Limb rehabilitation assisting device and limb rehabilitation training mechanism

Abstract

The invention belongs to the technical field of rehabilitation assistive devices, and particularly relates to a limb rehabilitation assisting device and a limb rehabilitation training mechanism, the limb rehabilitation assisting device comprises a driver, an angle measuring part and a force measuring part, the driver can be bent under the action of external driving force, auxiliary training can be conducted on limbs, and the force measuring part is used for measuring the angle of the limb. The bending angle of the driver can be controlled by adjusting the driving force; the angle measuring part is used for accurately measuring bending data of each limb joint by arranging a strain gauge or an attitude sensor on a base; and the force measuring part measures the force data of each limb region by measuring the pressure of the air bag group corresponding to each limb region. The whole device is simple in structure, comprehensive and accurate in measurement of movement data of all limbs, good in comfort and capable of adapting to various rehabilitation strategies, the rehabilitation effect is improved, and precise rehabilitation is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of rehabilitation aids, and in particular relates to a limb rehabilitation auxiliary device and a limb rehabilitation training mechanism. Background Art

[0002] Stroke has become a major public health problem that seriously endangers the lives and health of middle-aged and elderly people. Among the survivors of stroke, 75% lose their ability to work to varying degrees and 40% are severely disabled. Among the survivors of cerebrovascular disease who have been rescued, 50% to 80% have different degrees of disabling sequelae, such as hemiplegia, joint stiffness, contracture, etc. With the aging of the population in my country and around the world, the decline of the necessary physiological functions of the elderly will lead to the gradual deterioration of the mobility of each limb, which seriously affects their ability to take care of themselves. Therefore, for patients with limb dysfunction, timely and effective rehabilitation training is one of the most effective rehabilitation methods for restoring the functions of each limb. A manipulator is an automated operating device that can imitate certain movements and functions of a human hand and grasp objects or operate tools according to a fixed program. However, the current perception ability of the manipulator is relatively small, and it is impossible to accurately record data and the air posture of each finger during the driving process.

[0003] At present, the use of various limb rehabilitation devices in the market has been relatively widespread, but most rehabilitation devices simply drive the limbs to bend and cannot measure the data of the limbs when bending. The rehabilitation devices do not use sensor technology to accurately record the rehabilitation effect, and medical staff cannot adjust the rehabilitation strategy in time through analysis and evaluation of the training effect to achieve accurate rehabilitation. In addition, most rehabilitation devices perform a reciprocating bending and stretching process, the training is not very targeted, and can only perform simple passive rehabilitation training, which patients cannot participate in. This will greatly reduce the enthusiasm of patients for rehabilitation training and cannot achieve the ideal treatment effect.

[0004] In summary, it is necessary to provide a device that can accurately measure the bending angle and output force of each limb joint and assist in achieving efficient limb rehabilitation training. It has a simple structure, is comfortable to use, and can be used for a manipulator. When driving it to bend, it can measure the air posture or bending angle data of each finger, and when driving it to grasp an object, it can measure the manipulator's grasping force data of the object. Summary of the invention

[0005] In view of the above shortcomings of the prior art, the purpose of the present invention is to provide a limb rehabilitation auxiliary device and a limb rehabilitation training mechanism, which can accurately measure and record limb bending angle and force data, timely understand the patient's rehabilitation training situation, and provide targeted training, and use mirror rehabilitation training to improve the patient's initiative and enthusiasm for rehabilitation treatment and improve rehabilitation efficiency.

[0006] To achieve the above-mentioned purpose and other related purposes, the present invention provides a limb rehabilitation auxiliary device, comprising:

[0007] A plurality of drivers, each of which comprises a plurality of mounting parts and a plurality of driving units, one driving unit is arranged between each two adjacent mounting parts, or the mounting part and the driving unit are integrated into one;

[0008] The angle measuring part is connected to the mounting part, and comprises a base and an angle measuring unit. The base is fixedly connected to the mounting part, and the angle measuring unit is arranged on the base or the mounting part.

[0009] According to an embodiment of the present invention, it further comprises a force measuring part connected to a side of the angle measuring part away from the driver.

[0010] According to one embodiment of the present invention, the driving unit is a bellows or a soft actuator, and a plurality of the bellows or soft actuators are connected by pipes.

[0011] According to one embodiment of the present invention, the base comprises:

[0012] A plurality of fixing seats, wherein the fixing seats are fixedly connected to the bottom of the mounting portion;

[0013] A plurality of bending seats, one bending seat is arranged between two adjacent fixing seats, and the bending seat is arranged corresponding to the driving unit.

[0014] According to one embodiment of the present invention, the bending seat is in a pleated shape and is composed of a plurality of flexible hinges and vertical plates.

[0015] According to an embodiment of the present invention, a groove is provided on a surface of the base close to the driver, and the angle measuring unit is arranged in the groove.

[0016] According to one embodiment of the present invention, the angle measurement unit is a strain gauge or a flexible angle measurement unit, the strain gauge or the flexible angle measurement unit is arranged on the base, and each joint of the limb corresponds to at least one strain gauge or the flexible angle measurement unit.

[0017] According to an embodiment of the present invention, the angle measurement unit is a posture sensor, and the posture sensor is arranged on part of the fixing seat or the mounting portion, and at least one posture sensor corresponds to each of the two sides of each joint.

[0018] According to one embodiment of the present invention, the force measuring unit comprises:

[0019] A base, connected to the bottom surface of the base, or the base is integrated with the base;

[0020] A plurality of force measuring units are arranged inside the base and located in the limb area.

[0021] According to one embodiment of the present invention, the force measuring unit comprises:

[0022] An air passage is arranged inside the base, the air passage extends along the length direction of the base, and an air port of the air passage is located at one end of the base;

[0023] An airbag is connected through the air passage.

[0024] The present invention also provides a limb rehabilitation training mechanism, comprising:

[0025] Fixings;

[0026] At least one limb rehabilitation assisting device as described in the above embodiment, wherein the limb rehabilitation assisting device is fixed to a corresponding limb position through the fixing member.

[0027] The present invention provides a limb rehabilitation auxiliary device and a limb rehabilitation training mechanism. The limb rehabilitation auxiliary device integrates a driver, an angle measuring part and a force measuring part into one, can comprehensively and accurately measure limb rehabilitation data, and can also realize auxiliary training of limb bending movements through the driver. It has a simple structure and is flexible to use. It can accurately measure and record the bending angle and force data during limb activities, timely understand the training situation, adjust the training plan, and conduct targeted training. It can also combine multiple rehabilitation strategies to achieve precise rehabilitation. Through mirror training, it can improve the initiative and enthusiasm of patients in training and achieve better treatment effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 A three-dimensional structural diagram of a limb rehabilitation assisting device provided by an embodiment of the present invention in which the driving unit is a bellows;

[0030] Figure 2 A three-dimensional structural diagram of a limb rehabilitation assisting device provided by one embodiment of the present invention, in which the driving unit is a soft actuator;

[0031] Figure 3 An axial cross-sectional structural diagram of a limb rehabilitation assisting device provided by one embodiment of the present invention in which the driving unit is a bellows;

[0032] Figure 4 An exploded view of a three-dimensional structure in which a base and a base of a limb rehabilitation assisting device provided by an embodiment of the present invention are fixedly connected;

[0033] Figure 5 An axial cross-sectional structural diagram of a soft actuator in a limb rehabilitation assisting device provided by one embodiment of the present invention;

[0034] Figure 6 An exploded view of a three-dimensional structure in which a base and a base are integrated into one body in a limb rehabilitation assisting device provided by one embodiment of the present invention;

[0035] Figure 7 An exploded view of a three-dimensional structure in which a base and a base are integrated into one in a limb rehabilitation assisting device provided by another embodiment of the present invention;

[0036] Figure 8 A radial cross-sectional view of a crest structure of a soft actuator in a limb rehabilitation assistive device provided by another embodiment of the present invention;

[0037] Fig. 9 A three-dimensional diagram of a finger rehabilitation auxiliary device provided by an embodiment of the present invention;

[0038] Fig.10 An exploded view of a finger rehabilitation auxiliary device provided by an embodiment of the present invention;

[0039] Fig.11 A three-dimensional diagram of a finger rehabilitation auxiliary device provided by another embodiment of the present invention;

[0040] Fig.12 An exploded view of a finger rehabilitation auxiliary device provided by another embodiment of the present invention;

[0041] Fig.13 An exploded view of an angle measuring portion in which an angle measuring unit of a finger rehabilitation auxiliary device provided by an embodiment of the present invention is a strain gauge;

[0042] Fig.14 An exploded view of an angle measuring portion in which an angle measuring unit of a finger rehabilitation auxiliary device provided by another embodiment of the present invention is a strain gauge;

[0043] Fig.15 An exploded view of an angle measuring unit in a finger rehabilitation assisting device provided by an embodiment of the present invention is an angle measuring portion of a posture sensor;

[0044] Fig.16 An exploded view of an angle measuring unit of a finger rehabilitation assisting device provided by another embodiment of the present invention is an angle measuring portion of a posture sensor;

[0045] Fig.17 A cross-sectional view of a force measuring portion of a finger rehabilitation assisting device provided by an embodiment of the present invention;

[0046] Fig.18 A cross-sectional view of a force measuring portion of a finger rehabilitation assisting device provided by another embodiment of the present invention;

[0047] Fig.19 A three-dimensional diagram of a finger rehabilitation training mechanism provided by the present invention. DETAILED DESCRIPTION

[0048] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0049] It should be noted that the illustrations provided in this embodiment are only used to illustrate the basic concept of the present invention in a schematic manner. Therefore, the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0050] There are many types of limb rehabilitation devices on the market, but most of them cannot accurately and comprehensively measure the angle and force data of each joint during limb movement, and they are not comfortable. They cannot achieve targeted training and improve patients' enthusiasm for training through a variety of rehabilitation strategies, thereby improving treatment efficiency. Therefore, it is particularly important to develop a limb bending and force measurement device and a limb rehabilitation training institution that can achieve accurate and comprehensive limb movement data measurement and can combine a variety of rehabilitation strategies for targeted training.

[0051] See also Figures 1 to 8The present invention provides a limb rehabilitation assisting device, which includes: a plurality of drivers 100, an angle measuring unit 200 and a force measuring unit 300. The driver 100 is bent and straightened to assist in achieving limb joint movement; the angle measuring unit 200 is connected to the driver 100, and is used to measure the bending angle of the joint during limb movement; the force measuring unit 300 is connected to the side of the angle measuring unit 200 away from the driver 100, and is used to measure the force during limb movement. The present invention can be used to perform limb rehabilitation training, assist exercise, and accurately measure the bending angle and force of the limbs during exercise. It can also adapt to a variety of rehabilitation strategies and improve the treatment efficiency of limb rehabilitation. The limbs may be, but are not limited to, fingers, wrists, elbows, ankles, waists and other limbs that can support bending. It should be noted that for different limb training, the number of drivers 100 may be set differently according to the joint movement characteristics. For example, when used as a finger rehabilitation auxiliary device, one driver 100 may be set to drive the overall movement of the finger; or multiple drivers 100 may correspond to each joint position of the finger, respectively, so that each joint can be controlled individually, which is more flexible and efficient. The structures of the angle measurement unit 200 and the force measurement unit 300 are set accordingly.

[0052] See also Figures 1 to 8 According to an embodiment of the present invention, each driver 100 includes a plurality of mounting portions 110 and a plurality of drive units 120, and a pipe 130, and a drive unit 120 is arranged between each two adjacent mounting portions 110, or the mounting portion 110 and the drive unit 120 are integrated into one.

[0053] See also Figures 1 to 8 According to an embodiment of the present invention, the driving unit 120 is a bellows or a soft actuator, and a plurality of bellows or soft actuators are connected by a pipe 130. Specifically, a bellows is provided between each two adjacent mounting portions 110, and the bellows are connected by a pipe 130. An external air source inflates and inhales the bellows through the pipe 130 to achieve the expansion and contraction of the bellows. Since the mounting portion 110 of the driver 100 is connected to the angle measuring portion 200, when the bellows is expanded and contracted, it will bend due to the limitation of the bottom plane, thereby assisting the limbs in flexion and extension. The bending angle and speed of the driver 100 can be controlled by adjusting the inflation flow and frequency.

[0054] See also Figures 1 to 8 According to an embodiment of the present invention, an opening is provided at the bottom of the mounting portion 110 along the axial direction, and the mounting portion 110 can be directly opened from the bottom and engaged with the pipe 130, so that the mounting portion 110 and the corrugated pipe can be assembled, which is convenient for installing and disassembling the corrugated pipe.

[0055] See also Figures 1 to 8According to an embodiment provided by the present invention, the driving unit 120 can be, for example, a bellows, the surface of the bellows is a corrugated surface, and its axial cross-section can be a sine wave, a triangular wave, etc. The bellows is inflated and inhaled through the pipe 130. When the bellows is extended or contracted, due to the limitation of the angle measuring part 200, the top surface and the bottom surface are deformed to different sizes, thereby generating bending, which can assist the limbs in flexion and extension movements. By adjusting the inflation flow and frequency, the bending angle and speed of the driver 100 can be controlled.

[0056] See also Figures 1 to 8 In another embodiment, the driving unit 120 is a soft actuator, the mounting portion 110 and the driving unit 120 are integrated, the driver 100 is an integrated soft actuator, and is a wave non-rotating body structure, at least one end of which is connected to a pipe 130, and the connection between the bottom surface of the driver 100 and the angle measuring portion 200 is the mounting portion 110, and the bending of the driver 100 is achieved through the portion between the mounting portions 110. The inside of the soft actuator is a cavity, the top surface includes a wave crest structure 121 and a wave trough structure 122 connected in sequence, and the bottom surface can be a plane or a micro-wave non-rotating body structure; a groove is provided between the wave crest structure 121 and the wave trough structure 122, the depth of which decreases as the distance from the bottom surface decreases, and the cross-sectional structure of the wave crest structure 121 and the wave trough structure 122 in the radial direction is a plurality of mutually tangent arcs and a bottom edge line. When the pipeline 130 inflates and inhales the driver 100, the adjacent angles of the peak structure 121 are changed and the overall deformation is bent. The structure can better adapt to the movement of limb joints, distribute stress evenly, and improve the comfort of limb assistance.

[0057] See also Figures 1 to 8 According to an embodiment of the present invention, the angle measuring unit 200 is connected to the mounting portion 110, and includes a base 210 and an angle measuring unit 220. The base 210 is fixedly connected to the mounting portion 110 of the driver 100; the angle measuring unit 220 is disposed on the base 210 or the mounting portion 110, and the bending angle of the bellows is measured by the angle measuring units 220 distributed on the base 210 or the mounting portion 110, and the bending angle data of the limb joint can be obtained accordingly.

[0058] See also Figures 1 to 8According to an embodiment of the present invention, the base 210 includes a plurality of fixed seats 211 and a plurality of bending seats 212. The fixed seats 211 are fixedly connected to the bottom of the mounting portion 110, and the angle measuring portion 200 is fixedly connected to the driver 100 through the fixed seats 211; there is a bending seat 212 between each two adjacent fixed seats 211, and the plurality of bending seats 212 are arranged corresponding to the driving unit 120; the angle measuring unit 220 is arranged corresponding to each limb area or limb joint, and can measure the bending angle of the joints between the limbs. A groove is arranged on one side of the base 210 close to the driver 100, and the angle measuring unit 220 is arranged in the groove.

[0059] Please note that Figures 1 to 8 The bending seat 212 is in a pleated shape and is composed of a plurality of flexible hinges and vertical plates. The flexible hinge connection enables the base 210 to be properly bent or stretched at various joints of the limbs together with the driver 100. The hardness of the soft actuator and the force measuring part 300 should be relatively small. For example, a silicone material can be used to allow the driver 100 and the force measuring part 300 to have a certain elongation and bending ability. When the driver 100 is bent, the angle measuring part 200 and the force measuring part 300 can be bent together.

[0060] See also Figures 1 to 8 According to an embodiment of the present invention, the fixing seat 211 is fixedly connected to the bottom of the mounting portion 110. Specifically, the fixing seat 211 and the bottom of the mounting portion 110 can be connected by a square hole and a square block, which is convenient for connection and disassembly and flexible and convenient to use. At this time, a groove can be provided on a side of the base 210 close to the driver 100, and the angle measurement unit 220 is provided in the groove of the base 210, which can reduce the influence of the angle measurement unit 220 on the bending performance of the bellows.

[0061] See also Figures 1 to 8 According to an embodiment provided by the present invention, the angle measurement unit 220 is a strain gauge or a flexible angle measurement unit, the strain gauge or the flexible angle measurement unit is arranged on the base 210, and each joint of the limb corresponds to at least one strain gauge or a flexible angle measurement unit, and the bending angle at the corresponding joint is measured by the strain gauge or the flexible angle measurement unit to obtain the bending data between the limbs.

[0062] See also Figures 1 to 8In a specific embodiment, the fixing seat 211 is fixedly connected to the bottom of the mounting portion 110, and each angle measuring unit 220 may include a pair of strain gauges. The two strain gauges in each pair of strain gauges are very close to each other. A half-bridge circuit is formed by two strain gauges. The structure is simple and the measurement accuracy is high. When the strain gauge is bent, the resistance value changes, and the voltage value changes accordingly. According to the change in the voltage value, the bending angle corresponding to each pair of strain gauges can be accurately measured. The structure is simple and the measurement is accurate. It can be understood that the strain gauge measures the bending angle of the bending seat 212 and the corresponding driving unit, and adds multiple measurement data to obtain the bending angle data of the corresponding joint. To ensure the accuracy of the measurement, each strain gauge covers at least one bending seat 212 in the length direction and extends to the fixing seats 211 on both sides of the adjacent sides to achieve accurate measurement of the bending angle of the bending seat 212. Of course, in other embodiments, a pair of strain gauges may be respectively disposed on the top and bottom surfaces of the base 210 to form a half-bridge circuit for measurement, or the angle measurement unit 220 may be a strain gauge disposed on the base 210 and connected with a resistor to form a single-arm bridge to measure the bending angle of the bending seat 212, and then the measured bending data may be added together to obtain the required limb bending data.

[0063] Please note that Figures 1 to 8 When the strain gauge is placed on the base 210, since the base 210 is appropriately bent or stretched at each joint of the limb, the strain gauge should be partially fixed to the base 210, for example, the middle area of ​​the strain gauge or the area at one end of both sides is fixed to the base 210, so that the strain gauges in other areas can move freely. When the base 210 is bent, the strain gauge can bend with the base 210 without limiting the elongation of the base 210. This arrangement can make the strain gauge fit the base 210 more closely, so that the measurement is more accurate. The material hardness of the base 210 is similar to that of the strain gauge, for example, TPU material can be used to ensure that the strain gauge can bend with the base 210.

[0064] See also Figures 1 to 8 According to another embodiment provided by the present invention, the angle measurement unit 220 is a posture sensor, which is arranged on a part of the fixing seat 211 or the mounting portion 110, and at least one posture sensor corresponds to each side of each joint. By measuring the posture state of the corresponding fixing seat 211 in three-dimensional space by two adjacent posture sensors, the relative bending angle between the two fixing seats 211 can be measured, thereby measuring the bending angle of the corresponding limb joint. In a specific embodiment, the posture sensors can be respectively arranged on the fixing seats 211 at both ends, corresponding to two limb areas respectively, and the posture states of the fixing seats 211 at both ends in three-dimensional space can be measured according to the two posture sensors, thereby obtaining the relative bending angle between the two limbs when the limbs move.

[0065] It can be understood that, according to the different length structures of the limbs, the length of the corresponding driver 100 and the distribution of the angle measurement unit 220 can be set differently.

[0066] See also Figures 1 to 8 According to an embodiment of the present invention, the force measuring unit 300 includes a base 330 and a plurality of force measuring units, the plurality of force measuring units are arranged inside the base and located in the limb area, and include an air passage 310 and an air bag 320. The base 330 is connected to the bottom surface of the base 210, or the base 330 and the base 210 are integrated into one body, connecting the force measuring unit 300 and the angle measuring unit 200 as a whole.

[0067] See also Figures 1 to 8 According to an embodiment provided by the present invention, the force measurement unit includes an air channel and an airbag. The air channel 310 is arranged inside the base 330, extending along the length direction of the base 330, and its air port is located at one end of the base 330; the airbag 320 is arranged on the air channel 310, connected through the air channel 310, and corresponds to each limb area. The airbag can be a spherical airbag, a cylindrical airbag or an airbag of other shapes. It can be understood that the air channel 310 here can be one or more, and among the multiple air channels 310, each air channel 310 is connected to a corresponding group of airbags 320, and the airbags 320 on different air channels 310 can correspond to different limb areas; according to different limb lengths, etc., the number of corresponding airbags 320 in each limb area can be set differently.

[0068] See also Figures 1 to 8 According to an embodiment of the present invention, the base 330 is fixedly connected to the base 210, and the base 330 and the fixing base 211 can be connected by, for example, a square block and a square hole. Specifically, for example, a square connecting block is provided on the base 330, and a connecting hole is provided at a corresponding position of the base 210. The connecting block and the connecting hole are connected by interference fit, which ensures a stable connection and facilitates installation and disassembly. It can be understood that the connecting hole and the connecting block here can also be other shapes that can achieve fixed connection, and their corresponding positions can also have different settings.

[0069] See also Figures 1 to 8In another embodiment, the base 330 is integrated with the base 210. At this time, the fixing seat 211 of the base 210 is the part that fixes the base 330 and the driver 100, and the bending seat 212 corresponds to the part of the driver 100 used to achieve bending; at this time, the angle measuring unit 220 is installed on the base 330, that is, the base 210, for measuring the bending angle. For example, a groove can be set on a surface of the base 330 close to the driver 100, and the angle measuring unit 220 is set in the groove to measure the bending angle, thereby ensuring the accuracy of the measurement and avoiding uneven wall thickness caused by setting a groove on the bellows, which is easy to break when the bellows is bent.

[0070] See also Figures 1 to 8 In this embodiment, the corresponding angle measurement unit 220 can be a pair of strain gauges, which are arranged in a groove on a side of the base 330 close to the driver 100 and correspondingly located in the measured joint area. A pair of strain gauges constitutes a half-bridge circuit, which has a simple structure and high measurement accuracy. When the strain gauge changes resistance as the bending seat 212 bends, the bending angle of the bending seat 212 can be measured, and the corresponding bending data are added to measure the bending angle of the entire limb movement.

[0071] See also Figures 1 to 8 When the angle measurement unit 220 is a posture sensor, the posture sensor is arranged on a surface of the base 330 close to the driver 100, in the groove of the fixing seat 211, and correspondingly located in each limb area to be measured, and a posture sensor is arranged in each area. By measuring the posture state of the corresponding fixing seat 211 in three-dimensional space by two adjacent posture sensors, the relative bending angle between the two fixing seats 211 can be measured, thereby measuring the bending angle of the corresponding limb joint.

[0072] Please note that Figures 1 to 8 The base 330 of the force measuring part 300 should have a relatively low hardness. For example, a silicone material may be used, so that the force measuring part 300 has a certain elongation and bending ability, can bend or stretch appropriately following the driver 100, realize auxiliary training and data measurement, and can be used as a gasket, and will not cause pain when in contact with the limbs.

[0073] See also Figures 1 to 8According to an embodiment of the present invention, the force measuring part 300 is connected to the angle measuring part 200 and the driver 100 through a square and a square hole. Specifically, a square can be provided on the side of the force measuring part 300 close to the angle measuring part 200, and the squares can be symmetrically distributed on both sides along the axis to enhance the stability of the connection; the base 210 of the angle measuring part 200 and the mounting part 110 of the driver 100 are provided with connection holes at positions corresponding to the squares, and the two measuring parts and the driver 100 are connected through the square holes of the squares, which has a simple structure, is easy to install and disassemble, and has a stable connection. In other embodiments, squares and square holes can be provided between the force measuring part 300 and the angle measuring part 200, and between the angle measuring part 200 and the driver 100, respectively, for connection and fixation. When the driver 100 bends under the action of driving, the angle measuring part 200 and the force measuring part 300 also bend accordingly. At this time, the airbag 320 will press the limb, and the inside thereof will be squeezed and produce pressure changes. By measuring the internal pressure of the airbag 320, the force data of the limb in the corresponding area can be obtained; since each group of airbags 320 corresponds to a limb area and is connected by an air channel 310, the pressure of each group of airbags 320 is measured through the air channel 310 using a pressure sensor, so that the output force of the entire limb area corresponding to each group of airbags 320 can be obtained.

[0074] Specifically, a pressure sensor connected externally to the air channel 310 can be used to measure the air pressure in each group of airbags 320 and output a voltage value. Changes in the air pressure in the airbags 320 will produce changes in the output electrical signal. The relationship between force and voltage value is obtained through experimental calibration, and the magnitude of the corresponding force can be measured through the pressure sensor connected externally to the air channel 310. The airbags 320 on each air channel 310 are taken as a whole, and each air channel 310 is connected to a pressure sensor respectively. The pressure value of each group of airbags 320 is measured by the corresponding pressure sensor, and the force condition of the limb in the corresponding area can be measured.

[0075] See also Figures 1 to 8 In one embodiment, the airbags 320 on each air channel 310 are distributed in the same straight line and are located on the central axis of the base 330. When the limb is bent, since the airbags 320 are located on the center line of the limb, the pressure on the airbags 320 is more uniform and the force measurement is more accurate.

[0076] See also Figures 1 to 8, an external air source inflates or inhales the bellows in the driver 100 through the pipeline 130, and the bellows bends, so that the entire limb rehabilitation auxiliary device bends, which can assist the limbs in bending activities and realize auxiliary training; when the bellows bends, the bending seat 212 of the angle measuring part 200 bends accordingly, and the bending angle of the bending seat 212 or the position of the fixed seat 211 in three-dimensional space is measured by the angle measuring unit 220 set on the base 210, so as to obtain the bending data between the two limbs; when the limb rehabilitation auxiliary device bends, the base 330 of the force measuring part will squeeze the limb due to the bending, and the airbag 320 inside the base 330 squeezes the limb to produce a pressure change, and the pressure of the spherical airbag 320 corresponding to each limb area is measured by a pressure sensor through the air path channel, so as to obtain the force data of the corresponding limb area.

[0077] It is understandable that when only active training is performed and limb movement data is measured, the driver 100 is not needed to assist in training. In this case, the finger driver 100 may not be provided in the device, and data measurement can be performed by setting the angle measurement unit 200 and the force measurement unit 300 at the corresponding limb position.

[0078] See also Figures 1 to 8 The present invention integrates the driver 100, the angle measuring part 200 and the force measuring part 300 into a whole, and has a simple structure. The bending state of the bellows conforms to the limb movement state, and will not affect the comfort during limb movement and the accuracy of data measurement. In addition, the angle measuring unit 220 of the angle measuring part 200 and the airbag inside the force measuring part 300 can ensure the accuracy of the measurement data without affecting the comfort of limb movement. The driver 100 and the angle measuring part 200, and the angle measuring part 200 and the force measuring part 300 are connected through square holes and blocks, and have a simple structure, are easy to use and easy to disassemble, and the required components can be installed as needed, which is more flexible and convenient to use.

[0079] It should be noted that the driving unit 120 in the driver 100 can be a bellows or other mechanisms that can achieve bending movements under driving action, such as a connecting rod. When the driver 100 bends, the entire device will bend, thereby assisting the limbs in bending movement training. The angle measuring part 200 and the output force measuring part 300 are used to measure the bending angle of the limb joints and the force data of each area of ​​the limb respectively.

[0080] Based on the above-mentioned limb rehabilitation auxiliary device, the present invention also provides a limb rehabilitation training mechanism, which includes at least one limb rehabilitation auxiliary device and a fixing part, and the limb rehabilitation auxiliary device is fixed to the corresponding limb position through the fixing part. The limb rehabilitation auxiliary device can accurately measure the bending data of the limb joints and the force data of each limb area during limb rehabilitation training and assist the limb in training activities. It can timely understand the training situation and formulate targeted training strategies through the analysis of the training data; it can adapt to a variety of rehabilitation strategies to improve the rehabilitation training effect. When conducting rehabilitation training, the limb rehabilitation auxiliary device can be used to measure the bending data of the limb joints and the force of each limb area to obtain accurate motion data, which is convenient for timely feedback of motion information, observation of training conditions, and timely adjustment of rehabilitation strategies; it can also be used to control the air pressure of the air source system through preset data to make the driver 100 achieve a certain degree of bending to achieve a certain bending angle or output force, thereby completing targeted rehabilitation training.

[0081] In addition, it can also be used for mirror training, and a limb rehabilitation auxiliary device is set at the corresponding position of the patient's healthy limb and the affected limb. The healthy limb is used to collect data. When the healthy limb actively moves, the limb rehabilitation auxiliary device measures the bending angle of the limb joint and the limb force and outputs the data to the computer. The computer controls the output air pressure to make the driver 100 reach the same bending angle or output force, driving the affected limb to achieve the same movement as the healthy limb; or the patient actively moves with the affected limb, and the affected limb movement data is measured in real time by the limb rehabilitation auxiliary device during the training process, until the affected limb reaches the same bending angle as the healthy limb. Through mirror training, the initiative and enthusiasm of the patient's rehabilitation training can be improved, and the treatment efficiency is improved. In addition, the movement data of the affected limb can also be compared and calibrated with the movement data measured by the healthy limb to ensure the accuracy of the rehabilitation training and achieve accurate rehabilitation.

[0082] In a specific embodiment of the present invention, please refer to Figures 9 to 19According to the structure of the finger joints, the structure of the limb rehabilitation auxiliary device of the present invention is specifically set, and the present invention can be used as a finger rehabilitation auxiliary device to assist in finger rehabilitation training and motion data measurement. At this time, the driver 100 is a finger driver. The driver 100 is used to assist in the bending movement of the finger. Each finger rehabilitation auxiliary device includes at least one driver 100, and its structure is adapted to the finger structure to drive the bending movement of the finger. When the finger rehabilitation auxiliary device includes multiple drivers 100, the drivers 100 are respectively set corresponding to each joint, and the motion control of each joint is performed separately; the angle measurement unit 200 is fixedly connected to the driver 100, and is used to measure the bending angle of the driver 100, and the bending angle data of each finger joint can be obtained accordingly; the force measurement unit 300 is fixed to the side of the angle measurement unit 200 away from the driver 100, and is used to measure the output force of each phalangeal area. The finger rehabilitation auxiliary device of the present invention can realize the bending angle measurement and output force measurement of hand auxiliary training and hand movement, realize comprehensive and accurate training data measurement, and can adapt to a variety of rehabilitation strategies.

[0083] See also Figures 9 to 16 In this embodiment, the force measuring part 300 can be connected to the angle measuring part 200 and the driver 100 through blocks and square holes. Specifically, a block can be provided on the side of the force measuring part 300 close to the angle measuring part 200, and connection holes are provided at corresponding positions on the base 210 of the angle measuring part 200 and the mounting part 110 of the driver 100. In other embodiments, a group of blocks and square holes can be provided on the force measuring part 300 and the angle measuring part 200, respectively, and another group of blocks and square holes can be provided on the angle measuring part 200 and the driver 100 for connection.

[0084] See also Figures 9 to 12In this embodiment, the driver 100 includes a plurality of mounting parts 110 and a plurality of driving units 120. A driving unit 120 is arranged between each two adjacent mounting parts 110, or the mounting part 110 and the driving unit 120 are integrated. The driving unit 120 can be a bellows, and the plurality of bellows are connected by a pipe 130. The external air source inflates and inhales the bellows through the pipe 130 to achieve the expansion and contraction of the bellows. Since the mounting part 110 of the driver 100 is connected to the base 210 of the angle measuring part 200, when the bellows is expanded and contracted, it will bend due to the limitation of the base 210. The bending seat 212 is a pleated shape, and the bending seat 212 thereon is composed of a plurality of flexible hinges and vertical plates, which can be appropriately bent and stretched, so as to assist the finger joints in flexion and extension. The bending angle of the driver 100 can be controlled by adjusting the inflation pressure. In other embodiments, the driving unit 120 may also be a soft actuator. When the driving unit 120 and the mounting portion 110 are integrated into one, the driver 100 is an integrated soft actuator having a bending portion and a mounting portion 110 located between the bending portions, and the mounting portion 110 is connected to the base 210 of the angle measuring portion 200.

[0085] It is understandable that the length and number of sections of the bellows can be set differently according to the length of the finger, and accordingly, the structures of the mounting portion 110, the angle measuring portion 200 and the force measuring portion 300 are also different. In addition, the driving unit is not limited to the bellows structure, and can also be other driving components that can achieve telescopic bending, such as a flexible wire or a connecting rod mechanism.

[0086] See also Figures 9 to 16 In this embodiment, the angle measuring part 200 includes a base 210 and an angle measuring unit 220. The base 210 is fixedly connected to the mounting part 110 of the driver 100. The angle measuring unit 220 is arranged on the base 210 or the mounting part 110. The bending angle of each bellows is measured by the angle measuring units 220 distributed on the base 210 or the mounting part 110. The bending angle of each finger joint can be obtained accordingly, thereby obtaining the data of finger movement.

[0087] See also Figures 9 to 16In this embodiment, the base 210 includes a plurality of fixed seats 211 and a plurality of bending seats 212. The fixed seats 211 are fixedly connected to the bottom of the mounting portion 110. There is a bending seat 212 between each two adjacent fixed seats 211. The angle measuring portion 200 is fixedly connected to the mounting portion 110 of the driver 100 through the fixed seats 211. Specifically, it can be a square hole square block connection, etc., which is convenient for use and disassembly; the plurality of bending seats 212 are arranged corresponding to the bellows, and together with the driver 100, the bending assistance of the finger or the bending with the movement of the finger joints is realized. The angle of movement of each joint of the finger is obtained by measuring the bending angle of the bending seat 212. The angle measuring unit 220 is arranged corresponding to the finger joint area, so as to measure the bending angle of each interphalangeal joint. In this embodiment, each finger joint area is correspondingly provided with a group of angle measuring units 220. The angle measuring unit 220 is arranged on the base 210. The bending angle of the corresponding finger joint is measured by the angle measuring units 220 corresponding to each finger joint area, so as to obtain the data of the finger movement.

[0088] See also Figures 9 to 16 In this embodiment, a groove is provided on one side of the base 210 close to the driver 100, and the angle measuring unit 220 is provided in the groove of the base 210, which can reduce the influence of the angle measuring unit 220 on the bending performance of the bellows, and prevent the bellows from squeezing the angle measuring unit 220 when bending, thereby causing inaccurate measurement. In other embodiments, the base 210 and the force measuring unit 300 are integrated, and the groove can be provided on one side of the force measuring unit 300 close to the driver 100, and the angle measuring unit 220 is provided in the groove and connected to the bending seat 212 or provided at a position corresponding to the bending seat 212.

[0089] See also Figure 13 to Figure 14 According to an embodiment of the present invention, the angle measurement unit 220 is a strain gauge, which is arranged on the base 210 and located in the groove, and each joint of the limb corresponds to at least one of the strain gauges. Specifically, each joint corresponds to a group of angle measurement units 220, and each group of angle measurement units 220 includes a pair of strain gauges, and the two strain gauges are very close to each other to form a half-bridge circuit. The bending angle of the bending seat 212 at the corresponding position is measured by the strain gauge, and then the bending data of the corresponding bending seat 212 is added to obtain the data of the corresponding joint bending movement. It can be understood that by adding the bending data measured by multiple groups of strain gauges, the bending data of the relative movement between the phalanges and the bending angle data of the entire finger can also be measured.

[0090] See also Figure 15 to Figure 16According to an embodiment provided by the present invention, the angle measurement unit 220 is a posture sensor, which is arranged on part of the fixing seat 211 or the mounting portion 110, and at least one of the posture sensors corresponds to each side of each joint. Specifically, each joint corresponds to a group of angle measurement units 220, and each group of angle measurement units 220 includes at least two posture sensors, which are respectively located in the phalangeal areas on both sides of the joint. The posture state of the corresponding fixing seat 211 in three-dimensional space is measured by two adjacent posture sensors. When the base 210 is bent, the relative bending angle between the two fixing seats 211 can be measured, thereby measuring the bending angle of the corresponding interphalangeal joint. Similarly, through the combined measurement of different posture sensors, not only the bending angle of each joint of the finger can be measured, but also the bending angle of the entire finger can be measured.

[0091] See also Fig. 9 , Fig.10 , Fig.13 and Fig.15 According to an embodiment of the present invention, the driver 100 includes seven bellows and eight mounting parts 110, seven bending seats 212 are provided corresponding to the angle measuring part 200, and three groups of angle measuring units 220 are provided on the base 210 along the direction from the finger base to the fingertip, which are the first angle measuring unit 221, the second angle measuring unit 222 and the third angle measuring unit 223, respectively, which are used to measure the bending data of the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint, which correspond to three phalanges and can realize the measurement of the bending data of each interphalangeal joint of the middle finger, index finger, ring finger and little finger. Specifically, the first angle measurement unit 221 is located in the metacarpal and proximal phalanx regions, the second angle measurement unit 222 is located in the proximal phalanx and middle phalanx regions, and the third angle measurement unit 223 is located in the middle phalanx and distal phalanx regions. There are three corresponding bending seats 212 in the proximal phalanx region, and there are two corresponding bending seats 212 in the middle phalanx and distal phalanx regions, respectively. There is a fixed seat 211 between two adjacent bending seats 212, and the angle measurement unit 220 is set on the fixed seat 211 or the fixed seat 211 and the bending seat 212. It should be noted that the number of bending seats 212 in each phalanx region can be set differently according to the hand shape and finger length, and the corresponding driver 100 structure and angle measurement unit 220 can also be set differently.

[0092] See also Fig. 9 , Fig.10 and Fig.13In a specific embodiment, the angle measurement unit 220 is a strain gauge, and each group of angle measurement units 220 is a group of strain gauges. The first angle measurement unit 221 is located in the metacarpal bone and proximal phalanx area, and the strain gauge group corresponds to three bending seats 212 for measuring the bending data of the metacarpophalangeal joint; the second angle measurement unit 222 is located in the proximal phalanx and middle phalanx area, and the strain gauge group corresponds to two bending seats 212 for measuring the bending data of the proximal finger joint; the third angle measurement unit 223 is located in the middle phalanx and distal phalanx area, and the strain gauge group corresponds to two bending seats 212 for measuring the bending data of the distal finger joint. Each finger joint corresponds to multiple bending seats 212, and each group of strain gauges can share the bending angle during measurement. The required angle measurement can be obtained by adding them together, and the measurement range is larger and the structure is simple. It can be understood that the number of bending seats 212 corresponding to each group of strain gauges can be set differently, and the corresponding bellows and other structures can also be set differently.

[0093] See also Fig. 9 , Fig.10 and Fig.15 In another embodiment, the angle measurement unit 220 is a posture sensor, and each group of angle measurement units 220 includes two posture sensors, which are respectively arranged in the phalange area, and the data of each finger joint is measured in pairs. Specifically, the four posture sensors are respectively arranged in the metacarpal bone, proximal phalanx, middle phalanx and distal phalanx areas. The first angle measurement unit 221 is located in the metacarpal bone and proximal phalanx area, which includes posture sensors on the metacarpal bone and proximal phalanx area, and is used to measure the metacarpophalangeal joint bending data; the second angle measurement unit 222 is located in the proximal phalanx and middle phalanx area, which includes posture sensors on the proximal phalanx and middle phalanx area, and is used to measure the proximal finger joint bending data; the third angle measurement unit 223 is located in the middle phalanx and distal phalanx area, which includes posture sensors in the middle phalanx and distal phalanx area, and is used to measure the distal finger joint bending data. Obviously, the posture sensors in the metacarpal and distal phalanx regions can be respectively arranged on the fixing seats 211 at both ends. According to the general structure of the phalanges, the posture sensors in the proximal phalanx and middle phalanx regions can be respectively arranged with the posture sensors in the distal phalanx region separated by a fixing seat 211. It is understandable that the distribution of the posture sensors can also be arranged differently according to the different hand shapes and finger lengths.

[0094] See also Fig.11 , Fig.12 , Fig.14 and Fig.16According to another embodiment provided by the present invention, the driver 100 includes five bellows and six mounting parts 110, and five bending seats 212 are provided corresponding to the angle measuring part 200. Two groups of angle measuring units 220 are provided on the base 210 along the direction from the base of the finger to the fingertip, respectively, which are the first angle measuring unit 221 and the second angle measuring unit 222, respectively, for measuring the bending data of the metacarpophalangeal joint and the interphalangeal joint, which correspond to two phalanges, and can realize the measurement of the bending data of the thumb joint. Specifically, the first angle measuring unit 221 is located in the metacarpal bone and the proximal phalanx area, and the second angle measuring unit 222 is located in the proximal phalanx and the distal phalanx area. There are three bending seats 212 corresponding to the proximal phalanx area, and there are two bending seats 212 corresponding to the distal phalanx area. There is a fixed seat 211 between two adjacent bending seats 212, and the angle measuring unit 220 is arranged on the fixed seat 211 or the fixed seat 211 and the bending seat 212. It should be noted that the number of bending seats 212 in each phalanx region can be set differently according to different hand shapes and finger lengths, and the corresponding driver structure and angle measurement unit 220 can also be set differently.

[0095] See also Fig.11 , Fig.12 and Fig.14 In a specific embodiment, the angle measurement unit 220 is a strain gauge, and each group of angle measurement units 220 is a group of strain gauges. The first angle measurement unit 221 is located in the metacarpal bone and proximal phalanx area, and the strain gauge group corresponds to three bending seats 212, which are used to measure the bending data of the metacarpophalangeal joint; the second angle measurement unit 222 is located in the proximal phalanx and distal phalanx area, and the strain gauge group corresponds to two bending seats 212, which are used to measure the bending data of the interphalangeal joint. Each finger joint corresponds to multiple bending seats 212, and each group of strain gauges can obtain the required angle measurement by measuring the bending angles of multiple bending seats 212 and adding them. The measurement range is large and the structure is simple. It can be understood that the number of bending seats 212 corresponding to each group of strain gauges can have different settings, and the corresponding bellows and other structures can also have different settings.

[0096] See also Fig.11 , Fig.12 and Fig.16In another embodiment, the angle measurement unit 220 is a posture sensor, and each group of angle measurement units 220 may include two posture sensors, which are respectively arranged in each phalange area, and the data of each finger joint is measured in pairs. Specifically, the first angle measurement unit 221 is located in the metacarpal and proximal phalange area, and includes posture sensors on the metacarpal and proximal phalange areas, which are used to measure the bending data of the metacarpophalangeal joint; the second angle measurement unit 222 is located in the proximal phalange and distal phalange area, and includes posture sensors on the proximal phalange and distal phalange areas, which are used to measure the bending data of the interphalangeal joint. The number of posture sensors can be four, and the two posture sensors are respectively located on the fixing seats 211 at both ends, corresponding to the metacarpal area and the distal phalange area, and two posture sensors are respectively arranged between the posture sensors in the metacarpal area with a fixing seat 211 as an interval, so as to ensure that there is at least one posture sensor in the proximal phalange area. When measuring, a posture sensor is selected on each side of the joint to measure the joint. It can be understood that the number and distribution of posture sensors can be set differently according to different hand shapes and finger lengths.

[0097] See also Figures 9 to 18 According to an embodiment of the present invention, the force measuring part 300 includes an air passage 310, an airbag 320 and a base 330. The base 330 is connected to the bottom surface of the base 210, or the base 330 and the base 210 are integrated to connect the force measuring part 300 and the angle measuring part 200 as a whole. Specifically, it can be a connection between a square hole and a square block, which is convenient for use and disassembly; a plurality of air passages 310 are arranged inside the base 330, extending along the length direction of the base 330, and the air port thereof is located at one end of the base 330; a plurality of groups of airbags 320 are arranged on the air passage 310, each group of airbags 320 is connected by an air passage 310, and each group of airbags 320 corresponds to a phalanx region, and the airbags 320 can be spherical airbags or cylindrical airbags, etc. It can be understood that in order to achieve the measurement of the output force of each phalanx area of ​​the finger, in this embodiment, the air path channels 310 are set to at least two, and correspondingly, the airbags 320 are set to at least two groups, each group of the airbags 320 is connected through one of the air path channels 310, and each group of the airbags 320 corresponds to a phalanx area.

[0098] See also Figures 9 to 18When the driver 100 bends under the driving action, the angle measuring part 200 and the force measuring part 300 also bend accordingly. At this time, the airbag 320 presses the back of the finger, and the inside thereof is squeezed and produces a pressure change. By measuring the internal pressure of the airbag 320, the output force data of the corresponding area can be obtained; since each group of airbags 320 corresponds to a phalanx area and is connected by an air channel 310, the pressure of each group of airbags 320 is measured through the air channel 310 using a pressure sensor, so that the output force of the entire phalanx area corresponding to each group of airbags 320 can be obtained.

[0099] Specifically, a pressure sensor connected externally to the air channel 310 can be used to measure the air pressure in each group of airbags 320 and output a voltage value. Changes in the air pressure in the airbags 320 will produce changes in the output electrical signal. The relationship between the output force and the voltage value is obtained through experimental calibration, and the size of the corresponding output force can be measured through the pressure sensor connected externally to the air channel 310. The airbags 320 on each air channel 310 are taken as a whole, and each air channel 310 is respectively connected to a pressure sensor. The pressure value of each group of airbags 320 is measured by the corresponding pressure sensor, and the output force value of the corresponding finger bone area can be measured.

[0100] It should be noted that each phalanx region corresponds to a group of airbags 320 , and the number of airbags 320 connected to each air channel 310 may be set differently according to different hand shapes and finger lengths.

[0101] See also Fig.17 and Fig.18 In a specific embodiment, the airbags 320 on each air channel 310 are distributed in the same straight line and are located on the central axis of the base 330. When the finger is bent, since the airbags 320 are located on the center line of the finger, the pressure on the airbags 320 is more uniform and the output force measurement is more accurate.

[0102] See also Fig. 9 , Fig.10 and Fig.17In a specific embodiment, the driver 100 includes seven bellows and eight mounting parts 110, and the corresponding output force sensor 300 includes three air channels 310 and eight air bags 320, and the first air bag 321 to the eighth air bag 328 are sequentially distributed from the base of the finger to the fingertip. The first air channel 311, the second air channel 312 and the third air channel 313 are respectively connected to pressure sensors, and the pressures of the air bags 320 on the first air channel 311, the second air channel 312 and the third air channel 313 can be measured respectively by each pressure sensor. The first airbag 321, the second airbag 322 and the third airbag 323 are connected by the second air channel 312 and are located in the proximal phalanx area, and the output force of the proximal phalanx area can be measured; the fourth airbag 324, the fifth airbag 325 and the sixth airbag 326 are connected by the third air channel 313 and are located in the middle phalanx area, and the output force of the middle phalanx area can be measured; the seventh airbag 327 and the eighth airbag 328 are connected by the first air channel 311 and are located in the distal phalanx area, and the output force of the distal phalanx area can be measured. This structure corresponds to three phalanx areas, and can realize the measurement of the output force of each phalanx area of ​​the index finger, middle finger, ring finger and little finger. It should be noted that according to different hand shapes or different finger lengths, the number of airbags 320 corresponding to each phalanx area can be set differently.

[0103] See also Fig.11 , Fig.12 and Fig.18 In another embodiment, the driver 100 includes five bellows and six mounting parts 110, and the corresponding output force sensor 300 includes two air channels 310 and six airbags 320, and the first airbag 321 to the sixth airbag 326 are sequentially distributed along the finger base to the fingertip. The first air channel 311 and the second air channel 312 are respectively connected to pressure sensors, and the pressure of the airbags 320 on the first air channel 311 and the second air channel 312 can be measured by each pressure sensor. The first airbag 321, the second airbag 322 and the third airbag 323 are connected through the first air channel 311 and are located in the proximal phalanx area, and the output force of the proximal phalanx area can be measured; the fourth airbag 324, the fifth airbag 325 and the sixth airbag 326 are connected through the second air channel 312 and are located in the distal phalanx area, and the output force of the distal phalanx area can be measured. This structure corresponds to two phalangeal regions, and can measure the output force of each phalangeal region of the thumb. It should be noted that the number of airbags 320 corresponding to each phalangeal region can be set differently according to different hand shapes or different finger lengths.

[0104] See also Figures 9 to 18, the external air source inflates or inhales the bellows in the driver 100 through the pipeline 130. When the bellows is extended or retracted, since the driver 100 is connected to the angle measuring part 200 and the force measuring part 300, the bellows will bend due to the bottom restriction, so that the entire finger rehabilitation auxiliary device will bend, which can assist the finger to perform bending activities and realize auxiliary training; when the bellows bends, the bending seat 212 of the angle measuring part 200 bends accordingly, and the base 210 is measured by the angle measuring unit 220 set on the base 210. The bending angle data measured by the bending seat 212 in each phalanx area are selected and added to obtain the bending data of the joint between the two phalanges; when the finger rehabilitation auxiliary device bends, the base 330 of the force measuring part will squeeze the finger due to bending, and the airbag 320 inside the base 330 squeezes the back of the finger to produce a pressure change. The pressure of the airbag 320 corresponding to each phalanx area is measured by a pressure sensor through multiple air channels, and the output force data of the corresponding phalanx area can be obtained.

[0105] See also Figures 9 to 18 According to another embodiment provided by the present invention, the finger rehabilitation auxiliary device may also include a plurality of drivers 100, which are correspondingly arranged at each joint of the finger, and each joint can be individually controlled to achieve more flexible finger-driven movement. Specifically, for example, three drivers 100 may be arranged corresponding to the index finger, middle finger, ring finger and little finger, and two drivers 100 may be arranged corresponding to the thumb, and they may also be adjusted according to the required training. It can be understood that at this time, the angle measurement part 200 connected to the driver 100 includes at least one set of angle measurement units 220 for measuring the bending data of the joint, and the rest of the settings are the same as the above embodiment.

[0106] The entire finger rehabilitation auxiliary device integrates the driver 100, the angle measuring part 200 and the force measuring part 300 into a whole, has a simple structure, and the bending state of the bellows conforms to the finger movement state, which will not affect the comfort during finger activities and the accuracy of data measurement. In addition, the angle measurement unit 220 of the angle measurement part 200 and the airbag inside the force measurement part 300 can ensure the accuracy of the measurement data without affecting the comfort of finger activities.

[0107] It should be noted that the driving unit in the driver 100 can be a bellows or other mechanism that can realize bending movement under driving action, such as a connecting rod. When the driver 100 bends, the entire finger rehabilitation auxiliary device will bend, thereby assisting the fingers in bending movement training. The angle measurement unit 200 and the force measurement unit 300 are used to measure the bending angles of each finger joint and the output force data of each phalanx area respectively.

[0108] It is understandable that when only active training is performed and hand movement data is measured, driver-assisted training is not required. In this case, the driver 100 may not be provided in the finger rehabilitation assistive device, and data measurement can be performed by setting the angle measurement unit 200 and the force measurement unit 300 at the corresponding finger position.

[0109] Likewise, see Fig.19 Based on the above-mentioned finger rehabilitation auxiliary device, the present invention also provides a finger rehabilitation training mechanism, which includes at least one finger rehabilitation auxiliary device 1000 and a fixing part, and the finger rehabilitation auxiliary device is fixed to the corresponding finger or finger joint position through the fixing part. The finger rehabilitation auxiliary device can accurately measure the bending data of each finger joint and the output force data of each phalanx area during finger rehabilitation training and assist the finger in training activities. It can timely understand the training situation and formulate targeted training strategies through analysis of training data; each finger rehabilitation auxiliary device can be connected to an independent air source to control the movement of each finger separately for targeted training, or it can be connected to the same air source to achieve synchronous control of the movement of the entire hand; targeted training and precise rehabilitation can be achieved by measuring the hand movement data and controlling the output air pressure of each air source system.

[0110] See also Fig.19 In a specific embodiment, the fixing part of the finger rehabilitation training mechanism can be a glove 1, which is made of elastic material and is provided with a Velcro structure, so that it can be more firmly worn on a person's hand; finger rehabilitation auxiliary devices are fixed to the positions corresponding to the five fingers on the glove 1 as needed. When there is one driver 100 in the finger rehabilitation auxiliary device for each finger, the structure of the driver 100 in the finger rehabilitation auxiliary device corresponding to different fingers is different according to the different finger joint structures. Since the structure and length of long fingers such as the index finger, the middle finger and the ring finger are similar, finger rehabilitation auxiliary devices with the same structure and length can be used, and the angle measurement unit 220 corresponds to the three-phalange area; the angle measurement unit 220 in the finger rehabilitation auxiliary device corresponding to the little finger also corresponds to the three-phalange area, but since the little finger is shorter, the length of the bellows in the corresponding finger rehabilitation auxiliary device and the corresponding angle measurement unit 220 and the distribution of the airbag 320 are different from those of the long fingers, and need to be designed separately; the thumb finger structure is different from other fingers, and the angle measurement unit 220 in the corresponding finger rehabilitation auxiliary device corresponds to the two-phalange area.

[0111] It is understandable that, since the little finger and the thumb are similar in length, and the bending angle of the distal joint of the little finger changes little during training after wearing the glove, in order to facilitate the design and use of a finger rehabilitation assistive device that can use the same structure on the little finger and the thumb, the middle phalanx and distal phalanx of the little finger are measured as a whole.

[0112] It should be noted that the fixing member here may also be other structures such as a fixing plate, etc., which can fix the finger rehabilitation auxiliary device on the corresponding finger.

[0113] See also Fig.19 When the finger rehabilitation auxiliary device bends under the action of external drive, the glove 1 is driven to bend, thereby driving the fingers to bend. During the bending movement, the angle measuring unit 200 and the force measuring unit 300 in each finger rehabilitation auxiliary device can respectively measure the bending angle of each finger joint and the output force of each phalanx area of ​​each finger.

[0114] The finger rehabilitation auxiliary device provided by the present invention can accurately measure the bending angle of each finger joint and the output force of each phalanx area during the finger bending movement, timely and comprehensively understand the specific movement information of the finger, and can adapt to a variety of rehabilitation strategies to improve the rehabilitation training effect. When conducting rehabilitation training, the finger rehabilitation auxiliary device can be used to measure the bending data of each finger joint and the output force of each phalanx area to obtain accurate movement data, which is convenient for timely feedback of movement information, observation of training conditions, and timely adjustment of rehabilitation strategies; the air pressure of the air source system can also be controlled by preset data to make the driver 100 achieve a certain degree of bending to achieve a certain bending angle or output force, thereby completing targeted rehabilitation training.

[0115] In addition, it can also be used for mirror training, and a finger rehabilitation auxiliary device is set at the corresponding finger positions of the patient's healthy hand and the affected hand. The healthy hand is used to collect data. When the healthy hand actively moves, the finger rehabilitation auxiliary device measures the bending angle and output force of each finger joint and outputs data. The output data of the healthy hand can be transmitted to the computer, and the computer controls the output air pressure to drive the driver 100 to reach the same bending angle or output force, driving the affected hand to achieve the same movement as the healthy hand; or the patient actively moves with the affected hand, and the motion data of the affected hand is measured in real time by the finger rehabilitation auxiliary device during the training process until the affected hand reaches the same bending angle or output force as the healthy hand. Through mirror training, the initiative and enthusiasm of the patient's rehabilitation training can be improved, and the treatment efficiency can be improved. In addition, the motion data of the affected hand can be compared and calibrated with the motion data measured by the healthy hand to ensure the accuracy of the rehabilitation training and achieve precise rehabilitation.

[0116] In summary, the limb rehabilitation auxiliary device provided by the present invention integrates the driver 100, the angle measuring unit 200 and the force measuring unit 300 into one, has a simple structure, and is easy to disassemble, and the required components can be selected according to specific needs; the angle measuring unit 200 can measure the bending angle of the base 210 through the setting of a strain gauge or a posture sensor, thereby realizing accurate measurement of the bending angle data of each limb joint during limb movement, and the force measuring unit 300 realizes accurate measurement of the force of each limb area through the airbags corresponding to each limb area, and its structure can be flexibly adjusted according to different limb lengths; the driver 100 can be bent under the action of external drive, driving limb movement to assist in rehabilitation training, and the bending angle of the driver 100 can be adjusted by adjusting the external driving force; the adjustment of its structure can also be used for hand training and accurate measurement of the bending of each finger joint and the force data of the phalanges. The entire limb rehabilitation auxiliary device can assist the limb in rehabilitation training, and accurately measure the specific movement conditions of the limbs such as bending angle and force during the rehabilitation training process. Targeted training can be achieved based on the measurement and recording of movement data, and a variety of rehabilitation strategies such as active training, passive training, and mirror training can be combined to achieve better rehabilitation effects, and accurate rehabilitation can be achieved through data calibration. In addition, the present invention can also be used for a manipulator, and when it is driven to bend, the air posture or bending angle data of each finger can be measured, and when it is driven to grasp an object, the gripping force data of the manipulator on the object can be measured, with good measurement effect and a wide range of applications.

[0117] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

[0118] Except for the technical features described in the specification, the remaining technical features are known technologies to those skilled in the art. In order to highlight the innovative features of the present invention, the remaining technical features will not be described here in detail.

Claims

1. A limb rehabilitation assistive device, characterized in that: include: A plurality of drivers, each of which comprises a plurality of mounting parts and a plurality of driving units, one driving unit is arranged between each two adjacent mounting parts, or the mounting part and the driving unit are integrated into one; The angle measuring part is connected to the mounting part, and comprises a base and an angle measuring unit. The base is fixedly connected to the mounting part, and the angle measuring unit is arranged on the base or the mounting part.

2. The limb rehabilitation assistive device according to claim 1, characterized in that: It also includes a force measuring part connected to a side of the angle measuring part away from the driver.

3. The limb rehabilitation assistive device according to claim 1, characterized in that: The driving unit is a bellows or a soft actuator, and a plurality of the bellows or the soft actuators are connected via a pipeline.

4. The limb rehabilitation assistive device according to claim 1, characterized in that: The base comprises: A plurality of fixing seats, wherein the fixing seats are fixedly connected to the bottom of the mounting portion; A plurality of bending seats, one bending seat is arranged between two adjacent fixing seats, and the bending seat is arranged corresponding to the driving unit.

5. The limb rehabilitation assistive device according to claim 4, characterized in that: The bending seat is in a pleated shape and is composed of a plurality of flexible hinges and vertical plates.

6. The limb rehabilitation assistive device according to claim 4, characterized in that: A groove is arranged on a side of the base close to the driver, and the angle measuring unit is arranged in the groove.

7. The limb rehabilitation assisting device according to claim 6, characterized in that: The angle measurement unit is a strain gauge or a flexible angle measurement unit, which is arranged on the base, and each joint of the limb corresponds to at least one strain gauge or flexible angle measurement unit.

8. The limb rehabilitation assistive device according to claim 4, characterized in that: The angle measurement unit is a posture sensor, which is arranged on part of the fixing seat or the mounting portion, and at least one posture sensor corresponds to both sides of each joint.

9. The limb rehabilitation assistive device according to claim 2, characterized in that: The force measuring unit comprises: A base, connected to the bottom surface of the base, or the base is integrated with the base; A plurality of force measuring units are arranged inside the base and located in the limb area.

10. The limb rehabilitation assisting device according to claim 9, characterized in that: The force measuring unit comprises: An air passage is arranged inside the base, the air passage extends along the length direction of the base, and an air port of the air passage is located at one end of the base; An airbag is connected through the air passage.

11. A limb rehabilitation training institution, characterized in that: The limb rehabilitation training institutions include: Fixings; At least one limb rehabilitation assisting device as claimed in any one of claims 1 to 10, wherein the limb rehabilitation assisting device is fixed to a corresponding limb position by the fixing member.

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