A Hand Rehabilitation Device and Method Based on Hybrid Drive and Multiple Modes

Abstract

The present invention discloses a hand rehabilitation device and method based on hybrid drive and multi-mode, which includes a pair of interphalangeal drivers respectively fixed between two fingers of a training glove. The pair of interphalangeal drivers is connected to a pneumatic control system and a shape memory alloy control system through a driver base. Under the combined drive of the pneumatic control system and the shape memory alloy control system controlled by a control terminal, the active bending force of the palm and the passive stretching force are achieved. By placing the driver between two fingers, the present invention achieves a one-to-many driving effect. The hybrid drive strategy can realize the passive assistance and active movement of the fingers, thus completing two training modes. The device has a simple structure, a compact shape and complete functions, can be used for the rehabilitation training of patients with different muscle strength levels, and has the advantages of strong practicability, simple and convenient operation. The use of the mobile phone APP greatly liberates the medical staff's pressure and increases the convenience and enthusiasm of patients' training.

Description

Technical Field

[0001] The present invention belongs to the technical field of rehabilitation medical robots, and particularly relates to an intelligent hand training and rehabilitation device, which can be used for assisting the finger joints of stroke patients and other patients, and a hybrid-driven multi-mode hand rehabilitation device and method for multi-stage rehabilitation training. Background Art

[0002] Among various current hand rehabilitation methods, movement rehabilitation training is one of the effective methods. One-on-one physician massage and stretching are relatively common movement rehabilitation trainings. This rehabilitation method is expensive and seriously occupies medical resources, and cannot meet the needs of most patients. This phenomenon has stimulated the market demand for rehabilitation equipment. Traditional hand rehabilitation equipment is made of rigid materials and complex mechanical structures, with cumbersome manufacturing processes, high prices, and the rigid materials greatly reduce the human-machine harmony and are prone to cause secondary injuries, which is not conducive to market promotion. The rehabilitation training equipment based on soft bodies can not only solve the deficiencies of traditional mechanical structure rehabilitation equipment, but also reduce the treatment cost of patients, and make rehabilitation treatment home-based and personalized, which has very important significance.

[0003] Existing soft rehabilitation gloves all adopt a design with one-to-one correspondence between fingers and drivers, with cumbersome structures. Due to the influence of soft materials, most of them can only achieve passive one-way grasping. A pneumatic rehabilitation glove with the authorization number 201810979131.7 adopts a flexible pneumatic component structure to achieve the grasping of fingers towards the palm direction. However, this structure is bulky and has a single control method, and cannot meet the needs of different patients. A pneumatic soft rehabilitation manipulator controlled by EMG with the authorization number 201610802331.6 winds fibers outside the fingers and cooperates with a strain-limiting layer to achieve finger bending when inflated. However, this manipulator is too complex and cumbersome and expensive, and is not convenient for market popularization and massification.

[0004] In summary, in the field of rehabilitation medicine, the hand function impairments of the people who need rehabilitation training vary, and the required training forms are different. When the hand function of people with hand function disorders recovers to a muscle strength level above grade 3, continuous passive movement cannot meet the training needs, and resistance training is required. Therefore, there is a need for a device that can simultaneously provide continuous passive movement and resistance training to meet the training needs of users at different rehabilitation treatment stages. Summary of the Invention

[0005] In order to solve the above-mentioned defects in the prior art, the purpose of the present invention is to provide a hand rehabilitation device based on hybrid drive and multi-mode, which can provide two modes of finger joint passive assistance training mode and active impedance training for patients with different muscle strength levels, and solves the problems existing in the prior art.

[0006] The present invention is achieved through the following technical solutions.

[0007] The present invention provides a hand rehabilitation device based on hybrid drive and multiple modes, which includes a training glove, a pneumatic control system, a shape memory alloy control system, and a control terminal; between the two fingers of the training glove, left and right interphalangeal drivers are respectively fixed, and the left and right interphalangeal drivers are connected to the pneumatic control system and the shape memory alloy control system through a driver base. Under the combined drive of the pneumatic control system and the shape memory alloy control system controlled by the control terminal, the active bending force of the palm and the passive stretching force are achieved.

[0008] For the above technical solutions, the present invention has further preferred solutions:

[0009] Preferably, the training glove includes a glove body and a wrist fastening strap;

[0010] The glove body is made of a flexible material and is a structure for wearing on four fingers without a palm;

[0011] The wrist fastening strap includes a wristband, and a pair of pawl bases are provided at the top of the wristband. The pawl bases fix a pair of pawls through a pawl shaft, and a torsion spring is also provided on the pawl shaft; a ratchet strip is sewn on the inner side of the wristband.

[0012] Preferably, the interphalangeal driver includes a silicone rubber driver, a shape memory alloy sheet, and a fishing line; the silicone rubber driver is connected to the driver base through the fishing line, and the shape memory alloy sheet is arranged in the shape memory alloy chamber of the silicone rubber driver and the driver base and is connected to the shape memory alloy control system.

[0013] Preferably, the silicone rubber driver includes an airbag, an air duct, a serrated clamping piece, and a shape memory alloy chamber; the airbag is connected to the pneumatic control system through the air duct to inflate the airbag, and the serrated clamping piece is arranged at the bottom of the airbag.

[0014] Preferably, the driver base includes a shape memory alloy chamber, an ABS base hole, and an air duct; a fishing line passes through the ABS base hole, and a tension spring and a tension rod connected to the fishing line are embedded at the outer end of the ABS base hole.

[0015] Preferably, fiber braided layers are implanted at the bottom and on both sides of the airbag, and the fiber direction is perpendicular to the axial direction of the airbag and parallel to the ground and the side respectively.

[0016] Preferably, the shape memory alloy control system includes a control module, a hybrid drive output module, and a power supply system; the control module includes an Arduino development board, and the Arduino development board is connected to the control terminal through a Bluetooth module.

[0017] The hybrid drive output module includes a solenoid valve, a regulating valve and a power supply module respectively connected to the Arduino development board. The solenoid valve, the regulating valve and the power supply module are connected to an air pump, and the power supply module is connected to a shape memory alloy sheet;

[0018] The power supply system is connected to the control module and the hybrid drive output module to supply power to them.

[0019] Preferably, a triode connected in parallel is provided in the Arduino development board. One end of the parallel node of the triodes is connected to the 5V power supply system, and the other end is grounded. The input and output ends of two pairs of triodes are connected in parallel to the solenoid valve and the regulating valve. The output ends of the solenoid valve and the regulating valve are connected to the 24V power supply module and then connected to the shape memory alloy sheet through a parallel resistor R3.

[0020] The present invention correspondingly provides a hand rehabilitation method with hybrid drive and multiple modes, including:

[0021] In the passive motion rehabilitation training mode, the wristband is fixed on the user's wrist; the user communicates with the Arduino development board through the control terminal. The user selects to activate the airbag drive, the shape memory alloy drive or the hybrid drive mode through the control terminal. The Arduino development board controls the solenoid valve and the regulating valve to inflate the airbag and the state of the shape memory alloy, so as to realize the palm bending and back recovery of the fingertip driver;

[0022] In the active impedance rehabilitation training mode, the user actively completes the reciprocating motion of palm bending and back recovery, forming an impedance training with the elastic forces of the shape memory alloy sheet and the silicone rubber driver.

[0023] Due to the adoption of the above technical solutions, the present invention has the following beneficial effects:

[0024] 1. The present invention adopts a design without a palm glove, which greatly increases the air permeability and comfort when the user wears it.

[0025] 2. The present invention adopts a double pawl structure, which can realize the single-handed fastening and relaxation of the wristband, and improves the convenience when the user wears and removes it.

[0026] 3. The present invention adopts the form of interphalangeal drive. By placing the driver between two fingers, a one-to-many drive effect is achieved. Only two drivers are needed to drive four fingers, which greatly reduces the control difficulty; since the fixing mechanism is located between the fingers, the cross-sectional area of the driver located on the finger back is also reduced, improving the flexibility during the movement process.

[0027] 4. The present invention adopts a strategy of hybrid drive combined control, combining active training and impedance training, which can realize the passive assistance and active movement of the fingers, thus completing two training modes, and can meet the rehabilitation needs of patients with different muscle strength levels.

[0028] 5. The present invention adopts the control mode of a control terminal (remote mobile phone APP), which has good real-time performance and high efficiency. Patients can adjust it according to their own feelings, greatly relieving the pressure on medical staff. Brief Description of the Drawings

[0029] The drawings described herein are used to provide a further understanding of the present invention, form a part of this application, and do not constitute an improper limitation to the present invention. In the drawings:

[0030] Figure 1 is the overall three-dimensional structure schematic diagram in the embodiment of the present invention;

[0031] Figure 2 is Figure 1 the structural schematic diagram of the glove of the hand rehabilitation training device in

[0032] Figure 3 is Figure 1 the structural schematic diagram of the driver of the hand rehabilitation training device in

[0033] Figure 4 is Figure 3 the cross-sectional view of the silicone rubber driver in

[0034] Figure 5 is Figure 3 the exploded view of the driver of the hand rehabilitation training device

[0035] Figure 6 is the control flow chart of the entire hand rehabilitation training device of the present invention;

[0036] Figure 7 is Figure 1 the schematic diagram of the control circuit of the hand training and rehabilitation device in

[0037] In the figure, 1. training glove, 2. right finger driver, 3 left finger driver, 4. pneumatic control system, 5. shape memory alloy control system, 6. driver base, 7. glove body, 8. wrist fastening belt, 9. ratchet bar, 10. left ratchet pawl, 11. right ratchet pawl, 12. ratchet pawl base, 13. ratchet pawl shaft, 14. torsion spring, 15. silicone rubber driver, 16. ABS base hole, 17. shape memory alloy sheet, 18. tension spring, 19. tension rod, 20. fishing line, 21. airbag, 22. air duct, 23. serrated clamping piece, 24. shape memory alloy chamber, 25. air pump, 26. solenoid valve, 27. regulating valve, 28. Arduino development board, 29. power module, 30. Bluetooth module, 31. control terminal, 32. APP. Detailed Embodiments

[0038] To further elaborate on the technical means and effects adopted by the present invention to achieve the intended invention purpose, the following will combine the accompanying drawings and specific implementation manners to detail the specific implementation manner and working principle of a hand rehabilitation device based on hybrid drive and multiple modes proposed according to the present invention.

[0039] As Figure 1 shown, a hand rehabilitation device based on hybrid drive and multiple modes includes a training glove 1, a pneumatic control system 4, a shape memory alloy control system 5, and a computer control system 31. Between the two fingers of the training glove 1, there are respectively fixed finger - between drivers pairs (right finger - between driver 2, left finger - between driver 3) to transmit the force of the finger - between drivers to the fingers of the glove wearer; the finger - between drivers pairs are fixed at the junction of the two fingers of the training glove by connecting to the driver base 6; the finger - between drivers pairs are connected through the driver base 6 and are connected to the pneumatic control system 4 and the shape memory alloy control system 5. The pneumatic control system 4 and the shape memory alloy control system 5 are connected to the control terminal 31, and under the combined drive of the pneumatic control system 4 and the shape memory alloy control system 5, the active bending force and passive stretching force of the palm are realized, applying forces in two directions to the user to meet different rehabilitation needs.

[0040] As Figure 2 shown, the training glove 1 includes a glove main body 7 and a wrist fastening strap 8. The glove main body 7 is made of flexible material and adopts a design without a palm, only connected to the wrist through the glove back; the wrist fastening buckle 8 is composed of a ratchet strip 9, a left ratchet pawl 10, a right ratchet pawl 11, a base 12, a ratchet pawl shaft 13, and a torsion spring 14. The base 12 fixes a pair of ratchet pawls through the ratchet pawl shaft 13, and a torsion spring 14 is also provided on the ratchet pawl shaft 13; the ratchet strip 9 is sewn on the inner side of the wristband, the base 12 is sewn above the wristband, the left ratchet pawl 10 is fitted with the ratchet pawl shaft 13 through a hole, and the torsion spring 14 is concentric with the hole of the left ratchet pawl 10 on the ratchet pawl shaft 13, and the right ratchet pawl 11 is fitted with the base shaft through a hole.

[0041] As Figure 3, as shown in FIGS. 4 and 5, the finger drive includes a silicone rubber drive 15, a drive base 6, a shape memory alloy sheet 17, a tension spring 18, a tension rod 19, and a fishing line 20. The silicone rubber drive includes an airbag 21, an air duct 22, a serrated clamping piece 23, and a shape memory alloy chamber 24. The airbag 21 is connected to the pneumatic control system 4 through the air duct 22. Fiber braided layers are implanted at the bottom and both sides of the airbag 21, and the fiber directions are perpendicular to the axial direction and parallel to the ground and the side respectively; the serrated angle of the serrated clamping piece 23 is 30x6 and is sutured inside the finger; the top of the shape memory alloy chamber 24 is closed and is located at the bottom of the airbag 21; the drive base 6 includes the shape memory alloy chamber 24 and the air duct 22; the tension spring 18 and the tension rod 19 are embedded in the spring holes of the drive base. One end of the tension spring 18 is connected to the through hole of the silicone rubber drive 15 through the fishing line 20, and the other end is connected to the tension rod 19 through the ABS base hole 16; the shape memory alloy is embedded in the shape memory alloy chambers 24 of the silicone rubber drive 15 and the ABS base.

[0042] As shown in Figure 6 , FIGS. 6 and 7, the shape memory alloy control system 5 includes a control module, a hybrid drive output module, and a power supply system; the control module includes an Arduino development board 28, and the Arduino development board 28 is connected to the control terminal 31 through a Bluetooth module 30. The hybrid drive output module includes a solenoid valve 26, a regulating valve 27, and a power module 29 respectively connected to the Arduino development board 28. The solenoid valve 26, the regulating valve 27, and the power module 29 are connected to an air pump 25, and the power module 29 is connected to the shape memory alloy sheet 17. The power supply system is connected to the control module and the hybrid drive output module to supply power to them.

[0043] The air pump 25 is connected to the air duct 22 as the power source of the airbag 21. The solenoid valve 26 and the regulating valve 27 are connected in series and connected to the air pump 25. The Arduino development board 28 is connected to and controls the solenoid valve 26 and the regulating valve 27. The Arduino development board 28 communicates with the control terminal 31 using its Bluetooth module 30; the solenoid valve 26 and the regulating valve 27 are connected in series and receive the control instructions of the Arduino development board 28; the power module 29 is connected to the shape memory alloy sheet 17 and the Arduino development board 28 to supply power to them.

[0044] As shown in Figure 2 , the non-palm design of the training glove 1 maximally improves the breathability during the use by the patient. The right pawl 11 of the wrist of the training glove 1 is a manual feed pawl, and the left pawl 10 is a torque spring self-locking pawl. The combination of the two pawls can achieve the quick fastening and relaxation of the wristband.

[0045] As shown in Figure 3, as shown in Figs. 4 and 5, the silicone rubber actuator 15 adopts a hybrid driving strategy of a shape memory alloy sheet 17 driving and an airbag 21 driving. The woven fiber limit layer used in the airbag 21 restricts the expansion of the bottom and side surfaces of the airbag while not affecting the axial stretching of the airbag 21. All the gas input into the airbag 21 is used for the expansion of its back and generates a bending moment towards the palm. The fingertip clip 23 adopts a serrated design of 30x6, realizing a 180-degree bending of the actuator to meet the requirements of the finger movement range during rehabilitation training. The shape memory alloy sheet 17 utilizes its performance of restoring to the initial state after being electrified to provide an additional bending moment towards the palm for the actuator. When the silicone rubber actuator 15 and the shape memory alloy sheet 17 are in the non-driven working condition, they provide impedance force by using their inherent elastic deformation.

[0046] As Figure 6 , as shown in Figs. 6 and 7, the air pump 25 serves as the power source for the airbag 21 to inflate the airbag 21. The solenoid valve 26 controls the start and stop of the inflation action, and the regulating valve 27 controls the air flow rate during the inflation process. The Arduino development board 28 controls the actions of each valve and the on and off of the shape memory alloy circuit; the power supply module 29 supplies power to the solenoid valve 26, the regulating valve 27, the Arduino development board 28, and the shape memory alloy sheet 17.

[0047] In the Arduino development board 28, there are parallel-connected triodes. One end of the parallel node of the triodes is connected to the 5V power supply system, and the other end is grounded. The input and output ends of two pairs of triodes are connected in parallel to the solenoid valve 26 and the regulating valve 27. The output ends of the solenoid valve 26 and the regulating valve 27 are connected to the 24V power supply module 29 and then connected to the shape memory alloy 17 through the parallel resistor R3.

[0048] The control method of a hand rehabilitation device based on hybrid drive and multiple modes in the present invention is as follows:

[0049] In the passive movement rehabilitation training mode, the ratchet bar 9 is located below the left and right ratchet claws 10 and 11 and is fixed on the wrist fastening strap 8. The user passes the ratchet bar 9 through the left ratchet claw 10 and reciprocates the right ratchet claw 11 up and down to realize the feeding of the ratchet bar and tighten the wrist strap 8. At the same time, the torsion spring 14 inside the left ratchet claw 10 automatically locks to prevent the ratchet bar 9 from loosening. After fixing the wrist fastening strap 8, the user turns on the Bluetooth function of the mobile phone and successfully communicates with the Arduino Bluetooth module 30. The user selects to activate modes such as airbag drive, shape memory alloy drive, or hybrid drive through the APP32 of the control terminal 31 according to the muscle strength level of the patient. After activation, the amplitude and frequency of the power output curve are set. The Arduino development board 28 receives the control terminal signal and controls the solenoid valve 26 and the regulating valve 27 to inflate the airbag 21 and the state of the shape memory alloy 17, realizing the palm bending and back recovery of the fingertip actuator.

[0050] In the active impedance rehabilitation training mode, the user passes the ratchet bar 9 through the left ratchet pawl 10 and reciprocates the right ratchet pawl 11 up and down to achieve the feeding of the ratchet bar 9 and tighten the wrist tightening strap 8. At the same time, the torsion spring 14 inside the left ratchet pawl 10 automatically locks to prevent the ratchet bar 9 from loosening. The user actively completes the reciprocating movement of bending towards the palm and restoring back, forming a confrontation with the elastic forces of the shape memory alloy 17 and the silicone rubber actuator 15 to complete the impedance training.

[0051] The present invention is not limited to the above embodiments. Based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and deformations to some of the technical features without creative labor according to the disclosed technical content, and these substitutions and deformations are all within the protection scope of the present invention.

Claims

1. A hand rehabilitation device based on hybrid drive multi-mode, characterized in that: It comprises a training glove (1), a pneumatic control system (4), a memory alloy control system (5) and a control terminal (31); The training glove (1) comprises a glove body (7) and a wrist fastening strap (8); The glove body is made of flexible material and has a palmless four-finger wearing structure; A right inter-finger driver (2) and a left inter-finger driver (3) are respectively fixed between two fingers of the training glove (1); the inter-finger drivers (3, 2) are connected to a pneumatic control system (4) and a memory alloy control system (5) via a driver base (6); The inter-finger actuator comprises a silicone rubber actuator (15), a memory alloy sheet (17) and a fishing line (20); the silicone rubber actuator (15) is connected to the actuator base (6) via the fishing line (20); the memory alloy sheet (17) is arranged in a memory alloy chamber (24) between the silicone rubber actuator (15) and the actuator base (6), and is connected to a memory alloy control system (5); The silicone rubber driver (15) comprises an airbag (21), an air passage (22), a serrated clamping piece (23) and a memory alloy chamber (24); the airbag (21) is connected to a pneumatic control system (4) via the air passage (22) to inflate the airbag (21); the serrated clamping piece (23) is provided at the bottom of the airbag (21); The bottom and both sides of the airbag (21) are implanted with fiber braided layers, the fiber directions of which are perpendicular to the axial direction of the airbag (21) and parallel to the ground and the sides respectively; The top of the memory alloy chamber (24) is closed and located at the bottom of the airbag (21); Under the combined drive of the pneumatic control system (4) and the memory alloy control system (5) controlled by the control terminal (31), active bending force and passive stretching force of the palm are achieved.

2. The hand rehabilitation device based on hybrid drive multi-mode according to claim 1, characterized in that: The wrist fastening belt (8) comprises a wristband, a pair of ratchet bases (12) are provided on the top of the wristband, the ratchet bases (12) fix a pair of ratchet pawls (10) via a ratchet shaft (13), and a torsion spring (14) is also provided on the ratchet shaft (13); and a ratchet strip (9) is sewn on the inner side of the wristband.

3. The hand rehabilitation device based on hybrid drive multi-mode according to claim 1, characterized in that: The driver base (6) comprises a memory alloy chamber (24), an ABS base hole (16) and an air passage (22); a fishing line (20) passes through the ABS base hole (16), and a tension spring (18) and a tension rod (19) connected to the fishing line (20) are embedded in the outer end of the ABS base hole (16).

4. The hand rehabilitation device based on hybrid drive multi-mode according to claim 1, characterized in that: The memory alloy control system (5) includes a control module, a hybrid drive output module and a power supply system; the control module includes an Arduino development board (28), and the Arduino development board (28) is connected to a control terminal (31) via a Bluetooth module (30); The hybrid drive output module includes a solenoid valve (26), a regulating valve (27) and a power module (29) respectively connected to the Arduino development board (28), the solenoid valve (26), the regulating valve (27) and the power module (29) are connected to the air pump (25), and the power module (29) is connected to the memory alloy sheet (17); The power supply system is connected to the control module and the hybrid drive output module to supply power thereto.

5. The hand rehabilitation device based on hybrid drive multi-mode according to claim 4, characterized in that: The Arduino development board (28) is provided with triodes connected in parallel, one end of the parallel node of the triodes is connected to a 5V power supply system, and the other end is grounded, the input end and the output end of the two pairs of triodes are connected in parallel to the solenoid valve (26) and the regulating valve (27), the output end of the solenoid valve (26) and the regulating valve (27) are connected to a 24V power supply module (29), and are connected to a memory alloy sheet (17) via a parallel resistor R3.

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