Hand exoskeleton for movement stimulation through activation of the mirror neuron system.

Description

1 / 20 “HAND EXOSKELETON FOR MOVEMENT STIMULATION THROUGH ACTIVATION OF THE MIRROR NEURON SYSTEM” FIELD OF APPLICATION

[001] The present invention is contained within the technical field of orthopedic devices intended for non-surgical treatments, as well as within the technical field of program-controlled manipulators.

[002] The present invention presents an exoskeleton to stimulate hand movements by means of activation by a mirror neuron system, in which the movements are generated by imagining the observed motor act and are mainly the opening, extension, closing and flexion of the fingers, enabling motor learning for grasping and releasing different objects, aiming at the generalization of movements for different daily activities. DESCRIPTION OF THE STATE OF THE ART

[003] Stroke remains one of the leading causes of physical disability worldwide. There is an urgent need to improve post-stroke rehabilitation strategies, particularly for upper limb use, with early recovery being one of the most indicated and scientifically supported strategies.

[004] Since the discovery of mirror neurons in non-human primates, several studies using neuroimaging tools have attempted to locate and map the presence of these neurons in humans. Mirror neurons are a recent discovery in neuroscience, dating back to around the early 1990s, and are already considered one of the great promises of this area, capable of revolutionizing how the brain is understood, especially with regard to our ability to understand, imitate and learn. Petition 870250011624, dated 12 / 02 / 2025, page 7 / 49 2 / 20

[005] In this process, the movement of the healthy upper limb influences the movement of the affected upper limb, and in this way, this mirror neuron system is activated by performing and observing the action, generating motor learning of grasping and releasing. Hand exoskeletons have been another powerful resource in the rehabilitation processes of people affected by motor limitations, such as those resulting from a stroke.

[006] The state of the art presents some solutions in the form of exoskeletons, as can be observed, for example, in patent document BR102019020599-7 - SYSTEM, METHOD AND EXOSKELETON DEVICE FOR BRAIN-MACHINE INTERFACE IN NEUROLOGICAL REHABILITATION, whose abstract describes a method and a device that were harmoniously designed for motor neurological rehabilitation aimed at people who have suffered a Stroke - CVA; composed of electroencephalogram-EEG equipment (1) equipped with 6 active electrode sensors that transfer brain signal data via Bluetooth to a software (2) that, through a motor imagination recognition method without the need for calibration or training, sends signals to an exoskeleton (3) capable of performing movements of opening or closing a user's hand when the intention to move is detected.

[007] Another example illustrating the knowledge present in the state of the art is patent document CN108837424 EXOSKELETON TYPE 15-DEGREE-OF-FREEDOM REHABILITATION MANIPULATOR MECHANISM, whose abstract describes a 15-degree-of-freedom exoskeleton-type rehabilitation manipulator mechanism, related to the field of rehabilitation robotics, and includes a base, a four-finger flexion mechanism unit, a four-finger swing mechanism unit, a thumb flexion mechanism unit, a thumb swing mechanism unit, a wrist transport unit, and a drive unit. The finger rehabilitation mechanism has a total of 15 rotational degrees of freedom of joints, the thumb and the Petition 870250011624, dated 12 / 02 / 2025, page 8 / 49 3 / 20 of the four fingers' PIP and MP joints have an independent rotational degree of freedom, the MP joints of the four fingers also have an independent pendulum rotational degree of freedom, and the CM joints of the thumb have a pendulum rotational degree of freedom. This invention achieves the full degree of freedom movement function of each palm joint, which cannot be resolved by the current finger rehabilitation mechanism, and can achieve full degree of freedom movement of each finger except the PIP joint of the fourth finger, and can be used in active rehabilitation treatment in the later stage of rehabilitation therapy to achieve independent and free movement of each finger joint.

[008] Another example of alternatives provided in the state of the art is document WO2017145136 - EXOSKELETON DEVICE FOR THE HAND, whose abstract describes an exoskeleton device (100) arranged to assist the movement of at least one phalangeal joint (50,60) of a finger (200) in a flexion / extension plane Γ of the joint, said exoskeleton device (100) arranged to pass between an open configuration and a closed configuration during a rotation Θ1, Θ2 of the phalangeal joint (50, 60) around an axis substantially orthogonal to the flexion / extension plane Γ. The exoskeleton device (100) comprises a metacarpal support (150) arranged to be integral to a metacarpal portion of a hand, a first support (160) with engagement means arranged to engage the first support to a first phalanx of the finger (200), a kinematic chain arranged to connect the metacarpal support (150) and the first support (160).The kinematic chain is composed of a linear actuator (101) attached to the metacarpal support (150) by a first rotational joint (111) and arranged to execute a stroke x in a radial direction relative to the rotational joint (111). The kinematic chain also comprises a first rigid link (121) connected to the linear actuator (101) by a second rotational joint (112), a second rigid link (122) connected to the metacarpal support (150) by a fourth rotational joint (114) and connected to the first rigid link (121) by. Petition 870250011624, dated 12 / 02 / 2025, page 9 / 49 4 / 20 a fifth rotational joint (115), and a first slide (131) connected to the first support (160) and arranged to perform a translation relative to it along a y-axis, said first slide (131) also being connected to the first rigid link (121) by a third rotational joint (113). In particular, the first slide (131) and the third rotational joint (113) are configured to prevent the generation of forces parallel to the y-axis on the first finger phalanx (200), when the exoskeleton device (100) passes between the open and closed configurations.

[009] Finally, another example of a solution provided in the state of the art is patent document US11141341 - SYSTEM AND METHOD FOR STROKE REHABILITATION USING POSITION FEEDBACK BASED EXOSKELETON CONTROL INTRODUCTION. It is a robotic system for use in mirror therapies, which features a control glove with a deformation sensor to be worn on the healthy hand and an exoskeleton with a deformation sensor and mechanical actuation to be worn on the hand affected by stroke. This patent presents a generic approach regarding the type of solution, but focuses on the solution of acquiring the position of the fingers of the healthy hand and replicating this in the affected hand, using a feedback system that adjusts the positioning in both hands and waits a sufficient time for the person to complete the movement with the aid of the exoskeleton.

[0010] The solutions proposed in the prior art, despite presenting similarities, also have important differences in relation to the current invention. For example, the first device, also intended for the rehabilitation of people who have suffered a stroke, is an exoskeleton that also captures data via Bluetooth; however, the difference is that this data capture is performed by an electroencephalogram (EEG) device and by active electrode sensors that capture brain signals. In the current invention, the signals are captured from the position of the healthy hand, and the movement is performed in a mirrored manner. The aforementioned device also uses an imagery system. Petition 870250011624, dated 12 / 02 / 2025, page 10 / 49 5 / 20 motor function in sending these signals to perform the movement of opening and closing the hand. In the case of the present invention, observation and execution of the action are used as stimuli for the use of the mirror neuron system.

[0011] The second device is aimed at hand rehabilitation, but emphasizes the possibility of achieving various degrees of freedom and can be used in rehabilitation treatment to perform independent and free movement of each finger joint. Although the current invention has an electromechanical system developed from the human anatomy of the hand, the degrees of freedom are directed towards the actions of grasping and releasing objects, with the grasping being active and the release active-assisted by the exoskeleton.

[0012] The third device describes an exoskeleton device with lever systems without a control glove that assists the movement of at least one finger joint in a flexion / extension plane. Although it is an electromechanical exoskeleton, it does not use mirrored movement of the healthy hand or any other form of signal or movement capture. It prioritizes joint comfort and does not have a calibration system. The present invention was also developed with an emphasis on comfort and ergonomic issues, and it does have a calibration system.

[0013] The last device described, despite having an exoskeleton with a control glove and actuators, where the position of the healthy hand is captured, the response time depends on a feedback system and not on a simultaneous mirrored movement, which is one of the focuses of the current invention.

[0014] The innovation of the present invention lies in the fact that the exoskeleton has the necessary components for its application: the exoskeleton is activated by the person themselves using a control glove that provides a copy of the movement of the healthy hand, providing sufficient torque and speed for the application of a motor learning program, where observation and execution of the action activate the system of Petition 870250011624, dated 12 / 02 / 2025, page 11 / 49 6 / 20 mirror neurons. Other exoskeletons do not fulfill this purpose of copying movements with sufficient simultaneity for this application.

[0015] It is noteworthy that different parts of the Mirror Neuron System respond to different types of actions, such as observing hand-object interactions in actions embedded or not embedded in contexts. In this way, it is understood that the state of the art would benefit from the advent of a solution based on the concept of mirror neurons, in which an exoskeleton would allow the copying of movements performed by a healthy hand and induce such movements in the hand with hemiparesis from an electromechanical system. Thus, in the case of this invention, the person with hemiparesis performs the action of grasping and releasing objects with the aid of an exoskeleton in actions contained in an occupational therapy program of motor learning and which involves training and a context of daily living activities.

[0016] Another important difference that stands out about the current innovation in relation to the state of the art is the constructiveness of the finger ring components. The shape was inspired by "double figure-eight" orthoses used in rehabilitation situations for finger deformities. In tests with people with hemiparesis resulting from stroke, this shape allowed for better opening of all finger phalanges simultaneously and as a block, without restricting the manipulation of objects. This solution comprises a rigid part (upper support where the wire is fixed) and a flexible part (around the fingers), and the shape with anchoring (point where the traction force is applied) displaced above the line of finger movement, which increases the torque arm, while providing comfort due to the larger contact area with the underside of the finger. BRIEF DESCRIPTION OF THE INVENTION

[0017] The present invention aims to provide a hand exoskeleton for movement stimulation through the mirror neuron system, wherein said hand exoskeleton enables movements Petition 870250011624, dated 12 / 02 / 2025, page 12 / 49 7 / 20 of opening, extending, and closing the fingers, enabling motor learning for grasping and releasing different objects, aiming at the generalization of movements for different daily activities.

[0018] Another objective of the present invention is to present a hand exoskeleton for movement stimulation by means of a mirror neuron system, which exoskeleton is configured from an electromechanical layout with simple movement dynamics, by means of wire and pulley traction to perform finger and wrist extension, due to the anatomical characteristics of the human hand.

[0019] It is also an objective of the present invention to provide a control glove, responsible for copying the movement of the healthy hand and transmitting it to the exoskeleton, enabling it to stimulate the movement of the hand on the side affected by the stroke.

[0020] More specifically, the present invention relates to a HAND EXOSKELETON FOR MOVEMENT STIMULATION BY MEANS OF ACTIVATION OF THE MIRROR NEURON SYSTEM comprising an exoskeleton (1) and an auxiliary glove (2), to stimulate movement in a hand with hemiparesis, as well as a control unit (3), equipped with two distinct circuits, one circuit for receiving data from the healthy hand, wearing the auxiliary glove (2) and transmitting it to the hand with hemiparesis, wearing the exoskeleton (1); and another circuit for sending data to the healthy hand, wearing the auxiliary glove (2), aiming at the subsequent activation of the exoskeleton (1), enabling the movement performed by the hand wearing the auxiliary glove (2) to be reproduced in the hand wearing the exoskeleton (1), wherein the activation of the mirror neuron system is performed by means of the application of a motor learning program.

[0021] The EXOSKELETON (1) comprises a plurality of thermoplastic rings (10), placed on each phalanx of the thumb, index, middle, ring and little fingers, wherein said thermoplastic rings Petition 870250011624, dated 12 / 02 / 2025, page 13 / 49 8 / 20 (10) have a special geometry in the shape of a double eight, wherein such thermoplastic rings (10) are preferably molded at low temperature, by means of a thermoplastic tape similar to a roll of fabric, wherein the fabric is preferably a soft structural fabric of the PLA FLEX, TPU or similar type.

[0022] The EXOSKELETON (1) is subdivided into two parts, being a backhand structure (1a) and a backhand structure (1b), wherein said structures (1a, 1b) are joined by a set of locks, comprising a central lock (4a) and two lateral locks (4b).

[0023] The forearm back structure (1b) comprises a platform (12), equipped with servomotors (13), pulleys (14), as well as the female portion (4) of the central lock (4a), wherein said forearm back structure (1b) comprises a velcro system (16), located on the curved base (20), next to the lower portion of said platform (12), which serves as an adjustable support for fixing the forearm back structure (1b) to the user's arm, wherein the curved base (20) follows the natural truncated conical shape of the forearm.

[0024] The back of hand structure (1a) comprises the male portion of the central lock (4a), as well as the thermoplastic rings (10) relating to each of the fingers of the hand, their respective cables (11) and guide cannulas (15), the back of hand structure (1a) comprising a velcro system (17), located on its lower portion, which serves as an adjustable support for fixing the back of hand structure (1a) to the user's hand.

[0025] The structure of the back of the hand (1a) further comprises a fixation labyrinth (18), comprising guides (30), in the form of channels, which extend through the fixation labyrinth (18), forming the passage points for the cables (11), coming from the pulleys (14), towards the thermoplastic rings (10), each of the thermoplastic rings (10) comprising a guide cannula (15), equipped with a channel for the passage of a Petition 870250011624, dated 12 / 02 / 2025, p. 14 / 49 9 / 20 cable (11) for motion transmission, wherein, preferably, said cable (11) for motion transmission is a nylon line, wherein the motion transmission occurs from the servomotor (13) and by means of the motion transmission cable (11), wherein each cable (11) is connected to a servomotor (13) and its specific pulley (14), so that each thermoplastic ring comprises a specific cable (11) for its motion.

[0026] The movement of the thermoplastic rings (10) of the ring and middle fingers occurs together, by means of cables (11) controlled by the same servomotor (13) and respective pulley (14), where the cable (11) is bifurcated for each of the middle and ring fingers, after passing through the fixation labyrinth (18) of the back of the hand structure (1a).

[0027] The connection between the thermoplastic rings (10) and the guide cannulas (15) is made by means of anchor points (19), configured as two small polymeric rods, in which the thermoplastic rings (10) are joined to the finger phalanges, by means of their double figure eight shape.

[0028] The platform (12), comprising the structure of the back of the forearm (1b), is equipped with fittings for screw-fixing four servomotors (13), which servomotors (13) are responsible for the movement of the cables (11) for transmitting motion to each thermoplastic ring (10), wherein the platform (12) also comprises four pulleys (14), housed and fixed close to the servomotors (13), each of the pulleys (14) being designed to work with a specific servomotor (13), enabling the movement of the cable (11) for transmitting motion to that said servomotor (13).

[0029] In an extension movement, the servomotors (13) rotate, pulling the nylon cables (11) on the respective pulley (14), from the bottom of the pulley itself (14), so that the cables (11) pass under the pulley assembly (14), coming from the polymer rings (10), Petition 870250011624, dated 12 / 02 / 2025, p. 15 / 49 10 / 20 located on the fingers, destined for the pulleys (14), with the cables (11) passing through the guides (30) of the fixation labyrinth (18) and through the channels (31) of the forearm back structure (1b), so that said cables (11) pull the anchoring point (19) of the thermoplastic ring (10), applying force to it and assisting in the extension of the finger.

[0030] In a bending motion, the servomotors (13) rotate in a direction opposite to the direction of extension, decreasing the traction applied to the cables (11), where said cables (11) pass under the pulley assembly (14), towards the thermoplastic rings (10), where the cables (11) pass through the guides (30) and channels (31), applying traction at the anchoring point (19) of the thermoplastic ring (10), where this applied traction is decreased as the pulley (14) rotates.

[0031] The auxiliary glove (2) is equipped with a plurality of components, such as sensors (20), emitters, receivers and actuators, which aim to capture the movements of the healthy hand and subsequently transmit them to the exoskeleton circuit (1), wherein the auxiliary glove (2) is preferably constructed of a soft fabric, more preferably Neoprene ®, being subdivided into an auxiliary glove for the back of the hand (2a) and a finger support (2b).

[0032] The auxiliary glove for the back of the hand (2a) has four passage channels (21), one for communication with the finger support (2b) of the thumb, another for the finger support (2b) of the index finger, another for the finger support (2b) of the middle and ring finger, which work together, and one for the finger support (2b) of the little finger, wherein one of these four passage channels (21) communicates with a sensor (20) located in the respective finger support channel (2b), by means of wires (22), each of the sensors (20) being preferably a Flex type sensor. Petition 870250011624, dated 12 / 02 / 2025, page 16 / 49 11 / 20

[0033] In an extension movement, the healthy finger located in the auxiliary glove (2) extends, generating a deformation in the sensor (20), resulting in an output signal through the variation of resistance of the sensor itself (20), where this signal reaches the control unit (3), where a microcontroller converts the analog signal into a digital signal, and this digital signal is transferred to the exoskeleton microcontroller (1) by means of a ZigBee device, where the exoskeleton microcontroller (1) receives the signal sent by the auxiliary glove microcontroller (2) and applies a filter, passing the filtered signal to the servomotor (13), defining a position between 0 and 180°, where upon receiving the signal, the servomotor (13) rotates the pulley, pulling the cable (11) and applying force to the anchoring point (19) of the respective thermoplastic ring (10) of the affected hand, extending it. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The subject matter of this invention will become fully clear in its technical aspects from the detailed description that will be made based on the figures below, in which: FIG. 1 presents a perspective view of the hand exoskeleton for motion stimulation via the mirror neuron system, in which it is possible to visualize its assembled parts, especially the backhand structure and its components and the backhand structure and its components; FIG. 2 shows a perspective view of the thermoplastic ring used by the exoskeleton, through the back of the hand structure, in which it is possible to visualize its double figure-eight shape, its guide cannula and the anchor points; FIG. 3 shows a front view of the ring used by the exoskeleton, through the back of the hand structure, where it is possible to visualize its double eight shape, its guide cannula and the points of Petition 870250011624, dated 12 / 02 / 2025, page 17 / 49 12 / 20 anchoring as well as the functioning of force dynamics in its extension and flexion movements; FIG. 4 shows a perspective view of the structure of the dorsal forearm of the hand exoskeleton for motion stimulation via the mirror neuron system; FIG. 5 shows a top view of the hand exoskeleton for motion stimulation via the mirror neuron system, in which it is possible to visualize the assembly of the back of the hand structure with the back of the forearm structure, as well as the positioning of the servomotors and pulleys; FIG. 6 shows a side view of the hand exoskeleton for movement stimulation via the mirror neuron system, in which it is possible to visualize the Velcro and the Velcro system, as well as the thermoplastic rings and their anchoring system; FIG. 7 shows a front view of the hand exoskeleton for motion stimulation via the mirror neuron system, in which it is possible to visualize the thermoplastic rings, their guide cannulas and anchor points; FIG. 8 shows a partially exploded view of the structure of the forearm back of the hand exoskeleton for motion stimulation via the mirror neuron system, in which it is possible to visualize the platform and especially the construction of the pulley and the central and lateral locks; FIG. 9 presents a perspective view of the structure of the back of the hand of the hand exoskeleton for movement stimulation by means of the mirror neuron system, in which it is possible to visualize the passage of the cables through the channels, being interconnected to the thermoplastic rings; Petition 870250011624, dated 12 / 02 / 2025, page 18 / 49 13 / 20 FIG. 10 shows a perspective view of the fixation labyrinth present in the structure of the dorsal forearm of the hand exoskeleton for movement stimulation through the mirror neuron system; FIG. 11 shows a side view of the hand exoskeleton for motion stimulation using a mirror neuron system, in which it is possible to visualize the incidence of forces and pulley rotations during extension and flexion movements; FIG. 12 shows a perspective view of the auxiliary glove used alongside the user's healthy hand, where it is possible to observe its subdivision into an auxiliary glove for the back of the hand and an auxiliary glove for the fingers; FIG. 13 shows a front view of the assistive glove used with the user's healthy hand, where the positioning of the Flex sensors on the finger assistive glove can be observed; FIG. 14 shows a top view of the auxiliary glove used with the user's healthy hand, where the passage and connection channels between the wires and the Flex sensors can be observed; and FIG. 15 presents a logical diagram of the decisions made by the hand exoskeleton's control unit to stimulate movement through the mirror neuron system. DETAILED DESCRIPTION OF THE INVENTION

[0035] In accordance with the objectives presented through the brief description, the present patent application: “HAND EXOSKELETON FOR MOVEMENT STIMULATION BY MEANS OF THE MIRROR NEURON SYSTEM”, developed for the stimulation of movements in a hand with functional impairment, for example due to sequelae of a stroke, such as hemiparesis, in which the solution comprises an exoskeleton (1), worn next to the affected hand and an auxiliary glove (2), worn next to the Petition 870250011624, dated 12 / 02 / 2025, page 19 / 49 14 / 20 healthy hand, stimulating the activation of the mirror neuron system through the application of a motor learning program.

[0036] The present invention is equipped with a control unit, equipped with two distinct circuits, one circuit for receiving data from the healthy hand, wearing the auxiliary glove (2) and transmitting it to the hand with hemiparesis, wearing the exoskeleton (1); and another circuit for sending data to the healthy hand, wearing the auxiliary glove (2), aiming at the subsequent activation of the exoskeleton (1).

[0037] The circuit for receiving data from the healthy hand, wearing the auxiliary glove (2), comprises: microcomputer, wireless data transmitters, preferably of the Xbee type, a servomotor and jumpers.

[0038] In turn, the circuit for sending data to the healthy hand, wearing the auxiliary glove (2) comprises a microcomputer, wireless data transmitters, preferably of the Xbee type, sensors for capturing the variation in finger movement through deformation, which generate variations in electrical resistance, resistors and jumpers.

[0039] The control center, comprising the two circuits, is configured in such a way that the data comes out of the sensors, passes through the two microcomputers, reaching the servomotor (13) in such a way that when extending, stopping and / or flexing the fingers, the same movements are reflected to both hands by means of the auxiliary glove (2) and the exoskeleton (1).

[0040] The exoskeleton (1) is provided with a plurality of thermoplastic rings (10), placed on each phalanx of the thumb, index, middle, ring and little fingers, wherein said thermoplastic rings (10) have a special geometry in the shape of a double eight. Such thermoplastic rings (10) are preferably molded at low temperature, by means of a thermoplastic tape similar to a roll of fabric, wherein the Petition 870250011624, dated 12 / 02 / 2025, page 20 / 49 15 / 20 fabric is preferably a soft structural fabric of the PLA FLEX, TPU or similar type.

[0041] The exoskeleton (1) is subdivided into two parts, being a backhand structure (1a) and a backhand structure (1b), wherein said structures (1a, 1b) are joined by a set of locks, comprising a central lock (4a) and two lateral locks (4b).

[0042] The forearm back structure (1b) comprises a platform (12), equipped with servomotors (13), pulleys (14), as well as the female portion (4) of the central lock (4a), wherein said forearm back structure (1b) comprises a Velcro system (16), located on the curved base (20), next to the lower portion of said platform (12), which serves as an adjustable support for fixing the forearm back structure (1b) to the user's arm. The curved base (20) follows the natural truncated cone shape of the forearm.

[0043] In turn, the back of hand structure (1a) comprises the male portion of the central lock (4a), as well as the thermoplastic rings (10) relating to each of the fingers of the hand, their respective cables (11) and guide cannulas (15), the back of hand structure (1a) comprising a velcro system (17), located on its lower portion, which serves as an adjustable support for fixing the back of hand structure (1a) to the user's hand.

[0044] The back of the hand structure (1a) further comprises a fixation labyrinth (18), comprising guides (30), in the form of channels, which extend through the fixation labyrinth (18), forming the passage points for the cables (11), coming from the pulleys (14), towards the thermoplastic rings (10).

[0045] Each of the thermoplastic rings (10) comprises a guide cannula (15), equipped with a channel for the passage of a cable (11) for transmitting movement. Preferably, said cable (11) for Petition 870250011624, dated 12 / 02 / 2025, page 21 / 49 16 / 20 motion transmission is a nylon line. Motion transmission occurs from the servomotor (13) and via the motion transmission cable (11). Each cable (11) is connected to a servomotor (13) and its specific pulley (14), so that each thermoplastic ring comprises a specific cable (11) for its movement.

[0046] Specifically regarding the thermoplastic rings (10) relating to the middle and ring fingers, their movement will occur together, by means of cables (11) controlled by the same servomotor (13) and respective pulley (14), in which the cable (11) is bifurcated for each of the middle and ring fingers, after passing through the fixation labyrinth (18) of the back of the hand structure (1a).

[0047] Since there is a difference in rigidity between the manufacturing materials of the thermoplastic rings (10) and the guide cannulas (15), the joining between these elements is carried out by means of anchoring points (19), configured as two small polymeric rods, as can be seen in FIG. 2.

[0048] The platform (12), comprising the structure of the forearm back (1b), is equipped with fittings for screw-fixing four servomotors (13), which servomotors (13) are responsible for the movement of the cables (11) for transmitting motion to each thermoplastic ring (10). The platform (12) also comprises four pulleys (14), housed and fixed close to the servomotors (13), each of the pulleys (14) being designed to work with a specific servomotor (13), enabling the movement of the cable (11) for transmitting motion to that servomotor (13).

[0049] The thermoplastic rings (10) are attached to the finger phalanges by means of their double figure-eight shape, allowing adjustment according to the width of each finger of the user and consequently being adjustable. Petition 870250011624, dated 12 / 02 / 2025, page 22 / 49 17 / 20 according to the dimensions of the user's hand, as can be seen in FIG. 2.

[0050] The thermoplastic rings (10) allow for two types of movement, namely an extension movement and a flexion movement. The force on the finger tone refers to the force resisting extension and favoring flexion, due to the involvement by hemiparesis caused by the stroke. The extension or flexion force of the finger refers to the force that the affected finger can provide, taking into account the level of involvement, with traction force 1 being less than traction force 2, as can be seen in FIG. 3.

[0051] In an extension movement, the servomotors (13) rotate, pulling the nylon cables (11) on the respective pulley (14), from the bottom of the pulley (14) itself, so that the cables (11) pass under the pulley assembly (14), coming from the polymer rings (10), located on the fingers, towards the pulleys (14). The cables (11) pass through the guides (30) of the fixation labyrinth (18) and through the channels (31) of the forearm back structure (1b), so that said cables (11) pull the anchoring point (19) of the thermoplastic ring (10), applying force to it and assisting in the extension of the finger.

[0052] In a flexion movement, the servomotors (13) rotate in a direction opposite to the direction of extension, decreasing the traction applied to the cables (11), where said cables (11) pass under the pulley assembly (14), towards the thermoplastic rings (10). The cables (11) pass through the guides (30) and channels (31), applying traction at the anchoring point (19) of the thermoplastic ring (10), where this applied traction is reduced as the pulley (14) rotates. In this scenario, the finger structure applies force, and this necessary force is required at a lower intensity as the pulley (14) rotates, following the flexion movement of the finger. Petition 870250011624, dated 12 / 02 / 2025, page 23 / 49 18 / 20

[0053] The auxiliary glove (2) is equipped with a plurality of components, such as sensors (20), emitters, receivers and actuators, which aim to capture the movements of the healthy hand and subsequently transmit them to the exoskeleton circuit (1).

[0054] The auxiliary glove (2) is preferably constructed of a soft fabric, more preferably Neoprene®, and is subdivided into an auxiliary glove for the back of the hand (2a) and a finger support (2b). The auxiliary glove for the back of the hand (2a) has four passage channels (21), one for communication with the finger support (2b) of the thumb, another for the finger support (2b) of the index finger, another for the finger support (2b) of the middle and ring fingers, which work together, and one for the finger support (2b) of the little finger.

[0055] Each of these four passage channels (21) communicates with a sensor (20) located in the respective finger support channel (2b), by means of wires (22), each of the sensors (20) being preferably a Flex type sensor.

[0056] In an extension movement, the healthy finger placed in the auxiliary glove (2) extends, generating a deformation in the sensor (20), resulting in an output signal through the variation in resistance of the sensor itself (20). This signal reaches the control unit (3), where a microcontroller converts the analog signal into a digital signal, and this digital signal is transferred to the microcontroller of the exoskeleton (1) via a ZigBee device.

[0057] The exoskeleton microcontroller (1) receives the signal sent by the auxiliary glove microcontroller (2) and applies a filter, passing the filtered signal to the servomotor (13), defining a position between 0 and 180°. Upon receiving the signal, the servomotor (13) rotates the pulley, pulling the cable (11) and applying force to the anchor point (19) of the respective ring. Petition 870250011624, dated 12 / 02 / 2025, page 24 / 49 19 / 20 thermoplastic (10) of the affected hand, extending it. The same applies to the flexion movement.

[0058] The primary objective of the exoskeleton (1) is to copy the movements of the healthy hand wearing the assistive glove (2), so that such movements are reproduced in the hand with functional impairment and assisting the user in the restoration of daily movements. In this sense, the exoskeleton (1) is designed for the treatment of immobility, inducing movement in an impaired hand.

[0059] For the exoskeleton (1) to function correctly, each time a new user uses it, it must be calibrated so that the servomotors (13) identify the positions corresponding to the conditions of maximum extension and maximum flexion. To perform the calibration of the exoskeleton (1), the control unit (3) has two buttons that must be pressed for two seconds, allowing only one of the servomotors (13) to move. In this condition, the finger corresponding to the servomotor must be extended to the maximum, while a third button on the control unit (3) is pressed, which enables the pulley (14) of the respective servomotor (13) to perform a movement to wind or release the cable (11) until it is properly extended.

[0060] This calibration needs to be performed for each of the fingers of the affected hand, and to move to the next finger, the two initial buttons must be pressed. When all fingers are calibrated, the same two buttons need to be pressed to exit the exoskeleton calibration mode (1).

[0061] In this way, both the auxiliary glove (2) and the exoskeleton itself (1) have simple layouts and are constructed from low-cost materials, favoring their dissemination to various types of target audiences and resulting in an accessible and outstanding product among its peers. Petition 870250011624, dated 12 / 02 / 2025, page 25 / 49 20 / 20

[0062] It should be understood that the present description does not limit the application to the details described herein and that the invention is capable of other embodiments and of being practiced or performed in a variety of ways, within the scope of the claims. Although specific terms have been used, such terms should be interpreted in a generic and descriptive sense, and not for the purpose of limitation. Petition 870250011624, dated 12 / 02 / 2025, p. 26 / 49

Claims

1 / 5 CLAIMS 1. “HAND EXOSKELETON FOR MOVEMENT STIMULATION BY MEANS OF MIRROR NEURON SYSTEM ACTIVATION”, characterized by comprising an exoskeleton (1) and an auxiliary glove (2), to stimulate movement in a hand with hemiparesis, as well as a control unit (3), equipped with two distinct circuits, one circuit for receiving data from the healthy hand, wearing the auxiliary glove (2) and transmitting it to the hand with hemiparesis, wearing the exoskeleton (1); and another circuit for sending data to the healthy hand, wearing the auxiliary glove (2), aiming at the subsequent activation of the exoskeleton (1), enabling the movement performed by the hand wearing the auxiliary glove (2) to be reproduced in the hand wearing the exoskeleton (1).

2. “EXOSKELETON”, according to claim 1, characterized in that the exoskeleton (1) comprises a plurality of thermoplastic rings (10), placed on each phalanx of the thumb, index, middle, ring and little fingers, wherein said thermoplastic rings (10) have a special double figure-eight geometry, wherein said thermoplastic rings (10) are preferably molded at low temperature, by means of a thermoplastic tape similar to a roll of fabric, wherein the fabric is preferably a soft structural fabric of the PLA FLEX, TPU or similar type.

3. “EXOSKELETON”, according to claim 2, characterized in that the exoskeleton (1) is subdivided into two parts, being a backhand structure (1a) and a backhand structure (1b), wherein said structures (1a, 1b) are joined by a set of locks, comprising a central lock (4a) and two lateral locks (4b).

4. “EXOSKELETON”, according to claim 3, characterized in that the forearm back structure (1b) comprises a platform (12), equipped with servomotors (13), pulleys (14), as well as the female portion (4) of the central lock (4a), wherein said forearm back structure (1b) comprises a velcro system (16), located on the curved base (20), next to the lower portion of said platform (12), which serves as an adjustable support for fixing the forearm back structure (1b) to the user's arm, wherein the curved base (20) follows the natural truncated cone shape of the forearm.

5. “EXOSKELETON”, according to claim 3, characterized in that the backhand structure (1a) comprises the male portion of the central lock (4a), as well as the thermoplastic rings (10) relating to each of the fingers of the hand, their respective cables (11) and guide cannulas (15), wherein the backhand structure (1a) comprises a velcro system (17), located on its lower portion, which serves as an adjustable support for fixing the backhand structure (1a) to the user's hand.

6. “EXOSKELETON”, according to claim 5, characterized in that the structure of the back of the hand (1a) further comprises a fixation labyrinth (18), comprising guides (30), in the form of channels, which extend through the fixation labyrinth (18), forming the passage points for the cables (11), coming from the pulleys (14), towards the thermoplastic rings (10).

7. “EXOSKELETON”, according to any of the preceding claims 1 to 6, characterized in that each of the thermoplastic rings (10) comprises a guide cannula (15), equipped with a channel for the passage of a cable (11) for motion transmission, wherein, preferably, said cable (11) for motion transmission is a nylon line, wherein the motion transmission occurs from the servomotor (13) and by means of the motion transmission cable (11), wherein each cable (11) is connected to a servomotor (13) and its specific pulley (14), so that each thermoplastic ring comprises a specific cable (11) for its movement. Petition 870250011624, dated 12 / 02 / 2025, page 28 / 49 3 / 5 8. “EXOSKELETON”, according to any of the preceding claims 1 to 7, characterized in that the movement of the thermoplastic rings (10) of the ring and middle fingers occurs together, by means of cables (11) controlled by the same servomotor (13) and respective pulley (14), wherein the cable (11) is bifurcated for each of the middle and ring fingers, after passing through the fixation labyrinth (18) of the back of the hand structure (1a).

9. “EXOSKELETON”, according to any of the preceding claims 1 to 8, characterized in that the junction between the thermoplastic rings (10) and the guide cannulas (15) is carried out by means of anchoring points (19), configured as two small polymeric rods, in which the thermoplastic rings (10) are joined to the phalanges of the fingers, by means of their double figure eight shape.

10. “EXOSKELETON”, according to any of the preceding claims 1 to 9, characterized in that the platform (12), comprising the structure of the forearm back (1b), is provided with fittings for screw-fixing four servomotors (13), such servomotors (13) being responsible for the movement of the cables (11) for transmitting motion to each thermoplastic ring (10), wherein the platform (12) also comprises four pulleys (14), housed and fixed close to the servomotors (13), each of the pulleys (14) being designed to work with a specific servomotor (13), enabling the movement of the cable (11) for transmitting motion from that said servomotor (13).

11. “EXOSKELETON”, according to any of the preceding claims 1 to 10, characterized in that in an extension movement, the servomotors (13) rotate, pulling the nylon cables (11) on the respective pulley (14), from the bottom of the pulley itself (14), so that the cables (11) pass under the pulley assembly (14), Petition 870250011624, dated 12 / 02 / 2025, page. 29 / 49 4 / 5 coming from the polymer rings (10), located on the fingers, destined for the pulleys (14), wherein the cables (11) pass through the guides (30) of the fixation labyrinth (18) and through the channels (31) of the structure of the back of the forearm (1b), in such a way that said cables (11) pull the anchoring point (19) of the thermoplastic ring (10), applying force to it and assisting in the extension of the finger.

12. “EXOSKELETON”, according to any one of the preceding claims 1 to 11, characterized in that in a bending motion, the servomotors (13) rotate in a direction opposite to the direction of extension, decreasing the traction applied to the cables (11), wherein said cables (11) pass under the pulley assembly (14), towards the thermoplastic rings (10), wherein the cables (11) pass through the guides (30) and channels (31), applying traction at the anchoring point (19) of the thermoplastic ring (10), wherein this applied traction is decreased as the pulley (14) rotates.

13. “EXOSKELETON”, according to claim 1, characterized in that the auxiliary glove (2) is provided with a plurality of components, such as sensors (20), emitters, receivers and actuators, which aim to capture the movements of the healthy hand and subsequent transmission to the exoskeleton circuit (1), wherein the auxiliary glove (2) is preferably constructed of a soft fabric, more preferably Neoprene®, being subdivided into an auxiliary glove for the back of the hand (2a) and a support for the fingers (2b).

14. “EXOSKELETON”, according to claim 13, characterized in that the auxiliary glove on the back of the hand (2a) has four passage channels (21), one for communication with the finger support (2b) of the thumb, another for the finger support (2b) of the index finger, another for the finger support (2b) of the middle and ring finger, which work together, and one for the finger support (2b) of the little finger, wherein one of these four passage channels (21) communicates with a sensor (20) located in the respective finger support channel (2b), by means of wires (22), each of the sensors (20) being preferably a Flex type sensor. 15.“EXOSKELETON”, according to any of the preceding claims 1 to 14, characterized in that in an extension movement, the healthy finger located in the auxiliary glove (2) extends, generating a deformation in the sensor (20), resulting in an output signal through the variation of resistance of the sensor itself (20), wherein this signal reaches the control unit (3), wherein a microcontroller converts the analog signal into a digital signal, this digital signal being transferred to the exoskeleton microcontroller (1) by means of a ZigBee device, the exoskeleton microcontroller (1) receiving the signal sent by the auxiliary glove microcontroller (2) and applying a filter, passing the filtered signal to the servomotor (13), defining a position between 0 and 180°, wherein upon receiving the signal, the servomotor (13) rotates the pulley, pulling the cable (11) and applying force to the anchoring point (19) of the respective ring. thermoplastic (10) of the affected hand, extending it.

16. “EXOSKELETON”, according to any of the preceding claims 1 to 15, characterized in that the activation of the mirror neuron system is achieved through the application of a motor learning program. Petition 870250011624, dated 12 / 02 / 2025, pp. 31 / 49

Images