Elliptical bellows bending actuator and wearable finger flexion and extension rehabilitation device

Abstract

The present invention discloses an elliptical bellows bending actuator and a wearable finger flexion and extension rehabilitation device, wherein the elliptical bellows bending actuator includes an elliptical bellows and a joint fixator. The elliptical bellows has a closed end and an open end. The open end is suitable for connecting to an inflation device to inflate the elliptical bellows through the inflation device. The cross-section of the elliptical bellows is elliptical, so that the elliptical bellows bends around an axis that is generally parallel to the long axis of the ellipse when inflated. The joint fixator is provided on the elliptical bellows and is suitable for being fixed on a wearable carrier. The elliptical bellows bending actuator and the wearable finger flexion and extension rehabilitation device provided according to the embodiments of the present invention have a single bending direction without external constraints, better flexibility, and better rehabilitation training effect. In addition, since no external constraints are required, the structure is simplified, so that the fingers can bend freely in the narrow space of the hand without interference and other problems.

Description

Technical Field

[0001] The present invention relates to a rehabilitation treatment device, in particular to an elliptical bellows bending actuator and a wearable finger flexion and extension rehabilitation device. Background Art

[0002] Stroke is characterized by high morbidity, mortality, and disability rates. According to statistics, approximately 15 million stroke patients are diagnosed in China. Currently, stroke is one of the leading causes of hand dysfunction. Stroke patients can experience a variety of neurological deficits, with hemiplegia and movement disorders being the most common. These symptoms are manifested by overactivation of flexor muscles and a strength imbalance between antagonistic muscle groups, resulting in a constant flexion of the hand and wrist, preventing the fingers and wrist from extending.

[0003] Clinical studies have shown that constrained movement therapy is an effective neurological rehabilitation method, promoting the recovery of hand dysfunction in stroke patients at all stages. Related technologies, based on the principle of hand joint function, use finger flexion and extension actuators to enable patients to perform constrained hand muscle movements. However, the inventors discovered that these finger flexion and extension actuators lacked flexibility and were difficult to adapt to the confined space of the hand. Summary of the Invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, one object of the present invention is to provide an elliptical bellows bending actuator.

[0005] Another object of the present invention is to provide a wearable finger flexion and extension rehabilitation device.

[0006] To achieve the above objectives, on the one hand, an elliptical bellows bending actuator according to an embodiment of the present invention includes:

[0007] an elliptical bellows having a closed end and an open end, the open end being adapted to be connected to an inflation device for inflating the elliptical bellows via the inflation device, the elliptical bellows being elliptical in cross-section so as to bend about an axis generally parallel to the major axis of the ellipse when inflated;

[0008] A joint fixator is provided on the elliptical bellows and is suitable for being fixed on a wearable carrier.

[0009] In addition, the elliptical bellows bending actuator according to the above embodiment of the present invention may also have the following additional technical features:

[0010] According to one embodiment of the present invention, the elliptical corrugated tube includes a plurality of folds, and the plurality of folds are connected in sequence;

[0011] Each of the folds has a crest circle and a trough circle located on both sides of the crest circle, and a ratio of a major axis to a minor axis of the crest circle and each of the two trough circles is greater than 2:1.

[0012] According to one embodiment of the present invention, the joint fixator includes a base joint fixator, an intermediate joint fixator and a terminal joint fixator, and the base joint fixator, the intermediate joint fixator and the terminal joint fixator are sequentially arranged on the elliptical corrugated tube at intervals, wherein the number of the intermediate joint fixator is one or two.

[0013] According to one embodiment of the present invention, when there is one intermediate joint fixator, the elliptical corrugated tube includes a base end tube segment and a terminal tube segment connected to each other, the base end joint fixator is provided at the base end of the base end tube segment, the intermediate joint fixator is provided at the connection between the base end tube segment and the terminal tube segment, and the terminal joint fixator is provided at the terminal end of the terminal tube segment;

[0014] When there are two intermediate joint fixers, the elliptical corrugated tube includes a base end tube segment, an intermediate tube segment and a terminal tube segment connected in sequence, the base end joint fixer is arranged at the base end of the base end tube segment, one of the two intermediate joint fixers is arranged at the connection between the base end tube segment and the intermediate tube segment, the other of the intermediate joint fixers is arranged at the connection between the terminal tube segment and the intermediate tube segment, and the terminal joint fixer is arranged at the terminal of the terminal tube segment.

[0015] According to one embodiment of the present invention, each of the base joint fixator, the intermediate joint fixator and the end joint fixator comprises:

[0016] A base, the base being adapted to be fixed to the wearable carrier, the base having a sleeve hole extending along a first direction and a clamping hole extending along a second direction and extending through the sleeve hole, the second direction being perpendicular to the first direction, the elliptical bellows being passed through the sleeve hole;

[0017] The buckle is clamped in the clamping hole and clamps and fixes the elliptical corrugated tube in the sleeve hole.

[0018] According to one embodiment of the present invention, the buckle includes a crown and two edge portions, the crown is detachably fixed in the clamping hole, the two edge portions are located on both sides of the crown and are formed into an elliptical arc shape, and the edge portions are abutted against the elliptical bellows to clamp and fix the elliptical bellows.

[0019] According to one embodiment of the present invention, the base is provided with a first pin hole extending along a first direction, and the crown is provided with a second pin hole;

[0020] The buckle further includes a positioning pin, which is inserted into the first pin hole and the second pin hole to fix the crown in the buckle hole.

[0021] According to one embodiment of the present invention, the base has a concave surface suitable for fitting with the back of a finger.

[0022] On the other hand, a wearable finger flexion and extension rehabilitation device according to an embodiment of the present invention includes:

[0023] A wearable carrier, suitable for being worn on a hand;

[0024] The elliptical bellows bending actuator as described above, wherein the joint fixator of the elliptical bellows bending actuator is fixed on the wearable carrier.

[0025] According to one embodiment of the present invention, an inflation device is further included, which is connected to the open end of the elliptical bellows through an air tube to inflate air into the elliptical bellows, forcing the elliptical bellows bending actuator to perform flexion and extension movements.

[0026] According to the elliptical bellows bending actuator and wearable finger flexion and extension rehabilitation device provided by embodiments of the present invention, the cross-section of the elliptical bellows in the elliptical bellows bending actuator is elliptical. When inflated, the elliptical bellows with an elliptical cross-section can bend in a certain direction and simultaneously expand and contract. Thus, during finger joint rotation, the elliptical bellows bending actuator effectively replaces various existing actuators. Without the use of external constraints, it maintains a single bending direction, resulting in improved flexibility and rehabilitation training results. Furthermore, since no external constraints are required, the structure is simplified, allowing the fingers to bend freely within the confined space of the hand without interference or other problems.

[0027] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] 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 only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0029] Figure 1 Schematic diagram of the structure of an elliptical bellows bending actuator according to an embodiment of the present invention;

[0030] Figure 2 This is an exploded view of an elliptical bellows bending actuator according to an embodiment of the present invention;

[0031] Figure 3 This is a schematic structural diagram of an elliptical bellows bending actuator in a bent state according to an embodiment of the present invention;

[0032] Figure 4 is a cross-sectional view of an elliptical bellows in an elliptical bellows bending actuator according to an embodiment of the present invention;

[0033] Figure 5 yes Figure 4 A partial enlarged view of point A in the middle;

[0034] Figure 6 Schematic diagram of the structure of a wearable finger flexion and extension rehabilitation device according to an embodiment of the present invention.

[0035] Reference numerals:

[0036] Elliptical bellows bending actuator 100;

[0037] Oval bellows 10;

[0038] Closed end D10;

[0039] Open end D11;

[0040] a folded portion 101;

[0041] crest circle 101a;

[0042] Trough circle 101b;

[0043] Base end tube section 10a;

[0044] Intermediate pipe section 10b;

[0045] terminal pipe section 10c;

[0046] Joint fixator 20;

[0047] proximal joint fixator 20a;

[0048] Intermediate joint fixator 20b;

[0049] End joint fixator 20c;

[0050] Base 201;

[0051] Concave arc surface S201;

[0052] Insert hole H201;

[0053] Card hole H202;

[0054] First pin hole H203;

[0055] Buckle 202;

[0056] Crown 2021;

[0057] Border Department 2022;

[0058] Second pin hole H204;

[0059] Positioning pin 203;

[0060] Wearable carrier 300.

[0061] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0062] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0063] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "circumferential", "radial", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0064] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0065] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0066] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0067] Compared to rehabilitation of other parts of the hand, hand joint rehabilitation places higher demands on mechanical structure design. With the exception of the thumb, each finger has three independently movable joints. When the four fingers are naturally together, they are in close contact with each other. For an adult male, for example, the finger length ranges from 70 to 100 mm. The finger flexion and extension mechanism must be able to rotate the three joints within a range shorter than the finger length. When the palm is extended or clenched, the fingertips rotate approximately 240 degrees, with an average of 80 degrees per joint. Therefore, specialized actuators are required to drive the finger joints to rotate. Furthermore, to ensure that the fingers can remain together after wearing the device, the connecting components and fixing structures must be designed to prevent interference when the fingers are brought together.

[0068] In the hand rehabilitation equipment in the related art, the push-type or pull-type actuators adopted all use an equal-diameter circular bellows structure or a pulley-wire structure. The wire-wire actuator can only provide tension to drive the joint to rotate, and cannot provide support for the finger joints, which causes certain damage to the patient's joints. The push-type actuator is a cylindrical equal-diameter bellows. When it is constrained at both ends, the direction of its bending cannot be determined (that is, it has an undirected bending characteristic). When this type of elastic bellows acts on the finger joints and is used for rotational motion, it is required to provide a single degree of freedom of bending. In the absence of constraints, the cylindrical bellows cannot achieve the above functions. When the blow-molded bellows is used as an actuator for the rotating joint, the cylindrical structure itself has the characteristic of uncertain bending, and corresponding lateral constraints must be designed on the mechanical structure.

[0069] Furthermore, fingers have a limited width. If the lateral restraint design exceeds the finger width, it will inevitably cause interference between the fingers, preventing them from closing together. If the lateral restraint design is within the finger width, it will occupy the diameter of the cylindrical bellows, resulting in reduced thrust under the same air (hydraulic) pressure.

[0070] The elliptical bellows bending actuator 100 and the wearable finger flexion and extension rehabilitation device according to embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0071] Reference Figures 1 to 5 As shown, an elliptical bellows bending actuator 100 provided according to an embodiment of the present invention includes an elliptical bellows 10 and a joint fixator 20 .

[0072] Specifically, the elliptical bellows 10 has a closed end D10 and an open end D11. The open end D11 is adapted to be connected to an inflatable device for inflating the elliptical bellows 10. The elliptical bellows 10 has an elliptical cross-section, allowing it to bend about an axis generally parallel to the major axis of the ellipse when inflated. Preferably, the elliptical bellows 10 can be a blow-molded bellows, which offers superior bending and expansion properties.

[0073] The joint fixator 20 is mounted on the elliptical bellows 10 and is adapted to be fixed to a wearable carrier 300. The joint fixator 20 secures the elliptical bellows 10 to the wearable carrier 300 and provides an attachment point for push and pull forces on the elliptical bellows 10. The wearable carrier 300 may be, but is not limited to, a glove, a finger cot, or the like.

[0074] It should be noted that, according to the relevant research of the inventors, in the related technology, when a cylindrical bellows 10 is used as an actuator, the cylindrical structure itself has the characteristic of uncertain bending. When the bellows is inflated, it is difficult to achieve unidirectional bending around the bending direction of the finger. Therefore, in order for the cylindrical bellows to achieve unidirectional bending, corresponding lateral constraints must be designed on the mechanical structure. This lateral constraint structure will inevitably make the structure more complex and increase the size. However, the width of the finger is limited. The complex structure and large size lead to inevitable interference when the finger bends.

[0075] Based on the above research findings, the inventors conducted further research and experiments, and improved the shape of the corrugated tube. Specifically, the cross-sectional shape of the corrugated tube was changed to an elliptical shape. In this case, the cross-sectional shape of the corrugated tube has a major axis and a minor axis. In the experiment, the corrugated tube was fixed to the wearable carrier 300 via a joint fixator 20. The wearable carrier 300 was then worn on the patient's hand. Then, an inflatable device was used to inflate the corrugated tube. The elliptical corrugated tube 10 was bent about an axis parallel to the major axis of the ellipse. In other words, the elliptical corrugated tube 10 was able to bend unidirectionally along the direction of finger bending, and the bending action was soft and smooth.

[0076] According to the elliptical bellows bending actuator 100 provided by an embodiment of the present invention, the cross-section of the elliptical bellows 10 is elliptical. When inflated, the elliptical bellows 10 can bend in a certain direction and simultaneously expand and contract. Thus, during finger joint rotation, the elliptical bellows bending actuator 100 can effectively replace various existing actuators. Without the use of external constraints, it has a single bending direction, provides greater flexibility, and improves rehabilitation training effects. Furthermore, since no external constraints are required, the structure is simplified, allowing the fingers to bend freely in the confined space of the hand without interference or other problems.

[0077] Reference Figures 4 and 5 As shown, in some embodiments of the present invention, the elliptical corrugated tube 10 includes a plurality of corrugated portions 101, and the plurality of corrugated portions 101 are connected in sequence; each of the corrugated portions 101 has a crest circle 101a and a trough circle 101b located on both sides of the crest circle 101a, and the ratio of the major axis to the minor axis of the crest circle 101a and each of the two trough circles 101b is greater than 2:1.

[0078] In this embodiment, the peaks 101a and troughs 101b of the pleated portion 101 are both ellipses with the same major-to-minor axis ratio. The peaks 101a and troughs 101b are connected to form a conical surface. Furthermore, the inventors' experimental research has found that when the major-to-minor axis ratio of both the peaks 101a and troughs 101b is greater than 2:1, the elliptical bellows 10 can bend more gently and smoothly in one direction.

[0079] It can be understood that the ratio of the major axis to the minor axis of the peak circle 101a and the trough circle 101b should not be greater than 4:1. In this way, the flexibility of the bending of the elliptical bellows 10 can be taken into account while ensuring that the elliptical bellows 10 has appropriate strength, so that the elliptical bellows 10 can drive the finger to bend and be able to reset.

[0080] Reference Figures 1 to 3As shown, in one embodiment of the present invention, the joint fixator 20 includes a base joint fixator 20a, an intermediate joint fixator 20b and a terminal joint fixator 20c, and the base joint fixator 20a, the intermediate joint fixator 20b and the terminal joint fixator 20c are arranged in sequence on the elliptical corrugated tube 10, wherein the intermediate joint fixator 20b is one or two.

[0081] Correspondingly, when there is one intermediate joint fixer 20b, the elliptical corrugated tube 10 includes a connected base end pipe segment 10a and a terminal pipe segment 10c, the base end joint fixer 20a is arranged at the base end of the base end pipe segment 10a, the intermediate joint fixer 20b is arranged at the connection between the base end pipe segment 10a and the terminal pipe segment 10c, and the terminal joint fixer 20c is arranged at the terminal end of the terminal pipe segment 10c.

[0082] When there are two intermediate joint fixers 20b, the elliptical corrugated tube 10 includes a base end pipe segment 10a, an intermediate pipe segment 10b and a terminal pipe segment 10c connected in sequence, the base end joint fixer 20a is arranged at the base end of the base end pipe segment 10a, one of the two intermediate joint fixers 20b is arranged at the connection between the base end pipe segment 10a and the intermediate pipe segment 10b, the other of the intermediate joint fixers 20b is arranged at the connection between the terminal pipe segment 10c and the intermediate pipe segment 10b, and the terminal joint fixer 20c is arranged at the terminal of the terminal pipe segment 10c.

[0083] According to the structure of the human palm, except for the thumb which is composed of the "coxa" and "distal", the other fingers (index finger, middle finger, ring finger and little finger) are all composed of the "coxa", "middle" and "distal", and each bone is connected by joints.

[0084] In this embodiment, the joint fixator includes a base joint fixator 20a, an intermediate joint fixator 20b and a terminal joint fixator 20c, wherein there may be one or two intermediate joint fixators 20b.

[0085] In a specific application, when the elliptical bellows bending actuator 100 is used on the thumb, to ensure proper fit, a single intermediate joint fixator 20b is provided. Furthermore, the elliptical bellows 10 is configured as a two-section structure consisting of a connected base tube section 10a and a terminal tube section 10c. This two-section structure is compatible with the coxa and distal vertebrae of the thumb. The base joint fixator 20a is located at the base end of the base tube section 10a, the intermediate joint fixator 20b is located at the connection between the base tube section 10a and the distal vertebrae 10c, and the distal joint fixator 20c is located at the distal end of the distal tube section 10c. When worn, the base joint fixator 20a is located at the base end of the coxa, the intermediate joint fixator 20b is located at the joint between the coxa and distal vertebrae, and the distal joint fixator 20c is located at the distal end of the distal vertebra.

[0086] When the elliptical bellows bending actuator 100 is used for fingers other than the thumb, two intermediate joint fixators 20b are provided to accommodate the other fingers. Furthermore, the elliptical bellows 10 is configured as a three-section structure consisting of a base segment 10a, an intermediate segment 10b, and a terminal segment 10c. This three-section structure accommodates the coxa, mid, and distal vertebrae of the other finger. The base joint fixator 20a is located at the base end of the base segment 10a, one intermediate joint fixator 20b is located at the junction between the base segment 10a and the intermediate segment 10b, another intermediate joint fixator 20b is located at the junction between the terminal segment 10c and the intermediate segment 10b, and the terminal joint fixator 20c is located at the distal end of the terminal segment 10c. When worn, the base joint fixator 20a is located at the base end of the coxa vata, one intermediate joint fixator 20b is located at the joint between the coxa vata and the middle teloblast, another intermediate joint fixator 20b is located at the joint between the middle teloblast and the distal teloblast, and the distal joint fixator 20c is located at the distal end of the distal teloblast.

[0087] Thus, each joint fixator corresponds to the joint of each vertebra, and the formed elliptical bellows bending actuator 100 is adapted to the human finger, which is convenient for driving each vertebra to complete the bending action, thereby achieving the purpose of effectively training each finger joint.

[0088] Reference Figure 2As shown, in one embodiment of the present invention, each of the base joint fixer 20a, the intermediate joint fixer 20b and the end fixer includes a base 201 and a buckle 202, wherein the base 201 is suitable for being fixed to the wearable carrier 300, and the base 201 has a sleeve hole H201 extending along a first direction and a clamping hole H202 passing through the sleeve hole H201 along the second direction, and the second direction is perpendicular to the first direction, and the elliptical corrugated tube 10 is passed through the sleeve hole H201; the buckle 202 is clamped in the clamping hole H202, and the elliptical corrugated tube 10 is clamped and fixed in the sleeve hole H201.

[0089] exist Figure 2 In the example, the through hole passes through or does not pass through the base 201 in the horizontal direction, and the clamping hole H202 passes downward from the top surface of the base 201 to the sleeve hole H201, that is, the first direction is the horizontal direction and the second direction is the vertical direction. During assembly, the sleeve hole H201 on one intermediate joint fixer 20b can be inserted into the connection between the intermediate pipe segment 10b and the base end pipe segment 10a, the sleeve hole H201 on the other intermediate joint fixer 20b can be inserted into the connection between the intermediate pipe segment 10b and the terminal pipe segment 10c, and then the sleeve hole H201 on the base end joint fixer 20a can be inserted into the base end of the base end pipe segment 10a, and the sleeve hole H201 on the terminal joint fixer 20c can be inserted into the terminal end of the terminal pipe segment 10c. Finally, the base end joint fixer 20a, the intermediate joint fixer 20b and the terminal fixer are respectively inserted into the corresponding sleeve holes H202 of the base 201. In this way, the base end joint fixer 20a, the intermediate joint fixer 20b and the terminal fixer can be assembled and fixed together with the elliptical corrugated tube 10.

[0090] In this embodiment, the above-mentioned joint fixer is used, and fixed assembly is achieved by means of a snap 202. The assembly is simple and convenient, and it is easy to disassemble. According to different needs, the elliptical bellows 10 of different stiffness can be replaced by disassembly to meet different needs. In this way, the use is more flexible and convenient, and when the elliptical bellows 10 is replaced, other structures of the elliptical bellows bending actuator 100 are not damaged.

[0091] Reference Figure 2 As shown, in one embodiment of the present invention, the buckle 202 includes a crown 2021 and two edge portions 2022. The crown 2021 can be detachably fixed in the clamping hole H202. The two edge portions 2022 are located on both sides of the crown 2021 and are formed into an elliptical arc shape. The edge portions 2022 are against the elliptical corrugated tube 10 to clamp and fix the elliptical corrugated tube 10.

[0092] That is, the two edge portions 2022 extend downward, and when the buckle 202 is engaged with the engaging hole H202, the edge portions 2022 press downward against the elliptical bellows 10 within the sleeve hole H201. When the crown 2021 is secured to the engaging hole H202, the edge portions 2022 and the elliptical bellows 10 remain in an extruded state, thereby firmly securing the elliptical bellows 10. In this embodiment, the buckle 202 with the above-described structure is easy to assemble, and the two edge portions 2022 ensure a secure grip on the elliptical bellows 10.

[0093] It is understandable that there can be multiple clamping holes H202 on the base 201, and correspondingly, there can also be multiple buckles 202. By using multiple buckles 202 in combination with multiple clamping holes H202, the clamping and fixing effect of the elliptical corrugated tube 10 can be improved.

[0094] Advantageously, the base 201 is provided with a first pin hole H203 extending along the first direction, and the crown 2021 is provided with a second pin hole H204, that is, the first pin hole H203 and the second pin hole H204 extend along the horizontal direction; the buckle 202 also includes a positioning pin 203, and the positioning pin 203 is passed through the first pin hole H203 and the second pin hole H204 to fix the crown 2021 in the buckle hole H202.

[0095] During assembly, the buckle 202 can be first inserted into the buckle hole H202, and the second pin hole H204 on the crown 2021 is aligned with the first pin hole H203 on the base 201, and then the positioning pin 203 is inserted into the first pin hole H203 and the second pin hole H204. In this way, the buckle 202 can be fixed on the base 201, and the buckle 202 clamps and fixes the elliptical corrugated tube 10. In this embodiment, the positioning pin 203 is used to fix the buckle 202, and its structure is simple, and assembly and disassembly are convenient.

[0096] More advantageously, the base 201 has a concave arc surface S201 suitable for fitting against the back of a finger. The concave arc surface S201 is adapted to fit the human finger, thereby improving wearing comfort.

[0097] Reference Figure 6 As shown, the wearable finger flexion and extension rehabilitation device according to an embodiment of the present invention includes a wearable carrier 300 and the elliptical bellows bending actuator 100 as described above, wherein the wearable carrier 300 is suitable for being worn on the hand, and the wearable carrier 300 can be, but is not limited to, a glove. The joint fixator of the elliptical bellows bending actuator 100 is fixed to the wearable carrier 300, for example, by bonding it to the wearable carrier 300 with AB glue, hot melt glue, etc. The number of elliptical bellows bending actuators 100 can be configured as needed, for example, in Figure 3In the example, the thumb, index finger, middle finger, ring finger and little finger are each equipped with an elliptical bellows bending actuator 100 to perform bending training on each finger.

[0098] It is understood that the wearable finger flexion and extension rehabilitation device may further include an inflator, which is connected to the open end D11 of the elliptical bellows 10 via an air tube to inflate the elliptical bellows 10, forcing the elliptical bellows bending actuator 100 to perform flexion and extension. The inflator can be controlled by a control device to adjust the air pressure and other parameters.

[0099] The wearable finger flexion and extension rehabilitation device provided in accordance with an embodiment of the present invention comprises the elliptical bellows bending actuator 100 described in the aforementioned embodiment. The cross-section of the elliptical bellows 10 in the elliptical bellows bending actuator 100 is elliptical. When inflated, the elliptical bellows 10 with an elliptical cross-section can bend in a directional manner and simultaneously expand and contract. Thus, during finger joint rotation, the elliptical bellows bending actuator 100 can effectively replace various existing actuators, maintaining a single bending direction without the use of external constraints, resulting in greater flexibility and improved rehabilitation training effects. Since no external constraints are required, the structure is simplified, allowing the fingers to bend freely within the confined space of the hand without interference or other problems.

[0100] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0101] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An elliptical bellows bending actuator, characterized in that: include: an elliptical bellows having a closed end and an open end, the open end being adapted to be connected to an inflation device for inflating the elliptical bellows via the inflation device, the elliptical bellows being elliptical in cross-section so as to bend about an axis generally parallel to the major axis of the ellipse when inflated; a joint fixator, the joint fixator being provided on the elliptical bellows and being adapted to be fixed on a wearable carrier; The elliptical corrugated tube includes a plurality of folds, which are connected in sequence; each of the folds has a crest circle and a trough circle located on both sides of the crest circle, and the ratio of the major axis to the minor axis of the crest circle and each of the two trough circles is greater than 2:1; The joint fixator includes a base end joint fixator, an intermediate joint fixator and a terminal joint fixator, wherein the base end joint fixator, the intermediate joint fixator and the terminal joint fixator are sequentially arranged on the elliptical corrugated tube at intervals, wherein the number of the intermediate joint fixator is one or two; Each of the base end joint fixator, the intermediate joint fixator and the terminal fixator comprises a base and a buckle, wherein the base is adapted to be fixed to the wearable carrier, the base having a sleeve hole extending in a first direction and a clamping hole extending through the sleeve hole in a second direction, wherein the second direction is perpendicular to the first direction, the elliptical corrugated tube is passed through the sleeve hole; the buckle is clamped in the clamping hole and clamps the elliptical corrugated tube in the sleeve hole; The buckle includes a crown and two edge parts. The crown can be detachably fixed in the clamping hole. The two edge parts are located on both sides of the crown and are formed into an elliptical arc shape. The edge parts are against the elliptical corrugated tube to clamp and fix the elliptical corrugated tube.

2. The elliptical bellows bending actuator according to claim 1, characterized in that: When there is one intermediate joint fixator, the elliptical corrugated tube includes a base end tube segment and a terminal tube segment connected to each other, the base end joint fixator is arranged at the base end of the base end tube segment, the intermediate joint fixator is arranged at the connection between the base end tube segment and the terminal tube segment, and the terminal joint fixator is arranged at the terminal end of the terminal tube segment; When there are two intermediate joint fixers, the elliptical corrugated tube includes a base end tube segment, an intermediate tube segment and a terminal tube segment connected in sequence, the base end joint fixer is arranged at the base end of the base end tube segment, one of the two intermediate joint fixers is arranged at the connection between the base end tube segment and the intermediate tube segment, the other of the intermediate joint fixers is arranged at the connection between the terminal tube segment and the intermediate tube segment, and the terminal joint fixer is arranged at the terminal of the terminal tube segment.

3. The elliptical bellows bending actuator according to claim 1, characterized in that: The base is provided with a first pin hole extending along a first direction, and the crown is provided with a second pin hole; The buckle further includes a positioning pin, which is inserted into the first pin hole and the second pin hole to fix the crown in the buckle hole.

4. The elliptical bellows bending actuator according to claim 2, characterized in that: The base has a concave arc surface suitable for fitting with the back of a finger.

5. A wearable finger flexion and extension rehabilitation device, characterized in that: include: A wearable carrier, suitable for being worn on a hand; The elliptical bellows bending actuator according to any one of claims 1 to 4, wherein a joint fixator of the elliptical bellows bending actuator is fixed on the wearable carrier.

6. The wearable finger flexion and extension rehabilitation device according to claim 5, characterized in that: The invention also includes an inflation device, which is connected to the open end of the elliptical bellows through an air tube to inflate air into the elliptical bellows, forcing the elliptical bellows bending actuator to perform flexion and extension movements.

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