening the button based on information from the image acquisition module, and to guide the user to move their hand to the appropriate position via the voice module.

[0030] Preferably, the voice processing module is used to broadcast reminders including: low battery warnings, reminders of unfastened buttons, operation completion prompts, and welcome and farewell messages.

[0031] Preferably, the power module is a rechargeable lithium battery and supports wireless charging.

[0032] Preferably, the surface material of the robot unit is medical-grade silicone to ensure safety and comfort during prolonged contact with the skin.

[0033] Preferably, the robot unit is connected to a smart mobile device application via the communication unit, allowing the user or their family to view usage records, battery status, and make personalized settings through the application.

[0034] A method for fastening buttons using a microrobot as described above includes the following steps:

[0035] S1: The user wears at least two robotic units on the thumb, index finger and / or middle finger of one or both hands;

[0036] S2: The system scans the clothing through the image acquisition module and identifies all the buttons to be fastened;

[0037] S3: Following the voice module's guidance, the user moves their hand to the vicinity of the first button to be fastened;

[0038] S4: The sensor unit senses the micro-positional relationship between the finger and the button in real time, and the microprocessor controls the flexible operating surface module to deform, assisting the finger in completing the actions of pinching the button and passing it through the buttonhole.

[0039] S5: Repeat steps S3 and S4 until all buttons are fastened and the voice module announces that the operation is complete.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] Through the collaborative design of an adjustable ring base and a flexible operating surface module, the robot can dynamically adapt to the finger sizes of different users and accurately simulate finger pressure movements. The ring base uses an electromechanical drive structure to achieve rapid adjustment of its inner diameter, ensuring stable wear. The flexible operating surface module uses electroactive polymers or dielectric materials to generate controllable deformation under voltage regulation, which not only compensates for the lack of finger strength in the elderly but also enhances the friction with buttons / zippers through surface roughness adjustment. This design breaks through the limitations of traditional rigid exoskeletons, achieving precise control of gripping force and deformation rate within a millimeter-level operating space, significantly improving the reliability and comfort of dressing assistance.

[0042] Through multimodal sensor fusion and intelligent decision-making by the main control unit, the system possesses a complete closed-loop capability encompassing environmental perception, path planning, and voice interaction. Distance sensors, pressure sensors, and an inertial measurement unit collect finger movement data in real time. The image acquisition module uses the YOLOv5 algorithm to quickly locate the button position (error < 2mm), and the microprocessor generates the optimal operation path accordingly, driving the flexible module to execute the action. The voice module simultaneously broadcasts system status and operation instructions, forming a triple assistance mechanism of "visual positioning - path planning - voice guidance," significantly reducing the operational complexity for elderly users. Simultaneously, tactile feedback and pressure warnings (automatic pressure reduction > 0.5N) ensure safe use.

[0043] Through modular design and smart device connectivity, the robot combines personalized adaptation with remote management capabilities. A medical-grade silicone shell ensures biosafety, a wirelessly rechargeable lithium battery enhances battery life and convenience, and the communication module supports connection to a smartphone app, allowing users to remotely view usage records, battery status, and customize reminders. This design not only meets the needs of elderly users for independent operation but also provides family members or caregivers with access to device monitoring and personalized settings, forming a collaborative management ecosystem of "user-device-guardian," improving the quality of life for the elderly while reducing social care costs. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the system structure of the present invention;

[0045] Figure 2This is a schematic diagram of the structure of the present invention. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] like Figure 1 and 2 As shown:

[0048] Example 1: This invention provides a miniature robot that can help elderly people button their clothes, comprising at least two wearable robotic units on the user's fingers. These robotic units work together to assist in buttoning or zipping actions; each robotic unit includes:

[0049] The adjustable ring base is designed to fit different users' finger sizes, ensuring a secure fit.

[0050] Among them, the ring base integrates a micro servo motor-driven gear rack transmission mechanism, which can dynamically adjust the inner diameter of the base within 2 seconds by touch buttons or voice commands to complete ±3mm adjustment.

[0051] The flexible operating surface module located on the outside of the ring base can undergo controllable physical deformation according to the control signal to simulate finger pressure and increase friction with buttons or zippers.

[0052] The flexible operating surface module uses VHB 4910 acrylic film (1mm thick) as the dielectric material, with silver nanowire electrodes (sheet resistance <10Ω / sq) deposited on both sides. It can generate 300% area deformation under 1.5kV DC voltage and embeds a piezoresistive sensor array (0.1N resolution) to monitor the force distribution on the operating surface in real time. The voltage waveform is modulated through an FPGA chip, which can accurately control the deformation rate (0.1-5mm / s) and holding time (0-10s).

[0053] The control module, integrated inside the ring base, includes a sensor unit, a microprocessor, a power module, and a communication unit.

[0054] The sensor unit is used to collect information on the user's hand gestures, finger spacing, and the relative position of buttons / zippers; the sensor unit specifically includes:

[0055] Nine-axis inertial measurement unit: monitors the three-dimensional acceleration, angular velocity and geomagnetic field strength of the finger at a sampling rate of 100Hz, and calculates the real-time attitude of the finger through Kalman filtering algorithm;

[0056] TOF Time-of-Flight Distance Sensor: Three VCSEL laser sources (wavelength 940nm) are arranged on the top of the ring to form a 120° fan-shaped detection area, which measures the relative distance between the finger and the button in real time (range 0-50cm, accuracy ±1mm).

[0057] Flexible pressure sensor: Made of PDMS / carbon nanotube composite material, with a range of 0-10N and a response time of <10ms, it is attached to the four corners of the operating surface to detect gripping force;

[0058] The microprocessor is used to process sensor data and generate control commands to drive the flexible operating surface module to perform corresponding auxiliary actions; the microprocessor is an STM32H743VI microcontroller (480MHz) running the FreeRTOS real-time operating system.

[0059] The power module provides electrical energy to the entire robot unit;

[0060] The communication unit is used for the transmission of collaborative control signals between multiple robot units.

[0061] As can be seen from the above, the adjustable ring base design can flexibly adapt to the finger size of different users, ensuring the stability and comfort of wearing, and providing a personalized assistive solution for the elderly and other groups with limited hand dexterity.

[0062] The robot uses a flexible operating surface module, which can achieve controllable physical deformation according to control signals, accurately simulate finger touch and press actions and enhance the friction with buttons or zippers, effectively solving the problem that the elderly have difficulty completing buttoning operations due to insufficient finger strength or poor coordination, and significantly improving the convenience and independence of daily dressing.

[0063] The robot's integrated control module, located within the ring's base, achieves precise perception and intelligent processing of the user's gestures, finger spacing, and button / zipper positions through the collaborative work of sensor units, microprocessors, power modules, and communication units. Multiple robot units can also coordinate control signal transmission through the communication unit, ensuring the smoothness and accuracy of movements, showcasing a highly intelligent and human-centered design philosophy.

[0064] Example 2: This example is basically the same as the previous example, except that the adjustable ring base adopts a telescopic design with an electromechanical drive structure, which can automatically or manually adjust its inner diameter to adapt to the finger size.

[0065] The base consists of three rotatable modules, each driven by a micro servo motor (φ5×10mm), which supports manual button or voice command-triggered adjustment.

[0066] Specifically, the flexible operating surface module is made of an electroactive polymer, and its surface roughness is precisely controlled by changing the voltage to achieve the gripping action.

[0067] Specifically, the sensor unit includes:

[0068] A distance sensor is used to detect the relative distance and movement trajectory between the fingers of the wearing unit;

[0069] The distance sensor uses a TOF (Time-of-Flight) laser sensor (accuracy ±0.1mm) to monitor the relative distance (range 0-50mm) and movement trajectory of the thumbs and index fingers in real time, which is used to determine the three-stage action of "pinching-fastening-tightening".

[0070] A pressure sensor, integrated on the flexible operating surface module, is used to sense the pressure applied to buttons or zippers.

[0071] The pressure sensor is based on a flexible piezoresistive film (0.05 mm thick) and monitors the button contact force at a sampling rate of 100 Hz. When the pressure exceeds 0.5 N, it triggers an alarm and automatically reduces the pressure.

[0072] An inertial measurement unit is used to sense the posture and speed of finger movement;

[0073] The inertial measurement unit integrates a 6-axis accelerometer and a gyroscope, and uses a Kalman filter algorithm to calculate the finger attitude angle (pitch / yaw error < 1°) and movement speed (resolution 0.1 mm / s).

[0074] Specifically, it also includes a main control unit, which is integrated into one of the robot units; the main control unit further includes:

[0075] The image acquisition module is used to acquire a global image of clothing buttons or zippers in order to identify the button's position, status, and type.

[0076] The image acquisition module captures a global image of the button using a miniature camera and uses the YOLOv5-tiny algorithm to identify the button's position (error < 2mm), type (single hole / double hole), and status (tilt angle) in real time.

[0077] The voice processing module includes a voice player and a microphone; the voice player is used to broadcast system status, operation instructions, and reminders to the user; the microphone is used to receive the user's voice commands.

[0078] The microprocessor is also configured to plan the optimal path for fastening the button based on information from the image acquisition module, and to guide the user to move their hand to the appropriate position via the voice module.

[0079] Specifically, the voice processing module is used to broadcast reminders including: low battery warnings, reminders of unfastened buttons, operation completion prompts, and welcome and farewell messages.

[0080] Specifically, the power module is a rechargeable lithium battery and supports wireless charging.

[0081] Specifically, the surface material of the robot unit is medical-grade silicone, ensuring safety and comfort during prolonged contact with the skin.

[0082] Specifically, the robot unit connects to a smart mobile device application via the communication unit, allowing users or their family members to view usage records, battery status, and make personalized settings through the application.

[0083] As can be seen from the above, by using flexible materials with shape memory function or electromechanically driven telescopic structures for the ring base, the inner diameter can be adjusted automatically or manually with precision, significantly improving wearing fit and ease of operation. The flexible operating surface module has been upgraded to an electroactive polymer material, which can dynamically simulate fine movements such as grasping and pressing by regulating surface characteristics through voltage, enhancing the stability of handling buttons or zippers;

[0084] The sensor unit integrates distance, pressure, and inertial measurement functions to capture finger spacing, touch pressure, and movement posture in real time, providing multi-dimensional sensing data for the system. The main control unit adds an image acquisition module, which can identify the button position and type and plan the optimal operation path. Combined with the voice interaction module, it realizes status broadcasting, command reception, and operation guidance, forming a complete auxiliary closed loop of "visual positioning - path planning - voice guidance", which significantly reduces the threshold for elderly people to use.

[0085] The system uses a medical-grade silicone shell to ensure biosafety, and the rechargeable lithium battery supports wireless charging, balancing battery life and convenience. Connecting to smart devices via a communication module allows users to remotely view usage records, battery status, and customize reminders, enabling device status monitoring and personalized services.

[0086] Example 3: This example is basically the same as the previous example, except that a method for fastening buttons using a micro-robot as described above includes the following steps:

[0087] S1: The user wears at least two robotic units on the thumb, index finger and / or middle finger of one or both hands;

[0088] S2: The system scans the clothing through the image acquisition module and identifies all the buttons to be fastened;

[0089] S3: Following the voice module's guidance, the user moves their hand to the vicinity of the first button to be fastened;

[0090] S4: The sensor unit senses the micro-positional relationship between the finger and the button in real time, and the microprocessor controls the flexible operating surface module to deform, assisting the finger in completing the actions of pinching the button and passing it through the buttonhole.

[0091] S5: Repeat steps S3 and S4 until all buttons are fastened and the voice module announces that the operation is complete.

[0092] As shown above, this method, through step-by-step intelligent guidance and multi-module collaborative control, enables elderly people and other groups with limited hand dexterity to independently complete complex buttoning actions. The system first uses an image acquisition module (accuracy <2mm) to quickly locate all buttons on clothing, and then combines this with a voice module to provide step-by-step guidance. This simplifies the traditional four-stage operation requiring precise coordination—"finding-pinching-buttoning-tightening"—into a linear process following voice prompts, significantly reducing cognitive load. This dual-assistance mode of "visual positioning + voice navigation" eliminates the need for the elderly to memorize the operation sequence or accurately judge spatial positions; they only need to move their hands according to real-time instructions to complete the action.

[0093] The real-time feedback mechanism of the sensor unit and flexible operating surface module enables the robot to dynamically compensate for hand tremors and insufficient strength. During the grasping phase, the distance sensor (accuracy ±0.1mm) and the inertial measurement unit (attitude error <1°) continuously monitor the relative position of the fingers and the button. The microprocessor adjusts the deformation rate of the flexible module (0.1-5mm / s) based on the data deviation, ensuring accurate button grasping even with slight hand tremors. During the buttoning phase, the pressure sensor (response time <10ms) monitors the contact pressure in real time. When the pressure exceeds 0.5N, the pressure relief mechanism is automatically triggered to prevent the button from slipping or the fingers from fatigued due to excessive force. This millisecond-level closed-loop control significantly improves the success rate of traditional buttoning.

[0094] Through modular design and scalable operation, this method can adapt to different clothing types and user habits. The system supports one-handed or two-handed operation modes, and users can choose to wear 2-4 robotic units (thumb + index / middle finger combination) according to their own ability. This can meet basic buttoning needs, and the stability of complex actions (such as double-hole buttons) can be improved by increasing the number of operating surfaces. In addition, the cyclic execution mechanism of step S5 allows the system to automatically identify incomplete buttons and generate new operation paths, avoiding the problem of the entire process being interrupted due to a single positioning failure in traditional auxiliary devices, demonstrating high flexibility and fault tolerance.

[0095] The embodiments of the present invention are given for the purposes of illustration and description. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made by those skilled in the art to the above embodiments within the scope of the present invention should be included within the protection scope of the present invention.

Claims

1. A tiny robot that can help elderly people button their clothes, characterized in that, Includes at least two wearable robotic units on the user's finger, which work together to assist in actions such as buttoning or zipping; each robotic unit includes: The adjustable ring base is designed to fit different users' finger sizes, ensuring a secure fit. The flexible operating surface module located on the outside of the ring base can undergo controllable physical deformation according to the control signal to simulate finger pressure and increase friction with buttons or zippers. The control module integrated inside the ring base includes a sensor unit, a microprocessor, a power module, and a communication unit; The sensor unit is used to collect the user's hand gestures, finger spacing, and relative position information of buttons / zippers; The microprocessor is used to process sensor data and generate control commands to drive the flexible operating surface module to perform corresponding auxiliary actions. The power module provides electrical energy to the entire robot unit; The communication unit is used for the transmission of collaborative control signals between multiple robot units.

2. The miniature robot as described in claim 1 that helps the elderly button their clothes, characterized in that, The adjustable ring base adopts a telescopic design with an electromechanical drive structure, which can automatically or manually adjust its inner diameter to fit the finger size.

3. The miniature robot as described in claim 1 that helps the elderly button their clothes, characterized in that, The flexible operating surface module is made of an electroactive polymer, and its surface roughness, shape or hardness can be precisely controlled by changing the voltage to achieve grasping, pressing and pushing actions.

4. The miniature robot as described in claim 1 that helps the elderly button their clothes, characterized in that, The sensor unit includes: A distance sensor is used to detect the relative distance and movement trajectory between the fingers of the wearing unit; A pressure sensor, integrated on the flexible operating surface module, is used to sense the pressure applied to buttons or zippers. An inertial measurement unit is used to sense the posture and speed of finger movement.

5. The miniature robot as described in claim 1 that helps the elderly button their clothes, characterized in that, It also includes a main control unit, which is integrated into one of the robot units; the main control unit further includes: The image acquisition module is used to acquire a global image of clothing buttons or zippers in order to identify the button's position, status, and type. The voice processing module includes a voice player and a microphone; the voice player is used to broadcast system status, operation instructions, and reminders to the user; the microphone is used to receive the user's voice commands. The microprocessor is also configured to plan the optimal path for fastening the button based on information from the image acquisition module, and to guide the user to move their hand to the appropriate position via the voice module.

6. The miniature robot as described in claim 5 that helps the elderly button their clothes, characterized in that, The voice processing module is used to broadcast reminders including: low battery warnings, reminders of unfastened buttons, operation completion prompts, and welcome and farewell messages.

7. The miniature robot as described in claim 1 that helps the elderly button their clothes, characterized in that, The power module is a rechargeable lithium battery and supports wireless charging.

8. The miniature robot as described in claim 1 that helps the elderly button their clothes, characterized in that, The surface material of the robot unit is medical-grade silicone, ensuring safety and comfort during prolonged contact with the skin.

9. A miniature robot as described in claim 1 that helps the elderly button their clothes, characterized in that, The robot unit connects to a smart mobile device application via the communication unit, allowing users or their family members to view usage records, battery status, and personalize settings through the application.

10. A method for fastening buttons using a microrobot as described in any one of claims 1-9, characterized in that, Includes the following steps: S1: The user wears at least two robotic units on the thumb, index finger and / or middle finger of one or both hands; S2: The system scans the clothing through the image acquisition module and identifies all the buttons to be fastened; S3: Following the voice module's guidance, the user moves their hand to the vicinity of the first button to be fastened; S4: The sensor unit senses the micro-positional relationship between the finger and the button in real time, and the microprocessor controls the flexible operating surface module to deform, assisting the finger in completing the actions of pinching the button and passing it through the buttonhole. S5: Repeat steps S3 and S4 until all buttons are fastened and the voice module announces that the operation is complete.

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