A wearable stroke rehabilitation device based on flexible tactile sensation

Abstract

The present invention discloses a wearable stroke rehabilitation device based on flexible tactile sensation. A bionic artificial muscle and a sliding block are arranged on one side of the palm body, and a palm tactile massage ball is arranged on the other side. The bionic artificial muscle and the sliding block are spaced apart, and at least three bionic artificial muscles are arranged on the five fingers of the palm body. The palm body and the bionic upper limb are connected by a wrist rotating ring. An air power source supplies air to the bionic artificial muscle. The present invention uses a highly safe alcohol vapor drive device to promote the regeneration of nerve fiber endings through repeated self-training by the patient. The flexible bionic artificial pneumatic muscle drive prevents secondary joint damage, achieving rehabilitation while protecting the patient both physically and psychologically.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation technology, and more particularly to a wearable stroke rehabilitation device based on flexible tactile sensation. Background Art

[0002] In order to solve the increasingly serious problem of my country's aging population, the decline in limb flexibility caused by aging has seriously led to an increasing number of hemiplegic stroke patients. Traditional occupational therapy has long cycles, requires long-term therapists' presence, and the number of patients treated is limited by the number of therapists. Therefore, existing stroke rehabilitation equipment has the following problems:

[0003] 1. Currently, most medical rehabilitation equipment is driven by a purely mechanical motor, which can only rehabilitate larger joints such as the hands or wrists, which require dexterous fingers. The motor is bulky and difficult to install, and its torque is difficult to control, which can easily cause secondary injuries to the patient.

[0004] 2. Currently, there are two main driving control modes: brain nerve control and external specified program control. The former is costly, and the latter forced rehabilitation effect is not ideal.

[0005] 3. Most joint bending detection devices use bending sensors, which have low sensitivity and can only detect 0 to 75°.

[0006] 4. It is difficult to keep the expansion and contraction of the pneumatic muscles in the upper limb rehabilitation arm with self-tensioning wire rope transmission consistent with the rotation angle of the single arm component, and the bending range is fixed and cannot be adjusted.

[0007] Therefore, how to provide a flexible wearable stroke rehabilitation device that avoids secondary injury is an urgent problem that needs to be solved by those skilled in the art. Summary of the Invention

[0008] In view of this, the present invention provides a wearable stroke rehabilitation device based on flexible touch, which uses a highly safe alcohol vapor drive device to promote the regeneration of nerve fiber endings through repeated autonomous training of patients, and uses a flexible structure of bionic artificial pneumatic muscle drive to avoid secondary injury to joints. The training device has both the stability of a rigid structure and the comfort of a flexible structure, protecting patients physiologically and psychologically while achieving rehabilitation effects.

[0009] In order to achieve the above object, the present invention provides the following technical solutions:

[0010] A wearable stroke rehabilitation device based on flexible touch comprises: an air power source, a bionic spine, a bionic shoulder, a bionic upper limb and a bionic hand; the bionic spine is connected to the bionic upper limb via the bionic shoulder; the bionic hand comprises: a palm body, a wrist rotating ring, a bionic artificial muscle, a sliding block and a palm tactile massage ball; the bionic artificial muscle and the sliding block are arranged on one side of the palm body, and the palm tactile massage ball is arranged on the other side; the bionic artificial muscle and the sliding block are arranged at intervals, and at least three bionic artificial muscles are arranged on the five fingers of the palm body; the palm body and the bionic upper limb are connected via the wrist rotating ring; the air power source inputs air to the bionic artificial muscle.

[0011] Through the above technical solution, the technical effect of the present invention is that: each finger adopts three airbags to realize independent driving of multiple joints, and the airbags are equipped with sliding pairs, so that no friction is generated between the driver and the finger surface when the finger is bent; through the patient's repeated autonomous training to promote the regeneration of nerve fiber endings, a training device with a flexible structure of bionic artificial pneumatic muscle drive is used to avoid secondary injury to the joints. It has both the stability of a rigid structure and the comfort of a flexible structure, and protects the patient physiologically and psychologically while achieving rehabilitation effects.

[0012] Preferably, in the above-mentioned wearable stroke rehabilitation device based on flexible tactile sensation, the bionic spine includes: pneumatic tendons, human bionic spine, monofilament nylon relative displacement inner wire, pneumatic tendon adjustment movable pulley and pneumatic tendon adjustment fixed pulley; the pneumatic tendons are distributed on both sides of the human bionic spine and are connected to the air power source through a switch solenoid valve; the pneumatic tendon adjustment movable pulley is provided at the top of the pneumatic tendon; the pneumatic tendon adjustment fixed pulley is fixed on the upper arm support rod; one end of the monofilament nylon relative displacement inner wire is fixed to the upper end of the pneumatic tendon adjustment movable pulley, bypasses the pneumatic tendon adjustment fixed pulley, and then bypasses the lower end of the pneumatic tendon adjustment movable pulley, and then passes through the baffle to enter the monofilament nylon relative displacement outer wire.

[0013] The technical advantages of the present invention are: the pneumatic tendon can be amplified by adjusting the movable pulley, and the pneumatic tendon can be adjusted to suit different users and adjust the range of joint motion. By adjusting the position of the pneumatic tendon adjustment fixed pulley on the upper arm support rod, rehabilitation training can be achieved within a specified range for each joint.

[0014] Preferably, in the above-mentioned wearable stroke rehabilitation device based on flexible tactile sensation, the bionic shoulder includes: a shoulder fixing reinforcement and a shoulder fixing connector; the two ends of the shoulder fixing reinforcement and the shoulder fixing connector are respectively fixed on the bionic spine and the bionic upper limb; the monofilament nylon relative displacement outer line is fixed to the shoulder fixing reinforcement, and the monofilament nylon relative displacement inner line passes through the shoulder fixing reinforcement and is connected to the upper arm fitting rod, and the monofilament nylon relative displacement inner line pulls the upper arm fitting rod so that the angle range between it and the shoulder fixing reinforcement is 90° to 0°.

[0015] Through the above technical solution, the technical effect of the present invention is that the bionic shoulder adopts a suspended support mechanism to disperse the force of the shoulder to the human bionic spine, thereby improving comfort and avoiding the movement error of the shoulder caused by the different inclination angles when the upper arm is lowered and raised.

[0016] Preferably, in the above-mentioned wearable stroke rehabilitation device based on flexible tactile sensation, the bionic upper limb includes an upper arm support rod, an upper arm fitting rod, an elbow rotation structure, a forearm support rod and a forearm fixed sliding member; the upper arm support rod is connected to the shoulder fixed connecting member, the upper arm fitting rod is fixed to the upper arm support rod, and an elbow rotation structure is provided at the top end of the upper arm fitting rod; one end of the forearm support rod is connected to the upper arm fitting rod through the elbow rotation mechanism, and the other end is fixedly connected to the wrist rotation ring through the forearm fixed sliding member.

[0017] Preferably, in the above-mentioned wearable stroke rehabilitation device based on flexible tactile sensation, the elbow rotation structure includes: an elbow rotation block and an elbow shell; the forearm fixing sliding member is fixed to the elbow rotation block; the elbow shell is fixed to the upper arm fitting rod; the monofilament nylon relative displacement inner line of the pneumatic tendon adjusting movable pulley and the monofilament nylon relative displacement inner line connecting the pneumatic tendon are respectively fixed at both ends of the elbow rotation block.

[0018] Through the above technical solution, the technical effect of the present invention is that: the elbow is designed with an implicit limit automatic straightening mechanism, and under the drive of the inner line of the relative displacement of the monofilament nylon, the front forearm bends, and at the same time the upper arm rotating disk and the forearm rotating disk produce axial displacement due to rotation. After the inner and outer lines of the relative displacement are relaxed, the two rotating disks restore the relative displacement, allowing the forearm to be lowered again.

[0019] Preferably, in the above-mentioned wearable stroke rehabilitation device based on flexible touch, the bionic artificial muscle and the palm tactile massage ball are hollow structures and have volatile liquid built in; and the volatile liquid is heated by a heating circuit.

[0020] Through the above technical solution, the technical effect of the present invention is: the bending state of the affected finger and the state of holding the object are detected by the silicone pressure sensor, and the signals are sent to the finger bending driver and the tactile massage ball respectively.

[0021] Preferably, in the above-mentioned wearable stroke rehabilitation device based on flexible tactile sensation, the bionic artificial muscle and the sliding block form a sliding pair; the small cylinder connected inside the sliding block is sleeved in a sleeve on the outside of the sliding block.

[0022] Through the above technical solution, the technical effect of the present invention is that a sliding pair is formed between the multi-joint driving muscle and the sliding block, so that the finger bending angle is larger and the bending is smoother.

[0023] Preferably, in the above-mentioned wearable stroke rehabilitation device based on flexible tactile sensation, it also includes a limit block; there are at least two limit blocks, which are respectively fixed on the forearm support rod and the upper arm fitting rod.

[0024] Through the above technical solution, the technical effect of the present invention is that the patient's arm can be restricted to move synchronously with the device.

[0025] Preferably, the above-mentioned wearable stroke rehabilitation device based on flexible touch further includes a silicone pressure sensor, and a plurality of the silicone pressure sensors are provided and installed on the bionic upper limb and bionic hand to contact the user.

[0026] Through the above technical solution, the technical effect of the present invention is: according to the size and structure of the joint, a suitable wearable fitting shape is modulated with silicone, a bidirectional diaphragm is embedded in the protruding position when the joint bends, and the diaphragm is squeezed when the joint bends, causing the diaphragm to undergo a micro-displacement proportional to the pressure during bending, causing the resistance of the silicone sensor to change. This change is detected by an electronic circuit and converted into an output corresponding bending standard signal, which can detect a bending range of -180° to 180°.

[0027] Preferably, in the above-mentioned wearable stroke rehabilitation device based on flexible touch, it also includes a central controller; the central controller is connected to the switch battery valve to control the start and stop of the air power source; and at the same time, it is electrically connected to the silicone pressure sensor to control the contraction and expansion of the bionic artificial muscle and the palm tactile massage ball.

[0028] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a wearable stroke rehabilitation device based on flexible touch, which uses a highly safe alcohol vapor drive device to promote the regeneration of nerve fiber endings through repeated autonomous training of patients, and a training device that uses a flexible structure of bionic artificial pneumatic muscle drive to avoid secondary injury to joints. It has both the stability of a rigid structure and the comfort of a flexible structure, protecting patients physiologically and psychologically while achieving rehabilitation effects. The switch battery valve is connected to the central controller. When the silicone pressure sensor detects that the joint is moving and bending, the central controller controls the switch solenoid valve to open, and the air power source, the switch solenoid valve, and the pneumatic tendon are connected to form an air circuit. When the switch solenoid valve is opened, the air power source inputs air to the pneumatic tendon, causing the pneumatic tendon to expand and shorten. The pneumatic tendon, the movable pulley of the pneumatic tendon adjustment structure, the fixed pulley of the pneumatic tendon adjustment structure, and the monofilament nylon relative displacement inner line are respectively connected to the upper arm fitting rod, the elbow rotating disk, and the wrist rotating ring. The shortening of the pneumatic tendon causes the monofilament nylon relative displacement inner line and the monofilament nylon relative displacement outer line to displace relative to each other, so that the shoulder can be lifted and lowered, the elbow can be bent and straightened, and the wrist can be rotated and swung. When the hand picks up an object, the silicone pressure sensor detects the finger bending angle and the pressure state inside the palm, and inputs the signal into the central controller to output current, so that the circuit resistors in the bionic artificial muscle and the palm tactile massage ball are heated by the current, causing the alcohol inside to evaporate and increase pressure, causing the bionic artificial muscle and the palm tactile massage ball to expand. The bionic artificial muscle and the sliding block are connected to form a sliding pair, and when the bionic artificial muscle expands, it slides with the sliding block. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0030] Figure 1 The accompanying drawings are schematic structural diagrams of the present invention;

[0031] Figure 2 The accompanying drawing is a schematic diagram of the relative displacement inner line routing of the monofilament nylon of the bionic spine of the present invention;

[0032] Figure 3 The accompanying drawing is a schematic diagram of the elbow rotation structure of the present invention;

[0033] Figure 4 The accompanying drawing is a schematic diagram of the simulated shoulder structure of the present invention;

[0034] Figure 5The accompanying drawing is a schematic diagram of the wrist rotating ring structure of the present invention;

[0035] Figure 6 The accompanying drawing is a schematic diagram of a heating circuit of the present invention;

[0036] Figure 7 The accompanying drawing is a schematic diagram of the finger structure of the present invention. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] An embodiment of the present invention discloses a wearable stroke rehabilitation device based on flexible tactile sensation. The device uses a highly safe alcohol vapor drive device to promote the regeneration of nerve fiber endings through repeated autonomous training of patients. The device uses a bionic artificial pneumatic muscle drive with a flexible structure to avoid secondary injury to the joints. The device combines the stability of a rigid structure with the comfort of a flexible structure, protecting patients physiologically and psychologically while achieving rehabilitation effects.

[0039] like Figure 1 As shown, a wearable stroke rehabilitation device based on flexible touch includes: an air power source 1, a bionic spine, a bionic shoulder, a bionic upper limb and a bionic hand; the bionic spine is connected to the bionic upper limb through the bionic shoulder; the bionic hand includes: a palm body, a wrist rotating ring 14, a bionic artificial muscle 15, a sliding block 16 and a palm tactile massage ball 17; the bionic artificial muscle 15 and the sliding block 16 are arranged on one side of the palm body, and the palm tactile massage ball 17 is arranged on the other side; the bionic artificial muscle 15 and the sliding block 16 are arranged at intervals, and at least three bionic artificial muscles 15 are arranged on the five fingers of the palm body; the palm body and the bionic upper limb are connected through the wrist rotating ring 14; the air power source 1 inputs air to the bionic artificial muscle 15.

[0040] In order to further optimize the above technical solution, Figure 1 and 2As shown, the bionic spine includes: pneumatic tendons 3, human bionic spine 4, monofilament nylon relative displacement inner line 8, monofilament nylon relative displacement outer line 10, pneumatic tendon adjustment movable pulley 5 and pneumatic tendon adjustment fixed pulley 6; the pneumatic tendons 3 are distributed on both sides of the human bionic spine 4, and are connected to the air power source 1 through the switch solenoid valve 2; the top of the pneumatic tendon 3 is provided with a pneumatic tendon adjustment movable pulley 5; the pneumatic tendon adjustment fixed pulley 6 is fixed on the upper arm support rod 18; one end of the monofilament nylon relative displacement inner line 8 is fixed to the upper end of the pneumatic tendon adjustment movable pulley 5, passes around the pneumatic tendon adjustment fixed pulley 6, then passes around the lower end of the pneumatic tendon adjustment movable pulley 5, and then passes through the baffle to enter the monofilament nylon relative displacement outer line 10.

[0041] In order to further optimize the above technical solution, Figure 1 As shown, the bionic upper limb includes an upper arm support rod 18, an upper arm fitting rod 11, an elbow rotation structure 12, a forearm support rod and a forearm fixed sliding part 13; the upper arm support rod 18 is connected to the shoulder fixed connecting part 9, the upper arm fitting rod 11 is fixed to the upper arm support rod 18, and the top of the upper arm fitting rod 11 is provided with an elbow rotation structure 12; one end of the forearm support rod is connected to the upper arm fitting rod 11 through the elbow rotation mechanism, and the other end is fixedly connected to the wrist rotation ring 14 through the forearm fixed sliding part 13.

[0042] In order to further optimize the above technical solution, Figure 1 and 4 As shown, the bionic shoulder includes: a shoulder fixing reinforcement 7 and a shoulder fixing connecting member 9; the two ends of the shoulder fixing reinforcement 7 and the shoulder fixing connecting member 9 are respectively fixed on the bionic spine and the bionic upper limb; the monofilament nylon relative displacement outer line 10 is fixed to the shoulder fixing reinforcement 7, and the monofilament nylon relative displacement inner line 8 passes through the shoulder fixing reinforcement 7 and is connected to the upper arm fitting rod 11. The monofilament nylon relative displacement inner line 8 pulls the upper arm fitting rod 11 so that the angle range between it and the shoulder fixing reinforcement 7 is 90°~0°.

[0043] In order to further optimize the above technical solution, Figure 1 and 3 As shown, the elbow rotation structure 12 includes: an elbow rotation block 122 and an elbow shell 121; the forearm fixing slide 13 is fixed to the elbow rotation block 122; the elbow shell 121 is fixed to the upper arm fitting rod 11; the monofilament nylon relative displacement inner line 8 of the pneumatic tendon adjusting movable pulley 5 and the monofilament nylon relative displacement inner line 8 connected to the pneumatic tendon 3 are respectively fixed at both ends of the elbow rotation block 122.

[0044] In order to further optimize the above technical solution, the bionic artificial muscle and palm tactile massage ball 17 is a hollow structure with built-in volatile liquid; at the same time, the volatile liquid is heated by a heating circuit.

[0045] In order to further optimize the above technical solution, Figure 6 As shown, the heating circuit uses an Arduino mega2560 controller 19, and the AD pin of the controller 19 is connected to a silicone pressure sensor 21; the digital pin of the controller 19 is connected to a ULN2003 driver 20, and the ULN driver 20 drives a heating resistor 22; the heating resistor is in contact with volatile alcohol.

[0046] In order to further optimize the above technical solution, Figure 5 As shown, the monofilament nylon relative displacement outer line 10 is fixed to the bottom end of the outer part 141 of the wrist rotating ring, and the monofilament nylon relative displacement inner line 8 passes through the bottom end of the outer part 141 of the wrist rotating ring and is connected to the upper end of the inner part 142 of the wrist rotating ring. The monofilament nylon relative displacement inner line 8 pulls the upper end of the inner part 142 of the wrist rotating ring to make it close to the bottom end of the outer part 141 of the wrist rotating ring, causing axial displacement to realize wrist rotation.

[0047] In order to further optimize the above technical solution, Figure 7 As shown, the bionic artificial muscle 15 and the sliding block 16 form a sliding pair; the sliding pair is supported by a basic skeleton, and the small cylinder 161 on the basic skeleton matches the sleeve 162. When the bionic artificial muscle 15 expands, the slider slides relatively without generating friction with the finger.

[0048] In order to further optimize the above technical solution, a limit block piece is also included; there are at least two limit block pieces, which are respectively fixed on the forearm support rod and the upper arm fitting rod 11.

[0049] In order to further optimize the above technical solution, a silicone pressure sensor 21 is further included. A plurality of silicone pressure sensors 21 are provided and installed on the bionic upper limb and bionic hand to contact the user.

[0050] In order to further optimize the above technical solution, a central controller is also included; the central controller is connected to the switch solenoid valve 2 to control the start and stop of the air power source 1.

[0051] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0052] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A wearable stroke rehabilitation device based on flexible tactile sensation, characterized in that: include: Air power source, bionic back, bionic shoulders, bionic upper limbs, bionic hands, silicone pressure sensors and central controller; The bionic back is connected to the bionic upper limb through the bionic shoulder; the bionic hand includes: a palm body, a wrist rotating ring, a bionic artificial muscle, a sliding block and a palm tactile massage ball; The bionic artificial muscle and the sliding block are arranged on one side of the palm body, and the palm tactile massage ball is arranged on the other side; the bionic artificial muscle and the sliding block are arranged at intervals, and at least three bionic artificial muscles are arranged on each of the five fingers of the palm body; the palm body and the bionic upper limb are connected to the wrist rotating ring; the bionic artificial muscle and the palm tactile massage ball are hollow structures and contain volatile liquid; the volatile liquid is heated by a heating circuit at the same time, causing the bionic artificial muscle and the palm tactile massage ball to expand; the bionic artificial muscle and the sliding block form a sliding pair; the small cylinder connected to the sliding block is sleeved in the sleeve on the outside of the sliding block, and the bionic artificial muscle slides with the sliding block when it expands; a plurality of silicone pressure sensors are provided, installed on the bionic upper limb and bionic hand, and in contact with the user; the central controller is connected to the switch battery valve to control the start and stop of the air power source, and is also electrically connected to the silicone pressure sensor to control the contraction and expansion of the bionic artificial muscle and the palm tactile massage ball.

2. A wearable stroke rehabilitation device based on flexible tactile sensation according to claim 1, characterized in that: The bionic spine comprises: a pneumatic tendon, a human bionic spine, a monofilament nylon relative displacement inner line, a monofilament nylon relative displacement outer line, a pneumatic tendon adjustment movable pulley and a pneumatic tendon adjustment fixed pulley; the pneumatic tendons are distributed on both sides of the human bionic spine and are connected to the air power source via a switch solenoid valve; the pneumatic tendon adjustment movable pulley is provided at the top end of the pneumatic tendon; the pneumatic tendon adjustment fixed pulley is fixed on the upper arm support rod; one end of the monofilament nylon relative displacement inner line is fixed to the upper end of the pneumatic tendon adjustment movable pulley, passes around the pneumatic tendon adjustment fixed pulley, then passes around the lower end of the pneumatic tendon adjustment movable pulley, and then passes through the baffle to enter the monofilament nylon relative displacement outer line; The bionic upper limb includes an upper arm support rod, an upper arm fitting rod, an elbow rotation structure, a forearm support rod and a forearm fixed sliding member; the upper arm support rod is connected to the shoulder fixed connecting member, the upper arm fitting rod is fixed to the upper arm support rod, and the top end of the upper arm fitting rod is provided with an elbow rotation structure; one end of the forearm support rod is connected to the upper arm fitting rod through the elbow rotation structure, and the other end is fixedly connected to the wrist rotation ring through the forearm fixed sliding member; The bionic shoulder includes: a shoulder fixing reinforcement and a shoulder fixing connecting member; the two ends of the shoulder fixing reinforcement and the shoulder fixing connecting member are respectively fixed on the bionic spine and the bionic upper limb; the monofilament nylon relative displacement outer line is fixed to the shoulder fixing reinforcement, and the monofilament nylon relative displacement inner line passes through the shoulder fixing reinforcement and is connected to the upper arm fitting rod, and the monofilament nylon relative displacement inner line pulls the upper arm fitting rod so that the angle range between it and the shoulder fixing reinforcement is 90°~0°.

3. The wearable stroke rehabilitation device based on flexible tactile sensation according to claim 2, characterized in that: The elbow rotation structure includes: an elbow rotation block and an elbow shell; the forearm fixing sliding member is fixed to the elbow rotation block; the elbow shell is fixed to the upper arm fitting rod; the monofilament nylon relative displacement inner line of the pneumatic tendon regulating movable pulley and the monofilament nylon relative displacement inner line connected to the pneumatic tendon are respectively fixed at both ends of the elbow rotation block.

4. The wearable stroke rehabilitation device based on flexible tactile sensation according to claim 2, characterized in that: It also includes a limit block; there are at least two limit blocks, which are respectively fixed on the forearm support rod and the upper arm fitting rod.

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