Hand rehabilitation device

Abstract

The invention discloses a hand rehabilitation device and belongs to the field of rehabilitation instruments.The hand rehabilitation device comprises a plurality of finger parts, the back of each finger part is provided with a bending sensor, the finger pulp of each finger part is provided with a pressure sensor, the back and the abdomen of each finger part are each provided with a transmission line, and each driving structure comprises a plurality of driving assemblies; the sliding block of each driving assembly is installed on the shell in a sliding mode, the two ends of the thermal deformation piece are fixedly connected with the sliding block and the shell respectively, the sliding block is fixed to the end of the transmission line, and the control module controls the temperature of the thermal deformation piece according to data of the bending sensor and the pressure sensor, so that the thermal deformation piece deforms to drive the finger part to bend through the transmission line. Through driving of the thermal deformation piece, shape recovery can be achieved through temperature change, so that bending and stretching actions of the hand are driven, the driving strength and frequency of the thermal deformation piece can be dynamically adjusted in combination with real-time monitoring of the flexible strain sensor, and safety and effectiveness of rehabilitation training are ensured.

Description

Technical Field

[0001] The present invention relates to the field of medical rehabilitation equipment, and in particular to a hand rehabilitation device. Background Art

[0002] As the aging population continues to deepen, the incidence and prevalence of stroke in my country are on the rise. 80% of stroke patients have varying degrees of limb dysfunction, and more than 60% of patients continue to have severe motor dysfunction in the upper limbs, especially the hands, after entering the chronic stage. Reconstruction of hand motor function is crucial for patients to regain the ability to live independently. Hand exoskeletons and exo-limb fingers are the two main hand medical devices. Hand exoskeletons are currently the most common stroke hand motor function rehabilitation equipment, providing rehabilitation treatment methods such as soft tissue traction and joint range of motion training.

[0003] Existing hand exoskeletons and exo-limb fingers are usually rigid structures, and are based on motor or pneumatic drive systems to achieve rehabilitation training of hand movements. These systems usually guide hand movements through hand exoskeletons or fixed frames, and are equipped with sensors to monitor the movement status of the hand. However, the rigid structure and large size will cause discomfort when wearing, limiting the long-term use of rehabilitation devices, and the rigid drive system is difficult to adapt to the complex natural movements of the hand and cannot achieve precise independent control of fingers. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, one of the objects of the present invention is to provide a device driven by a thermal deformation member, which can achieve shape recovery through temperature changes, thereby driving the bending and extension movements of the hand. Combined with real-time monitoring of a flexible strain sensor, the driving force and frequency of the thermal deformation member can be dynamically adjusted to ensure the safety and effectiveness of rehabilitation training.

[0005] One of the purposes of the present invention is achieved by the following technical solution:

[0006] A hand rehabilitation device includes a glove, which includes a plurality of fingers. The hand rehabilitation device also includes a plurality of bending sensors, a plurality of pressure sensors, a plurality of transmission lines, two drive structures and a control module. The bending sensor is installed on the back of each finger, the belly of each finger is provided with a pressure sensor, the back and belly of each finger are provided with a transmission line, each of the drive structures includes a plurality of drive components, each of the drive components includes a shell, a slider and a thermal deformation member, the slider is slidably installed on the shell, the two ends of the thermal deformation member are fixedly connected to the slider and the shell respectively, the slider is fixed to the end of the transmission line, and the control module controls the temperature of the thermal deformation member according to the data of the bending sensor and the pressure sensor, so that the thermal deformation member is deformed, thereby driving the finger to bend through the transmission line.

[0007] Furthermore, the thermal deformation member is a memory spring.

[0008] Furthermore, the thermal deformation part is made of nickel-titanium alloy.

[0009] Furthermore, the control module controls the temperature of the thermal deformation member by controlling the current magnitude of the thermal deformation member.

[0010] Furthermore, the current magnitude is adjusted by a PWM signal.

[0011] Furthermore, the hand rehabilitation device also includes an arm guard, and the two driving structures are respectively installed in the palm and back of the arm guard. The driving structure located in the back of the palm simulates the extensor muscle group by driving the transmission line connected to the driving structure, and the driving structure located in the palm direction simulates the flexor muscle group by driving the transmission line connected to the driving structure.

[0012] Furthermore, the transmission wire on each finger portion forms a coil at the end of the finger portion, and transmission wires extend from upper and lower ends of the coil respectively. The transmission wires extend along the extension direction of the finger portion and are fixed to the slider.

[0013] Furthermore, the bending sensor is in a strip shape, and the bending sensor extends from one end to the other end of the back of the finger.

[0014] Furthermore, the pressure sensor is circular and is located at the end of the belly of the finger.

[0015] Furthermore, the control module uses an analog-to-digital converter and a plurality of amplifying circuits to detect the bending of the finger, and the differential signal is amplified by an H-bridge operational amplifier circuit.

[0016] Compared with the prior art, the glove of the hand rehabilitation device of the present invention includes multiple fingers, and the hand rehabilitation device also includes multiple bending sensors, multiple pressure sensors, multiple transmission lines, two driving structures and a control module. A bending sensor is installed on the back of each finger, a pressure sensor is provided on the belly of each finger, and a transmission line is provided on the back and belly of each finger. Each driving structure includes multiple driving components, and each driving component includes a shell, a slider and a thermal deformation part. The slider is slidably installed on the shell, and the two ends of the thermal deformation part are fixedly connected to the slider and the shell respectively, and the slider is fixed to the end of the transmission line. The control module controls the temperature of the thermal deformation part according to the data of the bending sensor and the pressure sensor, so that the thermal deformation part is deformed, thereby driving the finger to bend through the transmission line. Driven by the thermal deformation part, shape recovery can be achieved through temperature changes, thereby driving the bending and extension movements of the hand. Combined with the real-time monitoring of the flexible strain sensor, the driving force and frequency of the thermal deformation part can be dynamically adjusted to ensure the safety and effectiveness of rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a three-dimensional diagram of the hand rehabilitation device of the present invention;

[0018] Figure 2 for Figure 1 Another stereoscopic view of a hand rehabilitation device;

[0019] Figure 3 for Figure 1 A three-dimensional diagram of a driving structure of a hand rehabilitation device;

[0020] Figure 4 for Figure 3 A three-dimensional diagram of the local structure of the drive assembly;

[0021] Figure 5 for Figure 4 A three-dimensional diagram of the internal structure of the drive assembly;

[0022] Figure 6 A flow chart of the hand rehabilitation device of the present invention when in use;

[0023] Figure 7 A fast charging deception circuit diagram of the hand rehabilitation device of the present invention.

[0024] In the figure: 10, glove; 11, palm; 12, finger; 20, bending sensor; 30, pressure sensor; 40, signal acquisition module; 50, transmission line; 60, drive structure; 61, drive assembly; 610, shell; 6101, slide; 611, slider; 6110, main body; 6111, sliding part; 6112, snap groove; 6113, connecting column; 612, thermal deformation part; 613, snap part; 70, arm guard. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0026] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be another intermediate component through which it is fixed. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be another intermediate component at the same time. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be another intermediate component at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0028] See also Figure 1 as well as Figure 2 The hand rehabilitation device includes a glove 10, a bending sensor 20, a pressure sensor 30, a signal acquisition module 40, a transmission line 50, a driving structure 60, an arm guard 70 and a control module.

[0029] The glove 10 is made of flexible fabric or leather. The glove 10 includes a palm portion 11 and a plurality of finger portions 12, and the plurality of finger portions 12 extend from the palm portion 11. Specifically, the number of the finger portions 12 is 5, corresponding to the 5 fingers of a human hand.

[0030] The bending sensor 20 is installed on the back of the finger 12 to detect the bending of the finger 12. Specifically, the number of the bending sensors 20 is 5, each of which is a flexible sensor, and each of which is in a long strip shape. The long strip bending sensor 20 is fixed to the back of the finger 12 and extends from one end to the other end of the finger 12. The bending sensor 20 can be fixed to the back of the finger 12 by glue, or the bending sensor 20 can be buried in the back of the finger 12.

[0031] The pressure sensors 30 are embedded in the finger webs of the fingers 12, and there are five of them in total. The pressure sensors 30 detect the pressure of the fingers 12 to determine the hand posture of the user.

[0032] The signal acquisition module 40 is connected to the bending sensor 20 and the pressure sensor 30 for communication, and the signal acquisition module 40 obtains the model of the bending sensor 20 and the pressure sensor 30 and transmits the signal to the control module. Specifically, the signal acquisition module 40 is fixed on the back of the palm 11 .

[0033] The transmission wire 50 is installed on the finger part 12 and extends from one end of the finger part 12 to the other end to control the bending of the finger part 12. Specifically, the transmission wire 50 is a Bowden wire. The transmission wire 50 forms a coil at the end of each finger part 12, and the transmission wire 50 extends from the upper and lower ends of the coil respectively. The transmission wire 50 extends along the extension direction of the finger part 12 and is fixed to the slider 611. Specifically, the outer edge of the finger part 12 passes through a small hole, and the Bowden wire passes through it, and the end of the Bowden wire is connected to the memory alloy spring.

[0034] See also Figures 3 to 5 There are two driving structures 60, which are respectively fixed on the palm and back of the arm guard 70. The driving structure 60 located in the back of the palm simulates the extensor muscle group by driving the transmission line 50 connected to the driving structure 60, and the driving structure 60 located in the palm simulates the flexor muscle group by driving the transmission line 50 connected to the driving structure 60.

[0035] Each driving structure 60 includes a plurality of driving components 61. The number of driving components 61 is equal to the number of finger parts 12. In the present embodiment, the number of driving components 61 is 5. Each driving component 61 includes a housing 610, a slider 611, a thermal deformation member 612 and a snap member 613. The housing 610 is in a straight line shape. A slideway 6101 is provided on the housing 610. The slider 611 is located in the slideway 6101 and slides along the slideway 6101. The slider 611 includes a main body 6110, a sliding part 61111 and two connecting columns 6113. The main body 6110, the sliding part 61111 and the two connecting columns 6113 are integrally formed. The sliding part 61111 is located at the top of the main body 6110. A snap groove 6112 is provided on the sliding part 61111. The snap groove 6112 is snapped with the snap member 613. The two connecting columns 6113 are used to fix the thermal deformation member 612. The buckle 613 is fixedly connected to the transmission line 50. The thermal deformation member 612 is a memory spring. The thermal deformation member 612 is made of nickel-titanium alloy. The control module controls the temperature of the thermal deformation member 612 by controlling the current size of the thermal deformation member 612.

[0036] The arm guard 70 is worn on the user's arm, and the driving structure 60 can be installed on the arm guard 70 .

[0037] Please continue reading Figure 1 When using the hand rehabilitation device, the patient to be rehabilitated wears the glove 10 and the arm guard 70 on the arm. The signal acquisition module 40 collects posture and pressure signals through the bending sensor 20 and the pressure sensor 30. The control module determines the posture of the hand of the patient to be rehabilitated according to the posture and pressure signals, and controls the thermal deformation part 612 to heat and shrink or cool and extend according to the posture of the expected movement of the finger, so as to drive the finger to move, and compensates according to the real-time feedback signals of the bending sensor 20 and the pressure sensor 30.

[0038] The control module includes power management circuit, signal acquisition circuit and heating system, power management circuit soft start, charging DC005-2.0MM, LM2596S-12V to 5V, AMS1117-5V to 3.3V. The power charging adopts fast charging deception, such as Figure 7 As shown, the voltage is 20V, the charging current I = 0.12 / (RS1 = rs2), and the charging current I = 0.12 / (0.1 + 0.1). The signal acquisition circuit uses ADS1115BQDGSRQ1 and 5 amplifier circuits (for finger bending 5 detection), and the differential signal is amplified by the H-bridge op amp circuit. Heating system PWM control: Use the PCA9685 chip to expand 16 PWM signals to drive different circuit components. In this design, 10 PWM signals are mainly used to control the heating of the nickel-titanium shape memory alloy spring. Power control: Each PWM signal passes through a MOS tube (IRFR120NTR) for power control. IRFR120NTR is an N-channel MOSFET with low on-resistance and high switching speed. It is suitable for driving loads at high frequencies to ensure the response speed and stability of the heating system. Heating process: The PWM signal adjusts the current of the nickel-titanium shape memory alloy and controls its heating temperature, thereby realizing deformation recovery. By adjusting the PWM duty cycle, the temperature and deformation speed of the nickel-titanium alloy can be precisely controlled to ensure the accuracy and safety of hand movements.

[0039] The hand rehabilitation device of the present application is driven by a thermal deformation member 612, and can achieve shape recovery through temperature changes, thereby driving the bending and extension movements of the finger 12. Combined with real-time monitoring of the flexible strain sensor, the driving force and frequency of the thermal deformation member 612 can be dynamically adjusted to ensure the safety and effectiveness of rehabilitation training.

[0040] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which are equivalent modifications and improvements made to the above embodiments based on the essential technology of the present invention, and all of them belong to the protection scope of the present invention.

Claims

1. A hand rehabilitation device, comprising a glove, wherein the glove comprises a plurality of finger portions, characterized in that: The hand rehabilitation device also includes multiple bending sensors, multiple pressure sensors, multiple transmission lines, two driving structures and a control module. The bending sensor is installed on the back of each finger, the belly of each finger is provided with a pressure sensor, the back and belly of each finger are provided with a transmission line, each driving structure includes multiple driving components, each driving component includes a shell, a slider and a thermal deformation part, the slider is slidably installed on the shell, the two ends of the thermal deformation part are fixedly connected to the slider and the shell respectively, the slider is fixed to the end of the transmission line, and the control module controls the temperature of the thermal deformation part according to the data of the bending sensor and the pressure sensor, so that the thermal deformation part is deformed, thereby driving the finger to bend through the transmission line.

2. The hand rehabilitation device according to claim 1, characterized in that: The thermal deformation member is a memory spring.

3. The hand rehabilitation device according to claim 1, characterized in that: The thermal deformation piece is made of nickel-titanium alloy.

4. The hand rehabilitation device according to claim 1, characterized in that: The control module controls the temperature of the thermal deformation member by controlling the current magnitude of the thermal deformation member.

5. The hand rehabilitation device according to claim 4, characterized in that: The current size is adjusted by a PWM signal.

6. The hand rehabilitation device according to claim 1, characterized in that: The hand rehabilitation device also includes an arm guard, and the two driving structures are respectively installed in the palm and back of the arm guard. The driving structure located in the back of the palm simulates the extensor muscle group by driving the transmission line connected to the driving structure, and the driving structure located in the palm direction simulates the flexor muscle group by driving the transmission line connected to the driving structure.

7. The hand rehabilitation device according to claim 1, characterized in that: The transmission wire on each finger portion forms a coil at the end of the finger portion, and transmission wires extend from upper and lower ends of the coil respectively. The transmission wires extend along the extending direction of the finger portion and are fixed to the slider.

8. The hand rehabilitation device according to claim 1, characterized in that: The bending sensor is in a long strip shape and extends from one end to the other end of the back of the finger.

9. The hand rehabilitation device according to claim 1, characterized in that: The pressure sensor is circular and is located at the end of the belly of the finger.

10. The hand rehabilitation device according to claim 1, characterized in that: The control module uses an analog-to-digital converter and a plurality of amplifier circuits to detect the bending of the finger, and the differential signal is amplified by an H-bridge operational amplifier circuit.

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