A flexible hand rehabilitation exoskeleton and a control method thereof

Abstract

The application provides a flexible hand rehabilitation exoskeleton and a control method thereof, and the exoskeleton is composed of a dorsal shell, four-finger abduction-adduction driving wire ropes, four-finger abduction limiting wire ropes, a finger driving device, a thumb metacarpal bone internal-external rotation driver, a thumb abduction-adduction driver and the like. The wire ropes are pulled by external motors to pull the fingers, so that the four-finger abduction-adduction action training is realized, and the thumb multi-degree-of-freedom training can be realized by using the thumb abduction-adduction driver and the thumb metacarpal bone internal-external rotation driver. The application has the advantages of compact structure, high integration, convenient carrying, light weight, thumb multi-degree-of-freedom training and the like.

Description

Technical Field

[0001] This invention belongs to the field of rehabilitation medical device technology, specifically referring to a flexible hand rehabilitation exoskeleton and its control method. Background Technology

[0002] The World Health Organization estimates that millions of people suffer strokes each year. Strokes can cause hand dysfunction, which plays a vital role in daily life. Hand dysfunction can severely impact a patient's daily routine. Hand rehabilitation exercises can alleviate finger stiffness and increase finger joint flexibility. 、 It promotes blood circulation and restores finger muscle activity, which can effectively promote the recovery of hand function in patients.

[0003] Existing hand rehabilitation exoskeletons are mainly divided into two categories: rigid devices and flexible devices. Rigid devices are mainly composed of rigid linkage mechanisms and gear and rack mechanisms. Although rigid devices are currently relatively well-structured and can achieve precise motion control, their complex structure and rigid nature can easily cause discomfort and resistance from patients, and in severe cases, may even cause secondary injury. Flexible devices mainly use gas pressure to change the pressure inside the cavity of a soft actuator, causing the soft actuator to bend. They are formed by casting and static curing using molds and silicone rubber, and have advantages such as simple manufacturing, low cost, safety, and light weight. However, most existing flexible hand rehabilitation exoskeletons still have some shortcomings, such as: 1) too few rehabilitation functions, only achieving finger flexion and extension, lacking training in the abduction and adduction functions of the five fingers; 2) lack of training for the thumb's multiple degrees of freedom. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a flexible hand rehabilitation exoskeleton and its control method. An external motor pulls a string to traction the fingers, thereby training the abduction and adduction functions of the fingers. A thumb abduction and adduction actuator drives the thumb to train the thumb's abduction and adduction functions, and a thumb metacarpal internal and external rotation actuator drives the thumb to train the thumb's internal and external rotation functions, thus achieving multi-degree-of-freedom training of the thumb.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A flexible hand rehabilitation exoskeleton mainly includes: a finger driving device, a thumb metacarpal internal and external rotation actuator, a thumb abduction and adduction actuator, four-finger abduction and adduction driving cords, four-finger abduction limiting cords, a back of the hand shell, a back of the hand shell cover, an elastic band, a rotating shaft connector, and a thumb metacarpal dorsal shell.

[0007] Preferably, the back of the hand shell is provided with a positioning pulley, a four-finger airway distribution plate, and a thumb airway distribution plate. The finger driving device is fixedly connected to the four-finger airway distribution plate. The thumb metacarpal internal and external rotation actuator has an airway interface on one side fixedly connected to the thumb airway distribution plate and a rotating shaft connector on the other side. The rotating shaft connector is hinged to the thumb metacarpal dorsal shell. The thumb abduction and adduction actuator has an airway interface on one side fixedly connected to the thumb airway distribution plate and a thumb metacarpal dorsal shell on the other side. An elastic band is fixedly connected to the back of the hand shell. There are four four-finger ties cover plates, which are semi-circular in shape.

[0008] Preferably, the contact surface between the back of the hand shell and the back of the hand is designed with a slightly curved surface, which conforms to ergonomics. The user fixes the back of the hand shell to the back of the hand with an elastic band, fixes the thumb metacarpal shell to the thumb palm, and fixes the fingertips inside the finger sleeve to complete the wearing of the hand rehabilitation exoskeleton.

[0009] Preferably, the finger driving device includes a finger sleeve, a limiting layer, a sensor layer, a four-finger flexion-extension actuator, a thumb flexion-extension actuator, and a four-finger tether cover; the sensor layer includes a fingertip force sensor and a bending sensor; the finger sleeve, the limiting layer, the sensor layer, and the four-finger flexion-extension actuator are sequentially and tightly fitted together.

[0010] Preferably, the four-finger flexion-extension actuator includes a distal flexion segment, a middle flexion segment, a proximal flexion segment, a central air cavity in the four fingers, a distal connecting segment, and a proximal connecting segment; the thumb flexion-extension actuator includes a distal flexion segment of the thumb, a proximal flexion segment of the thumb, a central air cavity in the thumb, and a middle connecting segment; both the four-finger flexion-extension actuator and the thumb flexion-extension actuator are formed by casting and static molding with a mold and silicone rubber.

[0011] Preferably, the four-finger tethering cover is fixed to the proximal connecting section of the four-finger flexion and extension actuator. Small round holes for tying the tether are provided on both the left and right sides of the four-finger tethering cover. The four-finger tethering cover is connected by four-finger abduction limiting tethers, which limit the maximum abduction angle of the four fingers. The first four-finger abduction and retraction driving tether is connected to the left round hole of the first four-finger tethering cover and passes sequentially around the first, second, and third positioning pulleys. Similarly, the second four-finger abduction and retraction driving tether is connected to the right round hole of the fourth four-finger tethering cover and passes sequentially around the sixth, fifth, and fourth positioning pulleys. The ends of the first and second four-finger abduction and retraction driving tethers are tied together and connected to the external motor shaft. The external motor rotates forward, driving the first and second four-finger abduction and retraction driving tethers to achieve the abduction function of the four fingers. When the motor is de-energized, the finger driving device resets under elastic action, achieving the retraction function of the four fingers.

[0012] Preferably, air is supplied to the four-finger flexion and extension actuator, so that the air cavity in the four fingers of the actuator is filled with gas. The distal bending section, the middle bending section, and the proximal bending section are inflated and expanded. The corrugated structure expands and elongates. The limiting layer restricts the axial elongation of the four-finger flexion and extension actuator on the side closest to the fingers, so that the four-finger flexion and extension actuator can bend and the shape conforms to the bending shape of the four fingers. Each of the four-finger tracheal interfaces is supplied with a separate air source. Different movements of the four fingers can be achieved by different air supply sequences.

[0013] Preferably, air is supplied to the thumb abduction and adduction actuator, which extends and pushes the dorsal shell of the thumb metacarpal bone to rotate clockwise around the thumb abduction and adduction axis, thus achieving thumb abduction. After depressurization, the thumb abduction and adduction actuator returns to its original shape under elasticity, causing the dorsal shell of the thumb metacarpal bone to rotate counterclockwise around the thumb abduction and adduction axis, thus achieving thumb adduction. Air is supplied to the thumb metacarpal internal and external rotation actuator, whose corrugated structure expands and elongates on one side. After inflation, it expands and unfolds in a fan shape, causing the dorsal shell of the thumb metacarpal bone to bend downwards along a plane perpendicular to the palm, thus achieving... The thumb metacarpal internal rotation function is achieved. After the thumb metacarpal internal and external rotation actuator is depressurized, it returns to its original shape under elastic action, driving the dorsal shell of the thumb metacarpal to move along a plane perpendicular to the palm, thus achieving the thumb metacarpal external rotation function. The thumb flexion and extension actuator is inflated, causing it to expand and bend, driving the thumb to flex. After the thumb flexion and extension actuator is depressurized, it returns to its original shape under elastic action, driving the thumb to extend and return to its original position. The thumb tracheal interface is connected to the air source separately. The thumb flexion and extension actuator works in conjunction with the four-finger flexion and extension actuator. Different five-finger movements can be achieved by different air supply sequences.

[0014] Compared with the prior art, the present invention has the following advantages and beneficial effects: 1) The present invention has a compact structure, high integration, is easy to carry, and is lightweight; 2) The present invention uses a motor to individually control the abduction and adduction functions of the four fingers, which can realize multi-degree-of-freedom exercise of the thumb; 3) The soft actuators of the present invention are all molded and formed by casting and static molding of silicone rubber, and the plastic blocks are all formed by 3D printing technology, which is simple to prepare and easy to replace; 4) Each soft pneumatic actuator in the present invention uses individual air supply, which can realize a variety of relatively complex finger movements. Attached Figure Description

[0015] The accompanying drawings, which constitute a part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 This is a schematic diagram of the structure of the present invention after removing the back-of-hand shell cover.

[0018] Figure 3This is a bottom view of the present invention.

[0019] Figure 4 This is a cross-sectional schematic diagram of the finger driving device of the present invention.

[0020] Figure 5 This is a schematic cross-sectional view of the four-finger flexion-extension actuator of the present invention.

[0021] Figure 6 This is a schematic cross-sectional view of the thumb flexion and extension actuator of the present invention.

[0022] Figure 7 This is a schematic diagram of the four-finger outward and inward wiring of the present invention.

[0023] Figure 8 This is a schematic diagram illustrating the five-finger abduction and adduction function of the present invention.

[0024] Figure 9 for Figure 2 Top view

[0025] Figure 10 This is a schematic diagram illustrating the thumb internal rotation function of the present invention.

[0026] Figure 11 This is a schematic diagram of the sensor layer of the present invention.

[0027] Figure 12 This is a schematic cross-sectional view of the thumb metacarpal internal and external rotation actuator of the present invention after inflation.

[0028] Figure 13 This is a schematic cross-sectional view of the thumb abduction and adduction actuator of the present invention after inflation.

[0029] Figure 14 This is a schematic diagram of the four-finger thread cover plate structure of the present invention.

[0030] Figure 15 This is a schematic diagram of the positioning pulley structure of the present invention.

[0031] Explanation of reference numerals in the attached figures:

[0032] 1-Finger actuator; 2-Thumb metacarpal internal / external rotation actuator; 3-Thumb abduction / adduction actuator; 4-Four-finger abduction / adduction drive cord; 5-Four-finger abduction limiting cord; 6-Hand dorsum shell; 7-Hand dorsum shell cover; 8-Elastic band; 9-Spindle connector; 10-Thumb metacarpal dorsal shell; 11-Finger sleeve; 12-Restriction layer; 13-Sensor layer; 14-Four-finger flexion / extension actuator; 15-Thumb flexion / extension actuator; 16-Four-finger ligature cover plate; 4a-First four-finger abduction / adduction drive cord; 4b-Second four-finger abduction / adduction drive cord; 61-Positioning pulley; 62-Four-finger airway distribution plate; 63-Thumb airway distribution plate; 101-Thumb trachea interface; 102-Thumb abduction / adduction pivot; 131-Fingert force sensor; 132-Bending sensor; 141a-Distal bending segment. 141b - Intermediate bending section, 141c - Proximal bending section, 142 - Air cavity in four fingers, 143a - Distal connecting section, 143b - Proximal connecting section, 151a - Distal bending section of thumb, 151b - Proximal bending section of thumb, 152 - Air cavity in thumb, 153 - Intermediate connecting section, 16a - First four-finger suture cover plate, 16b - Second four-finger suture cover plate, 16c - Third four-finger suture cover plate, 16d - Fourth four-finger suture cover plate, 61a - First positioning pulley, 61b - Second positioning pulley, 61c - Third positioning pulley, 61d - Fourth positioning pulley, 61e - Fifth positioning pulley, 61f - Sixth positioning pulley, 621 - Four-finger trachea interface, 16a1 - Left round hole of the first four-finger suture cover plate, 16d2 - Right round hole of the fourth four-finger suture cover plate. Detailed Implementation

[0033] To make the purpose, technical solution, and advantages of this invention patent clearer, the specific structure and working method of this invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0034] As attached Figure 1 Appendix Figure 2 Appendix Figure 3 Appendix Figure 14As shown, a flexible hand rehabilitation exoskeleton mainly includes: a finger driving device 1, a thumb metacarpal internal and external rotation actuator 2, a thumb abduction and adduction actuator 3, four-finger abduction and adduction driving cords 4, four-finger abduction limiting cords 5, a back of the hand shell 6, a back of the hand shell cover 7, an elastic band 8, a rotating shaft connector 9, and a thumb metacarpal dorsal shell 10; the back of the hand shell 6 is provided with positioning pulleys 61, a four-finger airway distribution plate 62, and a thumb airway distribution plate 63; the finger driving device 1... The thumb metacarpal internal and external rotation actuator 2 is fixedly connected to the four-finger airway distribution plate 62. One side of the tracheal interface is fixedly connected to the thumb airway distribution plate 63, and the other side is fixedly connected to the rotating shaft connector 9. The rotating shaft connector 9 is hinged to the thumb metacarpal dorsal shell 10. The thumb abduction and adduction actuator 3 is fixedly connected to the thumb airway distribution plate 63 on one side and to the thumb metacarpal dorsal shell 10 on the other side. The elastic band 8 is fixedly connected to the back of the hand shell 6. There are four four-finger ligature cover plates 16, which are semi-circular in shape.

[0035] Further details are attached. Figure 4 Appendix Figure 5 Appendix Figure 6 Appendix Figure 11 As shown, the finger driving device 1 includes a finger sleeve 11, a limiting layer 12, a sensor layer 13, a four-finger flexion-extension actuator 14, a thumb flexion-extension actuator 15, and a four-finger tether cover 16; the sensor layer 13 includes a fingertip force sensor 131 and a bending sensor 132; the finger sleeve 11, the limiting layer 12, the sensor layer 13, and the four-finger flexion-extension actuator 14 are tightly fitted and fixed together in sequence; the four-finger flexion-extension actuator 14 includes a distal bending segment 141a, a middle bending segment 141b, a proximal bending segment 141c, a four-finger air cavity 142, a distal connecting segment 143a, and a proximal connecting segment 143b; the thumb flexion-extension actuator 15 includes a distal bending segment 151a of the thumb, a proximal bending segment 151b of the thumb, a thumb air cavity 152, and a middle connecting segment 153; the four-finger flexion-extension actuator 14 and the thumb flexion-extension actuator 15 are both formed by casting and static molding with molds and silicone rubber.

[0036] Further details are attached. Figure 5 Appendix Figure 7 Appendix Figure 8 Appendix Figure 9 Appendix Figure 15As shown, the control method of the flexible hand rehabilitation exoskeleton is characterized in that the four-finger tying cover 16 is fixed on the proximal connecting section 143b of the four-finger flexion and extension actuator 14. Small round holes for tying ropes are provided on both the left and right sides of the four-finger tying cover 16. The first, second, third, and fourth four-finger tying covers 16a, 16b, 16c, and 16d are respectively connected by four-finger abduction limiting ropes 5, which are used to limit the maximum abduction angle of the four fingers. The first four-finger abduction and adduction driving rope 4a is connected to the left round hole 16a1 of the first four-finger tying cover and passes sequentially around the first positioning pulley 61a, the second positioning pulley 61b, and the third positioning pulley 61c. Similarly, the second four-finger abduction and adduction driving rope 4b is connected to the right round hole 16d2 of the fourth four-finger tying cover and passes sequentially around the sixth positioning pulley 61f, the fifth positioning pulley 61e, and the fourth positioning pulley 61d2. Small pulley 61d; the ends of the first and second four-finger abduction and adduction drive ropes 4a and 4b are tied together and connected to the external motor shaft. The external motor rotates in the forward direction, driving the first and second four-finger abduction and adduction drive ropes 4a and 4b to realize the abduction function of the four fingers; when the motor is de-energized, the finger drive device 1 resets under elastic action to realize the adduction function of the four fingers; air is supplied to the four-finger flexion and extension actuator 14, so that the air cavity 142 of the four fingers in the four-finger flexion and extension actuator 14 is filled with gas, the distal bending section 141a, the middle bending section 141b, and the proximal bending section 141c are inflated and expanded, the corrugated structure expands and elongates, and the limiting layer 12 restricts the axial elongation of the four-finger flexion and extension actuator 14 on the side close to the finger, so that the four-finger flexion and extension actuator 14 bends and the shape conforms to the bending shape of the four fingers; the four-finger air tube interface 621 is supplied with a separate air source, and different actions of the four fingers can be realized by different air supply sequences.

[0037] Further details are attached. Figure 8 Appendix Figure 10 Appendix Figure 12 Appendix Figure 13As shown, the control method of the flexible hand rehabilitation exoskeleton is characterized by supplying air to the thumb abduction and adduction actuator 3, which extends and pushes the thumb metacarpal shell 10 to rotate clockwise around the thumb abduction and adduction axis 102 to achieve thumb abduction function; after depressurization, the thumb abduction and adduction actuator 3 returns to its original shape under elastic action, driving the thumb metacarpal shell 10 to rotate counterclockwise around the thumb abduction and adduction axis 102 to achieve thumb adduction function; air is supplied to the thumb metacarpal internal and external rotation actuator 2, which expands and extends on one side of its corrugated structure, and expands and unfolds in a fan shape after inflation, driving the thumb metacarpal shell 10 to rotate along the axis 102 to achieve thumb adduction function. The palm bends downwards in the vertical plane to achieve the palmar internal rotation function of the thumb metacarpal bone; after the thumb metacarpal internal and external rotation actuator 2 is depressurized, it returns to its original shape under the action of elasticity, driving the thumb metacarpal shell 10 to move along the plane perpendicular to the palm to achieve the palmar external rotation function of the thumb metacarpal bone; the thumb flexion and extension actuator 15 is inflated to make it expand and bend, driving the thumb to flex; after the thumb flexion and extension actuator 15 is depressurized, it returns to its original shape under the action of elasticity, driving the thumb to extend and return to its original position; the thumb trachea interface 101 is connected to the air source separately; the thumb flexion and extension actuator 15 cooperates with the four-finger flexion and extension actuator 14, and different five-finger movements can be achieved by different air supply sequences.

[0038] The basic principles and main features of the present invention have been described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the basic ideas and principles of the present invention. Various changes, modifications, substitutions, and variations can be made to the present invention without departing from its principles and scope. All such changes and improvements fall within the scope of the present invention as claimed, which is defined by the appended claims and their equivalents.

Claims

1. A flexible hand rehabilitation exoskeleton, characterized in that, include: Finger drive device (1), thumb metacarpal internal and external rotation actuator (2), thumb abduction and adduction actuator (3), four-finger abduction and adduction drive cord (4), four-finger abduction limiting cord (5), back of hand shell (6), back of hand shell cover (7), elastic band (8), pivot connector (9), thumb metacarpal dorsal shell (10). The back of the hand shell (6) is provided with a positioning pulley (61), a four-finger airway distribution plate (62), and a thumb airway distribution plate (63). The finger drive device (1) is fixedly connected to the four-finger airway distribution plate (62). The thumb metacarpal internal and external rotation drive (2) is fixedly connected to the thumb airway distribution plate (63) on one side with the airway interface and fixedly connected to the rotating shaft connector (9) on the other side. The rotating shaft connector (9) is hinged to the thumb metacarpal back shell (10). The thumb abduction and adduction drive (3) is fixedly connected to the thumb airway distribution plate (63) on one side with the airway interface and fixedly connected to the thumb metacarpal back shell (10) on the other side. The elastic band (8) is fixedly connected to the back of the hand shell (6). There are four four-finger ties cover plates (16), which are semi-circular in shape. The finger driving device (1) includes a finger sleeve (11), a limiting layer (12), a sensor layer (13), a four-finger flexion and extension actuator (14), a thumb flexion and extension actuator (15), and a four-finger tether cover plate (16); the sensor layer (13) includes a fingertip force sensor (131) and a bending sensor (132); the finger sleeve (11), the limiting layer (12), the sensor layer (13), and the four-finger flexion and extension actuator (14) are tightly fitted and fixed together in sequence; The four-finger flexion and extension actuator (14) includes a distal flexion segment (141a), a middle flexion segment (141b), a proximal flexion segment (141c), a four-finger air cavity (142), a distal connecting segment (143a), and a proximal connecting segment (143b). The thumb flexion and extension actuator (15) includes a distal flexion segment (151a) of the thumb, a proximal flexion segment (151b) of the thumb, a central air cavity (152) of the thumb, and an intermediate connecting segment (153). The four-finger flexion-extension actuator (14) and the thumb flexion-extension actuator (15) are both formed by casting and static molding with mold and silicone rubber; The four-finger tethering cover (16) is fixed on the proximal connecting section (143b) of the four-finger flexion and extension actuator (14). Small round holes for tying ropes are provided on both the left and right sides of the four-finger tethering cover (16). The first four-finger tethering cover (16a), the second four-finger tethering cover (16b), the third four-finger tethering cover (16c), and the fourth four-finger tethering cover (16d) are connected by four-finger abduction limiting ropes (5). The four-finger abduction limiting ropes (5) are used to limit the maximum angle of four-finger abduction. The first four-finger abduction and retraction driving rope (4a) is connected to the round hole (16a1) on the left side of the first four-finger tethering cover and passes around the first positioning pulley (61a) and the second positioning pulley (61b) in sequence. The third positioning pulley (61c); similarly, the second four-finger abduction and retraction drive rope (4b) is connected to the right round hole (16d2) of the fourth four-finger tie cover plate, and passes through the sixth positioning pulley (61f), the fifth positioning pulley (61e), and the fourth positioning pulley (61d) in sequence; the ends of the first four-finger abduction and retraction drive rope (4a) and the second four-finger abduction and retraction drive rope (4b) are tied together and connected to the external motor shaft. The external motor rotates in the forward direction, driving the first four-finger abduction and retraction drive rope (4a) and the second four-finger abduction and retraction drive rope (4b) to realize the abduction function of the four fingers; when the motor is de-energized, the finger drive device (1) resets under the elastic action to realize the retraction function of the four fingers; Air is supplied to the four-finger flexion and extension actuator (14), so that the air cavity (142) of the four fingers in the four-finger flexion and extension actuator (144) is filled with gas. The distal bending section (141a), the middle bending section (141b), and the proximal bending section (141c) are inflated and expanded. The corrugated structure expands and elongates. The limiting layer (12) restricts the axial elongation of the four-finger flexion and extension actuator (14) on the side close to the fingers, so that the four-finger flexion and extension actuator (14) bends and the shape conforms to the bending shape of the four fingers. The four-finger tracheal interfaces (621) are all supplied with air from a separate air source. Different actions of the four fingers can be achieved by different air supply sequences.

2. The flexible hand rehabilitation exoskeleton according to claim 1, characterized in that, Air is supplied to the thumb abduction and adduction actuator (3), which extends and pushes the dorsal shell of the thumb metacarpal bone (10) to rotate clockwise around the thumb abduction and adduction pivot (102) to achieve the thumb abduction function. After the thumb abduction and adduction actuator (3) releases air and pressure, it returns to its original shape under the action of elasticity, driving the dorsal shell of the thumb metacarpal bone (10) to rotate counterclockwise around the thumb abduction and adduction axis (102) to realize the thumb adduction function; When air is supplied to the thumb metacarpal internal and external rotation actuator (2), one side of its corrugated structure expands and elongates. After inflation, it expands and unfolds in a fan shape, driving the dorsal shell of the thumb metacarpal (10) to bend downward along the plane perpendicular to the palm, thereby realizing the palmar internal rotation function of the thumb metacarpal. After the thumb metacarpal internal and external rotation actuator (2) releases air and pressure, it returns to its original shape under the action of elasticity, driving the dorsal shell of the thumb metacarpal (10) to move along the plane perpendicular to the palm, thus realizing the palmar external rotation function of the thumb metacarpal. Inflate the thumb flexion-extension actuator (15) to make it expand and bend, thereby causing the thumb to flex. After the thumb flexion-extension actuator (15) is depressurized, it returns to its original shape under the action of elasticity, thereby causing the thumb to extend and return to its original position. The thumb tracheal interface (101) is connected to the air source separately. The thumb flexion and extension actuator (15) works in conjunction with the four-finger flexion and extension actuator (14) to achieve different five-finger movements through different air supply sequences.

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