A pneumatic hand exoskeleton system and control method

Abstract

The present invention relates to a pneumatic hand exoskeleton system and a control method. The pneumatic hand exoskeleton system includes a pneumatic hand exoskeleton body, an inflation air pump, a suction air pump, and a control device; the pneumatic hand exoskeleton is provided with fingers; finger air paths are provided on the fingers for driving the fingers to perform stretching or bending movements; the inflation air pump and the suction air pump are respectively connected to the finger air paths for inflating or sucking air into the finger air paths; the fingers are provided with pressure sensing devices for detecting the interaction pressure between the pneumatic hand exoskeleton body and the human hand; the control device is respectively connected to the pressure sensors, the inflation air pump, and the suction air pump, and is used for correspondingly controlling the actions of the inflation air pump and the suction air pump according to the pressure detected by the pressure sensing device, and can quickly relieve pressure to reduce the pressure on the hand and avoid causing harm to the hand. By controlling the throttle valve with a motor to achieve the control of air pressure, the volume of the device is reduced, a suction air pump is added, the air release process is effectively controlled, and the movement accuracy of the hand exoskeleton is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation, and specifically relates to a pneumatic hand exoskeleton system and a control method. Background Art

[0002] Currently, exoskeletons are widely used in the field of rehabilitation, gradually replacing traditional one-on-one rehabilitation training, playing an important role in the rehabilitation of patients. Among the applications of rehabilitation exoskeletons, hand exoskeletons occupy an important position and play an important role in application scenarios such as postoperative hand rehabilitation, spastic curling, gout, numbness, etc.

[0003] The prior art discloses a pneumatic wearable exoskeleton hand rehabilitation device, including a dorsal hand bracket and an index finger movement mechanism, a middle finger movement mechanism, a ring finger movement mechanism, and a little finger movement mechanism respectively hinged to the front end of the dorsal hand bracket, as well as a thumb movement mechanism hinged to the side of the dorsal hand bracket. A rodless small air cylinder corresponding to and connected to the index finger movement mechanism, the middle finger movement mechanism, the ring finger movement mechanism, the little finger movement mechanism, and the thumb movement mechanism is respectively hinged to the rear side of the upper surface of the dorsal hand bracket. Both ends of the rodless small air cylinder are respectively connected with air pipes for inputting and outputting pressurized gas. When a patient accidentally wears the pneumatic exoskeleton hand rehabilitation device incorrectly or operates it improperly, the pneumatic rehabilitation device can achieve overload protection and avoid causing secondary harm to the patient to the greatest extent.

[0004] It has the following technical problems:

[0005] When the overload protection is triggered, the exoskeleton hand rehabilitation device has already exerted a large pressure on the patient's hand. Since the deflation of its air circuit is only free deflation and the deflation speed cannot be controlled, it is impossible to quickly release the pressure, and it will be difficult to avoid harm to the patient's hand and difficult to perform high-precision position control on the hand exoskeleton during extension movement. Summary of the Invention

[0006] Aiming at the problems existing in the prior art, one of the purposes of the present invention is to provide a pneumatic hand exoskeleton system that can control the deflation speed to reduce the pressure on the hand, avoid harm to the hand, and can perform high-precision position control on the hand exoskeleton during extension movement.

[0007] Another purpose of the present invention is to provide a control method for a pneumatic hand exoskeleton system.

[0008] In order to achieve the above purposes, the present invention adopts the following technical solutions:

[0009] A pneumatic hand exoskeleton system includes a pneumatic hand exoskeleton body, an inflation air pump, an inhalation air pump, and a control device;

[0010] The pneumatic hand exoskeleton is provided with fingers;

[0011] The finger is provided with a finger air circuit for driving the finger to perform stretching or bending movements;

[0012] The inflation air pump and the suction air pump are respectively connected to the finger air circuit for inflating or sucking air into the finger air circuit;

[0013] The finger is provided with a pressure sensing device for detecting the interaction pressure between the pneumatic hand exoskeleton body and the human hand;

[0014] The control device is respectively connected to the pressure sensor, the inflation air pump and the suction air pump, and is used for correspondingly controlling the actions of the inflation air pump and the suction air pump according to the pressure detected by the pressure sensing device, and can quickly relieve pressure to reduce the pressure on the hand and avoid causing harm to the hand.

[0015] Furthermore, the finger air circuit is provided with a pneumatic pressure sensor; the control device is connected to the pneumatic pressure sensor for correspondingly controlling the actions of the inflation air pump and the suction air pump according to the air pressure detected by the pneumatic pressure sensing device.

[0016] Furthermore, the finger is provided with a cable displacement detection module for detecting the finger displacement, and the cable displacement detection module is connected to the control device.

[0017] Furthermore, the cable displacement detection module includes a cable arranged on the finger and a return torsion spring. Both ends of the cable are respectively connected to the return torsion spring and the finger, and both ends of the return torsion spring are respectively connected to the finger and an angular displacement sensor.

[0018] Furthermore, the finger is provided with a mounting seat, a winch and an outer sleeve. The angular displacement sensor is fixedly connected to the mounting seat. Both ends of the winch respectively pass through the mounting seat and the angular displacement sensor. The mounting seat and the angular displacement sensor are both provided with grooves. The return torsion spring is wound around the winch and both ends are respectively clamped in the grooves of the mounting seat and the angular displacement sensor. The outer sleeve is sleeved on the return torsion spring and is connected to one end of the cable.

[0019] Furthermore, the finger air circuit is provided with a pressure regulating module for regulating the air pressure of the finger air circuit.

[0020] Furthermore, the pressure regulating module includes a throttle valve, a pressure regulating knob and a pressure regulating motor. The throttle valve is connected in series to the finger air circuit. The pressure regulating knob is installed inside the throttle valve, and the pressure regulating knob is connected to the pressure regulating motor.

[0021] A control method for a pneumatic hand exoskeleton system includes the following steps,

[0022] Using the pressure sensing device to detect the interaction pressure between the pneumatic hand exoskeleton body and the human hand;

[0023] When the detected pressure is lower than the preset value, turn off the suction air pump, turn on the inflation air pump, increase the air pressure of the finger air circuit, and make the finger perform a bending movement;

[0024] When the detected pressure is higher than the preset value, turn off the inflation air pump, turn on the suction air pump, and reduce the air pressure in the finger air path to make the finger perform an extension movement;

[0025] When the detected pressure exceeds the permitted value, turn off the inflation air pump, turn on the suction air pump, and quickly reduce the air pressure in the finger air path.

[0026] Furthermore, when the air pressure sensor detects that the air pressure in the finger air path is higher than the permitted value, turn off the inflation air pump, turn on the suction air pump, and quickly reduce the air pressure in the finger air path.

[0027] Furthermore, use an angular displacement sensor to detect the displacement of the finger, so as to obtain the distance between the current position and the target position of the finger according to the displacement of the finger and control the finger movement accordingly.

[0028] Generally speaking, the present invention has the following advantages:

[0029] Compared with the traditional pneumatic hand exoskeleton, the pneumatic hand exoskeleton system of the present invention is provided with both an inflation air pump and a suction air pump. When the pressure sensor detects that the interaction pressure between the pneumatic hand exoskeleton body and the human hand exceeds the permitted value, the control device turns off the inflation air pump and simultaneously turns on the suction air pump, which can quickly reduce the air pressure in the finger air path, relieve the pressure on the hand, and avoid causing harm to the hand. By controlling the deflation speed, high-precision position control of the hand exoskeleton can be achieved during the extension movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 is an exploded view of the structure of the pressure regulating module of the present invention;

[0032] Figure 3 is an exploded view of the structure of the cable displacement detection module of the present invention;

[0033] Figure 4 is a schematic diagram of the structure of a two-position three-way solenoid directional control valve;

[0034] Figure 5 is a schematic diagram of the structure of an angular displacement sensor;

[0035] Figure 6 is a schematic diagram of the structure of an air pressure sensor;

[0036] Figure 7 is a schematic diagram of the structure of a five-in-one adapter;

[0037] Figure 8 is a schematic diagram of the structure of a pressure sensor.

[0038] In the figure:

[0039] 1 - Inflatable air pump; 2 - Suction air pump; 3 - Five-in-one adapter; 4 - Pressure regulating module; 401 - Throttle valve; 402 - Pressure regulating knob; 403 - Pressure regulating motor; 5 - Air path fixed cavity; 6 - Pneumatic hand exoskeleton; 601 - Pressure sensor; 602 - Pull rope; 7 - Pull rope displacement detection module; 701 - Mounting seat; 702 - Winch; 703 - Return torsion spring; 704 - Outer sleeve; 705 - Angular displacement sensor; 706 - Mounting bolt; 8 - Air pressure sensor; 9 - Two-position three-way solenoid directional valve. Detailed implementation manners

[0040] At present, for the pneumatic hand exoskeleton 6 of the existing technology, since there is only one inflatable air pump 1 and most of them do not have a air pressure regulating device, it is impossible to separately control the five fingers to stay at any position in the movement space of the human hand. Therefore, effective targeted training and rehabilitation for the human hand cannot be carried out; in the pneumatic hand exoskeleton 6 with an air pressure regulating device, an electro-pneumatic proportional valve is generally used, but its volume is very large and the price is expensive, which limits its scope of use; in the interactive control between the human hand and the exoskeleton, a bending sensor is often used to feedback the current position of the finger, but its accuracy is very limited, and since it often needs to be bent during use, it is easily damaged or fatigued, increasing the maintenance cost of the hand exoskeleton.

[0041] Based on the above technical problems, the object of the present invention is: First, to solve the problem that the pneumatic hand exoskeleton 6 cannot accurately control its position, design a reliable air pressure regulating device that meets the requirements of small volume and low cost, so as to separately control the five fingers to stay at any position in the movement space of the human hand; Second, to solve the problem that the bending sensor is easily damaged or fatigued, design a displacement detection device that is simple and convenient to use and has a long service life; Third, to fully ensure the safety of users and prevent the pneumatic hand exoskeleton 6 from causing harm to the human body due to accidents during use.

[0042] The following will further elaborate on the present invention in detail.

[0043] As Figure 1 shown, a pneumatic hand exoskeleton system includes an inflatable air pump 1, a suction air pump 2, a pressure regulating module 4, a pneumatic hand exoskeleton 6, a pressure sensor 601, a pull rope displacement detection module 7, an air pressure sensor 8, and a two-position three-way solenoid directional valve 9.

[0044] The pneumatic hand exoskeleton 6 is provided with fingers, and finger air paths are provided on the fingers for driving the fingers to perform stretching or bending movements.

[0045] As Figure 2As shown in the figure, the pressure regulating module 4 includes a throttle valve 401, a pressure regulating knob 402, and a pressure regulating motor 403. The throttle valve 401 is connected in series to the finger air circuit. The pressure regulating motor 403 and the pressure regulating knob 402 are integrated and installed in the throttle valve 401. By controlling the rotation of the pressure regulating motor 403, the control of the gas flow rate is achieved.

[0046] As Figure 3 , Figure 5 shown in the figure, the cable displacement detection module 7 is installed on the outer glove of the pneumatic hand exoskeleton 6 and is connected to the five fingers one by one. The cable displacement detection module 7 includes a mounting base 701, a winch 702, a return torsion spring 703, an outer sleeve 704, and an angular displacement sensor 705. The mounting base 701 is fixed to the finger. The angular displacement sensor 705 is fixedly connected to the mounting base 701 through a mounting bolt 706. Both ends of the winch 702 are respectively passed through the mounting base 701 and the angular displacement sensor 705. The return torsion spring 703 is wound around the winch 702. Both ends of the return torsion spring 703 are respectively inserted into the grooves of the mounting base 701 and the angular displacement sensor 705. The outer sleeve 704 covers the surface of the return torsion spring 703 and is connected to the cable 602. When the user's finger bends, the cable 602 generates displacement, and the winch 702 rotates accordingly. During this process, the angular displacement sensor 705 records the corresponding displacement to obtain the distance between the current position and the target position of the finger based on the finger displacement and controls the finger movement accordingly. It can separately control the five fingers to stay at any position in the human hand activity space and can perform effective targeted rehabilitation training for the human hand. When the finger straightens, under the action of the return torsion spring 703, the winch 702 rotates in the reverse direction, and the cable 602 is correspondingly retracted.

[0047] As Figure 6 shown in the figure, the finger air circuits connecting the five fingers of the pneumatic hand exoskeleton 6 are all connected to the air pressure sensor 8 to detect the air pressure in the finger air circuit during the working process. Once the air pressure exceeds the permitted value, the air pressure sensor 8 will immediately feedback a signal to the control device. The control device will immediately turn off the inflation air pump 1 and turn on the suction air pump 2 to quickly adjust the air pressure to an appropriate size, ensuring the safety of the user and preventing the structure of the pneumatic hand exoskeleton 6 from being damaged.

[0048] As Figure 8 shown in the figure, the pressure sensor 601 is embedded in the outer glove of the pneumatic hand exoskeleton 6 to achieve the interactive perception between the pneumatic hand exoskeleton 6 and the human hand. During the working process of the pneumatic hand exoskeleton 6, once the local pressure of the pressure sensor 601 exceeds the permitted value, the control device will also immediately turn off the inflation air pump 1 and at the same time turn on the suction air pump 2 to quickly adjust the interactive force between the pneumatic hand exoskeleton 6 and the human hand, preventing harm to the human hand and providing double protection for the safety of the user.

[0049] The five finger air paths connecting the five fingers of the pneumatic hand exoskeleton 6 are all fixed in the air path fixing cavity 5 to prevent the finger air paths from being entangled with the human hand during use.

[0050] As Figure 4 , Figure 7 shown, the a port of the two-position three-way pipe electromagnetic reversing valve 9 is connected to the pressure regulating module 4, the b port is connected to the finger air path, and the c port is connected to the suction air pump 2 through the five-in-one adapter 3.

[0051] The pressure regulating module 4 is connected to the inflation air pump 1 through the five-in-one adapter 3.

[0052] Specifically, when the fingers of the pneumatic hand exoskeleton 6 are bent, the two-position three-way pipe electromagnetic reversing valve 9 is powered off, its a port is connected to the b port, the inflation air pump 1 is started, and air is supplied to the five finger air paths through the pressure regulating module 4 and the two-position three-way pipe electromagnetic reversing valve 9 in sequence, so that the five fingers of the pneumatic hand exoskeleton 6 are bent.

[0053] When the fingers of the pneumatic hand exoskeleton 6 are extended, the two-position three-way pipe electromagnetic reversing valve 9 is powered on, its c port is connected to the b port, the suction air pump 2 is started, and air is sucked from the five finger air paths through the pressure regulating module 4 and the two-position three-way pipe electromagnetic reversing valve 9 in sequence, so that the five fingers of the pneumatic hand exoskeleton 6 are extended.

[0054] A control method for a pneumatic hand exoskeleton system includes the following steps.

[0055] Use a pressure sensing device to detect the pressure on the finger; when the detected pressure is lower than the preset value, turn off the suction air pump 2, turn on the inflation air pump 1, increase the air pressure of the finger air path, and make the finger perform an extension movement; when the detected pressure is higher than the preset value, turn off the inflation air pump 1, turn on the suction air pump 2, reduce the air pressure of the finger air path, and make the finger perform a bending movement; when the detected pressure exceeds the permitted value, turn off the inflation air pump 1, turn on the suction air pump 2, and quickly reduce the air pressure of the finger air path, which can quickly reduce the air pressure of the finger air path, reduce the pressure on the hand, and avoid causing harm to the hand.

[0056] When the air pressure sensor 8 detects that the air pressure of the finger air path is higher than the permitted value, turn off the inflation air pump 1, turn on the suction air pump 2, and quickly reduce the air pressure of the finger air path to an appropriate size, which can ensure the safety of the user and prevent the structure of the pneumatic hand exoskeleton 6 from being damaged at the same time.

[0057] Use the angular displacement sensor 705 to detect the displacement of the finger, so as to obtain the distance between the current position and the target position of the finger according to the displacement of the finger and control the finger movement accordingly, and can respectively control the five fingers to stay at any position in the movement space of the human hand.

[0058] The usage process of the present invention is specifically as follows:

[0059] S1. Start the pneumatic hand exoskeleton 6, set the target position, and the system begins to read the set position and the current position.

[0060] S2. Determine whether the current position is less than the set position. If it is less than the set position, execute S3; otherwise, execute S4.

[0061] S3. The two-position three-way pipe electromagnetic reversing valve 9 is powered off, its port a is connected to port b, the inflation air pump 1 starts, and air is supplied to the five-finger air paths in sequence through the pressure regulating module 4 and the two-position three-way pipe electromagnetic reversing valve 9 to bend the five fingers of the pneumatic hand exoskeleton 6.

[0062] S4. The two-position three-way pipe electromagnetic reversing valve 9 is powered on, its port c is connected to port b, the suction air pump 2 starts, and air is sucked from the five-finger air paths in sequence through the pressure regulating module 4 and the two-position three-way pipe electromagnetic reversing valve 9 to extend the five fingers of the pneumatic hand exoskeleton 6.

[0063] S5. The rope displacement detection module 7 detects whether the set position is reached. If the set position is reached, execute S6; otherwise, execute S7.

[0064] S6. The pressure regulating motor 403 moves, and the pressure regulating module 4 adjusts in real time according to the current pressure of the finger air paths to keep the pressure unchanged.

[0065] S7. Judge the error between the set position and the current position to determine what action to perform next. If the bending action is to be performed, execute S3; if the stretching action is to be performed, execute S4.

[0066] S7. After the rehabilitation training is completed, turn off the pneumatic hand exoskeleton 6, and the fingers of the pneumatic hand exoskeleton 6 return to the initial position.

[0067] During the above working process, the air pressure sensor 8 and the pressure sensor 601 will detect the air pressure in the finger air paths and the interaction force between the pneumatic hand exoskeleton 6 and the human hand in real time. Once the permitted value is exceeded, a signal will be immediately fed back to the control device, and the control device will immediately turn off the inflation air pump 1, turn on the suction air pump 2, and quickly adjust the air pressure to an appropriate value.

[0068] The present invention can not only separately control the five fingers to stay at any position within the human hand activity range, fully ensure the safety of the user by using a variety of sensors, but also avoid the use of an electro-pneumatic proportional valve by controlling the throttle valve 401 through a motor, greatly reducing the volume of the device, lowering the cost, adding a suction air pump 2, effectively controlling its air release process, and improving the movement accuracy of the hand exoskeleton.

[0069] The above embodiments are preferred embodiments of the present invention. However, the embodiments of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A pneumatic hand exoskeleton system, characterized in that: It includes a pneumatic hand exoskeleton body, an inflation air pump, a suction air pump and a control device; The pneumatic hand exoskeleton is provided with fingers; Finger air paths are provided on the fingers for driving the fingers to perform stretching or bending movements; The inflation air pump and the suction air pump are respectively connected to the finger air paths for inflating or sucking air into the finger air paths; The fingers are provided with pressure sensing devices for detecting the interaction pressure between the pneumatic hand exoskeleton body and the human hand; The control device is respectively connected to the pressure sensor, the inflation air pump and the suction air pump for correspondingly controlling the actions of the inflation air pump and the suction air pump according to the pressure detected by the pressure sensing device; The finger air paths are provided with pressure regulating modules, and the pressure regulating modules are respectively connected to the inflation air pump and the suction air pump for regulating the air pressure of the finger air paths; The pressure regulating module includes a throttle valve, a pressure regulating knob and a pressure regulating motor. The throttle valve is connected in series to the finger air path. The pressure regulating knob is installed inside the throttle valve, and the pressure regulating knob is connected to the pressure regulating motor; Wherein, when the detected pressure is lower than the preset value, the suction air pump is closed, the inflation air pump is opened, the air pressure of the finger air path is increased, and the fingers perform bending movements; When the detected pressure is higher than the preset value, the inflation air pump is closed, the suction air pump is opened, the air pressure of the finger air path is decreased, and the fingers perform stretching movements; When the detected pressure exceeds the permitted value, the inflation air pump is closed, the suction air pump is opened, and the air pressure of the finger air path is rapidly decreased.

2. The pneumatic hand exoskeleton system according to claim 1, characterized in that: The finger air paths are provided with air pressure sensors; the control device is connected to the air pressure sensors for correspondingly controlling the actions of the inflation air pump and the suction air pump according to the air pressure detected by the air pressure sensing devices.

3. The pneumatic hand exoskeleton system according to claim 1, characterized in that: The fingers are provided with a cable displacement detection module for detecting the displacement of the fingers, and the cable displacement detection module is connected to the control device.

4. The pneumatic hand exoskeleton system according to claim 3, characterized in that: The cable displacement detection module includes a cable provided on the finger and a return torsion spring. Two ends of the cable are respectively connected to the return torsion spring and the finger, and two ends of the return torsion spring are respectively connected to the finger and an angular displacement sensor.

5. The pneumatic hand exoskeleton system according to claim 4, wherein: Mounting seats, a winch and an outer covering bushing are provided on the fingers. The angular displacement sensor is fixedly connected to the mounting seat. Two ends of the winch respectively pass through the mounting seat and the angular displacement sensor. The mounting seat and the angular displacement sensor are both provided with grooves. The return torsion spring is wound around the winch and two ends of the return torsion spring are respectively clamped in the grooves of the mounting seat and the angular displacement sensor. The outer covering bushing is sleeved on the return torsion spring and is connected to one end of the cable.

6. A control method for a pneumatic hand exoskeleton system according to any one of claims 1-5, characterized in that: It includes the following steps, Using the pressure sensing device to detect the interaction pressure between the pneumatic hand exoskeleton body and the human hand; When the detected pressure is lower than the preset value, the suction air pump is closed, the inflation air pump is opened, the air pressure of the finger air path is increased, and the fingers perform bending movements; When the detected pressure is higher than the preset value, the inflation air pump is closed, the suction air pump is opened, the air pressure of the finger air path is decreased, and the fingers perform stretching movements; When the detected pressure exceeds the permitted value, the inflation air pump is closed, the suction air pump is opened, and the air pressure of the finger air path is rapidly decreased.

7. A control method for a pneumatic hand exoskeleton system according to claim 6, characterized in that: When the air pressure sensor detects that the air pressure of the finger air path is higher than the permitted value, the inflation air pump is closed, the suction air pump is opened, and the air pressure of the finger air path is rapidly decreased.

8. A control method for a pneumatic hand exoskeleton system according to claim 6, characterized in that: Using the angular displacement sensor to detect the displacement of the fingers to obtain the distance between the current position and the target position of the fingers according to the displacement of the fingers and correspondingly control the finger movements.

Images