A hand rehabilitation robot

Abstract

The application discloses a flexible hand rehabilitation robot and belongs to the technical field of medical rehabilitation instruments; the flexible hand rehabilitation robot comprises a full-finger glove and muscle softwares with different lengths; five muscle softwares are respectively connected with five finger sleeves of the full-finger glove in a matched mode, and the muscle softwares are installed on the dorsal side of the finger sleeves; the muscle softwares comprise a flexible base body and two expansion and contraction cavities arranged in the flexible base body; the bilateral bending movement of the fingers wearing the full-finger glove is driven by adjusting the air pressure intensity in the two expansion and contraction cavities. The two expansion and contraction cavities are arranged in the muscle softwares, the expansion and contraction of the expansion and contraction cavities is controlled by adjusting the air pressure intensity in the two expansion and contraction cavities, the muscle softwares are driven to bend to two sides, and power is provided for the gripping and stretching processes of the human hand.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical rehabilitation equipment, and particularly relates to a hand auxiliary rehabilitation robot. BACKGROUND

[0002] The hand is the most important and complex organ in the human movement system, and can realize various complex actions and operate various tools.

[0003] However, the function of the human hand is also extremely vulnerable, and hand trauma and nerve damage are the main causes of damage. Hand trauma often leads to loss of hand function in patients, making it impossible to complete normal hand movements. For patients with hand movement disorders, most current treatments still rely on continuous passive training of the affected limb by physicians, which assists patients in repairing damaged nerves through continuous and repetitive passive rehabilitation training.

[0004] Traditional soft hand rehabilitation robots have the advantages of soft structure, good adaptability, simple control, low price and the like, so that the treatment of patients becomes simpler and more convenient. The invention with the publication number CN106309083A discloses an EMG-controlled pneumatic soft rehabilitation manipulator, and the invention with the publication number CN111067753A discloses a finger and wrist integrated soft rehabilitation glove. The soft hand rehabilitation device described in the above patent solutions can only realize unilateral bending movement on each finger, and usually can only drive the patient's fingers to bend and clench, and cannot help the patient's fingers to open and stretch, so the use effect is not good. SUMMARY

[0005] Therefore, it is necessary to provide a hand auxiliary rehabilitation robot to solve the problem that the existing soft hand rehabilitation device can only realize unilateral bending movement.

[0006] The present application provides a hand auxiliary rehabilitation robot, comprising: a full-finger glove and muscle softwares of different lengths, five muscle softwares are respectively connected with five finger sleeves of the full-finger glove, and the muscle softwares are installed on the dorsal side of the finger sleeves; the muscle softwares comprise a flexible base body and two expansion and contraction cavities arranged in the flexible base body, and the fingers wearing the full-finger glove are driven to perform bilateral bending movement by adjusting the pressure strength of the two expansion and contraction cavities.

[0007] Further, the projections of the two expansion and contraction cavities relative to the finger sleeves are coincidentally arranged, and the two expansion and contraction cavities are arranged at the center of the flexible base body.

[0008] Further, the expansion and contraction cavities are arranged along the length direction of the muscle softwares, and the cross section of the expansion and contraction cavities is a regular figure.

[0009] Further, the cross-sectional area of the telescopic cavity away from the finger sleeve is larger than the cross-sectional area of the other telescopic cavity.

[0010] Further, the air supply assembly is further provided, and the air supply assembly comprises a joint, a gas pipe and an air pressure adjusting unit, one end of the joint is fixedly connected with the telescopic cavity, the other end of the joint is detachably connected with the gas pipe, the air pressure adjusting unit is in communication with the other end of the gas pipe, and the air pressure adjusting unit can control the air pressure in the gas pipe.

[0011] Further, the flexible base body is provided with a fiber constraint unit, and the fiber constraint unit comprises a circumferential constraint wire, the circumferential constraint wire is arranged around the flexible base body and embedded in the flexible base body.

[0012] Further, the fiber constraint unit further comprises an axial constraint wire, the axial constraint wire is arranged along the length direction of the flexible base body and embedded in the flexible base body.

[0013] Further, the surface of the flexible base body is coated with a protective layer.

[0014] Further, the muscle soft body and the finger sleeve are provided with a fixing module, the fixing module comprises a fixing piece, the fixing piece is arranged on the two sides of the finger sleeve relative to the finger joint, and the muscle soft body and the finger sleeve are multi-point bound by the fixing piece.

[0015] Further, the end of the finger sleeve is provided with a pressure sensor, and the pressure sensor is fixedly connected with the finger sleeve.

[0016] Compared with the prior art, the present application has the beneficial effects that:

[0017] The hand auxiliary rehabilitation robot comprises a full-finger glove and muscle soft bodies with different lengths, the full-finger glove is a woven glove, and the glove is worn on the hand of a person in need of rehabilitation training. Five muscle soft bodies are correspondingly connected with five finger sleeves of the full-finger glove, the muscle soft bodies are installed on the dorsal side of the finger sleeves, and the bending deformation of the muscle soft bodies can drive the bending movement of the fingers. The muscle soft body comprises a flexible base body and two telescopic cavities arranged in the flexible base body, the air pressure in the telescopic cavities is adjusted through a pipeline, the deformation degree of the telescopic cavity with strong air pressure is larger than the deformation degree of the telescopic cavity with weak air pressure, the pressure difference between the telescopic cavities can drive the flexible base body to bend to one side, the internal pressure of the telescopic cavities is adjusted, the finger sleeve can be bent to the dorsal side or the palmar side, and thus power is provided for the gripping and stretching processes of the hand. BRIEF DESCRIPTION OF DRAWINGS

[0018] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:

[0019] Fig. 1 is a schematic diagram of the internal structure of the muscle soft body provided by the present application;

[0020] Figure 2 is a schematic diagram of the structure of the muscle soft body when it is stretched;

[0021] Figure 3 is a schematic diagram of the structure of the muscle soft body when it is bent;

[0022] Figure 4 is a schematic diagram of the three-dimensional structure of the present application when it is in the stretched state Figure 1 ;

[0023] Figure 5 is a schematic diagram of the three-dimensional structure of the present application when it is in the stretched state Figure 2 ;

[0024] Figure 6 is a schematic diagram of the structure of the present application when it is in the grasping state;

[0025] In the drawings, the full-finger glove 100, the pressure sensor 110, the muscle soft body 200, the flexible base 210, the fiber constraint unit 240, the circumferential constraint line 221, the axial constraint line 222, the telescopic cavity 220, the fixed module 230, the fixing member 231, the gas supply assembly 300, the connector 310, and the gas delivery tube 320. DETAILED DESCRIPTION

[0026] The preferred embodiments of the present application will be described in detail below with reference to the drawings, in which the drawings constitute a part of this application and serve to explain the principles of the embodiments of the present application, but are not intended to limit the scope of the present application.

[0027] The hand-assisted rehabilitation robot in the present embodiment can drive the muscle soft body 200 to bend to both sides by adjusting the pressure in the two telescopic cavities 220, thereby providing power for the grasping and stretching processes of the human hand.

[0028] Please refer to Figures 1 to 6The hand rehabilitation assisting robot in the embodiment comprises a full-finger glove 100 and muscle softwares 200 of different lengths. The full-finger glove 100 is a woven glove, which is worn on the hand of a person in need of rehabilitation training. Five muscle softwares 200 are respectively connected to five finger sleeves of the full-finger glove 100. The muscle softwares 200 are installed on the dorsal side of the finger sleeves, and the bending deformation of the muscle softwares 200 can drive the bending movement of the fingers. The muscle software 200 comprises a flexible base body 210 and two expansion and contraction cavities 220 arranged in the flexible base body 210. The pressure strength in the expansion and contraction cavities 220 is adjusted through a pipeline. The deformation degree of the expansion and contraction cavity 220 with strong air pressure is greater than that of the expansion and contraction cavity 220 with weak air pressure. The pressure difference between the expansion and contraction cavities 220 can drive the flexible base body 210 to bend to one side. By adjusting the internal pressure of the expansion and contraction cavities 220, the finger sleeve can be bent to the dorsal side or the palmar side, thereby providing power for the gripping and stretching processes of the hand.

[0029] Please refer to Figure 4 and Figure 5 The projections of the two expansion and contraction cavities 220 on the finger sleeve are arranged in coincidence. The two expansion and contraction cavities 220 are arranged oppositely and cooperated with the finger sleeve, so as to directly drive the finger sleeve to drive the finger to rotate along the joint. The two expansion and contraction cavities 220 are arranged at intervals and located on the two sides of the center of the flexible base body 210. The expansion and contraction cavities 220 are arranged eccentrically. After the expansion and contraction cavity 220 on one side is inflated, the deformation amount of the flexible base body 210 is greater, and the deformation range of the muscle software 200 is greater.

[0030] In the specific implementation process, the expansion and contraction cavities 220 are arranged along the length direction of the muscle software 200. The cross section of the expansion and contraction cavity 220 is a regular shape, which can be circular, oval, rectangular, trapezoidal, etc. These regular-shaped expansion and contraction cavities 220 can facilitate the extrusion molding of the muscle software 200, thereby reducing the production cost.

[0031] As one of the embodiments, the cross-sectional area of the expansion and contraction cavity 220 away from the finger sleeve is greater than that of the other expansion and contraction cavity 220. In some cases, the normally stretched hand not only needs to be gripped in the forward direction, but also needs to be bent in the reverse direction with a small amplitude, so that the included angle between the finger and the palm on the palmar side is greater than 180°. The expansion and contraction cavity 220 with a smaller cross-sectional area not only can drive the curled fingers to straighten, but also can drive the fingers to bend in the reverse direction. It should be noted that the hand in the stretched state can be gripped in the forward direction with a large amplitude. In order to provide a corresponding bending amplitude, the expansion and contraction cavity 220 with a large cross-sectional area is located away from the finger sleeve, which can drive the fingers to bend in the forward direction with a large amplitude. The hand in the stretched state can only bend the fingers with a small amplitude. In order to provide a corresponding bending amplitude, the expansion and contraction cavity 220 with a small cross-sectional area is located close to the finger sleeve, which can drive the fingers to bend in the reverse direction with a small amplitude.

[0032] Please refer to Figure 2 andFigure 3 The hand-assisted rehabilitation robot further comprises a gas supply assembly 300, which comprises a joint 310, a gas supply pipe 320, and a gas pressure adjusting unit. One end of the joint 310 is connected to the telescopic cavity 220 by means of glue sealing, and the inner cavity of the joint 310 is in communication with the telescopic cavity 220 and maintains good airtightness. The other end of the joint 310 is connected to the gas supply pipe 320 by means of threads or a bayonet. The gas supply pipe 320 can be disassembled at the joint 310 as needed, which facilitates the disassembly of the gas supply pipe 320 and the muscle soft body 200, saves maintenance time, and reduces the maintenance efficiency.

[0033] The gas pressure adjusting unit is in communication with the other end of the gas supply pipe 320 and can control the gas pressure in the gas supply pipe 320.

[0034] As one of the embodiments, the gas pressure adjusting unit comprises a host computer and a proportional valve. The host computer sends a control signal to the proportional valve through a D / A data acquisition card, and the proportional valve outputs high-pressure gas from the gas. The corresponding gas pressure can be output to the gas supply pipe 320 according to the control signal. The number of proportional valves is equal to the total number of gas supply pipes 320, and they are one-to-one corresponding. The pressure of each gas supply pipe 320 on the full-finger glove 100 can be adjusted by adjusting the proportional valve, thereby controlling the bending degree of the muscle soft body 200. A pressure sensor 110 is arranged at the end of the finger sleeve, and the pressure sensor 110 is fixedly connected to the finger sleeve. An A / D data acquisition card acquires data of the angle sensor and the pressure sensor 110 in the full-finger glove 100 and transmits the data to the host computer as a feedback quantity to correct the control signal.

[0035] As one of the embodiments, the gas pressure adjusting unit comprises a gas cylinder and a linear drive member. The output end of the gas cylinder is in communication with the gas supply pipe 320, the piston of the gas cylinder is connected to the linear drive pipe, and the linear drive member is specifically an electric push rod. The length of the linear drive member can be operated to increase or decrease the pressure in the telescopic cavity 220 in communication with the gas supply pipe 320.

[0036] Please refer to Figure 1 The flexible base body 210 is provided with a fiber constraint unit 240. The fiber constraint unit 240 comprises a circumferential constraint line 221 and an axial constraint line 222. The circumferential constraint line 221 is arranged around the flexible base body 210 and embedded in the flexible base body 210. The axial constraint line 222 is arranged along the length direction of the flexible base body 210 and embedded in the flexible base body 210.

[0037] The flexible base 210 is generally made by injecting liquid silicone rubber into a corresponding mold and then demolding after curing. The circumferential constraint line 221 and the axial constraint line 222 are both Kevlar fiber lines containing two Kevlar fibers. The circumferential constraint line 221 is uniformly wound in a double helix around the outer side of the flexible base 210. The circumferential constraint line 221 can enhance the strength of the flexible base 210 in the circumferential direction, thereby limiting the radial expansion and torsional bending of the pneumatic muscle after inflation, and promoting axial extension.

[0038] The telescopic cavity 220 is two asymmetric chambers in the muscle soft body 200. When the mold is filled with silicone rubber, a cylindrical protrusion with the same shape as the cavity is used to block the generation of the cavity. The two cavities are integrally formed with the flexible base 210 and have good sealing performance.

[0039] The axial constraint line 222 is fixed in the mold before the flexible base 210 is cured. The axial constraint line 222 is embedded in the flexible base 210 and extends in the axial direction. The axial constraint line 222 as a limiting layer can inhibit the axial extension of the flexible base 210, thereby making the flexible base 210 produce a stronger bending effect.

[0040] Please refer to Figures 4 to 6 The muscle soft body 200 is covered with a layer of liquid silicone rubber on the surface of the circumferential constraint line 221 to form a protective layer. The protective layer on the outside of the muscle soft body 200 can fix the double-helically wound circumferential constraint line 221 and hinder the sliding of the circumferential constraint line 221. At the same time, it can also protect the circumferential constraint fiber from wear and tear, prolonging the service life.

[0041] The muscle soft body 200 includes an index finger muscle soft body 200, a middle finger muscle soft body, a ring finger muscle soft body, a little finger muscle soft body, and a thumb muscle soft body. The flexible base 210 in the index finger muscle soft body 200, the middle finger muscle soft body, the ring finger muscle soft body, the little finger muscle soft body, and the thumb muscle soft body is customized according to the length, thickness, and bending angle of different fingers.

[0042] Between the five muscle soft bodies 200 and the five fingers, there is an angle sensor in the shape of a rectangular sheet. The angle sensor extends from the root of the finger to the tip of the finger. The angle sensor can be used to measure the bending angle of the five fingers. The muscle soft body 200 and the finger sleeve are provided with a fixing module 230. The fixing module 230 includes a fixing piece 231, which is specifically a flexible textile fabric. The fixing piece 231 includes an index finger fixing piece, a middle finger fixing piece, a ring finger fixing piece, a little finger fixing piece, and a thumb fixing piece. The fixing piece 1 is sleeved on the finger sleeve and the muscle soft body 200, and the muscle soft body 200 can be sewn on the full-finger glove 100 with the help of a needle and thread.

[0043] The index finger fixing member, the middle finger fixing member, the ring finger fixing member and the little finger fixing member are divided into three parts and are respectively located at three segments of the fingers. The thumb fixing member is divided into two parts and is located at two segments of the thumb. The joint of the fingers is located between the two parts. The wrist part of the full-finger glove 100 is provided with a gathering member which is composed of a printing part and a nylon buckle belt. The gathering member can fix the gas conveying pipe 320 of the muscle soft body 200 at the wrist part of the full-finger glove 100 and fix the full-finger glove 100 at the wrist to prevent the relative sliding between the full-finger glove 100 and the wrist.

[0044] The end part of the finger glove is provided with a pressure sensor 110 which includes five thin film pressure sensors 110. The pressure sensors 110 are respectively adhered to the tip parts of the five fingers of the full-finger glove 100 and are used to measure the tip interactive force when the patient wears the flexible hand rehabilitation robot to move.

[0045] Workflow: Firstly, the full-finger glove 100 is worn on the hand of the person to be rehabilitated. Firstly, the gas is conveyed to the stretchable cavity 220 with large cross section to pressurize. The hand of the person to be rehabilitated is curled and gathered. Then, the gas is conveyed to the stretchable cavity 220 with small cross section to pressurize. The reverse bending of the hand of the person to be rehabilitated is straightened. The pressurization is continuously performed to a certain pressure. The stretchable cavity 220 with small cross section is inflated. The reverse bending of the hand of the person to be rehabilitated is over 180°.

[0046] The above is only the preferred specific implementation of the present application. The protection scope of the present application is not limited to this. Any change or replacement within the technical range disclosed by the present application can be easily thought by the person skilled in the art and should be covered in the present application.

Claims

1. A hand-assist rehabilitation robot characterized by, The application relates to a full-finger glove and muscle softwares of different lengths, wherein five muscle softwares are respectively connected with five finger sleeves of the full-finger glove, the muscle softwares are installed on the back of the finger sleeves, the muscle softwares comprise a flexible base body and two expansion and contraction cavities arranged in the flexible base body, the expansion and contraction cavities are used for driving the fingers of the full-finger glove to perform bilateral bending movement by adjusting the air pressure of the two expansion and contraction cavities, the two expansion and contraction cavities are arranged in the projection of the finger sleeves, the two expansion and contraction cavities are arranged on the two sides of the center of the flexible base body and are spaced apart from each other, the cross-sectional area of the expansion and contraction cavity far away from the finger sleeve is larger than that of the other expansion and contraction cavity, so that the fingers can be bent towards the back of the palm to make the included angle between the fingers and the palm greater than 180 DEG. The expansion and contraction cavities are arranged along the length direction of the muscle softwares, and the cross sections of the expansion and contraction cavities are regular patterns.

2. The hand rehabilitation robot according to claim 1, wherein The application further relates to a gas supply assembly which comprises a joint, a gas pipe and a gas pressure adjusting unit, one end of the joint is fixedly connected with the expansion and contraction cavities, the other end of the joint is detachably connected with the gas pipe, the gas pressure adjusting unit is communicated with the other end of the gas pipe, and the gas pressure adjusting unit can control the air pressure in the gas pipe.

3. The hand rehabilitation robot according to claim 1, wherein The flexible base body is provided with a fiber constraint unit, the fiber constraint unit comprises a circumferential constraint wire which is arranged around the flexible base body and embedded in the flexible base body.

4. The hand rehabilitation robot according to claim 1, wherein The fiber constraint unit further comprises an axial constraint wire which is arranged along the length direction of the flexible base body and embedded in the flexible base body.

5. The hand rehabilitation robot according to claim 4, wherein The surface of the flexible base body is coated with a protective layer.

6. The hand rehabilitation robot according to claim 5, wherein The muscle softwares and the finger sleeves are provided with a fixing module, the fixing module comprises a fixing piece which is arranged on the two sides of the finger sleeves relative to the finger joints, and the muscle softwares and the finger sleeves are multi-point bound by the fixing piece.

7. The hand-assist rehabilitation robot according to any one of claims 1-6, wherein, The end of the finger sleeve is provided with a pressure sensor which is fixedly connected with the finger sleeve.

8. The hand rehabilitation robot according to claim 7, wherein ​

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