A rigid-flexible coupled wire-driven rehabilitation assistive glove

Abstract

The present invention discloses a rigid-flexibly coupled wire-driven rehabilitation assistive glove, comprising a glove wearing mechanism and a remote drive device. The glove wearing mechanism comprises a hand-fixed wearing component and four drive finger sleeves, wherein the wearing component and the finger sleeves are connected via flexible connecting joints and cords; wherein the finger sleeves of the index finger and the middle finger are hinged structures, and based on the geometric relationship of the finger sleeve model, the hand joint angles are precisely controlled by changes in the length of the wire. The remote drive device is composed of multiple servos and a control panel; in addition, the present invention adds the function of finger abduction and adduction, and can independently control the metacarpophalangeal joints and proximal interphalangeal joints of some fingers, so that the distal interphalangeal joints are coupled and driven by the proximal interphalangeal joints, achieving a balance between functionality and the number of drives, ensuring that the rehabilitation assistive glove can assist in completing more common and complex finger movements, while avoiding unnecessary joint drives, thereby optimizing the number of drives and reducing the weight of the device.

Description

Technical Field

[0001] The present invention belongs to the technical field of hand function rehabilitation assisting equipment, and in particular relates to a rigid-flexible coupled wire-driven rehabilitation assisting glove. Background Art

[0002] Spinal cord injury, stroke, hemiplegia, Parkinson's disease, and accidental hand injuries can all lead to loss of hand function, causing inconvenience in daily life and work for patients at best, and even causing loss of self-care and social reintegration at worst. Clinical rehabilitation medicine has proven that for patients with hand motor dysfunction caused by illness or accidental injury, scientific rehabilitation training in the mid- to late-stage has a significant restorative effect on hand function. Among these, continuous passive motion (CPM) rehabilitation training, by strengthening passive muscle and tendon training, is beneficial for nerve repair and remodeling, reducing hand disability, and restoring some hand function.

[0003] Traditional rehabilitation therapy typically requires one-on-one training between a therapist and the patient. While this approach yields positive results, it is labor-intensive and requires a long recovery period. Furthermore, the limited number of rehabilitation physicians makes it difficult to meet the needs of all patients. Consequently, the field of rehabilitation robotics has emerged. Hand exoskeleton robots not only provide effective rehabilitation treatment and reduce the workload of rehabilitation therapists, but also enhance the patient's rehabilitation experience through interactive technology, increasing their willingness and motivation to participate in rehabilitation treatment.

[0004] Investigations have revealed that existing hand rehabilitation robots often have limited functionality and can only train patients to perform simple grasping movements. Furthermore, due to varying conditions and locations of nerve damage, recovery varies among patients. Some patients still fail to fully recover hand function after rehabilitation therapy and can only perform simple grasping movements. Therefore, addressing these two situations requires the design of a rehabilitation device that can train and assist patients with hand function loss to perform daily hand movements, thereby improving their work and daily life experiences. Summary of the Invention

[0005] In order to address the shortcomings of the simple rehabilitation training mode of existing hand rehabilitation equipment, achieve the purpose of training patients' fingers and assisting more complex and daily hand movements, the present invention adopts the following technical solutions:

[0006] A rigid-flexibly coupled wire-driven rehabilitation assist glove comprises a glove donning mechanism and a remote drive device. The glove donning mechanism comprises a driving finger cuff, a connecting joint hand-fixed wearing component, and a driving wire. The driving finger cuff is connected to the hand-fixed wearing component via the connecting joint. The driving wire is wound around the driving finger cuff and driven by the remote drive device to control the movement of the driving finger cuff.

[0007] The hand fixation wearable component includes a back of hand fixation plate and a palm fixation plate. Positioning slots are provided on both sides of the palm fixation plate and the palm fixation plate. Flexible Velcro connects the palm fixation plate and the palm fixation plate through the positioning slots and is worn on the patient's hand.

[0008] The remote drive unit includes a drive servo and a control panel placed on the back.

[0009] Furthermore, the driving wire includes an abduction and adduction driving wire, and the back of the hand of the hand fixed wear component is provided with a rotating base. The connecting joint includes a connecting piece, a lower metacarpophalangeal joint back of the hand linkage component, a first driving disc and a driving shaft. One side of the lower metacarpophalangeal joint back of the hand linkage component is connected to the driving finger sleeve through a connecting piece, and the other side is cooperated with the rotating base and the first driving disc, and is sleeved on the driving shaft, wherein the lower metacarpophalangeal joint back of the hand linkage component and the first driving disc are both interference-connected with the driving shaft, the abduction and adduction driving wire is wrapped around the first driving disc with a groove, and both ends of the abduction and adduction driving wire are connected to the distal driving device. The distal drive device is retracted and extended, causing the abduction and adduction drive wire to pull the first drive disc, which rotates around the drive shaft and drives the drive shaft with an interference fit therewith. The drive shaft then transmits the rotation to the lower metacarpophalangeal joint back-of-hand linkage component, which drives the drive finger cuff to perform abduction and adduction movements through the connecting piece, thereby providing the traditional rehabilitation assistant gloves with only grasping functions with the function of abduction and adduction movements. At the same time, during the abduction and adduction movements, since the total length of the metacarpophalangeal joint drive wire remains unchanged, the abduction and adduction movements of the metacarpophalangeal joint will not affect the extension and flexion joint angles of the metacarpophalangeal joint.

[0010] Furthermore, an upper metacarpophalangeal joint back-of-hand linkage component is provided on the back of the driving knuckle, and both the upper metacarpophalangeal joint back-of-hand linkage component and the lower metacarpophalangeal joint back-of-hand linkage component are provided with inverted trapezoidal grooves, which are arranged to cooperate with the two ends of the longitudinal section of the connecting piece to form a trapezoid with the inner side smaller and the outer side larger.

[0011] Furthermore, the drive wire includes a metacarpophalangeal joint drive wire. A pair of transmission components are provided on the palm surface of the hand-mounted wearable component, cooperating with a single drive cuff. The transmission components include a support shaft, a second drive disc with a groove, and a disc fixing member. The support shaft is fixedly connected to the palm surface. The second drive disc is mounted on the support shaft and its axial movement is restricted by the disc fixing member. The metacarpophalangeal joint drive wire wraps around the second drive disc of one transmission component, then passes around the back of the drive cuff and wraps around the second drive disc of another transmission component. Both ends of the metacarpophalangeal joint drive wire are connected to a distal drive device. The distal drive device retracts and releases, causing both ends of the metacarpophalangeal joint drive wire to move downward together in a tightening motion. The second drive disc then rotates on the support shaft, causing the drive cuff to bend due to the metacarpophalangeal joint drive wire.

[0012] Furthermore, the drive line also includes a proximal interphalangeal drive line, and the drive finger sleeve is sequentially connected to the first knuckle, the second knuckle and the third knuckle from the fingertip to the metacarpophalangeal joint. Upper and lower passive tendon tracks are correspondingly arranged on the first and second knuckles, and corresponding proximal interphalangeal joint drive line tracks are arranged on the second and third knuckles; the passive tendon is wrapped around the first and second knuckles through the upper and lower passive tendon tracks, and both ends of the passive tendon are fixed to the third knuckle. One end of the proximal interphalangeal joint drive line passes through the proximal interphalangeal joint drive line track and is connected to the second knuckle, and the other end is connected to the distal drive device. The third knuckle is connected to the hand fixed wear component through the connecting joint. When the proximal interphalangeal joint drive wire is pulled by the distal drive mechanism, the distance between the two ends of the wire track decreases, causing the proximal interphalangeal joint to flex. Simultaneously, the length of the lower end of the passive tendon (between the second and third phalanges, and outside the tendon track) increases due to the flexion of the joint. The length of the upper end of the passive tendon (between the first and second phalanges, and outside the tendon track) decreases because the total length of the passive tendon remains unchanged, pulling the distal interphalangeal joint to flex. This design allows the distal interphalangeal joint to be affected by changes in the proximal interphalangeal joint, thereby achieving coupled drive of the two joints, consistent with human hand kinematics and reducing the number of drives.

[0013] The driving finger cuffs include driving finger cuffs for the index finger, middle finger, ring finger and little finger. The proximal interphalangeal driving wires are coordinated with the segmented driving finger cuffs to perform extension and flexion movements of the proximal interphalangeal joints of the driving finger cuffs for the index finger and middle finger. The metacarpophalangeal joint driving wires are coordinated with the transmission components to perform extension and flexion movements of the metacarpophalangeal joints of the four-finger driving finger cuffs.

[0014] Metacarpophalangeal joint drive line tracks are provided from both sides of the third phalanx to the dorsum of the finger, and the metacarpophalangeal joint drive line passes through the metacarpophalangeal joint drive line tracks of the third phalanx.

[0015] According to the results of finger kinematic analysis, the ring finger and little finger have highly coordinated movement behaviors in daily movements such as grasping, and have less abduction and adduction movements. Therefore, the ring finger and little finger only retain extension and flexion behaviors, are designed as one-piece pull-wire finger sleeves, and are driven by the same driving tendon; while the middle finger and index finger retain the abduction and adduction movements and extension and flexion movements of the metacarpophalangeal joints, as well as extension and flexion movements of the proximal interphalangeal joints, to meet richer grasping behaviors, daily hand movements and dexterous operations.

[0016] Furthermore, the geometric relationship is constructed through the relative positions of adjacent knuckles:

[0017]

[0018]

[0019]

[0020] L1=L-L3

[0021]

[0022] θ DIP =θ 1_initial -θ1

[0023] θ DIP =θ 2_initial -θ2

[0024]

[0025]

[0026] Among them, L1 represents the passive tendon length between the upper passive tendon track and the lower passive tendon track, R1 and θ1 represent the distance from the center point of the flexion rotation of the first phalanx relative to the second phalanx to the upper passive tendon track and the lower passive tendon track, and the angle formed respectively; L2 represents the proximal interphalangeal driving line length between the proximal interphalangeal joint driving line track of the second and third phalanges, R2 and θ2 represent the distance from the center point of the rotation of the second phalanx relative to the third phalanx to the proximal interphalangeal joint driving line track of the second and third phalanx, and the angle formed respectively; L3 represents the passive tendon length between the lower passive tendon track and the upper end of the third phalanx, R2 and θ3 represent the distance from the center point of the rotation of the second phalanx relative to the third phalanx to the lower passive tendon track and the third phalanx, and the angle formed respectively; θ2 corresponds to θ3, which are θ5 and θ4 respectively, and L=L1+L3;

[0027] θ DIP represents the angle of rotation of the distal interphalangeal joint DIP, θ PIP represents the angle of rotation of the proximal interphalangeal joint (PIP); θ 1-initial Indicates the initial angle of θ1. The angle of θ1 change is the angle of DIP rotation. 2-initial Represents the initial angle of θ2. The angle of change of θ2 is the angle of rotation of the PIP joint.

[0028] The relationship between the distal interphalangeal and proximal interphalangeal joints is established by the geometric relationship of the finger sleeve structure. The design parameters can be optimized by referring to the finger kinematics data and the coordinated movement between the joints, so that the coupling relationship between the finger sleeve joints is more consistent with the actual movement of the joints.

[0029] Furthermore, the connecting joint includes a connector made of a transversely arranged corrugated flexible material, one end of which is connected to the back of the hand of the hand-fixing wearable component, and the other end is connected to the back of the finger of the driving finger sleeve. This structure produces less deformation in response to torque perpendicular to the back of the hand, but can produce larger tensile and bending deformation in response to longitudinal tensile forces, and can restore its original shape after the tensile force is released. This is to distinguish between the abduction and adduction movements of the finger joints and the extension and flexion movements, so that the structure of the connector has better resistance to the abduction and adduction movements of the fingers, while being able to better adapt to the flexion behavior of the fingers, and having a certain restoring force and supporting force. Therefore, this flexible connector can serve as a connecting component between the back of the hand of the hand-fixing wearable component and the back of the finger of the driving finger sleeve, transmitting the abduction and adduction movements of the back of the hand driving structure, while passively adapting to the extension and flexion of the fingers, and not hindering the metacarpophalangeal joints from being driven by the extension and flexion drive lines of the palm.

[0030] Furthermore, the connecting joint includes a flexible passive support member with a transverse origami structure, one end of which is connected to the palm surface of the hand-fixed wearable component, and the other end is connected to the fingertips of the driving finger cuff. This is to distinguish the abduction, adduction, and flexion movements of the metacarpophalangeal joint. This structure produces less deformation in response to torque perpendicular to the palm, but can produce greater compressive deformation in response to longitudinal pressure, and can restore its original shape after the pressure is released. Therefore, this flexible connector has a good resistance to finger abduction and adduction movement, and can adapt to the flexion behavior of the finger. It has a certain restoring force and supporting force. The flexible passive support member can passively adapt to the abduction, adduction and flexion movements of the finger.

[0031] When the MCP joint drive wire is pulled downward by the distal drive device, the MCP joint flexes forward, the flexible passive support is compressed, and the flexible connecting joint on the dorsum of the hand is stretched.

[0032] Furthermore, an upper passive support fixing part is provided at the fingertip of the driving finger cuff, and the connecting joint includes a passive support part and a lower passive support fixing part. Both the upper passive support fixing part and the lower passive support fixing part are provided with an inverted trapezoidal groove, which is arranged in a trapezoidal shape with the inner side smaller and the outer side larger at both ends of the longitudinal section of the passive support part. The lower passive support fixing part is connected to the palm surface of the hand fixing wear component.

[0033] Furthermore, a passive support rotating shaft is provided on the palm surface of the hand fixing wearable component, and the connecting joint includes a passive support part, a lower passive support fixing part, a gasket and a screw. The passive support rotating shaft passes through the circular hole on the lower passive support fixing part and is fixed by the gasket and the screw to limit the axial displacement of the lower passive support fixing part. The lower passive support fixing part is connected to the fingertip of the driving finger cuff via the passive support part.

[0034] The advantages and beneficial effects of the present invention are:

[0035] Compared to the simple rehabilitation movements of traditional rehabilitation gloves, this invention adds abduction and adduction drive for the index and middle fingers, as well as a drive for the proximal interphalangeal joints, based on daily hand movements. The distal interphalangeal joints are coupled to the proximal interphalangeal joints via a passive tendon based on the coupling relationship between the finger joint angles. The ring finger and little finger are coupled to each other via a single drive line to achieve coupled extension and flexion. This increased number of movable joints enables more complex hand movements while striking a balance between functionality and the number of drives. This ensures that the rehabilitation assistive glove can assist with more common and complex finger movements while avoiding unnecessary joint drive, optimizing the number of drives, and reducing the weight of the device. Furthermore, unlike traditional integrated pull-wire finger cuffs, the index and middle finger cuffs adopt a hinged design. Based on the geometric relationship of the finger cuff model, the hand joint angles can be controlled by changing the length of the wire. Furthermore, for the metacarpophalangeal joints, flexible connectors that can resist bending torque and adapt to bending, compression, and extension are added to separately drive the extension and flexion movements of the metacarpophalangeal joints and the abduction and adduction movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 2 is a schematic diagram of the overall structure of the rehabilitation assisting glove from the back of the hand according to an embodiment of the present invention.

[0037] Figure 2 2 is a schematic diagram of the overall structure of the rehabilitation assisting glove from the palm perspective according to an embodiment of the present invention.

[0038] Figure 3 2 is a schematic diagram of the structure of the hand-worn component from the back of the hand according to an embodiment of the present invention.

[0039] Figure 4 2 is a schematic diagram of the palm perspective structure of the hand-worn component in an embodiment of the present invention.

[0040] Figure 5 2. It is a schematic diagram of the structure of the flexible connection joint from the back of the hand in an embodiment of the present invention.

[0041] Figure 6 2 is a schematic diagram of the palm perspective structure of the flexible connection joint in an embodiment of the present invention.

[0042] Figure 7 This is a schematic diagram of the index finger drive finger sleeve structure in the embodiment of the present invention. Figure 1 .

[0043] Figure 8 This is a schematic diagram of the index finger drive finger sleeve structure in the embodiment of the present invention. Figure 2 .

[0044] Figure 9a Schematic diagram of the extension and flexion driving line of the metacarpophalangeal joint when the abduction and adduction angle of the index finger is 0 in an embodiment of the present invention.

[0045] Figure 9b Schematic diagram of the extension and flexion driving line of the metacarpophalangeal joint when the abduction and adduction angle of the index finger is θ in an embodiment of the present invention.

[0046] Figure 10 Schematic diagram of the relationship between the angles of the proximal interphalangeal joint and the distal interphalangeal joint of the index finger cuff through passive tendon coupling in an embodiment of the present invention.

[0047] In the figure: 1-driving finger sleeve, 110-first knuckle, 111-upper passive tendon track, 120-second knuckle, 121-lower passive tendon track, 122-passive tendon, 123-proximal interphalangeal joint driving line, 124-proximal interphalangeal joint driving line track, 130-third knuckle, 131-metacarpophalangeal joint driving line track, 132-upper metacarpophalangeal joint back of hand linkage component, 133-metacarpophalangeal joint driving line, 134-upper passive support fixture; 2-connecting joint, 210-connecting member, 211-driving shaft, 212-first driving disc, 213-lower metacarpophalangeal joint Section: back of hand linkage component, 220-flexible passive support component, 221-lower passive support fixing component, 222-gasket, 223-screw; 3-hand fixing wear component, 310-back of hand fixing plate, 311-flexible Velcro, 312-back of hand wire diameter guide component, 313-flexible wire tube, 314-flexible wire tube fixing component, 315-abduction and adduction driving wire, 316-rotation base; 320-palm fixing plate, 321-extension and flexion flexible wire tube, 322-passive support rotation axis, 323-support axis, 324-second driving disc, 325-disc fixing component. DETAILED DESCRIPTION

[0048] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0049] The present invention provides a rigid-flexibly coupled wire-driven rehabilitation assisting glove, comprising a glove wearing mechanism and a remote driving device.

[0050] like Figure 1 、 Figure 2 As shown, the glove wearing mechanism includes a hand-fixed wearing component 3 and four driving finger sleeves 1, which are connected by a flexible connection joint 2 and a rope.

[0051] like Figure 3 、 Figure 4As shown, the hand fixing wearable component 3 includes a back-hand fixing plate 310 located on the back of the hand and a palm fixing plate 320 located on the palm, and each fixing plate has a guide component and a transmission component for the drive line. The palm and back fixing plates are connected by a flexible Velcro 311 and are worn on the patient's hand. Figure 1 、 Figure 2 As shown, the finger cuffs for different fingers have different structural designs. The ring and pinky finger cuffs, due to their simple movement patterns, adopt a traditional one-piece design, with only a single drive wire wrapped around them, and both fingers are driven by a single servo. The index and middle finger cuffs, on the other hand, use hinged cuffs that independently control the extension and flexion of the metacarpophalangeal and proximal interphalangeal joints, as well as the abduction and adduction of the metacarpophalangeal joints.

[0052] The remote drive unit includes a drive servo and a control panel placed on the back.

[0053] like Figure 3 As shown, the back of the hand fixing plate 310 is equipped with a drive transmission structure for finger abduction and adduction. On the back of the hand fixing plate 310, the abduction and adduction drive wire 315 for the index and middle fingers passes through a flexible wire tube 313 and is wrapped around the metacarpophalangeal joint abduction and adduction (first) drive disk 212. The (first) drive disk 212 is connected to the drive shaft 211 through an interference fit, and the drive shaft 211 is also connected to the lower metacarpophalangeal joint back of the hand linkage member 213 through an interference fit. One end of the flexible wire tube 313 is connected to a flexible wire tube fixing member 314 through an interference fit. The flexible wire tube fixing member 314 is threadedly installed in a screw hole of the back of the hand fixing plate. The other end of the flexible wire tube 313 is fixed to the back of the hand through the back of the hand wire diameter guide member 312.

[0054] like Figure 4 As shown, the palm fixing plate 320 is equipped with a finger extension and flexion drive structure, as well as corresponding transmission components and guide structures. A total of six extension and flexion flexible wire tubes 321 are distributed on the palm fixing plate 320. These are all integrally manufactured with the palm fixing plate, through which the drive wires pass. Two of them drive the extension and flexion of the ring finger and little finger, two drive the extension and flexion of the metacarpophalangeal joints of the middle finger and index finger, and two drive the extension and flexion of the proximal interphalangeal joints of the middle finger and index finger. The arrangement of the drive wires varies depending on the driving method of different fingers: the drive wires for the middle finger and index finger both pass through the flexible wire tubes 321, wrap around the grooved (second) drive disk 324, and then pass upward through the drive wire track on the finger sleeve. The (second) drive disk 324 is mounted on the fixing plate's support shaft 323 and its axial movement is restricted by the disk fixing member 325. When the extension and flexion driving wire moves, both ends of the metacarpophalangeal joint driving wire 133 of the index finger move downward together, the driving disc rotates on the fixed axis, and the metacarpophalangeal joint is driven by the driving wire to bend.

[0055] like Figure 9a 、9b As shown, when the index finger undergoes abduction and adduction movements, the total length of the portion of the MCP joint drive wire 133 exposed outside the track remains unchanged, so the abduction and adduction movements of the MCP joint will not affect the extension and flexion joint angles of the MCP joint. The ring finger and little finger only retain extension and flexion movements, and the drive wires do not pass through guide structures such as the disc, but directly pass upward through the drive wire track on the finger sleeve. In this embodiment of the present invention, Figure 9a As shown in , when the abduction and adduction angle is 0, the lengths of the driving lines exposed on the left and right sides of the metacarpophalangeal joint are L2 and L3 respectively, the length of the center line of the metacarpophalangeal joint corresponding to the two is L1, and the distances between the two and the lower end of the center line are both r. At this time, L2+L3=2L1; Figure 9b As shown in Figure 1, when the finger is abducted and adducted at an angle of θ, the driving line on the finger tilts to one side relative to the palm. At this time:

[0056] L2=L1-rsin(θ)

[0057] L3=L1+rsin(θ)

[0058] L2+L3=2L1

[0059] Therefore, the total length of the portion of the metacarpophalangeal joint driving wire 133 exposed outside the track remains unchanged.

[0060] like Figure 3 、 Figure 4 As shown, positioning slots are designed on the left and right edges of the back and palm fixation plates. Each flexible Velcro strip 311 passes through a corresponding positioning slot on the back and palm fixation plates, allowing the device to be worn and secured to the patient's hand. The shape of the back and palm fixation plates is designed based on the patient's hand shape to conform to the curve of the patient's hand, making it more comfortable for the patient to wear.

[0061] like Figure 5 As shown, the back of the hand fixing plate 310 and the driving finger sleeve 1 are connected via a flexible connecting joint 2; the metacarpophalangeal joint abduction and adduction (first) driving disc 212 and the driving shaft 211 are interference-fitted, and the driving shaft 211 passes through the rotating base 316 on the back of the hand fixing plate and is interference-fitted with the lower metacarpophalangeal joint back of the hand linkage member 213. The abduction and adduction driving wire 315 is wound around the (first) driving disc 212. When the driving wire 315 pulls the (first) driving disc 212, the disc rotates around the (first) driving shaft 211 as the center of the circle, driving the drive shaft 211, which is interference-fitted with it, and the drive shaft then transmits the rotation to the lower metacarpophalangeal joint back of the hand linkage member 213. The ends of the flexible connecting member 210 are designed to be trapezoidal in shape, with the upper end being smaller and the lower end being larger. They are tightly fixed to the lower metacarpophalangeal joint back of the hand linkage member 213 and the upper metacarpophalangeal joint back of the hand linkage member 132 at the lower end of the driving finger sleeve. Both of these fixed components have grooves that match the shapes of the ends of the flexible connecting member.

[0062] like Figure 5 As shown, the flexible connector 210 is an elongated strip when viewed from the side, and a rectangular shape of a certain width when viewed from the front of the back of the hand. Corrugated flexible components are arranged on the upper portion, and both are integrally printed using a relatively soft material. This structure produces less deformation in response to moments perpendicular to the palm, but can produce greater tensile and bending deformation in response to longitudinal tensile forces, and can return to its original shape after the tension is released. This is to distinguish between the abduction and adduction movements of the finger joints and the extension and flexion movements. This connector structure provides good resistance to finger abduction and adduction movements, while being able to adapt to the flexion behavior of the fingers and providing a certain restoring force and supporting force. Therefore, this flexible connector can serve as a connecting component between the back of the hand fixing plate and the driving finger sleeve at the metacarpophalangeal joint, transmitting the abduction and adduction movements of the back of the hand driving structure while passively adapting to the extension and flexion of the fingers, without hindering the metacarpophalangeal joint from being driven by the extension and flexion drive lines of the palm.

[0063] like Figure 6 As shown, the palm fixing plate 320 and the driving finger sleeve 1 are connected through the flexible joint 2; the passive support rotating shaft 322 on the palm fixing plate 320 passes through the circular hole of the lower passive support fixing piece 221, and the gasket 222 and the self-tapping screw 223 are installed on the passive support rotating shaft 322 to limit the axial displacement of the fixing piece 221; the two ends of the flexible passive support piece 220 of the palm metacarpophalangeal joint are designed to be a trapezoidal shape with a small upper part and a large lower part, which is tightly fixed to the lower passive support fixing piece 221 and the upper passive support fixing piece 134 at the lower end of the finger sleeve, and there are grooves on these two fixing parts that match the shape of the two ends of the flexible passive support piece.

[0064] like Figure 6 As shown, the flexible passive support member 220 in the palm portion is an elongated strip with an origami structure when viewed from the side, while it is a rectangular with a certain width when viewed from the front of the palm. This is to distinguish the abduction, adduction, and flexion movements of the metacarpophalangeal joint. This structure produces less deformation in response to torque perpendicular to the palm, but can produce greater compressive deformation in response to longitudinal pressure, and can return to its original shape after the pressure is released. Therefore, this flexible connector has a good resistance to finger abduction and adduction movement, and can deform well in response to finger flexion behavior, with a certain restoring force and support force. This flexible passive support member can serve as a connecting support component between the palm fixing plate 320 and the driving finger sleeve at the metacarpophalangeal joint, passively adapting to the abduction, adduction, and flexion movements of the fingers.

[0065] like Figure 1 、 Figure 2As shown, each driven finger cuff 1 is connected to the palm fixing plate 320 and the back of the hand fixing plate 3 via two flexible connecting joints 2, respectively. The drive wire is driven by a transmission structure located on the fixing plate and passes through the guide component on the fixing plate and the wire track on the finger cuff, thereby driving the finger cuff. Different wire drive methods and drive wire tracks are designed according to the kinematics of different fingers. According to the results of finger kinematic analysis, the movement behavior of the ring finger and little finger in daily actions such as grasping is highly coordinated, and abduction and adduction movements are relatively rare. Therefore, the ring finger and little finger only retain extension and flexion behaviors and are designed as traditional integrated pull-wire finger cuffs, driven by the same drive tendon. The middle finger and index finger retain abduction and adduction movements and extension and flexion movements of the metacarpophalangeal joint, as well as extension and flexion movements of the proximal interphalangeal joint, to meet a wider range of grasping behaviors, daily hand movements, and dexterous manipulation.

[0066] like Figure 7 、 Figure 8 As shown, the index finger and middle finger sleeves of the rigid-flexible coupled wire-driven rehabilitation assistive glove are composed of multiple finger sleeve sections. From the fingertip to the metacarpophalangeal joint, they are the first finger joint 110, the second finger joint 120 and the third finger joint 130. The third finger joint 130 and the palm and back fixing plate are fixed by a flexible connector 210 and a flexible passive support 220. The second 120 and the third finger joint 130 are connected by a hinge, and the second 120 and the first finger joint 110 are also directly connected by a hinge; the upper and lower passive tendon tracks 111 and 121 are distributed on the first and second finger joints, which are The flexor tendon 122 passes through the track, and both ends are fixed to the upper end of the third knuckle 130; the proximal interphalangeal joint drive line track 124 is distributed on the second knuckle 120 and the third knuckle 130, and the proximal interphalangeal joint drive line 123 passes through the line track 124 and is fixed on the second knuckle 120; the metacarpophalangeal joint drive line track 131 is distributed on the third knuckle 130, and the metacarpophalangeal joint drive line 133 passes through the line track on the third knuckle from the palm fixing plate 320, and the upper metacarpophalangeal joint back of the hand linkage component 132 and the upper passive support fixing component 134 are also distributed on the third knuckle.

[0067] like Figure 7As shown, when the metacarpophalangeal joint drive line 133 is pulled downward by the distal drive device, the metacarpophalangeal joint flexes forward, the flexible passive support 220 is compressed, and the flexible connection joint 210 on the back of the hand is stretched; when the proximal interphalangeal joint drive line 123 is pulled by the distal drive device, the distance between the two ends of the line track 124 is reduced, causing the proximal interphalangeal joint to flex, and the lower end of the passive tendon 122 (between the second and third phalanges, and outside the tendon track) increases due to the flexion length of the joint, while the length of the upper end of the passive tendon 122 (between the first and second phalanges, and outside the tendon track) decreases due to the unchanged total length of the passive tendon, pulling the distal interphalangeal joint to flex. This design allows the distal interphalangeal joint to be affected by the changes in the proximal interphalangeal joint, thereby achieving coupled drive of the two joints, which is in line with the kinematics of the human hand and reduces the number of drives.

[0068] In addition, if Figure 10 As shown, the relationship between the distal interphalangeal joint and the proximal interphalangeal joint is established by the geometric relationship of the hinged finger sleeve structure, and the design parameters can be optimized with reference to the data of finger kinematics and the coordinated movement between the joints, so that the coupling relationship between the finger sleeve joints is more consistent with the actual movement of the joints. In the embodiment of the present invention, the distal interphalangeal relationship of the first and second phalanges is constructed, the length of the passive tendon 122 between the upper passive tendon track 111 and the lower passive tendon track 121 is L1, based on the center point of rotation of the first phalange 110 relative to the second phalange 120, the distance from the center point to the upper passive tendon track 111 and the lower passive tendon track 121 are both R1, and the angle is θ1; similarly, the proximal interphalangeal relationship of the second and third phalanges is constructed, the length of the proximal interphalangeal drive line 123 between the proximal interphalangeal joint drive line track 124 is L2, and based on the second phalange 120 relative to the third phalange The center point of rotation of the second knuckle 130 is constructed, and the distance from the center point to the proximal interphalangeal joint driving line track 124 of the second and third knuckles is R2 and the angle is θ2; similarly, the length L3 of the passive tendon track 121 and the passive tendon 122 fixed between the upper end of the third knuckle 130 is constructed. Based on the center point of rotation of the second knuckle 120 relative to the third knuckle 130, the distance from the center point to the lower passive tendon track 121 and the upper end of the third knuckle 130 is R2 and the angle is θ3; accordingly, between θ2 and θ3, the upper and lower values ​​are θ5 and θ4 respectively, and L=L1+L3 is set, then:

[0069]

[0070]

[0071]

[0072] L1=L-L3

[0073]

[0074] θ DIP =θ 1_initial -θ1

[0075] θ DIP =θ 2_initial -θ2

[0076]

[0077]

[0078] Among them, θ DIP The angle of rotation of the distal interphalangeal joints (DIP), θ PIP represents the angle of rotation of the proximal interphalangeal joints (PIP); θ 1-initial Represents the initial angle of θ1. The angle of change of θ1 is the angle of rotation of the DIP joint. 2-initial Represents the initial angle of θ2. The angle of change of θ2 is the angle of rotation of the PIP joint.

[0079] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rigid-flexible coupled wire-driven rehabilitation assist glove, comprising a glove donning mechanism and a remote drive device, characterized in that: The glove wearing mechanism comprises a driving finger cuff (1), a connecting joint (2), a hand-fixed wearing component (3) and a driving wire, wherein the driving finger cuff (1) is connected to the hand-fixed wearing component (3) via the connecting joint (2), and the driving wire is wound around the driving finger cuff (1) and driven by a remote driving device to control the movement of the driving finger cuff (1); The drive line includes a metacarpophalangeal joint drive line (133); a pair of transmission components are provided on the palm surface of the hand fixed wear component (3) for the single drive finger sleeve (1); the transmission component includes a support shaft (323), a second drive disc (324) and a disc fixing member (325); the support shaft (323) is fixedly connected to the palm surface; the second drive disc (324) is sleeved on the support shaft (323) and its axial movement is limited by the disc fixing member (325); the metacarpophalangeal joint drive line (133) is wound around the second drive disc (324) of one transmission component, then passes around the back of the drive finger sleeve (1) and is then wound around the second drive disc (324) of another transmission component; and both ends of the metacarpophalangeal joint drive line (133) are connected to the distal drive device; The driving line also includes a proximal interphalangeal driving line (123), and the driving finger sleeve (1) is sequentially connected to the first phalanx (110), the second phalanx (120) and the third phalanx (130) from the fingertip to the metacarpophalangeal joint. The upper passive tendon track (111) and the lower passive tendon track (121) are correspondingly provided on the first phalanx (110) and the second phalanx (120), and the corresponding proximal interphalangeal joint driving line track (124) is provided on the second phalanx (120) and the third phalanx (130); The tendon (122) is wound around the first knuckle (110) and the second knuckle (120) via the upper passive tendon track (111) and the lower passive tendon track (121); both ends of the passive tendon (122) are fixed to the third knuckle (130); one end of the proximal interphalangeal drive line (123) passes through the proximal interphalangeal joint drive line track (124) and is connected to the second knuckle (120); the other end is connected to the distal drive device; the third knuckle (130) is connected to the hand fixed wear component (3) via the connecting joint (2).

2. The rigid-flexible coupled wire-driven rehabilitation assisting glove according to claim 1, characterized in that: The driving line includes an abduction and adduction driving line (315); the back of the hand of the hand fixed wear component (3) is provided with a rotating base (316); the connecting joint (2) includes a connecting piece (210), a lower metacarpophalangeal joint back of the hand linkage component (213), a first driving disc (212) and a driving shaft (211); one side of the lower metacarpophalangeal joint back of the hand linkage component (213) is connected to the driving finger sleeve (1) through the connecting piece (210); the other side is matched with the rotating base (316) and the first driving disc (212) and is sleeved on the driving shaft (211); the lower metacarpophalangeal joint back of the hand linkage component (213) and the first driving disc (212) are both interference-connected with the driving shaft (211); the abduction and adduction driving line (315) is wound around the first driving disc (212); and both ends of the abduction and adduction driving line (315) are connected to a distal driving device.

3. The rigid-flexible coupled wire-driven rehabilitation assisting glove according to claim 2, characterized in that: The back of the finger of the driving finger sleeve (1) is provided with an upper metacarpophalangeal joint back of hand linkage component (132), and both the upper metacarpophalangeal joint back of hand linkage component (132) and the lower metacarpophalangeal joint back of hand linkage component (213) are provided with an inverted trapezoidal groove, which is arranged to cooperate with the longitudinal section of the connecting member (210) at both ends to form a trapezoidal shape with a smaller inner side and a larger outer side.

4. The rigid-flexible coupled wire-driven rehabilitation assisting glove according to claim 1, characterized in that: The geometric relationship is established by the relative positions of adjacent knuckles: L1=L-L3 i DIP =θ 1_initial -θ1 i PIP =θ 2_initial -θ2 Wherein, L1 represents the length of the passive tendon (122) between the upper passive tendon track (111) and the lower passive tendon track (121), R1 and θ1 represent the distance and the angle formed from the center point of the flexion rotation of the first phalanx (110) relative to the second phalanx (120) to the upper passive tendon track (111) and the lower passive tendon track (121), respectively; L2 represents the length of the proximal interphalangeal drive line (123) between the proximal interphalangeal joint drive line track (124) of the second phalanx (120) and the third phalanx (130), R'2 and θ2 represent the rotation of the second phalanx (120) relative to the third phalanx (130), respectively. The distance from the center point to the proximal interphalangeal joint drive line track (124) of the second phalanx (120) and the third phalanx (130) and the angle formed; L3 represents the length of the passive tendon track (121) and the passive tendon (122) fixed between the upper end of the third phalanx (130); R2 and θ3 represent the distance from the center point based on the rotation of the second phalanx (120) relative to the third phalanx (130) to the passive tendon track (121) and the angle formed, respectively, R'2 = R2; θ2 corresponds to θ3, and the upper angle and lower angle formed by θ2 and θ3 are θ5 and θ4 respectively, and L = L1 + L3; θ DIP represents the angle of rotation of the distal interphalangeal joint DIP, θ PIP represents the angle of rotation of the proximal interphalangeal joint (PIP); θ 1-initial Indicates the initial angle of θ1. The angle of θ1 change is the angle of DIP rotation. 2-initial Represents the initial angle of θ2. The angle of change of θ2 is the angle of rotation of the PIP joint.

5. The rigid-flexible coupled wire-driven rehabilitation assisting glove according to claim 1, characterized in that: The connecting joint (2) comprises a connecting piece (210) of a transversely arranged corrugated flexible material, one end of the connecting piece (210) being connected to the back of the hand of the hand fixing wearable component (3), and the other end being connected to the back of the finger of the driving finger sleeve (1).

6. The rigid-flexible coupled wire-driven rehabilitation assisting glove according to claim 1, characterized in that: The connecting joint (2) comprises a flexible passive support member (220) of a transverse origami structure, one end of the flexible passive support member (220) being connected to the palm surface of the hand fixed wearable component (3), and the other end being connected to the fingertip surface of the driving finger sleeve (1).

7. The rigid-flexible coupled wire-driven rehabilitation assisting glove according to claim 1, characterized in that: An upper passive support fixture (134) is provided at the fingertips of the driving finger sleeve (1); the connecting joint (2) comprises a passive support member (220) and a lower passive support fixture (221); both the upper passive support fixture (134) and the lower passive support fixture (221) are provided with inverted trapezoidal grooves, which are arranged in a trapezoidal shape with the inner side smaller and the outer side larger at both ends of the longitudinal section of the passive support member; the lower passive support fixture (221) is connected to the palm surface of the hand fixed wear component (3).

8. The rigid-flexible coupled wire-driven rehabilitation assisting glove according to claim 1, characterized in that: A passive support rotating shaft (322) is provided on the palm surface of the hand fixed wear component (3); the connecting joint (2) comprises a passive support member (220), a lower passive support fixing member (221), a gasket (222) and a screw (223); the passive support rotating shaft (322) passes through a circular hole on the lower passive support fixing member (221) and is fixed via the gasket (222) and the screw (223); the lower passive support fixing member (221) is connected to the fingertip of the driving finger sleeve (1) via the passive support member (220).

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