Bionic flexible exoskeleton for hand rehabilitation after trauma
By using flexible materials and bionic flexible exoskeletons driven by traction wires, the problems of large size and poor adaptability of existing hand exoskeleton devices are solved, and the hand exoskeleton has high fit, small size, low cost and adaptability. For hand rehabilitation and astronaut assistance.
Patent Information
- Application Number
- CN202411527698.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-30
- Publication Date
- 2025-01-24
AI Technical Summary
The existing hand exoskeleton devices are huge in size and poor in adaptability, which cannot meet the needs of finger operating space, resulting in astronauts consuming a lot of physical strength when they are outside the cabin.
The bionic flexible exoskeleton made of flexible materials, combined with the cooperation of the traction wire and the driver, produces rotation of the hand exoskeleton at nearly the same angular speed at each joint through the traction of the traction wire, enhancing the fit and wearing comfort.
It has achieved small volume, compact structure, and low cost of the exoskeleton on the hand. It can adapt to complex operating space and improve the effect of hand rehabilitation training and astronauts hand -help.
Smart Images
Figure CN119344991A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of exoskeletons, and in particular to a bionic flexible exoskeleton for hand rehabilitation after trauma. Background Art
[0002] In order to ensure human survival in the vacuum environment of space, humans need to wear pressurized and sealed space suits for extravehicular activities. Astronauts' extravehicular activities are inseparable from the operation of the hands outside the cabin. The technical principles of the extravehicular suits currently in service are derived from the aircraft high-altitude pressure suit technology invented during the First World War, that is, pressure protection is achieved by providing compressed gas to the sealed suit, and the human body joint mobility is achieved by adding active joints to the sleeves of the suit. However, pressure protection and mobility are a pair of contradictory requirements. Due to the pressurization of the suit, the human body's activities must overcome the inherent activity resistance of the suit joints, which causes astronauts to consume a lot of physical strength in their activities outside the cabin.
[0003] Extravehicular activities require astronauts to wear space suits and gloves. Exovehicular hand exoskeletons are generally divided into two types: rigid exoskeletons and flexible exoskeletons. Rigid exoskeletons mostly use linkage mechanisms, which are complex and bulky. Flexible exoskeletons have pneumatic mechanisms, memory alloys, and elastic polymers, etc. Most of them are attached to the back of the hand, and are generally larger in size, taking up more space when used.
[0004] In order to reduce the size and weight of the device, improve the fit of the exoskeleton hand, and obtain a better hand-assisting effect, it is necessary to minimize the number of drives and find suitable flexible materials and drive methods. In order to make the movement trajectory of the flexible exoskeleton finger joints match the movement of human fingers and the flexible exoskeleton fit the human hand as much as possible, the angular velocity ratio of each joint of the exoskeleton should match the angular velocity ratio of the human hand joints during operation as much as possible. Therefore, it is very important to achieve matching of the angular velocity ratios of each joint of the exoskeleton with each joint of the hand through structural design. Summary of the invention
[0005] In view of the problems existing in the above-mentioned prior art, the present invention provides a bionic flexible exoskeleton for hand rehabilitation after trauma, which can effectively solve the problems of existing hand exoskeleton devices such as large size, poor adaptability and inability to meet finger operation space requirements. It has the advantages of small size, compact structure and low cost, and is particularly suitable for hand rehabilitation training and astronaut hand assistance.
[0006] The technical solution adopted by the present invention is:
[0007] A bionic flexible exoskeleton for hand rehabilitation after trauma, comprising a flexible exoskeleton body and a traction drive mechanism, wherein the flexible exoskeleton body is made of flexible material, comprises a palm wearing part for wearing on the palm and finger wearing parts for wearing on the index finger, middle finger, ring finger and little finger respectively, wherein the palm wearing part is provided with four metacarpophalangeal joints, and the finger wearing parts respectively comprise proximal interphalangeal joints close to the four metacarpophalangeal joints and distal interphalangeal joints far from the four metacarpophalangeal joints; the traction drive mechanism comprises a traction line for pulling the finger wearing part to bend and a driver for stretching the traction line.
[0008] Because the flexible exoskeleton body is made of flexible material, combined with the coordination of traction wires and drivers, the hand exoskeleton rotates at nearly the same angular velocity at each joint under the traction of the traction wire during work or rehabilitation training, thereby greatly reducing the relative movement between the hand and the exoskeleton, enhancing the fit and wearing comfort, and has the advantages of good fit with the hand, small size, light weight, and the ability to adapt to complex operating spaces.
[0009] Furthermore, in order to better control the finger wearing part through the traction line, the traction line passes through the end of the finger wearing part, the distal interphalangeal joint, the proximal interphalangeal joint, the metacarpophalangeal joints of the four fingers, through the palm wearing part and connects to the driver located at the wrist.
[0010] Furthermore, in order to better achieve the bending coordination of the thumb, the flexible exoskeleton body also includes a thumb wearing part for wearing the thumb, and a thumb metacarpophalangeal joint is provided between the thumb wearing part and the palm wearing part. The traction line is connected to the driver located at the wrist in sequence from the end of the thumb wearing part, the thumb metacarpophalangeal joint, and the palm wearing part.
[0011] Furthermore, in order to better achieve free bending and stretching of the exoskeleton body, the flexible material is a silicone material.
[0012] Furthermore, in order to achieve better wearing without affecting the bending or stretching of the fingers, the finger wearing part and the thumb wearing part both include a plurality of wearing rings arranged at intervals for facilitating finger wearing, and elastic connecting parts are provided between adjacent wearing rings.
[0013] Furthermore, in order to better achieve traction for bending the fingers, two traction lines are provided on the finger wearing part and the thumb wearing part, and the two traction lines extend from both sides of the finger wearing part and the thumb wearing part respectively and are connected to the driver.
[0014] Furthermore, in order to better achieve effective connection between the finger wearing part and the palm wearing part, the palm wearing part and the finger wearing part are connected by a connecting buckle.
[0015] Furthermore, in order to better achieve the wearing effect of the fingers, fingertip covers are provided on the finger wearing part and the thumb wearing part.
[0016] Furthermore, the palm wearing portion is provided with Velcro for convenient binding and wearing on the hand.
[0017] Furthermore, angular velocity sensors are provided at the metacarpophalangeal joints, proximal interphalangeal joints and distal interphalangeal joints of the four fingers. The geometric shape, size and material of the hand exoskeleton at the corresponding joints are calculated according to the angular velocity ratio of each finger joint when the hand is doing related work or rehabilitation training. When doing work or rehabilitation training, the hand exoskeleton generates rotations at nearly the same angular velocity at each joint under the traction of the traction line, thereby greatly reducing the relative movement between the hand and the exoskeleton, and enhancing the fit and wearing comfort.
[0018] The beneficial effects of the present invention are as follows: since the flexible exoskeleton body is made of flexible material, combined with the cooperation of the traction line and the driver, the hand exoskeleton produces a rotation at nearly the same angular velocity at each joint under the traction of the traction line during work or rehabilitation training, thereby greatly reducing the relative movement between the hand and the exoskeleton, enhancing the fit and wearing comfort, and having the advantages of good fit with the hand, small size, light weight, and the ability to adapt to complex operating spaces. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 It is a structural schematic diagram of the back of the hand of the present invention;
[0020] Figure 2 It is a structural schematic diagram of the palm surface of the present invention;
[0021] Figure 3 It is a structural schematic diagram of the finger wearing part of the present invention;
[0022] Figure 4 is a schematic structural diagram of the back of a hand in a wearing state of the present invention;
[0023] Figure 5 is a schematic structural diagram of the palm surface of the present invention in a wearing state;
[0024] Figure 6 It is a state diagram of the single-finger execution process of the present invention.
[0025] In the figure: palm wearing part 1; finger wearing part 2; four-finger metacarpophalangeal joints 3; proximal interphalangeal joints 4; distal interphalangeal joints 5; traction line 6; driver 7; thumb wearing part 8; thumb metacarpophalangeal joint 9; wearing ring 10; elastic connecting part 11; connecting buckle 12; fingertip cover 13; Velcro 14. DETAILED DESCRIPTION
[0026] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.
[0027] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0028] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.
[0029] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0030] Embodiment 1:
[0031] like Figure 1-Figure 6 As shown, this embodiment provides a bionic flexible exoskeleton for hand rehabilitation after trauma, including a flexible exoskeleton body and a traction drive mechanism. The flexible exoskeleton body is made of flexible material. The flexible exoskeleton body includes a palm wearing part 1 for wearing on the palm and finger wearing parts 2 for wearing on the index finger, middle finger, ring finger and little finger respectively. Four metacarpophalangeal joints 3 are arranged on the palm wearing part 1, and the finger wearing part 2 includes proximal interphalangeal joints 4 close to the four metacarpophalangeal joints 3 and distal interphalangeal joints 5 away from the four metacarpophalangeal joints 3; the traction drive mechanism includes a traction line 6 for pulling the finger wearing part 2 to bend and a driver 7 for stretching the traction line 6.
[0032] Since the flexible exoskeleton body is made of flexible material, combined with the cooperation of the traction line 6 and the driver 7, the hand exoskeleton rotates at nearly the same angular velocity at each joint under the traction of the traction line 6 during work or rehabilitation training, thereby greatly reducing the relative movement between the hand and the exoskeleton, enhancing the fit and wearing comfort, and having the advantages of good fit with the hand, small size, light weight, and the ability to adapt to complex operating spaces.
[0033] Embodiment 2:
[0034] This embodiment is optimized based on the above-mentioned embodiment 1.
[0035] In order to better control the finger wearing part 2 through the traction line 6, the traction line 6 passes through the end of the finger wearing part 2, the distal interphalangeal joint 5, the proximal interphalangeal joint 4, the metacarpophalangeal joints 3 of the four fingers, through the palm wearing part 1 and connects to the driver 7 located at the wrist.
[0036] Embodiment 3:
[0037] This embodiment is optimized based on the above-mentioned embodiment 1.
[0038] In order to better achieve the bending coordination of the thumb, the flexible exoskeleton body also includes a thumb wearing part 8 for wearing the thumb, and a thumb metacarpophalangeal joint 9 is provided between the thumb wearing part 8 and the palm wearing part 1. The traction line 6 is connected in sequence from the end of the thumb wearing part 8, the thumb metacarpophalangeal joint 9, and then through the palm wearing part 1 to the driver 7 located at the wrist.
[0039] Embodiment 4:
[0040] This embodiment is optimized based on the above-mentioned embodiment 1.
[0041] In order to better realize the free bending and stretching of the exoskeleton body, the flexible material is silicone material.
[0042] Embodiment 5:
[0043] This embodiment is optimized based on the above-mentioned embodiment 1.
[0044] In order to better achieve wearing without affecting the bending or stretching of the fingers, the finger wearing part 2 and the thumb wearing part 8 each include a plurality of wearing rings 10 arranged at intervals for facilitating finger wearing, and an elastic connecting part 11 is provided between adjacent wearing rings 10. The finger wearing part 2 and the thumb wearing part 8 are both integrally formed of silicone material.
[0045] Embodiment 6:
[0046] This embodiment is optimized based on the above-mentioned embodiment 2.
[0047] In order to better achieve traction on finger bending, two traction lines 6 are provided on the finger wearing part 2 and the thumb wearing part 8, and the two traction lines 6 extend from both sides of the finger wearing part 2 and the thumb wearing part 8 respectively and are connected to the driver 7.
[0048] Embodiment 7:
[0049] This embodiment is optimized based on the above-mentioned embodiment 2.
[0050] In order to better achieve effective connection between the finger wearing part 2 and the palm wearing part 1 , the palm wearing part 1 and the finger wearing part 2 are connected via a connecting buckle 12 .
[0051] Embodiment 8:
[0052] This embodiment is optimized based on the above-mentioned embodiment 1.
[0053] In order to achieve a better wearing effect on the fingers, fingertip covers 13 are provided on the finger wearing part 2 and the thumb wearing part 8.
[0054] Embodiment 9:
[0055] This embodiment is optimized based on the above-mentioned embodiment 2.
[0056] The palm wearing part 1 is provided with a Velcro 14 for conveniently binding and wearing on the hand.
[0057] Embodiment 10:
[0058] This embodiment is optimized based on the above-mentioned embodiment 1.
[0059] Angular velocity sensors (not shown in the figure) are provided at the metacarpophalangeal joints 3, the proximal interphalangeal joints 4 and the distal interphalangeal joints 5 of the four fingers. The geometric shape, size and material of the hand exoskeleton at the corresponding joints are calculated according to the angular velocity ratio of each finger joint when the hand is doing relevant work or rehabilitation training. When doing work or rehabilitation training, the hand exoskeleton rotates at nearly the same angular velocity at each joint under the traction of the traction line 6, thereby greatly reducing the relative movement between the hand and the exoskeleton and enhancing the fit and wearing comfort.
[0060] Embodiment 11:
[0061] This embodiment is optimized based on the above-mentioned embodiment 2.
[0062] In order to better achieve the bending coordination of the thumb, the flexible exoskeleton body also includes a thumb wearing part 8 for wearing the thumb, and a thumb metacarpophalangeal joint 9 is provided between the thumb wearing part 8 and the palm wearing part 1. The traction line 6 is connected in sequence from the end of the thumb wearing part 8, the thumb metacarpophalangeal joint 9, and then through the palm wearing part 1 to the driver 7 located at the wrist.
[0063] In order to better realize the free bending and stretching of the exoskeleton body, the flexible material is silicone material.
[0064] In order to achieve better wearing without affecting the bending or stretching of the fingers, the finger wearing part 2 and the thumb wearing part 8 both include a plurality of wearing rings 10 arranged at intervals for facilitating finger wearing, and elastic connecting parts 11 are provided between adjacent wearing rings 10.
[0065] In order to better achieve traction on finger bending, two traction lines 6 are provided on the finger wearing part 2 and the thumb wearing part 8, and the two traction lines 6 extend from both sides of the finger wearing part 2 and the thumb wearing part 8 respectively and are connected to the driver 7.
[0066] In order to better achieve effective connection between the finger wearing part 2 and the palm wearing part 1 , the palm wearing part 1 and the finger wearing part 2 are connected via a connecting buckle 12 .
[0067] In order to achieve a better wearing effect on the fingers, fingertip covers 13 are provided on the finger wearing part 2 and the thumb wearing part 8.
[0068] The palm wearing part 1 is provided with a Velcro 14 for conveniently binding and wearing on the hand.
[0069] Angular velocity sensors (not shown in the figure) are provided at the metacarpophalangeal joints 3, the proximal interphalangeal joints 4 and the distal interphalangeal joints 5 of the four fingers. The geometric shape, size and material of the hand exoskeleton at the corresponding joints are calculated according to the angular velocity ratio of each finger joint when the hand is doing relevant work or rehabilitation training. When doing work or rehabilitation training, the hand exoskeleton rotates at nearly the same angular velocity at each joint under the traction of the traction line 6, thereby greatly reducing the relative movement between the hand and the exoskeleton and enhancing the fit and wearing comfort.
[0070] It should be noted that an angular velocity sensor is also provided at the metacarpophalangeal joint 9 of the thumb.
[0071] It should be noted that, in the present technical solution, the driver 7 includes a driving motor, and the driving motor is connected to the traction line 6 via a connecting piece. The specific connection method is an existing design and will not be described in detail here.
[0072] The present invention is not limited to the above-mentioned optional implementation modes. Anyone can derive other various forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, all technical solutions that fall within the scope defined by the claims of the present invention fall within the protection scope of the present invention.
Claims
1. A bionic flexible exoskeleton for hand rehabilitation after trauma, characterized in that: The invention comprises a flexible exoskeleton body and a traction drive mechanism, wherein the flexible exoskeleton body is made of flexible material, comprises a palm wearing part for wearing on the palm and finger wearing parts for wearing on the index finger, middle finger, ring finger and little finger respectively, wherein the palm wearing part is provided with four metacarpophalangeal joints, and the finger wearing parts respectively comprise proximal interphalangeal joints close to the four metacarpophalangeal joints and distal interphalangeal joints far from the four metacarpophalangeal joints; the traction drive mechanism comprises a traction line for pulling the finger wearing part to bend and a driver for stretching the traction line.
2. The bionic flexible exoskeleton for hand rehabilitation after trauma according to claim 1, characterized in that: The traction line passes through the end of the finger wearing part, the distal interphalangeal joint, the proximal interphalangeal joint, the metacarpophalangeal joints of the four fingers in sequence, passes through the palm wearing part, and is connected to the driver located at the wrist.
3. The bionic flexible exoskeleton for hand rehabilitation after trauma according to claim 1, characterized in that: The flexible exoskeleton body also includes a thumb wearing part for wearing with the thumb, a thumb metacarpophalangeal joint is provided between the thumb wearing part and the palm wearing part, and the traction line is connected to the driver located at the wrist in sequence from the end of the thumb wearing part, the thumb metacarpophalangeal joint, and then the palm wearing part.
4. The bionic flexible exoskeleton for hand rehabilitation after trauma according to claim 1, characterized in that: The flexible material is a silicone material.
5. The bionic flexible exoskeleton for hand rehabilitation after trauma according to claim 3, characterized in that: The finger wearing part and the thumb wearing part both include a plurality of wearing rings arranged at intervals for facilitating finger wearing, and elastic connecting parts are arranged between adjacent wearing rings.
6. The bionic flexible exoskeleton for hand rehabilitation after trauma according to claim 3, characterized in that: Two pulling wires are respectively provided on the finger wearing part and the thumb wearing part, and the two pulling wires extend from both sides of the finger wearing part and the thumb wearing part respectively and are connected to the driver.
7. The bionic flexible exoskeleton for hand rehabilitation after trauma according to claim 1, characterized in that: The palm wearing part and the finger wearing part are connected via a connecting buckle.
8. The bionic flexible exoskeleton for hand rehabilitation after trauma according to claim 3, characterized in that: The finger wearing part and the thumb wearing part are both provided with fingertip covers.
9. The bionic flexible exoskeleton for hand rehabilitation after trauma according to claim 1, characterized in that: The palm wearing part is provided with a Velcro for conveniently binding and wearing on the hand.
10. The bionic flexible exoskeleton for hand rehabilitation after trauma according to claim 1, characterized in that: Angular velocity sensors are arranged at the metacarpophalangeal joints, the proximal interphalangeal joints and the distal interphalangeal joints of the four fingers.