Rehabilitation glove

Abstract

This invention provides a rehabilitation glove, comprising a glove body on which a motion actuator is disposed; a drive assembly having a drive output mechanism fixed to a base for transmitting displacement to the motion actuator in response to a power source; and a connecting assembly including a displacement transmission component and a deformation maintaining component. The displacement transmission component has two ends, which are deformable and can be maintained or adjusted to a tensioned state. One end of the displacement transmission component is connected to the drive assembly and receives the displacement transmitted by the drive assembly, while the other end is connected to the motion actuator and transmits the displacement received by the displacement transmission component to the motion actuator. The deformation maintaining component provides support to the displacement transmission component to maintain the overall deformability of the connecting assembly to change the relative position of the glove body and the drive assembly. This structure allows for separation of the glove from the drive mechanism, making it more convenient to use.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a rehabilitation glove and its driving device driven by shape memory alloy wire. Background Technology

[0002] In existing technologies, traditional rehabilitation gloves mostly use motor-driven or air-pump-driven mechanisms. These mechanisms are complex, bulky, and heavy, making them inconvenient for patients to carry. In recent years, shape memory alloys have been used as driving devices in rehabilitation gloves, making the driving mechanism lighter and more portable compared to traditional motor-driven or air-pump-driven systems. However, in existing rehabilitation gloves, the glove and driving mechanism are typically fitted or fixed to the patient's arm. This means that the relative positions of the glove and driving mechanism cannot be changed in the structural design. This leads to many inconveniences for patients. For example, with larger driving mechanisms, the patient's arm is essentially unable to move freely. With smaller driving mechanisms, the arm can move, but due to the tension required by the yarn, the driving mechanism needs to be firmly fixed to maintain its relative position with the glove. This results in some patients disliking wearing them or refusing to cooperate. Summary of the Invention

[0003] The purpose of this invention is to provide a rehabilitation glove and system that at least solves the technical problem of poor patient experience caused by the inability to change the relative position of the glove and drive part in existing rehabilitation gloves.

[0004] To achieve the above objectives, the present invention proposes the following technical solution:

[0005] Rehabilitation gloves, including,

[0006] The glove body is provided with a motion actuator, which is used to act on the glove body and change the posture of the glove body to drive the object using the glove body to move.

[0007] A drive assembly having a drive output mechanism fixed on a base for transmitting displacement to the motion actuator in response to the action of a power source, thereby causing the motion actuator to move;

[0008] A connecting assembly includes a displacement transmitting component and a deformation maintaining component. The displacement transmitting component has two ends, which are deformable and can be maintained or adjusted to a tensioned state. One end of the displacement transmitting component is connected to the driving assembly and receives the displacement transmitted by the driving assembly, while the other end is connected to the motion actuator and transmits the displacement received by the displacement transmitting component to the motion actuator. The deformation maintaining component provides support to the displacement transmitting component to keep the connecting assembly as a whole deformable to change the relative position of the glove body and the driving assembly.

[0009] Furthermore, the deformation maintaining component is sleeved on the displacement transmitting component, and the hardness of the deformation maintaining component is greater than that of the displacement transmitting component.

[0010] Furthermore, the deformation maintaining component is a tubular structure, and the displacement transmitting component is a wire structure; the deformation maintaining component and the displacement transmitting component are fitted with a clearance.

[0011] Beneficial effects:

[0012] As can be seen from the above technical solutions, the present invention provides a rehabilitation glove. A connecting component is provided between the glove body and the drive assembly, including a displacement transmission component and a deformation maintaining component. The displacement transmission component has two ends, which are deformable and can be maintained or adjusted to a tensioned state. One end of the displacement transmission component is connected to the drive assembly and receives the displacement transmitted by the drive assembly; the other end is connected to the motion actuator and transmits the displacement received by the displacement transmission component to the motion actuator. The deformation maintaining component provides support to the displacement transmission component to maintain the overall deformability of the connecting component to change the relative position of the glove body and the drive assembly. The present invention, through the cooperation of the displacement transmission component and the deformation maintaining component on the connecting component, utilizes the length of the connecting component to achieve separation between the glove body and the drive assembly, and utilizes the displacement transmission of the connecting component to maintain the control function of the glove. This allows the user to selectively place the drive assembly in an ideal position, rather than fixing the drive assembly in a fixed position, thereby improving the user experience.

[0013] It should be understood that all combinations of the foregoing concepts and the additional concepts described in more detail below can be considered part of the inventive subject matter of this disclosure, provided that such concepts do not contradict each other.

[0014] The foregoing and other aspects, embodiments, and features of the teachings of the present invention will be more fully understood from the following description in conjunction with the accompanying drawings. Other additional aspects of the invention, such as features and / or beneficial effects of exemplary embodiments, will become apparent from the following description or may be learned through practice of specific embodiments according to the teachings of the present invention. Attached Figure Description

[0015] The accompanying drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component shown in the various figures may be denoted by the same reference numeral. For clarity, not every component is labeled in each figure. Embodiments of various aspects of the invention will now be described by way of example and with reference to the accompanying drawings, wherein:

[0016] Figure 1 This is a schematic diagram of the overall structure of the rehabilitation glove in an embodiment of the present invention;

[0017] Figure 2 This is a schematic diagram of the structure of the connecting component in an embodiment of the present invention;

[0018] Figure 3 This is a schematic diagram of the glove body in an embodiment of the present invention;

[0019] Figure 4 This is a schematic diagram of the structure of the finger portion on the glove body in an embodiment of the present invention;

[0020] Figure 5 This is a schematic diagram of the glove body in an embodiment of the present invention;

[0021] Figure 6 This is a schematic diagram of the structure of the first driving component in an embodiment of the present invention;

[0022] Figure 7 This is a schematic diagram of the structure of a group of drive output units in the first type of drive component in an embodiment of the present invention;

[0023] Figure 8 This is a schematic diagram of the buckling drive output component in the first type of drive component in an embodiment of the present invention;

[0024] Figure 9 This is a schematic diagram of the straightening drive output component in the first type of drive component in an embodiment of the present invention;

[0025] Figure 10 This is a schematic diagram of the length adjustment mechanism on the straightening drive output component in the first type of drive assembly in this embodiment of the invention;

[0026] Figure 11 This is a schematic diagram of the structure of the second type of driving component in an embodiment of the present invention;

[0027] Figure 12 This is a schematic diagram of the structure of a group of drive output units in the second type of drive component in an embodiment of the present invention.

[0028] The meanings of the various reference numerals in the figure are as follows:

[0029] 1. Glove body; 2. Base; 3. Connecting assembly; 3-1. Displacement transmission component; 3-2. Deformation maintenance component; 4. Aluminum sleeve; 5. Wire lead-out hole; 3-3. Rubber protective sleeve; 1-1. Deformation component; 1-2. Fingertip structure; 1-3. First tubular channel; 1-4. Second tubular channel; 1-5. Palm part; 5. First support part; 6. Second support part; 7. Length adjustment mechanism; 7-1. First sliding groove; 7-2. First adjusting block; 7-3. Second adjusting block; 7-4. Second sliding groove; 7-5. Cylinder; 8. First fixing part; 9. Second fixing part; 10. First shape memory alloy wire; 11. Second shape memory alloy wire; 12. Third shape memory alloy wire; 13. Electrode access point; 14. Spring; 15. Bending connecting wire; 16. First limiting block; 17. Second limiting block; 18. Threaded adjusting rod; 19. Connecting wire limiting block; 20. First shape memory alloy wire group. Detailed Implementation

[0030] To better understand the technical content of the present invention, specific embodiments are described below in conjunction with the accompanying drawings.

[0031] Various aspects of the invention are described in this disclosure with reference to the accompanying drawings, which illustrate numerous illustrative embodiments. The embodiments of this disclosure are not necessarily intended to encompass all aspects of the invention. It should be understood that the various concepts and embodiments described above, as well as those described in more detail below, can be implemented in any of many ways, because the concepts and embodiments disclosed herein are not limited to any particular implementation. Furthermore, some aspects of the invention disclosed may be used alone or in any suitable combination with other aspects of the invention disclosed.

[0032] The present invention proposes a rehabilitation glove that, unlike the prior art where the glove body 1 and the drive component are always arranged in a fixed relative position, allows for relatively free changes in the relative positional relationship between the glove body 1 and the drive component. This enables the user to place the corresponding drive component more according to their own wishes, thereby improving the comfort of using the rehabilitation glove. The core of the above method is to provide a connecting component 3 that can both achieve separation and maintain the function of the drive component controlling the glove body 1. Therefore, the core of this embodiment is to propose a connecting component 3 with a certain length. The length of the connecting component 3 can support the user to change the spatial position of the glove body 1 and the drive component, thereby achieving the separation effect. The control function is essentially based on the fact that the fingers on the glove body 1 are controlled by the pulling of the silk thread, which causes the length of the silk thread in the finger part to change, so that the fingers on the glove body 1 can bend and straighten. The change in the length of the silk thread in the finger part is due to the change in the relative position between the silk thread and the glove body 1, that is, the silk thread has displacement relative to the glove body 1. The source of this displacement is generated by the drive. Therefore, the connecting component 3 needs to be able to transmit the displacement between the drive component and the silk thread without loss to achieve the control function.

[0033] Based on the above principles, such as Figure 1 The image shown is a rehabilitation glove provided in this embodiment, whose structure includes the following components:

[0034] The glove body 1 is provided with a motion actuator, which is used to act on the glove body 1 and change the posture of the glove body 1 to drive the object using the glove body 1 to move.

[0035] The drive assembly has a drive output mechanism fixed to a base 2 for transmitting displacement to the motion actuator in response to the action of a power source, so that the motion actuator can move.

[0036] The connecting component 3 includes a displacement transmission component 3-1 and a deformation maintaining component 3-2. The displacement transmission component 3-1 has two ends, and the two ends are deformable and can be maintained or adjusted to a tensioned state. One end of the displacement transmission component 3-1 is connected to the driving component and receives the displacement transmitted by the driving component, and the other end is connected to the motion actuator and transmits the displacement received by the displacement transmission component 3-1 to the motion actuator. The deformation maintaining component 3-2 is used to provide support to the displacement transmission component 3-1 to keep the connecting component 3 as a whole deformable to change the relative position of the glove body 1 and the driving component.

[0037] The aforementioned connecting component 3 can be selected in appropriate length as needed. Generally, the user's size and usage habits are taken into account. For example, larger users usually need to select a longer connecting component 3, while users who prefer to fix the drive component near their hands can usually select a shorter connecting component 3. In some cases, a longer connecting component 3 can be selected as needed.

[0038] like Figure 3-7 as well as Figure 11 As shown, the base 2 of the drive output mechanism is a box, and the drive output mechanisms are all built into the box and fixed relative to the base 2. The connection component 3, which meets the above conditions, allows the drive component to be fixed in a position that can be on the user's body, on the user's clothing, on a fixed object (such as a table or chair), or held by someone else, as long as it is within the length limit of the connection component 3. This can fully meet the user's needs, and the position of the drive component can be adjusted in real time as needed during use.

[0039] Since the displacement transmission component 3-1 can deform, the shape of the connecting component 3 can be changed so that it is no longer a traditional straight shape. However, the displacement transmission component 3-1 needs to be able to transmit displacement without loss. Therefore, the displacement transmission component 3-1 needs to be able to maintain or adjust itself to be in a taut state.

[0040] The displacement transmission component 3-1 needs to be deformable; a wire-type component is practical, as displacement needs to be transmitted stably and without loss. Therefore, the selected wire needs to be inelastic. However, once the ends of the wire are subjected to force, it is easily stretched into a straight shape. Therefore, in this embodiment, the deformation-maintaining component 3-2 is used to make the connecting component 3 present a non-linear state according to the user's needs or operation. That is, the deformation-maintaining component 3-2 must have a certain degree of rigidity to support the displacement transmission component 3-1 and prevent it from becoming straight. Therefore, the rigidity of the deformation-maintaining component 3-2 is greater than that of the displacement transmission component 3-1.

[0041] There are several ways in which the deformation-maintaining component 3-2 supports the displacement-transmitting component 3-1. For example, the deformation-maintaining component 3-2 may include multiple optional fixed pulleys to provide support force during the winding of the displacement-transmitting component 3-1. Alternatively, the deformation-maintaining component 3-2 may be tubular and sleeved on the displacement-transmitting component 3-1, with a clearance fit between the deformation-maintaining component 3-2 and the displacement-transmitting component 3-1. In this embodiment, a tubular deformation-maintaining component 3-2 is preferred, as it has a simple structure, occupies little space, and is more convenient for users.

[0042] The tubular deformation-maintaining component 3-2 supports the internal filament-type displacement transmission component 3-1. When the connecting component 3 is non-linear, the internal filament extends in a manner that fits against the inner wall of the tubular structure. In order to minimize the loss of force during the control process, it is necessary to minimize the friction between the filament and the tubular body.

[0043] In this embodiment, the main part of the drive component is also made of silk thread, and the main part of the motion actuator on the glove body 1 is also made of silk thread. The silk thread on the drive component, the silk thread on the connecting component 3 and the silk thread on the motion actuator are connected in sequence to transmit displacement for control.

[0044] In some preferred embodiments, the two ends of the tubular deformation-maintaining component 3-2 are fixed to one side of the glove body 1 and to the control points for the arrangement of the filaments on the glove body 1 and the control points for the arrangement of the filaments on the drive assembly, respectively. Figure 1 As shown, the threads on the glove body 1 pass through several aluminum sleeves 4 fixed to the glove body 1. The aluminum sleeves 4 restrict the direction of the threads. The threads are led out through the thread lead-out holes 5 on the base 2 of the drive assembly and the direction of the threads is restricted. The tube body of the connecting assembly 3 is seamlessly connected and fixed with the aluminum sleeves 4 and the lead-out holes of the base 2, so that the direction of the threads can be completely controlled.

[0045] like Figure 2 The diagram shows the structure of a connecting component 3 provided in this embodiment, which includes an inner wire, a deformation retaining component 3-2 in the middle (in this embodiment, the structure is a tubular shape made of wound metal), and an outermost rubber protective sleeve 3-3 to improve user comfort.

[0046] In this embodiment, the control, intermediate connection, and execution are divided into two parts by using flexion / extension as the motion, and corresponding structures are set for each part and integrated to obtain this device. Specifically, as follows... Figure 3-7 as well as Figure 11 As shown, the drive output mechanism includes at least one set of drive output units, each set of drive output units corresponds to one finger on the glove body 1. The specific number of drive output units and the number of fingers can be customized according to the patient's needs. The drive device encapsulates all devices in a box. By changing the length, width, height of the box and the number of built-in single-finger drive units, the actual needs of different patients can be met.

[0047] The accompanying drawings of this embodiment show two fingers, therefore the corresponding drive output mechanism includes two sets of drive output units; as shown, the two sets of drive output units are arranged sequentially according to the position of the fingers. Each set of drive output units includes a flexion drive output component and an extension drive output component.

[0048] The connection component 3 corresponding to each group of drive output units includes a flexion connection component 3 and an extension connection component 3, that is, there are two connecting lines for each finger. The output end of the flexion drive output component is connected to the flexion connection component 3, and the output end of the extension drive output component is connected to the extension connection component 3.

[0049] The motion actuators on each finger include flexion motion actuators and extension motion actuators. The flexion connecting component 3 is connected to the flexion motion actuator, and the extension connecting component 3 is connected to the extension motion actuator.

[0050] The aforementioned flexion and extension actuators are structurally attached to the glove body 1. In this embodiment, in order to better adapt to deformation, such as... Figure 3-5 As shown, the finger portion of the glove body 1 includes several continuously arranged deformable components 1-1 and a fingertip structure 1-2. Each deformable component 1-1 includes a rhombus-shaped bracket and two support frames. The two support frames are respectively disposed at one diagonal of the rhombus-shaped bracket to support the rhombus-shaped bracket so that an accommodating space is formed between the rhombus-shaped bracket and the support frames. The deformable components 1-1 are continuously arranged in the direction of the other diagonal of the rhombus, and pairs of deformable components 1-1 are fixedly connected at adjacent positions. The fingertip structure 1-2 is disposed at the end of the continuously arranged deformable components 1-1, and the fingertip structure 1-2 is a cap-shaped structure used to accommodate the fingertip of the object using the glove body 1. A first tubular channel 1-3, such as an aluminum sleeve 4, is provided above the adjacent positions of the two pairs of rhombus-shaped brackets of the deformable component 1-1. A second tubular channel 1-4, such as an aluminum sleeve 4, is provided on the support frame of the deformable component 1-1. Both the flexion and extension actuators are made of filament. The filament of the flexion actuator is threaded through the second tubular channel 1-4 and the fingertip structure 1-2, while the filament of the extension actuator is threaded through the first tubular channel 1-3 and the fingertip structure 1-2. Based on this structural configuration, when the filaments on the flexion and extension actuators are displaced relative to the glove body 1, they will cause the glove body 1 and the fingers worn on it to passively bend or straighten, thereby achieving the training purpose.

[0051] Preferably, the palm portion of the glove body 1 has a semi-open structure and is made of flexible material, which is lightweight and does not cause extra burden to the patient when wearing it. It is also easy to wear and suitable for patients whose fingers are stiff and cannot straighten.

[0052] Since the SMA-spring combination is a commonly used drive structure, compared to traditional motor-driven and air-pump-driven methods, it is smaller and lighter, making it easier for patients to carry around. Patients can perform other activities simultaneously during rehabilitation, with minimal impact on their daily lives. In this embodiment, this drive structure is used to control flexion and extension separately. Specifically, the extension drive output component is a shape memory alloy drive element, and the flexion drive output component is a spring drive element. When the shape memory alloy drive is energized, it causes the output end of the straightening drive output assembly to contract, which in turn drives the straightening connection assembly 3 and the straightening motion actuator to move, causing the corresponding finger to straighten from a bent position. At the same time, the flexion motion actuator on the finger drives the spring 14 on the flexion connection assembly and the flexion drive output assembly to shift and deform, causing the spring 14 to lengthen. When the shape memory drive is de-energized, the spring 14, under its own restoring force, causes the output end of the flexion drive output assembly to shorten, which in turn drives the flexion connection assembly and the flexion motion actuator to move, causing the corresponding finger to bend from a straight position. At the same time, the straightening motion actuator on the finger drives the shape memory alloy wire on the straightening connection assembly and the straightening drive output assembly to lengthen.

[0053] This embodiment provides at least two specific structures of the shape memory alloy driving component, and the shape memory alloy driving component exhibits superelastic properties of stress-induced reversible martensitic phase transformation at room temperature.

[0054] First structure

[0055] like Figure 6 , 7 As shown in Figure 9, the structure of the shape memory alloy driving component includes a first shape memory alloy wire assembly 20 and a first support assembly. The first support assembly includes a first support portion 5 and a second support portion 6, both of which are fixed to the base 2. One end of the first shape memory alloy wire assembly 20 is fixed, and the other end serves as the output end of the straightening drive output assembly; the two ends of the first shape memory alloy wire assembly 20 are wound back and forth on the first support portion 5 and the second support portion 6; a positive terminal and a negative terminal are respectively provided on the first shape memory alloy wire assembly 20, and the positive terminal and the negative terminal are connected to an external power supply through wires.

[0056] like Figure 6 and Figure 7As shown, the shape memory alloy wire is wound back and forth by the first support part 5 and the second support part 6, which reduces the size of the drive output mechanism. In this embodiment, the first support part 5 and the second support part 6 are mainly in the form of fixed pulleys. The first shape memory alloy wire group 20 is wound back and forth by two sets of oppositely arranged pulleys to increase the total length of the first shape memory alloy wire group 20. The two sets of pulleys are supported by two pulley axle screws, which are fixed on both sides of the pulley group support. The pulley group support is fixed on the base 2. In this embodiment, the first shape memory alloy wire group 20 has two parallel strands of wire, which facilitates the provision of greater force.

[0057] To accommodate changes in hand size and potential slack in the wire, in this embodiment, a length adjustment mechanism 7 is provided at one fixed end of the first shape memory alloy wire assembly 20. The length adjustment mechanism 7 is fixedly connected to the base 2, and the length adjustment mechanism 7 has multiple fixing points on the base 2. By fixing at different fixing points, the length adjustment mechanism 7 can adjust the position of the other end of the first shape memory alloy wire assembly 20, thereby adjusting the length of the wire located outside the box and thus achieving adjustment of the wire tension.

[0058] Figure 10The diagram shows the length adjustment mechanism 7 described above. The length adjustment mechanism 7 includes a first sliding groove 7-1 disposed on the base 2, and a first adjusting block 7-2 and a second adjusting block 7-3 slidably disposed within the sliding groove. A cylinder 7-5 is disposed on the first adjusting block 7-2, and a second sliding groove 7-4 is disposed on the second adjusting block 7-3. The second sliding groove 7-4 is located within the first sliding groove 7-1, and its outer diameter can change with the change in its inner diameter, thereby altering the fixed relationship between the second sliding groove 7-4 and the first sliding groove 7-1. When the outer diameter of the second sliding groove 7-4 is tightly against the inner diameter of the first sliding groove 7-1, the length adjustment mechanism 7 is fixed to the first sliding groove 7-1; otherwise, they can slide relative to each other. The aforementioned fixing and unfixing methods are specifically implemented through the following structure: the length direction of the second sliding groove 7-4 is along the length direction of the first sliding groove 7-1. The size of the groove opening of the second sliding groove 7-4 has a portion smaller than the outer diameter of the cylinder 7-5 and a portion larger than the outer diameter of the cylinder 7-5 along its length direction. For example, it decreases in size along one direction, with the larger portion having a diameter larger than the outer diameter of the cylinder 7-5 and the smaller portion having a diameter smaller than the outer diameter of the cylinder 7-5. The cylinder 7-5 is embedded in the second sliding groove 7-4, allowing the first adjusting block 7-2 and the second adjusting block 7-3 to move relative to each other. When the first adjusting block 7-2 and the second adjusting block 7-3 move towards each other, the cylinder 7-5 of the first adjusting block 7-2 opens the second sliding groove 7-4 of the second adjusting block 7-3, causing the second adjusting block 7-3 to lock against the first sliding groove 7-1. When the first adjusting block 7-2 and the second adjusting block 7-3 move away from each other, the locked state is released. After the jammed state is released, the length adjustment mechanism 7 is moved, thereby moving one end of the connected shape memory alloy wire group 20 to change the position of the other end, i.e., the output end, so that the loose wires can be pulled into the box and tension is restored. After the position is properly adjusted, it enters the jammed state, and one end of the shape memory alloy wire group is re-fixed.

[0059] The second structure

[0060] The shape memory alloy drive component includes a second shape memory alloy wire assembly and a second support assembly; the second support assembly includes a pulley assembly and a fixing part, the fixing part includes a first fixing part 8 and a second fixing part 9, the first fixing part 8 and the second fixing part 9 are arranged opposite to each other and are both fixed on the base 2, the pulley assembly is located between the first fixing part 8 and the second fixing part 9 and is fixed by the second shape memory alloy wire assembly to the first fixing part 8 and / or the second fixing part 9 in a structural form.

[0061] The pulley group includes several continuous pulley combinations, and the free end of the pulley group serves as the output end of the straightening drive output component.

[0062] Each pulley assembly includes a first shape memory alloy wire 10, a second shape memory alloy wire 11, and a third shape memory alloy wire 12. The first shape memory alloy wire 10 is wound around the movable pulley and one end is fixed to the fixed part. One end of the second shape memory alloy wire 11 is fixed to the central axis of the fixed pulley and the other end is fixed to the fixed part. The fixing point of the first shape memory alloy wire 10 and the fixing point of the second shape memory alloy wire 11 on the fixed part are located on different fixed parts. One end of the third shape memory alloy wire 12 is fixed to the central axis of the movable pulley and wound around the fixed pulley.

[0063] In two consecutive combinations of one movable and one fixed pulley, the first shape memory alloy wire 10 on the movable pulley in the latter group and the third shape memory alloy wire 12 wound on the fixed pulley in the former group are the same shape memory alloy wire. The fixing point of the first shape memory alloy wire 10 on the fixed part in the latter group and the fixing point of the first shape memory alloy wire 10 on the fixed part in the former group are located on different fixed parts.

[0064] The shape memory alloy wires at positions with a length relationship of 2 to the nth power (n is a natural number) of the free end movement distance of the pulley system are determined by the pulley system. Each shape memory alloy wire of a different level is provided with a positive electrode connection point and a negative electrode connection point, and the positive electrode connection point and the negative electrode connection point on the shape memory alloy wires of different levels have the same controllable extension length.

[0065] By controlling the length variation of shape memory alloy wires at different positions within the pulley system, the movement distance of the free end of the pulley system is altered, thus changing the output length. This allows for progressively adjustable output based on user needs. The above process relies on the fundamental characteristics of pulleys: fixed pulleys do not save effort but can change the direction of force; movable pulleys save effort but require more distance. Through the combination of fixed and movable pulleys, a multiplicative relationship can be achieved between the shape memory alloy wires at different positions, ultimately making the output continuously adjustable.

[0066] The above structure is a simulated binary structure. The shape memory alloy wires located at positions that have a length relationship with the free end of the pulley system that is a power of 2 (n is a natural number) represent the various bits in the binary system. Since the shape memory alloy wires have the same controllable extension and retraction length, the length of the shape memory alloy wires can be controlled by whether or not they are energized. The higher the bit level of the shape memory alloy wire, the greater the impact of the length change on the free end of the pulley system.

[0067] To balance the support and conductivity functions, the fixing part is preferably a conductive medium, and one of the electrode access points 13 on the shape memory alloy wire at different levels is the connection point with the fixing part. In the attached figures, the electrodes of the first fixing part 8 and the second fixing part 9 are identical and both connected to the negative terminal of the power supply. Connection points for the positive terminal of the power supply are provided on the shape memory alloy wires at different levels, and the distance between the connection point of the positive terminal and the corresponding fixing part is equal. Specifically, by fixing metal connection points on the shape memory alloy wire, the distance from the metal connection point to the corresponding fixing part is made equal. Therefore, the length of the shape memory alloy wire that can deform after being energized is the distance between the two electrodes. The order of the shape memory alloy wire is counted using natural numbers 0, 1, 2, and 3. The shape memory alloy wire of order n has a length relationship with the distance of movement of its free end that is a power of 2. Let Δd be the amount of shrinkage of the shape memory alloy wire when energized. By changing whether the shape memory alloy wires at the above n+1 positions are energized or not, the load shrinkage at the free end of the pulley system can be 0, Δd, 2Δd, 3Δd...nΔd, corresponding to 00, 01, 10, 11, ..., 11...11 in binary (a total of n+1 bits). Therefore, by using the shape memory alloy wires to represent different positions, when 1 is needed, energizing the shape memory alloy wire at the corresponding position causes the wire's length to shrink. When 0 is needed, keeping the wire unenergized prevents the wire's length from changing. The displacement changes at the free end of the pulley system can be transmitted to the glove body 1 through the connecting component 3, thereby achieving control over different displacements on the glove body 1 and realizing precise control over finger movements.

[0068] like Figure 11 This is the arrangement of the two shape memory alloy actuators that correspond to the two fingers in this embodiment, wherein the structure of each shape memory alloy actuator is as follows: Figure 12 As shown. In this embodiment, a 4-bit form is given, but according to the above rules, it can also be modified to other bit-level forms. Figure 12In the structure shown, the wire with electrode access point 13 on the shape memory alloy wire is the wire located at the level. The specific level of each wire can be determined according to the multiple relationship between the wire deformation and the output end, and the power supply can be controlled as needed.

[0069] In this embodiment, the buckling drive output structure that matches any one of the two structures described above is as follows:

[0070] The buckling drive output assembly includes a spring 14, a buckling connecting wire 15, and an elastic force adjustment assembly. The elastic force adjustment assembly includes a first limiting block 16, a second limiting block 17, and a threaded adjusting rod 18. One end of the spring 14 is connected to one end of the buckling connecting wire 15, and the other end of the buckling connecting wire 15 serves as the output end of the buckling drive output assembly. The threaded adjusting rod 18 is threadedly connected to the base 2 and the second limiting block 17, and the other end of the spring 14 is fixed to the second limiting block 17. The first limiting block 16 is fixed to the base 2 and has a through hole. The buckling connecting wire 15 passes through the through hole, and a connecting wire limiting block 19 is fixed to the buckling connecting wire 15. The connecting wire limiting block 19 and the spring 14 are located on opposite sides of the first limiting block 16. The buckling connecting wire 15 is limited at the through hole position by the connecting wire limiting block 19 to move towards the spring 14.

[0071] In this example, by rotating the threaded adjusting rod 18, the relative position of the second limiting block 17 and the housing 1 can be changed. Because the first limiting block 16 and the connecting wire limiting block 19 obstruct each other, the spring 14 is passively extended or shortened. The above method can be used to adjust the magnitude of the output force of the spring 14 to suit the needs of different users.

[0072] In this embodiment of the invention, the cooperation of the displacement transmission component 3-1 and the deformation maintaining component 3-2 on the connecting component 3 allows for the separation of the glove body 1 from the drive component by utilizing the length of the connecting component 3. The displacement transmission of the connecting component 3 maintains the control function of the glove, allowing the user to selectively place the drive component in an ideal position, rather than fixing it in a fixed location, thus improving the user experience. Customized drive components are built into the housing to meet the user's needs regarding the number of fingers. The drive components offer various driving methods, particularly using binary driving techniques to achieve adjustable driving length, adapting to different user needs.

[0073] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention shall be determined by the claims.

Claims

1. A rehabilitation glove characterized in that: include, The glove body is provided with a motion actuator, which is used to act on the glove body and change the posture of the glove body to drive the object using the glove body to move. A drive assembly having a drive output mechanism fixed on a base for transmitting displacement to the motion actuator in response to the action of a power source to cause the motion actuator to move; A connecting assembly includes a displacement transmitting component and a deformation maintaining component. The displacement transmitting component has two ends, which are deformable and can be maintained or adjusted to a tensioned state. One end of the displacement transmitting component is connected to the driving assembly and receives the displacement transmitted by the driving assembly, while the other end is connected to the motion actuator and transmits the displacement received by the displacement transmitting component to the motion actuator. The deformation maintaining component provides support to the displacement transmitting component to keep the connecting assembly as a whole deformable to change the relative position of the glove body and the driving assembly. The drive output mechanism includes at least one set of drive output units, each set of drive output units corresponds to one finger on the glove body, and each set of drive output units includes a flexion drive output component and an extension drive output component; The connection components corresponding to each group of drive output units include a buckling connection component and a straightening connection component. The output end of the buckling drive output component is connected to the buckling connection component, and the output end of the straightening drive output component is connected to the straightening connection component. The motion actuators on each finger include flexion motion actuators and extension motion actuators, the flexion connecting assembly is connected to the flexion motion actuators, and the extension connecting assembly is connected to the extension motion actuators; The straightening drive output component is a shape memory alloy drive component, and the buckling drive output component is a spring drive component; When the shape memory alloy wire is energized, the shape memory alloy drive causes the output end of the straightening drive output component to contract and sequentially drive the straightening connection component and the straightening motion actuator to move, causing the corresponding finger to change from bent to straight. At the same time, the flexion motion actuator on the finger sequentially drives the spring on the flexion connection component and the flexion drive output component to shift and deform, causing the spring to be stretched. When the power is off, the spring, under its own restoring force, causes the output end of the flexion drive output component to shorten and sequentially drive the flexion connection component and the flexion motion actuator to move, causing the corresponding finger to change from straight to bent. At the same time, the straightening motion actuator on the finger sequentially drives the shape memory alloy wire on the straightening connection component and the straightening drive output component to extend. The shape memory alloy drive component includes a second shape memory alloy wire assembly and a second support assembly; The second support assembly includes a pulley group and a fixing part. The fixing part includes a first fixing part and a second fixing part. The first fixing part and the second fixing part are arranged opposite to each other and are both fixed on the base. The pulley group is located between the first fixing part and the second fixing part and is fixed to the first fixing part and / or the second fixing part by the second shape memory alloy wire group. The pulley system includes several continuous pulley combinations, and the free end of the pulley system serves as the output end of the straightening drive output component. Each pulley assembly includes a first shape memory alloy wire, a second shape memory alloy wire, and a third shape memory alloy wire. The first shape memory alloy wire is wound around the movable pulley and one end of it is fixed to the fixed part. One end of the second shape memory alloy wire is fixed to the central axis of the fixed pulley and the other end is fixed to the fixed part. The fixing points of the first shape memory alloy wire and the second shape memory alloy wire on the fixed part are located on different fixed parts. One end of the third shape memory alloy wire is fixed to the central axis of the movable pulley and wound around the fixed pulley. In two consecutive combinations of one movable and one fixed pulley, the first shape memory alloy wire on the movable pulley in the latter group and the third shape memory alloy wire wound on the fixed pulley in the former group are the same shape memory alloy wire. The fixing point of the first shape memory alloy wire in the latter group on the fixing part and the fixing point of the first shape memory alloy wire in the former group on the fixing part are located on different fixing parts. The shape memory alloy wires at positions where the distance of movement of the free end of the pulley group is a power of 2 (n is a natural number) are determined by the pulley group. The shape memory alloy wires at different levels are provided with a positive electrode connection point and a negative electrode connection point, and the positive electrode connection point and the negative electrode connection point on the shape memory alloy wires at different levels have the same controllable extension length.

2. The rehabilitation glove of claim 1, wherein: The deformation maintaining component is sleeved on the displacement transmitting component, and the hardness of the deformation maintaining component is greater than that of the displacement transmitting component.

3. The rehabilitation glove of claim 2, wherein: The deformation maintaining component is a tubular structure, and the displacement transmitting component is a wire structure; the deformation maintaining component and the displacement transmitting component are fitted with a clearance.

4. The rehabilitation glove of claim 1, wherein: The buckling drive output assembly includes a spring, a buckling connecting wire, and an elastic force adjustment assembly, wherein the elastic force adjustment assembly includes a first limiting block, a second limiting block, and a threaded adjustment rod; One end of the spring is connected to one end of the buckling connecting wire, and the other end of the buckling connecting wire serves as the output end of the buckling drive output assembly. The threaded adjusting rod is threadedly connected to the base and the second limiting block, and the other end of the spring is fixed to the second limiting block; The first limiting block is fixed on the base and has a through hole. The bent connecting wire passes through the through hole and a connecting wire limiting block is fixed on the bent connecting wire. The connecting wire limiting block and the spring are located on opposite sides of the first limiting block. The bent connecting wire is limited to move towards the spring at the position of the through hole by the connecting wire limiting block.

5. The rehabilitation glove according to any one of claims 1-4, wherein: The finger portion of the glove body includes several continuously arranged deformable components and a fingertip structure. Each deformable component includes a rhombus-shaped bracket and two support frames. The two support frames are respectively disposed at one diagonal of the rhombus-shaped bracket to support the rhombus-shaped bracket so that an accommodating space is formed between the rhombus-shaped bracket and the support frames. The deformable components are arranged continuously in the direction of the other opposite corner of the rhombus, and the deformable components are fixedly connected at adjacent positions. The fingertip structure is disposed at the end of the continuously arranged deformable components, and the fingertip structure is a cap-shaped structure for accommodating the fingertips of an object using the glove body; The deformable component has a first tubular channel above the adjacent positions of the two rhomboid supports; The deformable component is provided with a second tubular channel on the support frame; Both the flexion and extension actuators are made of filament. The filament of the flexion actuator is threaded through the second tubular channel and the fingertip structure, while the filament of the extension actuator is threaded through the first tubular channel and the fingertip structure.

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