An integrated soft finger and finger trainer

Abstract

The present invention discloses an integral soft finger and a finger trainer. The integral soft finger includes a base structure, a wavy non-rotating structure, a fingertip structure and an interface. One end of the base structure is connected to the interface, one end of the wavy non-rotating structure is connected to the other end of the base structure, and the fingertip structure is connected to the other end of the wavy non-rotating structure. A cavity structure is formed between the interface, the base structure, the wavy non-rotating structure and the fingertip structure. The structure of the present invention has a high degree of anthropomorphism. When a load is applied, the stress inside the structure is evenly distributed, the stress concentration is small, the deformation is coordinated, the service life is long, the degree of fit with the finger is good, it can be formed as a whole at one time, and it can adapt to the hand sizes of different people.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic flexible fingers, in particular to an integral soft finger and a finger trainer. Background Art

[0002] With the aging population in our society becoming increasingly serious, the number of patients suffering from hand disabilities caused by stroke, cerebral hemorrhage, cerebral infarction, cerebral thrombosis, cerebral palsy, burns, and scalds is on a gradual upward trend. At the same time, the number of people with impaired hand motor function due to accidents such as industrial accidents and traffic accidents is also increasing year by year. These patients are often unable to take care of themselves due to hand motor dysfunction, which puts considerable pressure on both their families and society. Most patients' fingers are in a flexed state, and their muscles show varying degrees of stiffness, commonly known as "hook hands." Hand rehabilitation requires the gradual use of external force to assist patients in extending their fingers. Traditional hand rehabilitation treatments mostly use one-on-one physician-assisted massage movements, and the patient's recovery status is entirely subjectively assessed by the physician. Therefore, this type of rehabilitation training is very labor-intensive and resource-intensive and cannot meet the needs of most patients.

[0003] The soft hand rehabilitation robot can assist patients in rehabilitation training, while saving a lot of manpower and material resources. It can conduct quantitative assessments to shorten the patient's rehabilitation cycle and reduce the risk of injury to the patient.

[0004] The reference "Towards a Soft Pneumatic Glove for Hand Rehabilitation" demonstrates a pneumatic soft finger. This model's manufacturing process is complex, requiring different materials to be bonded to a base plate, making it impossible to form a single piece. Under the same load, the deformation of two adjacent airbags causes squeezing, limiting the overall deformation of the model and creating a stress concentration effect. This model cannot adapt to a wider range of actuator geometries and sizes.

[0005] Patent CN201811076452.2 discloses a pneumatic hand joint rehabilitation system that uses a pneumatic telescopic adjustment mechanism as an airbag for inflation and deflation, thereby enabling the finger inserted into the finger sleeve to passively flex and extend, completing rehabilitation training. However, the following problems still exist:

[0006] 1. The device must be bent using the limiters installed at both ends of the bellows. The limiters between the fingers of the device only limit axial displacement, not movement in other directions. During inflation, the pneumatic telescopic adjustment mechanism will bend, causing certain damage to the fingers and hindering hand recovery.

[0007] 2. The bellows has a symmetrical structure of a rotating body and can only extend in an axial straight line when inflated. If it is to bend and deform, it is necessary to set limit devices at both ends to limit the axial deformation of the bellows, thereby performing bending deformation. At the same time, after adding the limit devices, the left and right parts of the bellows have smaller rigidity, which will cause greater deformation of the left and right parts, thereby easily causing the bellows to twist.

[0008] 3. The force generated by the device during inhalation is not strong enough to fully extend the hand when it is weak, and it is even more incapable of performing a certain degree of hyperextension rehabilitation on the patient's hand, which has a certain impact on the integrity of the patient's hand rehabilitation.

[0009] 4. The manufacturing process of the pneumatic telescopic adjustment mechanism of the device is very complicated, the air tightness of the connection part is poor, the process is complicated, it fits the human hand uncomfortably, and the structural dimensions cannot adapt to different hand sizes.

[0010] Patent CN201810259807.5 discloses a software driver for assisting four-finger extension exercises. This device can assist patients with impaired or lost hand function in rehabilitation training, but the following issues remain:

[0011] 1. The device cannot be formed as a whole. The upper and lower parts need to be bonded together and composite materials such as Kevlar fiber are used to radially constrain the flexible body, thereby limiting the expansion of the flexible body. The constraint of the fiber lines will also produce additional stress, which is not conducive to finger recovery.

[0012] 2. It is difficult to achieve multi-degree-of-freedom rehabilitation, and can only perform a single bending and grasping function. If bending and stretching deformation are to be performed, additional cavities need to be added to achieve this, so its structural design is subject to many restrictions.

[0013] 3. The internal stress distribution of the flexible finger structure is uneven, which may cause damage to the flexible finger.

[0014] 4. The device has poor compatibility with the finger contact, and since the bonding parts are made of different materials, it will cause discomfort when worn.

[0015] Patent CN201810188340.X discloses a soft pneumatic joint assist device. This device places airbags at the finger joints, and inflates the airbags to bend and contract the joints. However, there are also the following problems:

[0016] 1. The device is complex to manufacture and cannot be formed as a whole. It is made of different materials bonded together. The inhibition layer in the lower area cannot deform in the same way as human fingers, which will cause certain damage to the human hand joints.

[0017] 2. The airbags in the knuckles of this device are not coordinated with the deformation of the joints, and cannot form the overall deformation of multiple joints, which will generate additional pressure between the joints.

[0018] 3. The device is equipped with a limit device between the joints. When the airbag is inflated, the limit device will inhibit the deformation of the knuckles, thereby causing additional stress damage to the joints of the human hand.

[0019] 4. The deformation of the device is caused by the mutual squeezing of the airbags after they are inflated. This structure will cause energy loss, thereby affecting the overall deformation effect and producing a stress concentration effect.

[0020] 5. The device cannot adapt to the knuckle and interknuckle sizes of different people.

[0021] Patent CN201910952003.8 discloses a new type of flexible finger. Simulations and comparisons with the patent's model show that the device has a dual-cavity structure, with separate knuckles and intersegments, and deformation primarily occurs in the intersegments. This structure requires bonding of the upper and lower structures, resulting in difficult processing, minor deformation under the same load, inability to operate under high pressure, weak gripping force, and a shorter service life.

[0022] To sum up, when a load is applied to the flexible finger structure in the prior art, the stress distribution inside the structure will be uneven, and there will be local stress concentration, which will shorten the service life of the flexible finger. In addition, there will be radial expansion, which will reduce the bending conversion efficiency. At the same time, the manufacturing process is complicated, and it cannot be formed as a whole, and it is difficult to adapt to the hand sizes of different people. In addition, it will cause uncomfortable fit with the human hand, and it is necessary to add an independent limit device, and the deformation will be inconsistent. At the same time, the bellows structure has a symmetrical structure up and down and left and right, which will cause inconsistent deformation. Summary of the Invention

[0023] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide an integral soft finger and finger trainer, which is used to solve the problems in the prior art that when the flexible finger structure is loaded, the stress distribution inside the structure will be uneven, there will be local stress concentration, the service life of the flexible finger will be short, and there will be radial expansion, which will reduce the bending conversion efficiency. At the same time, the manufacturing process is complicated, and it cannot be formed as a whole, and it is difficult to adapt to the hand sizes of different people. In addition, it will cause uncomfortable fit with the human hand, and it is necessary to add an independent limiting device, and the deformation is not coordinated. At the same time, the bellows structure has a symmetrical structure up and down and left and right, which will cause the deformation to be uncoordinated.

[0024] To achieve the above-mentioned and other related objectives, the present invention provides an integrated soft finger, comprising:

[0025] A base structure having an interface connected to one end thereof;

[0026] a wavy non-rotating structure, one end of which is connected to the other end of the base structure;

[0027] a fingertip structure connected to the other end of the wavy non-rotating structure;

[0028] A cavity structure is formed between the interface, the base structure, the wave-shaped non-rotating structure and the fingertip structure.

[0029] In one embodiment of the present invention, the top surface of the wavy non-rotating structure is a corrugated structure, and the bottom surface of the wavy non-rotating structure is a flat surface or a corrugated structure.

[0030] In one embodiment of the present invention, the top surface of the wavy non-rotating structure includes wave crest structures and wave trough structures that are alternately connected one by one.

[0031] In one embodiment of the present invention, the integral soft finger is made of elastic material.

[0032] In one embodiment of the present invention, the cross-sectional structure of the crest structure in the radial direction includes:

[0033] a plurality of first arcs, wherein the plurality of first arcs are tangent to each other;

[0034] The first bottom edge line is arranged between the first arc lines on both sides of the bottom.

[0035] In one embodiment of the present invention, the cross-sectional structure of the trough structure in the radial direction includes:

[0036] a plurality of second arcs, wherein the plurality of second arcs are tangent to each other;

[0037] The second bottom edge line is arranged between the second arc lines on both sides of the bottom.

[0038] In one embodiment of the present invention, the peak structure is a first curved structure or a first triangular structure in the axial middle section, and the trough structure is a second curved structure or a second triangular structure in the axial middle section, and the first curved structure and the second curved structure are tangent to each other through an arc or a straight line, and the first triangular structure and the second triangular structure are tangent to each other through an arc or a straight line.

[0039] In one embodiment of the present invention, grooves are provided on the corrugated structure of the wavy non-rotating structure, and the groove depth between the peak structure and the trough structure of the corrugated structure on the top surface close to the bottom surface decreases as the distance from the bottom surface decreases.

[0040] In one embodiment of the present invention, the minimum cross-sectional area of ​​the cavity of the trough structure in the radial direction is times the maximum cross-sectional area of ​​the cavity of the peak structure in the radial direction. times to 1 times, and in the axial middle section, the cavity height corresponding to the trough structure is the cavity height corresponding to the peak structure To 1 times.

[0041] The present invention also provides a finger trainer, comprising:

[0042] At least one integral soft finger, the integral soft finger being used for finger training, the integral soft finger comprising:

[0043] A base structure having an interface connected to one end thereof;

[0044] a wavy non-rotating structure, one end of which is connected to the other end of the base structure;

[0045] a fingertip structure connected to the other end of the wavy non-rotating structure;

[0046] A cavity structure is formed between the interface, the base structure, the wavy non-rotating structure and the fingertip structure;

[0047] The interface is used to introduce fluid;

[0048] The integral soft finger contacts the finger surface or the rehabilitation glove.

[0049] As described above, the integrated soft finger and finger training device of the present invention has the following beneficial effects:

[0050] The integrated soft finger of the present invention comprises a base structure, a wavy structure, a fingertip structure, and an interface. The structure of the present invention is more like a finger and has a high degree of anthropomorphism. When a load is applied, the stress distribution within the structure is uniform, stress concentration is minimized, deformation is coordinated, and the service life is long. Furthermore, the manufacturing process is simple, requiring no gluing, and the finger conforms well. It can be integrally formed in one go and can accommodate different hand sizes.

[0051] The integral soft finger of the present invention adopts an integral molding structure, and does not need to distinguish the length and position of the knuckle joints of different people.

[0052] The integral soft finger of the present invention has overall multi-degree-of-freedom bending deformation directly through structural changes. When the pressure in the cavity changes, the soft finger will bend toward the top and bottom surfaces of the wavy structure respectively, without setting different materials or setting a deformation-inhibiting structure to enable the soft finger to bend.

[0053] The integral soft finger of the present invention has a concave arc surface of a better size by designing the bottom surface structure corresponding to the trough, so that the upper and lower asymmetric structures of the entire soft finger produce greater flexibility, thereby producing greater deformation in the upper and lower asymmetric structures.

[0054] The groove depth provided in the present invention varies with the position in the circumferential direction, which can ensure that bending deformation in the up and down directions is easy, the bending deformation is coordinated, and the stress distribution is uniform. At the same time, the left and right directions have greater rigidity, and the supporting capacity is improved, which limits the deformation of the soft finger in the left and right directions, thereby making the deformation of the integral soft finger more in line with the movement of the human finger.

[0055] The deformation of the integral soft finger of the present invention is mainly caused by the change of the angle between adjacent wave crests, rather than by the expansion and compression deformation of the side surfaces on both sides of the wave crest.

[0056] The contour lines of the crest structure and the trough structure of the present invention are arcs, and this structure has good pressure resistance.

[0057] The structure of the integral soft finger of the present invention is reasonable, and the thickness at the base of the finger is appropriately increased to enhance the strength and stability of the integral soft finger.

[0058] The bottom surface of the present invention does not require an inhibition layer, the wall thickness is relatively uniform, and the stress distribution is uniform when loaded.

[0059] The integral soft finger of the present invention is made of elastic material. When used as the finger part of a hand rehabilitation device, the hand can be bent and stretched to different degrees by adjusting the pressure of the fluid. At the same time, the finger can be properly hyperextension-rehabilitation-ed. It will not produce rigid constraints and pressure on the blood vessels and muscles of the hand. There will be no discomfort when used for a long time. The contact area with the finger is large and the fit is more comfortable.

[0060] The integral soft finger of the present invention can also be used as an industrial bionic gripper to realize actions such as grasping, holding and pulling. The grasping force can be changed according to the weight of the target object without causing damage to the grasped object.

[0061] The integrated soft finger of the present invention has a simple and compact structure, is easy to manufacture, and has broad market prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 A schematic structural diagram of an integrated soft finger provided in an embodiment of the present application.

[0063] Figure 2 A schematic structural diagram of another integral soft finger provided in an embodiment of the present application.

[0064] Figure 3A schematic radial cross-sectional view of an integral soft finger provided in an embodiment of the present application.

[0065] Figure 4 This is a schematic left-side cross-sectional diagram of an integrated soft finger provided in an embodiment of the present application.

[0066] Figure 5 A schematic top-down cross-sectional view of an integrated soft finger provided in an embodiment of the present application.

[0067] Figure 6 A schematic structural diagram of an interface for an integrated soft finger provided in an embodiment of the present application.

[0068] Figure 7 A schematic cross-sectional view of the wave crest structure of an integral soft finger provided in an embodiment of the present application.

[0069] Figure 8 A schematic cross-sectional view of the trough structure of an integral soft finger provided in an embodiment of the present application.

[0070] Figure 9 A schematic diagram of the circumferential direction of the wave crest structure of an integral soft finger provided in one embodiment of the present application.

[0071] Figure 10 A schematic diagram of the circumferential direction of the wave crest structure of an integral soft finger provided in yet another embodiment of the present application.

[0072] Figure 11 A schematic diagram of the inflated state of an integral soft finger provided in an embodiment of the present application.

[0073] Figure 12 A schematic diagram of the inhalation state of an integral soft finger provided in an embodiment of the present application.

[0074] Figure 13 A schematic diagram of the sewing of an integral soft finger provided in an embodiment of the present application as a rehabilitation finger and a rehabilitation glove.

[0075] Figure 14 An embodiment of the present application provides Figure 13 Schematic diagram of the stitching of a one-piece soft finger.

[0076] Figure 15 Another embodiment of the present application provides Figure 13 Schematic diagram of the stitching of a one-piece soft finger.

[0077] Figure 16 Schematic diagram of the bonding of an integral soft finger provided in an embodiment of the present application to a rehabilitation glove when used as a rehabilitation finger.

[0078] Figure 17 A schematic diagram of an integrated soft finger provided by one embodiment of the present application being bound to a rehabilitation glove when used as a rehabilitation finger.

[0079] Figure 18 A schematic diagram of binding an integral soft finger to a rehabilitation glove when used as a rehabilitation finger, provided in yet another embodiment of the present application.

[0080] Figure 19 A schematic diagram of binding an integral soft finger to a rehabilitation glove when used as a rehabilitation finger, provided by yet another embodiment of the present application.

[0081] Component number description

[0082] 1 Fingertip structure

[0083] 2 Peak structure

[0084] 3 Trough structure

[0085] 4 Cavity structure

[0086] 5 Concave arc surface

[0087] 6 Basic structure

[0088] 7 Interfaces

[0089] 8. Raised bottom surface

[0090] 9 Recovery Gloves

[0091] 10 elastic straps

[0092] 21 First Arc

[0093] 22 First bottom line

[0094] 31 Second Arc

[0095] 32 Second bottom line DETAILED DESCRIPTION

[0096] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0097] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0098] See also Figure 1 , Figure 1 A schematic structural diagram of an integral soft finger provided in an embodiment of the present application. The present invention provides an integral soft finger, which includes but is not limited to a base structure 6, a wavy non-rotating structure, a fingertip structure 1 and an interface 7. The integral soft finger is an integrally formed structure, and the integral soft finger is an integral non-rotating structure. Specifically, the material of the integral soft finger can be, but is not limited to, an elastic material, and can also be made of other materials, and can be configured according to specific needs. One end of the base structure 6 is connected to the interface 7, one end of the wavy non-rotating structure is connected to the other end of the base structure 6, and the fingertip structure 1 is connected to the other end of the wavy non-rotating structure, and a cavity structure 4 is formed between the interface 7, the base structure 6, the wavy non-rotating structure and the fingertip structure 1. The integral soft finger has an overall multi-degree-of-freedom bending deformation. The interface 7 for connecting the fluid is filled with fluid through a driving device, and the distance between each wave peak increases. The integral soft finger bends toward one side of the bottom surface of the wavy non-rotating body structure. The bottom surface of the wavy non-rotating body structure is a plane or a corrugated structure or a micro-corrugated surface. When the driving device extracts the fluid in the interface 7, the distance between each wave peak decreases, and the integral soft finger bends toward one side of the top surface of the wavy non-rotating body structure.

[0099] like Figure 1 As shown, one side of the integral soft finger includes a corrugated surface of a crest structure 2 and a trough structure 3, and the other side can be a micro-corrugated surface. A plurality of crest structures 2 and trough structures 3 are arranged alternately, and the total length of the integral soft finger can match the length of a human finger. The micro-corrugated surface is arranged on the concave arc surface 5 of the corresponding bottom surface of the trough structure 3. The base structure 6 is in communication with the fingertip structure 1 and is connected to the wavy non-rotating body structure to form a finger-like structure with a cavity inside. One end of the fingertip structure 1 is closed, and the base structure 6 is provided with an interface 7 for connecting fluids, and the base structure 6 is thickened to a certain size. The interface 7 for connecting fluids is connected to an external device. When the interface 7 for connecting fluids is connected to the drive device, the working medium can flow in and out through the interface 7. The working medium can be, but is not limited to, fluids such as gas, water, and hydraulic oil.

[0100] See also Figure 2 , Figure 2 This is a schematic diagram of the structure of another integral soft finger provided by an embodiment of the present application. Its main difference lies in the wave crest structure. The first arc 21 of the wave crest structure is composed of an arc or straight line with a small curvature, which is tangent to the first bottom line. This structure increases the cavity space of the wave crest, increasing the overall deformation of the integral soft finger.

[0101] See also Figure 3 、 Figure 4 、 Figure 5 , Figure 3 A schematic radial cross-sectional view of an integral soft finger provided in an embodiment of the present application. Figure 4 This is a schematic left-side cross-sectional diagram of an integrated soft finger provided in an embodiment of the present application. Figure 5 A schematic top-view cross-sectional diagram of an integral soft finger provided in an embodiment of the present application. When inflated, the stress distribution of the curved surface corresponding to the contour is relatively uniform. It is worth noting that the first cross-section is only for illustration, and other non-essential components are not shown (for example, fluid channels, etc.). In the cross-sectional schematic diagram (second cross-section) parallel to the bottom surface of the integral soft finger and the third cross-section perpendicular to the previous two cross-sections, the base structure 6 is in the shape of a trumpet that diffuses outward, and the gap between two axially adjacent wave crests is different in size, with the gap being the largest away from the trough and the smallest between two adjacent corrugations closer to the trough. The cross-section of the wavy non-rotating structure is a bilaterally symmetrical figure, with the depth of the wave crest being the largest on the symmetry plane, and the depth gradually decreasing from the symmetry plane to the two side surfaces. In order to provide greater bending and more uniform stress distribution, the peak structure 2 is a first curved structure or a first triangular structure in the axial middle section, and the trough structure is a second curved structure or a second triangular structure in the axial middle section, and the first curved structure and the second curved structure are tangent through an arc or a straight line, and the first triangular structure and the second triangular structure are tangent through an arc or a straight line. The first curved structure and the second curved structure may include a parabola, a sine-cosine line, and a fitting line with a smooth transition. At the same time, the bottom surface corresponding to the trough is set to an inner concave arc surface 5 of a preferred size, thereby increasing the flexibility of the upper and lower asymmetric structures of the axial section and improving the deformation of the upper and lower asymmetric structures. Therefore, when the internal cavity structure 4 is filled with fluid to expand and deform, the stress concentration of the inner cavity corresponding to the trough will be reduced, so that the stress distribution in the integral soft finger is more uniform and the service life is increased.

[0102] See also Figure 6 , Figure 6 This is a structural diagram of an integrated soft finger interface provided by an embodiment of the present application. The size of the fingertip structure 1 can be the same as the crest size of the crest structure 2, or it can be different from the crest size of the crest structure 2. The height of the fingertip structure 1 can be 1 / 2 of the height of the crest structure 2. times to 1 times, the radial dimension of the fingertip structure 1 is the radial dimension of the peak structure 2 The cavity where the foundation structure 6 is located can be horn-shaped, and the thickness of the foundation structure 6 is thicker than other parts. The height of the interface 7 is the height of the foundation structure 6. times to 1 times, the cross-sectional area of ​​the interface 7 is the cross-sectional area of ​​the foundation structure 6 times to 1 times, the diameter of the interface 7 is the radial dimension of the cross section of the foundation structure 6 The crest structure 2 at the tail and the interface 7 for communicating with the fluid are appropriately thickened to enhance the stability of the integral soft finger and the interface 7.

[0103] See also Figure 7 、 Figure 8 , Figure 7 A schematic cross-sectional view of the wave crest structure of an integral soft finger provided in an embodiment of the present application. Figure 8 A schematic diagram of the cross-sectional structure of a trough structure of an integral soft finger provided in an embodiment of the present application. In order to enable the integral soft finger to obtain greater bending and gripping force when the same amount of fluid is filled, and to make the stress distribution of the inner cavity more uniform, the cross-sections of the crest and trough are individually optimized. The cross-sectional structure of the crest structure 2 in the radial direction includes but is not limited to a first arc 21 and a first bottom line 22, and a plurality of the first arcs 21 are tangent to each other, and the first bottom line 22 is arranged between the first arcs 21 on both sides of the bottom. The first arc 21 includes a parabola, a quadratic curve, a fitting line, etc. The cross-sectional structure of the trough structure 3 in the radial direction includes but is not limited to a plurality of second arcs 31 and a second bottom line 32. A plurality of the second arcs 31 are tangent to each other, and the second bottom line 32 is arranged between the second arcs 31 on both sides of the bottom, and the second arc 31 includes a parabola, a quadratic curve, a fitting line, etc.

[0104] like Figure 7 、 Figure 8 As shown, in order to provide greater curvature and make the stress distribution on the inner surface of the integral soft finger cavity more uniform when more fluid is filled, the top of the axial cross-section of the integral soft finger is a circular arc, and the top of the trough is a groove-shaped circular arc. The arcs of the axial cross-section peak and trough are formed by tangent arcs or straight lines. At the same time, it is ensured that the minimum cross-sectional area of ​​the cavity in the radial direction of the trough structure 3 is 1 / 2 of the maximum cross-sectional area of ​​the cavity in the radial direction of the peak structure 2. times to 1 times, and in the axial middle section, the cavity height corresponding to the trough structure 3 is the cavity height corresponding to the peak structure 2 To 1 times, for example, the cavity height corresponding to the trough structure 3 is the cavity height corresponding to the peak structure 2 times or times.

[0105] See also Figure 9 、 Figure 10 , Figure 9 A schematic diagram of the circumferential direction of the wave crest structure of an integral soft finger provided in one embodiment of the present application. Figure 10 This is a schematic diagram of the circumferential direction of the wave crest structure of a monolithic soft finger provided in another embodiment of the present application. The corrugated structure of the wavy non-rotating structure is provided with grooves, which are the areas between the crest structure 2 and the trough structure 3. The depth of the grooves between the crest structure 2 and the trough structure 3 on the top surface of the corrugated structure near the bottom surface decreases as the distance from the bottom surface decreases. The circumferential width of the crest structure 2 increases sequentially along the axial direction of the crest or remains consistent along the circumferential direction of the crest.

[0106] See also Figure 11 、 Figure 12 , Figure 11 A schematic diagram of the inflated state of an integral soft finger provided in an embodiment of the present application. Figure 12 This is a schematic diagram of an integral soft finger in the inhalation state provided by an embodiment of the present application. The deformation of the integral soft finger is mainly caused by the change in the angle between adjacent wave peaks, rather than by the expansion and compression deformation of the sides of the wave peaks. Figure 11 As shown in the figure, when the integral soft finger is inflated, the angle between the adjacent wave crests will become larger and open to both sides, so that the upper corrugated surface deforms more and the whole deforms and bends toward the micro-corrugated surface, which can make the palm of the hand into a fist shape. Figure 12 As shown, when the hand needs to be stretched, the integrated soft fingers can be inhaled, which reduces the angle between adjacent peaks and contracts toward the center of the peaks, causing the integrated soft fingers to bend toward the peaks and troughs, creating a stretched hand. If the patient's hand is unable to stretch, the integrated soft fingers can continue to be inhaled, further creating a greater negative pressure in the cavity structure, prompting the patient to fully expand the hand and perform a slight overstretching exercise.

[0107] See also Figure 13 、 Figure 14 、 Figure 15 , Figure 13 A schematic diagram of the sewing of an integral soft finger provided in an embodiment of the present application as a rehabilitation finger and a rehabilitation glove. Figure 14 An embodiment of the present application provides Figure 13 Schematic diagram of the stitching of a one-piece soft finger. Figure 15 Another embodiment of the present application provides Figure 13 A schematic diagram of suturing a one-piece soft finger. When used as a rehabilitation finger, the one-piece soft finger can be assembled with a rehabilitation glove 9. On the micro-corrugated surface in the axial direction of the one-piece soft finger, a plurality of circular protrusions, namely bottom surface protrusions 8, are provided on the bottom surface corresponding to each wave crest. The bottom surface protrusions 8 can be semicircular, square, or other shapes. Each bottom surface protrusion 8 is provided with tiny pores. The direction of the pores can be kept parallel to the axial direction of the bottom surface protrusion 8 or to the radial direction of the bottom surface protrusion 8. The pores of the bottom surface protrusion 8 can pass sutures and sew them to the rehabilitation glove 9, thereby achieving a suture fixation effect. In addition, the bottom surface protrusion 8 also serves to isolate and buffer the micro-corrugated surface and the human finger, reducing the additional force generated when the fluid pressure is high.

[0108] See also Figure 16 , Figure 16 A schematic diagram of the bonding of a one-piece soft finger to a rehabilitation glove, provided in an embodiment of the present application. The bottom surface of the one-piece soft finger, corresponding to the wave crest, can be evenly coated with specialized glue, which is then seamlessly bonded to the outer surface of each finger of the rehabilitation glove 9, thereby securing the finger.

[0109] See also Figure 17 , Figure 17 This is a schematic diagram of a one-piece soft finger, used as a rehabilitation finger, attached to a rehabilitation glove, according to one embodiment of the present application. An elastic strap 10 can be positioned on the bottom surface of the one-piece soft finger, corresponding to the crest. This elastic strap 10 can be attached to the rehabilitation glove 9 or directly to the skin of the finger, thereby enabling passive rehabilitation training for the finger.

[0110] See also Figure 18 、 Figure 19 , Figure 18 A schematic diagram of binding an integral soft finger to a rehabilitation glove when used as a rehabilitation finger, provided in yet another embodiment of the present application. Figure 19A schematic diagram of the binding of an integral soft finger to a rehabilitation glove, provided in another embodiment of the present application, is provided. In the rehabilitation state, to better flatten a curled-up hand, the wavy, non-rotating structure of the integral soft finger can be fitted to the upper surface of the finger, while an elastic bandage 10 is used to bind the finger to the rehabilitation glove 9 or the skin of the finger. This allows the integral soft finger to exert a greater pulling force on the hand when bent upward, thereby ensuring that the five fingers of the hand have good flatness. Alternatively, the micro-corrugated surface of the integral soft finger can be fitted to the lower surface of a human finger, and the upward bending of the integral soft finger can be used to generate a thrust force on the human finger, causing it to unfold.

[0111] like Figure 1 As shown, the present invention also provides a finger trainer, which includes at least one integral soft finger as mentioned above, wherein the integral soft finger is used for training the finger, and the interface 7 is used for introducing fluid, and the integral soft finger is in contact with the finger surface or the rehabilitation glove.

[0112] In summary, the present invention's integrated soft finger comprises a base structure 6, a wavy non-rotating structure, a fingertip structure 1, and an interface 7. When a load is applied, the present invention achieves uniform stress distribution within the structure, resulting in a long service life. Furthermore, the manufacturing process is simple, the integrated finger can be easily formed, and it can adapt to different hand sizes.

[0113] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. An integral soft finger, characterized in that: The integral soft finger comprises: A base structure having an interface connected to one end thereof; The wavy non-rotating structure has one end connected to the other end of the base structure, and the top surface of the wavy non-rotating structure includes crest structures and trough structures that are alternately connected one by one. The width of the crest structure is different at different positions on its circumference, and it increases from top to bottom along the circumference of the crest structure. Folds are formed on the bottom surface of the wavy non-rotating structure, and the bottom surface includes planes and concave arc surfaces that are alternately connected in sequence. The concave arc surface is correspondingly connected to the trough structure, and the plane is correspondingly connected to the crest structure. There is a gap between two axially adjacent crest structures. The gaps are of different sizes, the gap between the peak structures away from the trough structure on the axial symmetry plane is the largest, and the gap between two adjacent peak structures closer to the trough structure is smaller, a groove is formed between the peak structure and the trough structure, the depth of the groove is the height difference between the highest point of the peak structure and the lowest point of the trough structure on the axial cross section, along the circumference of the wavy non-rotating body structure, the depth of the groove is different on different axial cross sections, and gradually decreases as the distance between the peak structure and the trough structure and the bottom surface decreases; a fingertip structure connected to the other end of the wavy non-rotating structure; A cavity structure is formed between the interface, the base structure, the wave-shaped non-rotating structure and the fingertip structure.

2. The one-piece soft finger according to claim 1, characterized in that: The material of the integral soft finger is elastic material.

3. The one-piece soft finger according to claim 1, characterized in that: The cross-sectional structure of the crest structure and the corresponding bottom surface in the radial direction includes: a plurality of first arcs, wherein the plurality of first arcs are tangent to each other; The first bottom edge line is arranged between the first arc lines on both sides of the bottom.

4. The one-piece soft finger according to claim 1, characterized in that: The cross-sectional structure of the trough structure and the bottom surface connected thereto in the radial direction includes: a plurality of second arcs, wherein the plurality of second arcs are tangent to each other; The second bottom edge line is arranged between the second arc lines on both sides of the bottom.

5. The one-piece soft finger according to claim 1, characterized in that: The peak structure is a first curved structure or a first triangular structure in the middle axial section, and the trough structure is a second curved structure or a second triangular structure in the middle axial section, and the first curved structure and the second curved structure are tangent through an arc or a straight line, and the first triangular structure and the second triangular structure are tangent through an arc or a straight line.

6. The integrated soft finger according to claim 1, characterized in that: The minimum cross-sectional area of ​​the cavity of the trough structure in the radial direction is greater than the maximum cross-sectional area of ​​the cavity of the peak structure in the radial direction. times, and the minimum cross-sectional area of ​​the cavity in the radial direction of the trough structure is smaller than the maximum cross-sectional area of ​​the cavity in the radial direction of the peak structure, and in the axial middle section, the cavity height corresponding to the trough structure is greater than the cavity height corresponding to the peak structure. times, and the cavity height corresponding to the trough structure is smaller than the cavity height corresponding to the peak structure.

7. A finger training device, characterized in that: The finger trainer comprises: At least one integral soft finger, the integral soft finger being used for finger training, the integral soft finger comprising: A base structure having an interface connected to one end thereof; The wavy non-rotating structure has one end connected to the other end of the base structure, and the top surface of the wavy non-rotating structure includes crest structures and trough structures that are alternately connected one by one. The width of the crest structure is different at different positions on its circumference, and it increases from top to bottom along the circumference of the crest structure. Folds are formed on the bottom surface of the wavy non-rotating structure, and the bottom surface includes planes and concave arc surfaces that are alternately connected in sequence. The concave arc surface is correspondingly connected to the trough structure, and the plane is correspondingly connected to the crest structure. There is a gap between two axially adjacent crest structures. The gaps are of different sizes, the gap between the peak structures away from the trough structure on the axial symmetry plane is the largest, and the gap between two adjacent peak structures closer to the trough structure is smaller, a groove is formed between the peak structure and the trough structure, the depth of the groove is the height difference between the highest point of the peak structure and the lowest point of the trough structure on the axial cross section, along the circumference of the wavy non-rotating body structure, the depth of the groove is different on different axial cross sections, and gradually decreases as the distance between the peak structure and the trough structure and the bottom surface decreases; a fingertip structure connected to the other end of the wavy non-rotating structure; A cavity structure is formed between the interface, the base structure, the wavy non-rotating structure and the fingertip structure; The interface is used to introduce fluid; The integral soft finger contacts the finger surface or the rehabilitation glove.

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