Pneumatic soft bionic hand with tactile perception function and tactile perception method

Abstract

The invention belongs to the technical field of bionic tactile sensing, and particularly relates to a pneumatic soft bionic hand with a tactile sensing function and a tactile sensing method.The pneumatic soft bionic hand comprises a sensing part, a mounting part, a cleaning mechanism, a storage mechanism and a supply mechanism; the sensing part comprises a bionic patch and a sensing piece, and the sensing piece is fixedly mounted on the outer wall of the bionic patch; the mounting part comprises a containing frame and a mounting frame, the mounting frame is fixedly mounted on the inner wall of the containing frame, and the outer wall of the containing frame is attached to the outer wall of the bionic sticker; the cleaning mechanism comprises a driving part, a plurality of tensioning rollers and a cleaning belt, the tensioning rollers are rotationally installed on the inner wall of the containing frame, the cleaning belt is tensioned through the multiple tensioning rollers, and the upper end of the cleaning belt extends to the upper side of the containing frame; the signal acquisition end of the sensing piece is wiped through the cooperation of the structure, pollutants such as dust, grease and sweat are prevented from being attached to the surface of the sensing piece and hindering signal acquisition, and after cleaning, the sensing piece can more sensitively capture tiny tactile changes.

Description

Technical Field

[0001] The invention belongs to the technical field of bionic tactile perception, in particular to a pneumatic soft bionic hand with tactile perception function and a tactile perception method. Background Art

[0002] With the rapid development of science and technology, implantable brain-computer interface bionic hands, as a cutting-edge medical rehabilitation technology, have brought hope to patients with limb disabilities to regain movement and perception functions. This technology implants electrodes into specific areas of the brain to capture neural signals and convert them into commands to control the movements of the bionic hand. At the same time, the signal acquisition port of the sensor is used to collect external tactile information, which is then fed back to the brain to achieve tactile perception. This innovative technology has great potential in improving patients' ability to take care of themselves and their quality of life, and is gradually moving from laboratory research to clinical application.

[0003] Since the bionic hand is in frequent contact with the external environment during daily use, the signal collection port of its sensing part is easily contaminated with dust and grease. Dust particles will accumulate on the surface of the port, hindering the effective collection and transmission of signals, and affecting the integrity and accuracy of the signals. Grease substances are sticky. Once attached to the signal collection port, they will not only absorb more dust and form a dirt layer, but may also change the physical properties of the sensor at the port, such as affecting the sensitivity and response speed of the sensor, resulting in deviation, distortion or even loss of the collected tactile signal.

[0004] To this end, the present invention provides a pneumatic soft bionic hand with tactile perception function and a tactile perception method. Summary of the invention

[0005] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0006] The technical solution adopted by the present invention to solve the technical problem is: the pneumatic soft bionic hand with tactile sensing function described in the present invention comprises a sensing part, a mounting part, a cleaning mechanism, a storage mechanism and a supply mechanism;

[0007] The sensing part includes a bionic patch and a sensing element, and the sensing element is fixedly mounted on the outer wall of the bionic patch;

[0008] The mounting part comprises a receiving frame and a mounting frame, wherein the mounting frame is fixedly mounted on the inner wall of the receiving frame, and the outer wall of the receiving frame is in contact with the outer wall of the bionic patch;

[0009] The cleaning mechanism includes a driving member, a tensioning roller and a cleaning belt. The tensioning roller is rotatably mounted on the inner wall of the accommodating frame, and a plurality of tensioning rollers are provided. The cleaning belt is tensioned by the plurality of tensioning rollers. The upper end of the cleaning belt extends to the upper side of the accommodating frame. The driving member is fixedly mounted on the inner wall of the accommodating frame, and the output shaft is connected to the axial end of one of the tensioning rollers.

[0010] The storage mechanism includes a storage box and a discharge port, the storage box is fixedly mounted on the inner wall of the mounting frame, and the discharge port is opened on the upper end surface of the storage box;

[0011] The supply mechanism controls the curing liquid to contact the cleaning belt when the tension roller rotates.

[0012] Preferably, the supply mechanism comprises a control cylinder, a control plug, a flow guide tube and an absorption layer;

[0013] The absorption layer is fixedly mounted on the inner wall of the storage box, the control cylinder is fixedly mounted on the inner wall of the storage box, the control plug is slidably mounted on the inner wall of the control cylinder, the guide tube is fixedly mounted on the outer wall of the control cylinder, and the other end of the guide tube extends to the inside of the absorption layer.

[0014] Preferably, a bearing plate is fixedly mounted on the inner wall of the storage box, and the guide pipe runs through the bearing plate. A plurality of guide pipes are provided, and the plurality of guide pipes are evenly distributed along the outer wall of the bearing plate.

[0015] An elastic block is fixedly mounted on the inner wall of the storage box, a cavity is arranged inside the elastic block, and an outer wall of the elastic block is in contact with an outer wall of the absorption layer.

[0016] Preferably, a reciprocating screw is fixedly mounted on one axial end of the control plug, a transmission cylinder is rotatably mounted on one axial end of the control cylinder via a sealed bearing, the reciprocating screw extends to the inner wall of the transmission cylinder and is connected via internal and external threads;

[0017] A connecting pipe is fixedly mounted on the outer wall of the elastic block, and the other end of the connecting pipe is communicated with the inner cavity of the control cylinder.

[0018] Preferably, a transmission cover is rotatably mounted on the inner wall of the receiving frame, and the transmission cylinder extends to the inner cavity of the transmission cover and is slidably fitted with the inner wall of the transmission cover;

[0019] A transmission ratchet is fixedly mounted on the radial outer wall of the transmission cylinder, a transmission ratchet rod is elastically mounted on the inner wall of the transmission cover, and the other end of the transmission ratchet rod is fitted with the outer wall of the transmission ratchet.

[0020] Preferably, a mounting arm is rotatably mounted on the inner wall of the containing frame, a top pressure roller is fixedly mounted on the other end of the mounting arm, a partition plate is fixedly mounted on the inner wall of the mounting frame, a sewage outlet is fixedly mounted on the side wall of the mounting frame, a scraper plate is rotatably mounted on the inner wall of the mounting frame, and the scraper plate is located on the inner wall of the partition plate;

[0021] A driving wheel is fixedly mounted on the outer wall of the mounting arm, and a driven wheel meshing with the driving wheel is fixedly mounted on the side wall of the scraper plate.

[0022] Preferably, a guide frame is fixedly mounted on the inner wall of the accommodating frame, a bearing frame is slidably mounted on the upper end surface of the guide frame, a control tooth plate is fixedly mounted on the other end of the bearing frame, and the control tooth plate is meshed with the driven wheel.

[0023] Preferably, a driving disk is rotatably mounted on the inner wall of the accommodating frame, a control wheel is fixedly mounted on the axial end of the driving disk, a guide rail is fixedly mounted on the outer wall of the guide frame, a slider is slidably mounted on the inner wall of the guide rail, the bottom of the slider is fixedly connected to the outer wall of the supporting frame, a transmission tooth plate is fixedly mounted on the upper end surface of the slider, a locking block is elastically mounted on the side wall of the transmission tooth plate, and the transmission tooth plate is meshed with the control wheel.

[0024] A tactile perception method of a pneumatic soft bionic hand with tactile perception function, the method adopts the above-mentioned pneumatic soft bionic hand with tactile perception function, and comprises the following steps:

[0025] A1. Test and evaluate the patient's neurological function, physical condition and psychological state, and formulate an implantation plan based on the results of brain area positioning;

[0026] A2. In a sterile operating room, use precision instruments to accurately implant the electrode array into the target area of ​​the brain, connect and fix the conduction lines, and complete the hardware installation;

[0027] A3. Attach the bionic patch to the bionic hand, perform preliminary calibration on the implanted device, activate the bionic hand sensor, collect basic data and convert it into stimulation signals, and test the perception effect;

[0028] A4. Carry out targeted training and continuously optimize signal parameters based on patient feedback, so that patients can gradually adapt and achieve stable tactile perception and movement control;

[0029] A5. After use, make a fist to control the sensor to fit the cleaning belt, and clean the sensor by moving the cleaning belt.

[0030] The beneficial effects of the present invention are as follows:

[0031] 1. The present invention provides a driving member, a tensioning roller and a cleaning belt. The cleaning belt is made of non-woven fabric, and rubber is provided on the inner side. The side provided with rubber is in contact with the radial outer wall of the tensioning roller. The cleaning belt is controlled to rotate by rotating the tensioning roller. The upper end of the cleaning belt extends to the upper side of the accommodating frame. The finger is bent to make the sensing member and the cleaning belt in contact. At this time, the tensioning roller is rotated to control the movement of the cleaning belt, and the signal collection end of the sensing member is wiped to prevent dust, grease, sweat and other pollutants from adhering to the surface of the sensing member to hinder signal collection. After cleaning, the sensing member can more sensitively capture subtle tactile changes.

[0032] 2. The present invention arranges a pressure roller and a scraper plate, a driving wheel is fixedly mounted on the outer wall of the mounting arm, a driven wheel meshing with the driving wheel is fixedly mounted on the side wall of the scraper plate, and the driving wheel is rotated to drive the scraper plate and the mounting arm to rotate synchronously, so as to control the pressure roller and the scraper plate to approach and move away from the cleaning belt synchronously, and the pressure roller presses the cleaning belt from top to bottom, and in the process of the cleaning belt moving, the surface of the cleaning belt is scraped and cleaned, so as to squeeze out the curing liquid absorbed on the surface of the cleaning belt, keep the surface of the cleaning belt clean, so as to improve the cleaning effect of the sensing part. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention will be further described below in conjunction with the accompanying drawings.

[0034] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0035] Figure 2 It is a schematic diagram of the internal structure of the containing frame in the present invention;

[0036] Figure 3 It is a schematic diagram of the installation of the installation frame in the present invention;

[0037] Figure 4 It is a schematic diagram of the installation of the storage box in the present invention;

[0038] Figure 5 It is a schematic diagram of the installation of the absorption layer in the present invention;

[0039] Figure 6 It is a schematic diagram of the internal structure of the control cylinder in the present invention;

[0040] Figure 7 It is a schematic diagram of the installation of the transmission ratchet in the present invention;

[0041] Figure 8 It is a structural schematic diagram of the mounting arm in the present invention;

[0042] Fig. 9 It is a schematic diagram of the installation of the control wheel in the present invention;

[0043] Fig.10 It is a schematic diagram of the installation of the locking block in the present invention;

[0044] Fig.11 It is a flow chart of the tactile perception method in the present invention.

[0045] In the figure: 1. sensing member; 2. bionic patch; 3. containing frame; 4. cleaning belt; 5. driving member; 6. mounting frame; 7. sliding block; 8. tensioning roller; 9. driving disk; 10. guide frame; 11. transmission cylinder; 12. connecting pipe; 13. discharge port; 14. storage box; 15. sewage outlet; 16. partition plate; 17. transmission cover; 18. bearing plate; 19. elastic block; 20. guide tube; 21. absorption layer; 22. control cylinder; 23. control plug; 24. reciprocating screw; 25. transmission ratchet rod; 26. transmission ratchet; 27. mounting arm; 28. driving wheel; 29. ​​driven wheel; 30. scraper plate; 31. bearing frame; 32. locking block; 33. transmission tooth plate; 34. guide rail; 35. control wheel; 36. top pressure roller; 37. control tooth plate. DETAILED DESCRIPTION

[0046] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0047] like Figures 1 to 10 As shown, the pneumatic soft bionic hand with tactile sensing function described in the present invention comprises a sensing part, a mounting part, a cleaning mechanism, a storage mechanism and a supply mechanism;

[0048] The sensing part includes a bionic patch 2 and a sensing element 1. The bionic patch 2 is made of bionic silicone material and is used to adhere to the palm of a bionic flexible clamp (which is a prior art and will not be described in detail here).

[0049] The sensing component 1 is fixedly mounted on the outer wall of the bionic patch 2. In this embodiment, the sensing component 1 is a tactile sensing element. When in use, a brain electrode array is first implanted in the somatosensory cortex of the brain (such as the S1 area). Through the intracortical microstimulation (ICMS) technology, the tactile signals (such as pressure, shape, and sliding) collected by the bionic hand sensor are converted into electrical pulses to directly stimulate brain neurons and simulate real touch.

[0050] The mounting portion includes a containing frame 3 and an installation frame 6. The installation frame 6 is fixedly mounted on the inner wall of the containing frame 3. The outer wall of the containing frame 3 fits with the outer wall of the bionic patch 2. The containing frame 3 provides an installation space for the installation frame 6. After assembly, the containing frame 3 is embedded in the interior of the bionic flexible clamp (not shown), and the containing frame 3 is located in the palm of the hand.

[0051] The cleaning mechanism includes a driving member 5, a tensioning roller 8 and a cleaning belt 4. The tensioning roller 8 is rotatably mounted on the inner wall of the accommodating frame 3, and a plurality of tensioning rollers are provided. Both axial ends of the tensioning roller 8 are connected to the inner wall of the accommodating frame 3 through bearings.

[0052] The cleaning belt 4 is tensioned by multiple tensioning rollers 8. The cleaning belt 4 is made of non-woven fabric and has rubber on the inside. The side with rubber is in contact with the radial outer wall of the tensioning roller 8. The rotation of the cleaning belt 4 is controlled by rotating the tensioning roller 8.

[0053] The upper end of the cleaning belt 4 extends to the upper side of the accommodating frame 3. Bend your fingers and fit the sensing element 1 against the cleaning belt 4. At this time, rotate the tensioning roller 8 to control the movement of the cleaning belt 4 and wipe the signal collection end of the sensing element 1 to prevent dust, grease, sweat and other pollutants from adhering to the surface of the sensing element 1 and hindering signal collection. After cleaning, the sensing element 1 can capture subtle tactile changes more sensitively.

[0054] The driving member 5 is fixedly mounted on the inner wall of the containing frame 3 , and the output shaft is connected to the axial end of one of the tensioning rollers 8 . The driving member 5 is a common micro motor used to control the tensioning roller 8 as a power source for the movement of the cleaning belt 4 .

[0055] The storage mechanism includes a storage box 14 and a discharge port 13. The storage box 14 is fixedly mounted on the inner wall of the mounting frame 6. The inner cavity of the storage box 14 is used to store the curing liquid. The cleaning belt 4 absorbs the curing liquid and then wipes the sensor 1 to improve the cleaning efficiency.

[0056] The discharge port 13 is opened at the upper end surface of the storage box 14 . The discharge port 13 is inclined, and the upper end surface of the storage box 14 is in contact with the bottom of the cleaning belt 4 . The curing liquid discharged from the discharge port 13 is absorbed by the non-woven fabric layer of the cleaning belt 4 .

[0057] The supply mechanism controls the curing liquid to contact the cleaning belt 4 when the tension roller 8 rotates, so that the cleaning belt 4 absorbs the curing liquid.

[0058] The supply mechanism includes a control cylinder 22, a control plug 23, a guide tube 20 and an absorption layer 21. The absorption layer 21 is fixedly mounted on the inner wall of the storage box 14. The absorption layer 21 is made of sponge material and has the function of absorbing and storing the curing liquid.

[0059] The control cylinder 22 is fixedly mounted on the inner wall of the storage box 14 . A through hole communicating with the inner cavity of the storage box 14 is opened on the side wall of the control cylinder 22 . A one-way valve is arranged in the through hole to control the one-way conduction of the curing liquid inside the storage box 14 to the inner cavity of the control cylinder 22 .

[0060] The control plug 23 is slidably installed on the inner wall of the control cylinder 22, and the radial outer wall of the control plug 23 is sealed with the inner wall of the control cylinder 22. The guide tube 20 is fixedly installed on the outer wall of the control cylinder 22. A plurality of through holes are evenly opened on the outer wall of the guide tube 20, and a one-way valve is arranged on the inner wall of the guide tube 20 to facilitate the one-way flow of the curing liquid in the inner cavity of the control cylinder 22 to the guide tube 20.

[0061] The other end of the guide tube 20 extends to the interior of the absorption layer 21. The curing liquid inside the storage box 14 is controlled to enter the control cylinder 22 by the reciprocating sliding control plug 23, and then discharged into the inner cavity of the guide tube 20 by the control cylinder 22. The curing liquid inside the guide tube 20 is discharged to the absorption layer 21 to achieve the wetting of the absorption layer 21. During the movement of the cleaning belt 4, the absorption layer 21 is squeezed to achieve the contact between the cleaning belt 4 and the curing liquid, so that the cleaning belt 4 can absorb it.

[0062] As a preferred embodiment of the present invention, a carrying plate 18 is fixedly mounted on the inner wall of the storage box 14, wherein the absorption layer 21 is arranged on the upper side of the carrying plate 18, and the inner cavity of the storage box 14 under the carrying plate 18 is used to store the curing liquid.

[0063] The guide tube 20 passes through the carrier plate 18 , and the curing liquid can only contact the absorption layer 21 through the guide tube 20 . A plurality of guide tubes 20 are provided, and the plurality of guide tubes 20 are evenly distributed along the outer wall of the carrier plate 18 , so as to absorb the curing liquid at different positions of the absorption layer 21 .

[0064] An elastic block 19 is fixedly installed on the inner wall of the storage box 14. A cavity is provided inside the elastic block 19, and the outer wall of the elastic block 19 is in contact with the outer wall of the absorption layer 21. After the absorption layer 21 absorbs the curing liquid, gas is filled into the inner cavity of the elastic block 19 to control the expansion of the elastic block 19, thereby squeezing the absorption layer 21 to facilitate the discharge of the curing liquid in the absorption layer 21.

[0065] In order to facilitate the reciprocating sliding of the control plug 23 , a reciprocating screw 24 is fixedly mounted on one axial end of the control plug 23 , and the reciprocating screw 24 drives the control plug 23 to reciprocate synchronously through the reciprocating sliding.

[0066] The transmission cylinder 11 is rotatably mounted on one axial end of the control cylinder 22 through a sealed bearing. The reciprocating screw 24 extends to the inner wall of the transmission cylinder 11 and is connected through internal and external threads. The transmission cylinder 11 is rotated along the axis of the transmission cylinder 11 to drive the reciprocating screw 24 to move back and forth along the axis, thereby driving the control plug 23 to move back and forth, so as to control the flow of the curing liquid.

[0067] A connecting tube 12 is fixedly installed on the outer wall of the elastic block 19, and the other end of the connecting tube 12 is connected to the inner cavity of the control cylinder 22. When sliding in the direction of the control plug 23, the gas is squeezed into the inner cavity of the elastic block 19, so that when the curing liquid is discharged into the absorption layer 21, the elastic block 19 contracts. When the curing liquid stops being discharged from the inner cavity of the guide tube 20 into the inner cavity of the absorption layer 21, the elastic block 19 expands to squeeze the absorption layer 21.

[0068] As a preferred embodiment of the present invention, a transmission cover 17 is rotatably mounted on the inner wall of the accommodating frame 3, the transmission cylinder 11 extends to the inner cavity of the transmission cover 17 and slides in contact with the inner wall of the transmission cover 17, and the axis of the transmission cover 17 coincides with the axis of the transmission cylinder 11.

[0069] A transmission ratchet 26 is fixedly mounted on the radial outer wall of the transmission cylinder 11, and a transmission ratchet rod 25 is elastically mounted on the inner wall of the transmission cover 17. The other end of the transmission ratchet rod 25 is in contact with the outer wall of the transmission ratchet 26. Through the cooperation of the transmission ratchet rod 25 and the transmission ratchet 26, one-way transmission between the transmission cover 17 and the transmission cylinder 11 is achieved. The output shaft of the driving member 5 is connected to the transmission cover 17 through a belt. When the driving member 5 controls the cleaning belt 4 to rotate forward, the transmission cover 17 controls the rotation of the transmission cylinder 11 through the cooperation of the transmission ratchet rod 25 and the transmission ratchet 26. At this time, the control plug 23 slides back and forth to achieve the supply of the curing liquid.

[0070] When the output shaft of the driving member 5 rotates in the reverse direction, the transmission ratchet rod 25 and the transmission ratchet wheel 26 slip, at which time the transmission cylinder 11 remains stopped and the curing liquid stops being supplied.

[0071] A mounting arm 27 is rotatably mounted on the inner wall of the accommodating frame 3 , and a pressing roller 36 is fixedly mounted on the other end of the mounting arm 27 . The pressing roller 36 is located on the upper side of the cleaning belt 4 . The rotating mounting arm 27 drives the pressing roller 36 to rotate.

[0072] A scraper plate 30 is rotatably mounted on the inner wall of the mounting frame 6. The scraper plate 30 is located on the inner wall of the partition plate 16. The scraper plate 30 is rotated to press the cleaning belt 4 from bottom to top, and the cleaning belt 4 is pressed from top to bottom by the pressing roller 36. During the movement of the cleaning belt 4, the surface of the cleaning belt 4 is scraped and cleaned to facilitate squeezing out the curing liquid absorbed by the edge of the cleaning belt 4.

[0073] A partition plate 16 is fixedly mounted on the inner wall of the mounting frame 6, and a drain port 15 is fixedly mounted on the side wall of the mounting frame 6. The curing liquid squeezed out by the cleaning belt 4 falls inside the partition plate 16 and is discharged from the drain port 15. A conduit communicating with the outside is provided at the drain port 15.

[0074] A driving wheel 28 is fixedly mounted on the outer wall of the mounting arm 27, and a driven wheel 29 meshing with the driving wheel 28 is fixedly mounted on the side wall of the scraper plate 30. Rotating the driving wheel 28 drives the scraper plate 30 and the mounting arm 27 to rotate synchronously, so as to control the top pressure roller 36 and the scraper plate 30 to synchronously approach and move away from the cleaning belt 4.

[0075] The inner wall of the receiving frame 3 is fixedly mounted with a guide frame 10 , the upper end surface of the guide frame 10 is slidably mounted with a support frame 31 , and the bottom of the support frame 31 is slidably fitted with the outer wall of the guide frame 10 .

[0076] A control tooth plate 37 is fixedly mounted on the other end of the carrier frame 31 . The control tooth plate 37 is meshed with the driven wheel 29 . The driven wheel 29 is driven to rotate by sliding the control tooth plate 37 , thereby driving the driven wheel 29 and the driving wheel 28 to rotate.

[0077] A driving disc 9 is rotatably mounted on the inner wall of the accommodating frame 3 , a control wheel 35 is fixedly mounted on the axial end of the driving disc 9 , and the driving disc 9 is connected to the output shaft of the driving member 5 via a belt, so that the control wheel 35 is driven to rotate by the driving member 5 .

[0078] A guide rail 34 is fixedly mounted on the outer wall of the guide frame 10 , and a slider 7 is slidably mounted on the inner wall of the guide rail 34 , wherein the bottom of the slider 7 is fixedly connected to the outer wall of the carrier frame 31 , and the inner wall of the guide rail 34 is slidably fitted to the outer wall of the slider 7 .

[0079] A transmission tooth plate 33 is fixedly mounted on the upper end surface of the slider 7, and a locking block 32 is elastically mounted on the side wall of the transmission tooth plate 33. The transmission tooth plate 33 is meshed with the control wheel 35. When the control wheel 35 rotates, the transmission tooth plate 33 is driven to move. The transmission tooth plate 33 drives the carrier frame 31 and the control tooth plate 37 to move through the slider 7, so as to control the top pressure roller 36 and the scraper plate 30 to synchronously approach and move away from the cleaning belt 4.

[0080] When the output shaft of the driving member 5 rotates in the forward direction, the control wheel 35 rotates, driving the transmission gear plate 33 to move. The transmission gear plate 33 drives the carrier frame 31 and the control gear plate 37 to move through the slider 7, controlling the top pressure roller 36 and the scraper plate 30 to move away from the cleaning belt 4 synchronously. When the transmission gear plate 33 moves to separate from the control wheel 35, the control wheel 35 reciprocates the locking block 32. At this time, the top pressure roller 36 and the scraper plate 30 remain away from the cleaning belt 4.

[0081] When the output shaft of the driving member 5 rotates in the forward direction, the control wheel 35 rotates, driving the transmission gear plate 33 to move. The transmission gear plate 33 drives the carrier frame 31 and the control gear plate 37 to move through the slider 7, and controls the pressing roller 36 and the scraping plate 30 to press the cleaning belt 4 synchronously. When the transmission gear plate 33 moves to separate from the control wheel 35, the control wheel 35 reciprocates the locking block 32 on the other side. At this time, the pressing roller 36 and the scraping plate 30 maintain the state of pressing the cleaning belt 4, thereby achieving scraping and cleaning of the cleaning belt 4.

[0082] like Fig.11 As shown, a tactile perception method of a pneumatic soft bionic hand with tactile perception function, the method adopts the above-mentioned pneumatic soft bionic hand with tactile perception function, and comprises the following steps:

[0083] A1. Test and evaluate the patient's neurological function, physical condition and psychological state, and formulate an implantation plan based on the results of brain area positioning;

[0084] A2. In a sterile operating room, use precision instruments to accurately implant the electrode array into the target area of ​​the brain, connect and fix the conduction lines, and complete the hardware installation;

[0085] A3. Paste the bionic patch 2 on the bionic hand, perform preliminary calibration on the implanted device, activate the bionic hand sensor, collect basic data and convert it into stimulation signals, and test the perception effect;

[0086] A4. Carry out targeted training and continuously optimize signal parameters based on patient feedback, so that patients can gradually adapt and achieve stable tactile perception and movement control;

[0087] A5. After use, the sensing element 1 is controlled to fit the cleaning belt 4 by making a fist, and the sensing element 1 is cleaned by moving the cleaning belt 4.

[0088] The above-mentioned front, back, left, right, top and bottom are all based on the figures in the specification. Figure 1 As a benchmark, according to the person's observation perspective, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0089] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present invention.

[0090] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A pneumatic soft bionic hand with tactile perception function, characterized in that: It includes a sensing part, a mounting part, a cleaning mechanism, a storage mechanism and a supply mechanism; The sensing portion comprises a bionic patch (2) and a sensing element (1), wherein the sensing element (1) is fixedly mounted on the outer wall of the bionic patch (2); The mounting portion comprises a containing frame (3) and a mounting frame (6); the mounting frame (6) is fixedly mounted on the inner wall of the containing frame (3); and the outer wall of the containing frame (3) is in contact with the outer wall of the bionic patch (2); The cleaning mechanism comprises a driving member (5), a tensioning roller (8) and a cleaning belt (4); the tensioning roller (8) is rotatably mounted on the inner wall of the accommodating frame (3), and a plurality of tensioning rollers (8) are provided, and the cleaning belt (4) is tensioned by the plurality of tensioning rollers (8); the upper end of the cleaning belt (4) extends to the upper side of the accommodating frame (3); the driving member (5) is fixedly mounted on the inner wall of the accommodating frame (3), and the output shaft is connected to the axial end of one of the tensioning rollers (8); The storage mechanism comprises a storage box (14) and a discharge port (13); the storage box (14) is fixedly mounted on the inner wall of the mounting frame (6); and the discharge port (13) is opened on the upper end surface of the storage box (14); The supply mechanism controls the curing liquid to contact the cleaning belt (4) when the tensioning roller (8) rotates.

2. The pneumatic soft bionic hand with tactile perception function according to claim 1, characterized in that: The supply mechanism comprises a control cylinder (22), a control plug (23), a flow guide tube (20) and an absorption layer (21); The absorption layer (21) is fixedly mounted on the inner wall of the storage box (14), the control cylinder (22) is fixedly mounted on the inner wall of the storage box (14), the control plug (23) is slidably mounted on the inner wall of the control cylinder (22), the flow guide tube (20) is fixedly mounted on the outer wall of the control cylinder (22), and the other end of the flow guide tube (20) extends to the interior of the absorption layer (21).

3. The pneumatic soft bionic hand with tactile perception function according to claim 2, characterized in that: A bearing plate (18) is fixedly mounted on the inner wall of the storage box (14), the guide pipe (20) penetrates the bearing plate (18), a plurality of the guide pipes (20) are provided, and the plurality of the guide pipes (20) are evenly distributed along the outer wall of the bearing plate (18); An elastic block (19) is fixedly mounted on the inner wall of the storage box (14), a cavity is provided inside the elastic block (19), and the outer wall of the elastic block (19) is in contact with the outer wall of the absorption layer (21).

4. The pneumatic soft bionic hand with tactile perception function according to claim 3, characterized in that: A reciprocating screw (24) is fixedly mounted on one axial end of the control plug (23); a transmission cylinder (11) is rotatably mounted on one axial end of the control cylinder (22) via a sealed bearing; the reciprocating screw (24) extends to the inner wall of the transmission cylinder (11) and is connected via internal and external threads; A connecting tube (12) is fixedly mounted on the outer wall of the elastic block (19), and the other end of the connecting tube (12) is communicated with the inner cavity of the control cylinder (22).

5. The pneumatic soft bionic hand with tactile perception function according to claim 4, characterized in that: A transmission cover (17) is rotatably mounted on the inner wall of the receiving frame (3); the transmission cylinder (11) extends to the inner cavity of the transmission cover (17) and is slidably fitted with the inner wall of the transmission cover (17); A transmission ratchet (26) is fixedly mounted on the radial outer wall of the transmission cylinder (11), a transmission ratchet rod (25) is elastically mounted on the inner wall of the transmission cover (17), and the other end of the transmission ratchet rod (25) is in contact with the outer wall of the transmission ratchet (26).

6. The pneumatic soft bionic hand with tactile perception function according to claim 5, characterized in that: A mounting arm (27) is rotatably mounted on the inner wall of the containing frame (3), a top pressure roller (36) is fixedly mounted on the other end of the mounting arm (27), a partition plate (16) is fixedly mounted on the inner wall of the mounting frame (6), a sewage outlet (15) is fixedly mounted on the side wall of the mounting frame (6), a scraping plate (30) is rotatably mounted on the inner wall of the mounting frame (6), and the scraping plate (30) is located on the inner wall of the partition plate (16); A driving wheel (28) is fixedly mounted on the outer wall of the mounting arm (27), and a driven wheel (29) meshing with the driving wheel (28) is fixedly mounted on the side wall of the scraper plate (30).

7. The pneumatic soft bionic hand with tactile perception function according to claim 6, characterized in that: A guide frame (10) is fixedly mounted on the inner wall of the containing frame (3); a carrier frame (31) is slidably mounted on the upper end surface of the guide frame (10); a control tooth plate (37) is fixedly mounted on the other end of the carrier frame (31); and the control tooth plate (37) is meshed with a driven wheel (29).

8. The pneumatic soft bionic hand with tactile perception function according to claim 7, characterized in that: A driving disk (9) is rotatably mounted on the inner wall of the accommodating frame (3), a control wheel (35) is fixedly mounted on the axial end of the driving disk (9), a guide rail (34) is fixedly mounted on the outer wall of the guide frame (10), a slider (7) is slidably mounted on the inner wall of the guide rail (34), the bottom of the slider (7) is fixedly connected to the outer wall of the carrier frame (31), a transmission tooth plate (33) is fixedly mounted on the upper end surface of the slider (7), a locking block (32) is elastically mounted on the side wall of the transmission tooth plate (33), and the transmission tooth plate (33) is meshed with the control wheel (35).

9. A tactile perception method of a pneumatic soft bionic hand with tactile perception function, the method adopts the pneumatic soft bionic hand with tactile perception function of claim 8, characterized in that: The following steps are involved: A1. Test and evaluate the patient's neurological function, physical condition and psychological state, and formulate an implantation plan based on the results of brain area positioning; A2. In a sterile operating room, use precision instruments to accurately implant the electrode array into the target area of ​​the brain, connect and fix the conduction lines, and complete the hardware installation; A3. Paste the bionic patch (2) on the bionic hand, perform preliminary calibration on the implanted device, activate the bionic hand sensor, collect basic data and convert it into stimulation signals, and test the perception effect; A4. Carry out targeted training and continuously optimize signal parameters based on patient feedback, so that patients can gradually adapt and achieve stable tactile perception and movement control; A5. After use, the sensing element (1) is controlled to fit the cleaning belt (4) by making a fist, and the sensing element (1) is cleaned by moving the cleaning belt (4).

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