Autonomous recovery of hemiplegic hand exoskeleton

Abstract

The invention discloses an autonomous recovery hemiplegia hand exoskeleton, and relates to the field of rehabilitation medicine, the autonomous recovery hemiplegia hand exoskeleton comprises a healthy hand assembly, a rehabilitation hand assembly and a control assembly, the rehabilitation hand exoskeleton is controlled through the motion intention of the healthy hand of a patient, the autonomous motion ability of the patient can be maintained and enhanced, and the rehabilitation enthusiasm and participation degree are improved.

Description

Technical Field

[0001] The present invention is applicable to the field of rehabilitation medicine, and specifically is an exoskeleton for autonomously restoring hemiplegic hands. Background Art

[0002] Stroke is one of the main causes of adult disability, and upper limb movement disorders are particularly common, which seriously affects patients' daily living activities. Therefore, the development of effective rehabilitation technology is crucial to improving the quality of life of patients. Rehabilitation training can utilize the principle of neuroplasticity. Neuroplasticity refers to the nervous system adapting to new conditions by reorganizing and adjusting its structure and function after injury, and promoting the recovery of neural function through external auxiliary equipment. With the increasing application of robotic technology in rehabilitation medicine, especially exoskeleton robots, they can provide precise movement assistance and feedback to help patients conduct more effective rehabilitation training. Among similar robots that help patients recover their health, most are cumbersome and inconvenient for patients to wear. In addition, the lack of feedback on the device itself makes it impossible to understand the patient's rehabilitation level in a timely manner. Moreover, it is a ripple effect on the whole body, and local rehabilitation training cannot be carried out. Summary of the invention

[0003] In order to solve the above problems, that is, to solve the problems raised by the above background technology, the present invention patent proposes an autonomous recovery hemiplegic hand exoskeleton, including a healthy hand component, a rehabilitation hand component and a control component, characterized in that: the healthy hand component includes a glove, a sensor finger sleeve and a hand back wire box, the sensor finger sleeve is connected to the glove, the hand back wire box is fixed on the back of the glove, and a gyroscope sensor is installed in the sensor finger sleeve; The rehabilitation hand assembly includes a wrist assembly and a finger assembly, the finger assembly includes a thumb fixing assembly and a four-finger fixing assembly, the four-finger fixing assembly includes a steering gear cabin, a micro-steering gear is installed in the steering gear cabin, a first finger sleeve is hinged at the rotating end of the micro-steering gear through a pair of fixed shafts and a connecting rod, a slide groove is provided on the first finger sleeve, a slide rod, a first gear rod and a second gear rod are also installed on the first finger sleeve, the slide rod and one end of the first gear rod are installed in the slide groove together, the other end of the slide rod is installed on the steering gear cabin, the other end of the first gear rod is meshed with the second gear rod, and the other end of the second gear rod is installed with a second finger sleeve; The thumb fixing assembly includes a thumb fixing device, on which a micro-servo is also installed. The rotating end of the micro-servo is hinged with a third finger sleeve through a pair of fixed shafts and a connecting rod. A slide groove is provided on the third finger sleeve. A slide rod is also installed on the third finger sleeve, one end of the slide rod is installed in the slide groove, and the other end is installed on the thumb fixing device.

[0004] The patent of the present invention is further configured as follows: the sensing finger sleeve is installed at the middle phalanx of a healthy hand.

[0005] The patent of the present invention is further configured as follows: the wrist assembly includes a first cabin and a cabin cover, the first cabin and one end of the cabin cover are commonly connected with a wrist joint, and the wrist joint is connected to the steering gear cabin through the back of the hand.

[0006] The patent of the present invention is further configured as follows: the control component includes a cabin, a control panel, and an internal single chip microcomputer.

[0007] The beneficial technical effects of the patent of this invention are: the exoskeleton system can provide precise motion assistance and feedback, helping patients to conduct more effective rehabilitation training and speed up functional recovery.

[0008] Patients can control the exoskeleton through their own movement intentions, which helps maintain and enhance the patient's autonomous movement ability and improve their enthusiasm and participation in rehabilitation. Through continuous rehabilitation training, exoskeleton assistance can promote the remodeling of the central nervous system, namely neuroplasticity, thereby restoring damaged neural function to a certain extent. The exoskeleton system can be adjusted and optimized according to the patient's specific situation to provide personalized rehabilitation treatment to meet the needs of different patients. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a schematic diagram of the structure of the present invention.

[0010] Figure 2 This is a schematic diagram of the thumb fixing device of the present invention.

[0011] Figure numerals: 1: micro servo; 2: fixed shaft; 3: connecting rod; 4: sliding rod; 5: first finger sleeve; 6: first gear rod; 7: second gear rod; 8: second finger sleeve; 9: back of hand connection; 10: wrist joint; 11: machine cover; 12: first engine compartment; 13: servo compartment; 14: thumb fixing device; 15: third finger sleeve. DETAILED DESCRIPTION

[0012] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0013] The present invention patent proposes an autonomous recovery hemiplegic hand exoskeleton, including a healthy hand component, a rehabilitation hand component and a control component. The healthy hand component includes a glove, a sensor finger sleeve and a hand back wire box. The sensor finger sleeve is connected to the glove, and the hand back wire box is fixed on the back of the glove. A gyroscope sensor is installed in the sensor finger sleeve; the rehabilitation hand component includes a wrist component and a finger component. The finger component includes a thumb fixing component and a four-finger fixing component. The four-finger fixing component includes a steering gear cabin 13. A micro-steering gear 1 is installed in the steering gear cabin 13. The rotating end of the micro-steering gear 1 is hinged with a first finger sleeve 5 through a pair of fixed shafts 2 and a connecting rod 3. A slide groove is opened on the first finger sleeve 5. A slide rod 4, a first gear rod 6 and a second gear rod 7 are also installed on the first finger sleeve 5. One end of the slide rod 4 and the first gear rod 6 is installed in the slide groove, and the other end of the slide rod 4 is installed in the steering gear cabin 1 3, the other end of the first gear rod 6 is meshed with the second gear rod 7, and the other end of the second gear rod 7 is installed with a second finger sleeve 8; the thumb fixing assembly includes a thumb fixing device 14, and the micro-servo 1 is also installed on the thumb fixing device 14. The rotating end of the micro-servo 1 is hinged with a third finger sleeve 15 through a pair of fixed shafts 2 and a connecting rod 3. The third finger sleeve 15 is provided with a slide groove, and the third finger sleeve 15 is also installed with a slide rod 4, one end of the slide rod 4 is installed in the slide groove, and the other end is installed on the thumb fixing device 14; the sensor finger sleeve is installed at the middle phalanx of a healthy hand; the wrist assembly includes a first cabin 12 and a cabin cover 11, and one end of the first cabin 12 and the cabin cover 11 are commonly connected to a wrist joint 10, and the wrist joint 10 is connected to the steering gear cabin 13 through a back of hand connection 9; the control assembly includes a cabin, a control panel, and an internal single-chip microcomputer.

[0014] Healthy hand: Each sensing finger sleeve is embedded with an MPU6050 gyroscope sensor. The sensing finger sleeve is connected to the glove and fixed on the middle phalanx. The back wire box is fixed on the back of the glove to collect the wires of each sensor. The gyroscope sensor on the sensing finger sleeve changes the balance signal as the finger bends, and transmits it to the single-chip microcomputer, thereby controlling the corresponding micro-servo 1 through the wire transmission signal. Each set of gyroscope wires is connected to the communication interface of the single-chip microcomputer to control each micro-servo 1. When the healthy hand moves, for example, the angle changes by 90°, the signal of the gyroscope is transmitted to the micro-servo 1 through the single-chip microcomputer, and the micro-servo 1 rotates 90 degrees. During the movement of the thumb, the third finger sleeve 15 is pulled back, and one end of the slide bar 4 rotates a certain angle on the thumb fixing device 14, and the other end of the slide bar 4 slides on the slide groove of the third finger sleeve 15; during the movement of the other four fingers, the first finger sleeve 5 is pulled back, and one end of the slide bar 4 rotates a certain angle on the servo cabin 13, and the other end of the slide bar 4 slides on the slide rail of the first finger sleeve 5. One end of 4 is coaxial with the non-gear end of 6, and the non-gear end of 6 and 4 move synchronously on the slide groove of 5. The first gear rod 6 and the second gear rod 7 reduce the angle through the reverse rotation of the gears, and the second gear rod 7 is connected with the second finger sleeve 8 to control the movement of the second finger sleeve 8. Through the above principles, the rehabilitation hand can be straightened from bending. Hardware Connection: MPU6050: Five MPU6050 sensors are connected to the SCL clock line and SDA data line of the STM32 through the I2C bus.

[0015] Micro Servo 1: Five micro servos 1 are connected to the PWM output pins of STM32 via PWM signals.

[0016] OLED Display: The OLED screen is connected to the STM32 through the I2C interface and is used to display sensor data and control status.

[0017] System workflow: Initialize the system: Configure the I2C bus of the STM32 to communicate with 5 MPU6050 sensors.

[0018] Configure the PWM output pin of STM32 to control the rotation of the servo.

[0019] Configure the I2C interface of STM32 to communicate with the OLED display.

[0020] Initialize the MPU6050 sensor to set parameters such as address and sampling frequency.

[0021] Get MPU6050 data: Read the accelerometer and gyroscope data from each MPU6050 sensor using I2C.

[0022] Data processing: Acceleration values ​​can be converted into angle values, or sensor fusion algorithms such as complementary filters can be used to obtain more accurate angles.

[0023] Control the servo: The corresponding servo is controlled to rotate according to the angle data of each MPU6050 sensor, and the angle of the servo is controlled using a PWM signal. Usually, the servo angle is proportional to the pulse width of the PWM.

[0024] Display information: The angle data of each MPU6050, the status information of the servo, etc. are displayed on the OLED screen for real-time monitoring.

[0025] Although the present invention has been described with reference to the preferred embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present invention. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

[0026] In the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0027] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0028] The term "comprise" or any other similar term is intended to cover a non-exclusive inclusion, such that a process, article, or apparatus / device that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, article, or apparatus / device.

[0029] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. An autonomous recovery hemiplegic hand exoskeleton, comprising a healthy hand component, a rehabilitation hand component and a control component, characterized in that: The healthy hand assembly includes a glove, a sensing finger sleeve and a hand back wire box, wherein the sensing finger sleeve is connected to the glove, the hand back wire box is fixed on the back of the glove, and a gyroscope sensor is installed in the sensing finger sleeve; The rehabilitation hand assembly includes a wrist assembly and a finger assembly, the finger assembly includes a thumb fixing assembly and a four-finger fixing assembly, the four-finger fixing assembly includes a steering gear cabin 13, a micro-steering gear 1 is installed in the steering gear cabin 13, a first finger sleeve 5 is hingedly connected to the rotating end of the micro-steering gear 1 through a pair of fixed shafts 2 and a connecting rod 3, a slide groove is provided on the first finger sleeve 5, a slide rod 4, a first gear rod 6 and a second gear rod 7 are also installed on the first finger sleeve 5, one end of the slide rod 4 and the first gear rod 6 are installed in the slide groove together, the other end of the slide rod 4 is installed on the steering gear cabin 13, the other end of the first gear rod 6 is meshed with the second gear rod 7, and the other end of the second gear rod 7 is installed with a second finger sleeve 8; The thumb fixing assembly includes a thumb fixing device 14, on which a micro-servo 1 is also installed. The rotating end of the micro-servo 1 is hinged with a third finger sleeve 15 through a pair of fixed shafts 2 and a connecting rod 3. A slide groove is provided on the third finger sleeve 15. A slide rod 4 is also installed on the third finger sleeve 15. One end of the slide rod 4 is installed in the slide groove, and the other end is installed on the thumb fixing device 14.

2. The autonomous recovery hemiplegic hand exoskeleton according to claim 1, characterized in that: The sensing finger sleeve is installed on the middle phalanx of a healthy hand.

3. The autonomous recovery hemiplegic hand exoskeleton according to claim 1, characterized in that: The wrist assembly includes a first cabin 12 and a cabin cover 11 , one end of the first cabin 12 and the cabin cover 11 are commonly connected to a wrist joint 10 , and the wrist joint 10 is connected to the first cabin 3 via a back-of-hand connection 9 .

4. The autonomous recovery hemiplegic hand exoskeleton according to claim 1, characterized in that: The control component includes a cabin, a control panel, and an internal single chip microcomputer.

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