Flexible rehabilitation exoskeleton hand based on bidirectional antagonism air bag driving

Abstract

The invention relates to a flexible rehabilitation exoskeleton hand based on bidirectional antagonism air bag driving, which comprises an intra-palm driving device (1), a palm back driving device (2), a flexible glove (3) and a connecting assembly, and the intra-palm driving device (1) and the palm back driving device (2) are fixed in the palm and on the palm back of the flexible glove (3) through the connecting assembly. The stretching driver and the buckling driver are pneumatic drivers conforming to the structure and the length of a finger joint; and the flexible glove (3) is used for connecting the driving device with the hand of a human body and fixing the driving device. The hand muscle strength training method based on the exoskeleton is provided for the first time, hand flexion and extension bidirectional active driving training is achieved, the diversity and individuation of rehabilitation training are improved, multi-dimensional recovery and reconstruction of hand functions of a stroke patient can be effectively assisted, and the rehabilitation training efficiency is improved. Powerful technical support and rehabilitation guarantee are provided for people to return to normal life and work again.

Description

Technical Field

[0001] The invention relates to an exoskeleton robot, in particular to a flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag drive. Background Art

[0002] In recent years, the application of flexible robot technology in exoskeleton robots has been widely developed. The rehabilitation exoskeleton hand is a device used to assist patients with hand motor dysfunction in rehabilitation training. Pneumatic rehabilitation exoskeleton hands use pneumatic muscle actuators (PMA) as a power source. These actuators generate force through compressed air to drive the exoskeleton to move. Pneumatic muscle actuators have the advantages of light weight, easy control, and relatively low cost, which makes them very popular in the field of rehabilitation exoskeletons. However, in actual applications, pneumatic rehabilitation exoskeleton hands still have problems such as insufficient driving force, insufficient matching of structure with the human body, and movement trajectory that does not fit natural movement.

[0003] Therefore, technicians in this field are committed to providing a flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag drive to provide the wearer with finger flexion and extension assistance. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to provide a flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag drive that can be used for hand muscle strength training and bidirectional movement training for patients with hand dysfunction.

[0005] Technical solution: The flexible rehabilitation exoskeleton hand driven by a bidirectional antagonistic airbag of the present invention comprises: an inner palm drive device, a palm back drive device, a flexible glove and a connecting component, wherein the inner palm drive device and the palm back drive device are fixed to the inner palm and the palm back of the flexible glove through the connecting component;

[0006] The palm drive device is composed of five extension drivers for driving the thumb, index finger, middle finger, ring finger and little finger to extend, including: a thumb extension driver, an index finger extension driver, a middle finger extension driver, a ring finger extension driver and a little finger extension driver;

[0007] The palm back driving device is composed of five flexion drivers for driving the thumb, index finger, middle finger, ring finger and little finger to perform flexion movements, including: a thumb flexion driver, an index finger flexion driver, a middle finger flexion driver, a ring finger flexion driver and a little finger flexion driver;

[0008] The extension driver and flexion driver are pneumatic drivers that conform to the structure and length of the finger joints;

[0009] The flexible glove is used to connect the driving device and the human hand and to fix the driving device.

[0010] Furthermore, the flexible glove is a velvet glove; the connecting component is burr viscose; the hook surface of the burr viscose is connected to the back of the palm inner and palm back driving device, and can be directly connected to the velvet glove; thereby fixing the palm inner and palm back driving device in corresponding positions.

[0011] Furthermore, the palm drive device and the palm back drive device are fixed to corresponding positions of the flexible glove through a connecting component; the thumb extension drive is placed in the palm of the thumb; the index finger extension drive is placed in the palm of the index finger; the middle finger extension drive is placed in the palm of the middle finger; the ring finger extension drive is placed in the palm of the ring finger; the little finger extension drive is placed in the palm of the little finger; the thumb flexion drive is placed on the back of the thumb palm; the index finger flexion drive is placed on the back of the index finger palm; the middle finger flexion drive is placed on the back of the middle finger palm; the ring finger flexion drive is placed on the back of the ring finger palm; and the little finger flexion drive is placed on the back of the little finger palm.

[0012] Furthermore, the palm drive device and the palm back drive device are pneumatic drives that conform to the structure and length of the finger joints. The palm drive device is composed of five extension drives that drive the fingers to perform extension movements, and the extension drives are single sheet airbags; the palm back drive device is composed of five flexion drives that drive the fingers to perform flexion movements, and the flexion drives are trapezoidal energy storage airbags. The index finger flexion drive, the middle finger flexion drive, the ring finger flexion drive and the little finger flexion drive include a metacarpal unit airbag, a proximal phalanx unit airbag, a middle phalanx unit airbag and a distal phalanx unit airbag. The thumb flexion drive includes a metacarpal unit airbag, a proximal phalanx unit airbag and a distal phalanx unit airbag. The upper bottom edges and lower bottom edges of two adjacent airbags are connected, and the side surfaces on both sides of the airbags overlap at the joint and are connected by hot pressing. The junction of two adjacent airbags is formed at a certain bending angle by inflation to assist the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint to perform flexion movements.

[0013] Furthermore, the extension driver is composed of five individual sheet-like airbags, which are respectively placed in the palms of five fingers, the width of the sheet-like airbag is equal to the finger width, and the length is equal to the finger length; the sheet-like airbag is a deformable cylindrical structure, and when the air pressure inside the sheet-like airbag reaches a maximum value, the sheet-like airbag is in a cylindrical shape, and the sheet-like airbag of the extension driver reaches a maximum extension angle after inflation. According to measurements, the maximum extension angles of the metacarpophalangeal joint, proximal interphalangeal joint, distal interphalangeal joint, thumb metacarpophalangeal joint and thumb interphalangeal joint are all 180°, and the designed maximum extension angle of the extension driver is 180°.

[0014] Furthermore, the sheet-like airbag forms a sealed sheet-like air chamber by hot pressing two identical rectangular TPU materials around the edges, the width of the rectangular TPU material being equal to the width of the finger, and the length being equal to the length of the finger; the stretching driver part is provided with a first air source vent for connecting an air pipe to an air source.

[0015] Furthermore, the trapezoidal energy storage airbag is a deformable three-dimensional trapezoidal structure. When the air pressure inside the trapezoidal energy storage airbag reaches a maximum value, the trapezoidal energy storage airbag is a three-dimensional trapezoid. The lower bottom surface of the trapezoidal energy storage airbag contacts the back of the finger, the short side size of the lower bottom surface is equal to the finger width, the long side size is equal to the length of the knuckle, and the height of the side trapezoid of the trapezoidal energy storage airbag is 2 cm.

[0016] Furthermore, the trapezoidal energy storage airbag is cut into an unfolded pattern of six faces using TPU material, and the edges of the faces are hot pressed to form a sealed three-dimensional trapezoidal air chamber, and a circular vent hole is provided at the center of the side of the trapezoidal energy storage airbag to form a connected air chamber. The tail of the buckling actuator is provided with a second air source vent for connecting the air pipe to the air source.

[0017] Furthermore, the flexion actuator is composed of several trapezoidal energy storage airbags of equal size, and the connection between two adjacent airbags is formed into a certain bending angle by inflation, so as to assist the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint to perform flexion movement; according to the maximum flexion angles of the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint are measured to be 90°, 110° and 90° respectively, and the maximum flexion angles of the metacarpophalangeal joint and the thumb interphalangeal joint are both 90°. The maximum bending angles of the index finger flexion actuator, the middle finger flexion actuator, the ring finger flexion actuator and the little finger flexion actuator at the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint are designed to be 100°, 120° and 100° respectively, and the maximum bending angles of the thumb flexion actuator at the thumb metacarpophalangeal joint and the thumb interphalangeal joint are both 100°. The parameters of the bending angle of the flexion actuator are calculated as follows:

[0018] Assume that when the airbag is inflated, the angle between the extension line of the short side of the front airbag and the short side of the rear airbag in the two adjacent trapezoidal energy storage airbags is θ, then the single joint bending angle generated by the buckling actuator is θ, and the bottom angle of the short side of the front airbag is α1, and the bottom angle of the short side of the rear airbag is α2, then:

[0019] θ=α1+α2-180°;

[0020] Through calculation, it can be obtained that the two short side bottom angles of the metacarpal unit airbag are 140° and 140° respectively, the two short side bottom angles of the proximal phalanx unit airbag are 140° and 150° respectively, the two short side bottom angles of the middle phalanx unit airbag are 150° and 140° respectively, and the two short side bottom angles of the distal phalanx unit airbag are 140° and 140° respectively; the two short side bottom angles of the metacarpal unit airbag, the proximal phalanx unit airbag and the distal phalanx unit airbag in the thumb flexion actuator are equal, which are 140° and 140° respectively.

[0021] Furthermore, the sheet-like airbags and trapezoidal energy storage airbags change the internal air pressure of the airbags by connecting to an air source, causing the airbags to deform and generate pressure, simulating the antagonist muscles that control the flexion and extension of the fingers to assist the movement of the metacarpophalangeal joints, proximal interphalangeal joints and distal interphalangeal joints.

[0022] Compared with the prior art, the present invention has the following advantages:

[0023] 1. The flexible rehabilitation exoskeleton hand provided by the present invention has a palm drive device and a palm back drive device that provide bidirectional drive, imitating a pair of antagonist muscles that control the flexion and extension movement of the fingers, which can better simulate the natural movement of the human hand. The palm drive device and the palm back drive device are connected to two different air source channels to simulate the antagonist muscle control mechanism that assists the flexion and extension movement of the fingers. When the drive device on one side is ventilated, the drive device on the other side deflates at a corresponding speed, and the drive devices on both sides move in coordination to avoid secondary injury to the patient.

[0024] 2. The flexible rehabilitation exoskeleton hand provided by the present invention has a sheet-like airbag and a trapezoidal energy storage airbag in the pneumatic drive, which adopt a bionic design to simulate the hand muscle-assisted movement of the metacarpophalangeal joint MCP, the proximal interphalangeal joint PIP and the distal interphalangeal joint DIP, which matches the human fingers and can make the finger movement reach the extreme flexion and extension, so as to achieve the goal of muscle strength rehabilitation training of the active and passive muscle groups of finger flexion.

[0025] 3. The flexible rehabilitation exoskeleton hand provided by the present invention has a maximum extension angle of 0° achieved by the sheet-shaped airbag-assisted joint movement, and a maximum flexion angle of 100° achieved by the trapezoidal energy storage airbag-assisted joint movement, which can enable the finger movement to reach the extreme flexion and extension, so as to achieve the goal of muscle strength rehabilitation training of the active and passive muscle groups of finger extension. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structure of the flexible rehabilitation exoskeleton hand of the present invention;

[0027] Figure 2 is a schematic diagram of the palm-mounted driving device provided by the present invention;

[0028] Figure 3 is a schematic diagram of a palm back driving device provided by the present invention;

[0029] Figure 4 yes Figure 2 Schematic diagram of the extension drive;

[0030] Figure 5 yes Figure 3 Schematic diagram of the index finger flexion actuator;

[0031] Figure 6 yes Figure 3 Schematic diagram of thumb flexion actuator;

[0032] Figure 7 yes Figure 6 Schematic diagram of a single trapezoidal energy storage airbag;

[0033] Figure 8 is a schematic diagram of the bending angle parameters of the buckling actuator;

[0034] Fig. 9 is a schematic diagram of the expansion of the index finger flexion actuator;

[0035] Fig.10 yes Figure 5 Schematic diagram of the contraction of two adjacent trapezoidal energy storage airbags;

[0036] Fig.11 yes Figure 5 Schematic diagram of the expansion of two adjacent trapezoidal energy storage airbags;

[0037] Fig.12 yes Figure 2 Schematic diagram of the contraction of the sheet airbag;

[0038] Fig.13 yes Figure 2 Schematic diagram of the expansion of a sheet airbag. DETAILED DESCRIPTION

[0039] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. Component models, material names, connection structures, control methods, algorithms and other features not clearly described in this technical solution are all considered to be common technical features disclosed in the prior art.

[0040] The flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag drive of this embodiment is as follows: Figure 1 As shown, it includes: an in-palm driving device 1, a back-palm driving device 2, a flexible glove 3 and a connecting component;

[0041] like Figure 2 As shown, the palm drive device 1 includes: a thumb extension driver 100, an index finger extension driver 101, a middle finger extension driver 102, a ring finger extension driver 103 and a little finger extension driver 104; the palm drive device 1 is composed of five sheet-like air bags;

[0042] like Figure 3 As shown, the palm back driving device 2 includes: a thumb flexion driver 200, an index finger flexion driver 201, a middle finger flexion driver 202, a ring finger flexion driver 203 and a little finger flexion driver 204; the palm back driving device 2 is composed of a plurality of trapezoidal energy storage airbags 210;

[0043] The flexible glove 3 is used to connect the driving device to the upper limb of the human body and fix the positions of the palm driving device 1 and the palm back driving device 2;

[0044] The connection assembly is used to connect the flexible glove 3 with the palm 1 and the palm back driving device 3 .

[0045] In this embodiment, the flexible glove 3 is a velvet glove; the connecting component is burr adhesive; the hook surface of the burr adhesive is connected to the back of the palm inner 1 and the palm back driving device 2, and can be directly connected to the velvet glove; thereby fixing the palm inner 1 and the palm back driving device 2 in corresponding positions.

[0046] In this embodiment, the palm drive device 1 and the palm back drive device 2 are fixed to corresponding positions of the flexible glove 3 by burr adhesive; the thumb extension driver 100 is placed in the palm of the thumb; the index finger extension driver 101 is placed in the palm of the index finger; the middle finger extension driver 102 is placed in the palm of the middle finger; the ring finger extension driver 103 is placed in the palm of the ring finger; the little finger extension driver 104 is placed in the palm of the little finger; the thumb flexion driver 200 is placed on the back of the thumb; the index finger flexion driver 201 is placed on the back of the index finger; the middle finger flexion driver 202 is placed on the back of the middle finger; the ring finger flexion driver 203 is placed on the back of the ring finger; and the little finger flexion driver 204 is placed on the back of the little finger.

[0047] like Figure 4 , 56, in this embodiment, the palm drive device 1 and the palm back drive device 2 are pneumatic drives that conform to the structure and length of the finger joints. The palm drive device 1 is composed of five extension drives for driving the fingers to perform extension movements, and the extension drive is composed of a single sheet airbag 110; the palm back drive device 2 is composed of five flexion drives for driving the fingers to perform flexion movements, and the flexion drive is composed of several trapezoidal energy storage airbags 210, including an index finger flexion drive 201, a middle finger flexion drive 202, a ring finger flexion drive 203 and a little finger flexion drive 204. The thumb flexion actuator 200 includes a metacarpal unit airbag 211, a proximal phalangeal unit airbag 212, a middle phalangeal unit airbag 213 and a distal phalangeal unit airbag 214. The thumb flexion actuator 200 includes a metacarpal unit airbag 215, a proximal phalangeal unit airbag 216 and a distal phalangeal unit airbag 217. The upper bottom edges and the lower bottom edges of two adjacent airbags are connected. The side surfaces of the two sides of the airbags overlap at the joint and are connected by heat pressing. The joints of the two adjacent airbags are inflated to form a certain bending angle, so as to assist the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint to perform flexion movement.

[0048] like Figure 4 As shown, in this embodiment, the extension driver is composed of a single sheet airbag 110, which is respectively placed in the palms of five fingers. The width of the sheet airbag 110 is equal to the finger width, and the length is equal to the finger length. The sheet airbag 110 is a deformable cylindrical structure. When the air pressure inside the sheet airbag (110) reaches the maximum value, the sheet airbag 110 is cylindrical in shape. After the extension driver sheet airbag 110 is inflated, it reaches the maximum extension angle. According to the measurement, the maximum extension angles of the metacarpophalangeal joint, the proximal interphalangeal joint, the distal interphalangeal joint, the thumb metacarpophalangeal joint and the thumb interphalangeal joint are all 180°. The maximum extension angle of the extension driver is designed to be 180°.

[0049] In this embodiment, the palm drive device 1 is an extension drive for driving the fingers to perform extension movements. The sheet airbag 110 is formed by hot pressing two pieces of the same rectangular TPU material around to form a sealed sheet air chamber. The width of the rectangular TPU material is equal to the width of the finger, and the length is equal to the length of the finger. The extension drive part is provided with a first air source vent 1100 for connecting the trachea to the air source.

[0050] like Figure 7 As shown, the trapezoidal energy storage airbag 210 is a deformable three-dimensional trapezoidal structure. When the air pressure inside the trapezoidal energy storage airbag 210 reaches the maximum value, the trapezoidal energy storage airbag 210 is a three-dimensional trapezoid. The lower bottom surface of the trapezoidal energy storage airbag 210 contacts the back of the finger palm, the short side size of the lower bottom surface is equal to the finger width, the long side size is equal to the length of the finger joint, and the height of the side trapezoid of the trapezoidal energy storage airbag 210 is 2 cm.

[0051] In this embodiment, the trapezoidal energy storage airbag 210 is cut into a six-sided unfolded pattern using TPU material, and the edges of the faces are hot pressed to form a sealed three-dimensional trapezoidal air chamber. A circular vent hole 2101 is provided at the center of the side of the trapezoidal energy storage airbag 210 to form a connected air chamber. A second air source vent 2100 is provided at the tail of the buckling actuator for connecting the air pipe to the air source.

[0052] like Figure 8 , 9 As shown, in this embodiment, the flexion actuator is composed of a number of trapezoidal energy storage airbags 210 of equal size, and the joints of two adjacent airbags are inflated to form a certain bending angle, so as to assist the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint in flexion movement; according to the measurement, the maximum flexion angles of the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint are 90°, 110° and 90° respectively, and the maximum flexion angles of the thumb metacarpophalangeal joint and the thumb interphalangeal joint are both 90°. The maximum bending angles generated by the index finger flexion actuator 201, the middle finger flexion actuator 202, the ring finger flexion actuator 203 and the little finger flexion actuator 204 at the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint are designed to be 100°, 120° and 100° respectively, and the maximum bending angles generated by the thumb flexion actuator 100 at the thumb metacarpophalangeal joint and the thumb interphalangeal joint are both 100°. The parameters of the bending angle of the flexion actuator are calculated as follows:

[0053] Assume that when the airbag is inflated, the angle between the extension line of the short side of the front airbag and the short side of the rear airbag in the two adjacent trapezoidal energy storage airbags is θ, then the single joint bending angle generated by the buckling actuator is θ, and the bottom angle of the short side of the front airbag is α1, and the bottom angle of the short side of the rear airbag is α2, then:

[0054] θ=α1+α2-180°;

[0055] Through calculation, it can be obtained that the two short side bottom angles of the metacarpal unit airbag 211 are 140° and 140° respectively, the two short side bottom angles of the proximal phalanx unit airbag 212 are 140° and 150° respectively, the two short side bottom angles of the middle phalanx unit airbag 213 are 150° and 140° respectively, and the two short side bottom angles of the distal phalanx unit airbag 214 are 140° and 140° respectively; in the thumb flexion driver 200, the two short side bottom angles of the metacarpal unit airbag 215, the proximal phalanx unit airbag 216 and the distal phalanx unit airbag 217 are equal, which are 140° and 140° respectively.

[0056] like Fig.10As shown, in this embodiment, the sheet-like airbag 110 and the trapezoidal energy storage airbag 210 change the internal air pressure of the airbag by connecting to the air source, causing the airbag to deform and generate pressure, simulating the antagonist muscles that control the flexion and extension of the fingers to assist the movement of the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint.

[0057] Here’s how it works:

[0058] The flexible rehabilitation exoskeleton hand in the present invention adopts a two-way drive structure design. Among them, when the airbag in the palm is inflated, the air pressure generated acts on the finger joints, driving the fingers to stretch, and gradually restores the normal physiological function and range of motion of the hand extensor muscles through a soft and stable stretching force. The palm-back drive device innovatively uses a trapezoidal energy storage airbag structure, which forms a specific bending angle after inflation, which can effectively help patients achieve full flexion of their fingers. The coordinated operation of this two-way drive structure can provide patients with full-angle finger flexion and extension movements, covering the entire movement range from finger extension to full flexion, which greatly meets the strict requirements of hand rehabilitation training for joint mobility, and during the execution of the action, the fragility of the patient's hand muscles and joints is fully taken into account, and a flexible drive method is used to avoid additional damage to the patient.

[0059] Components not described in detail in this embodiment are all existing components that can be purchased through public channels.

[0060] The above description of the embodiments is to facilitate the understanding and use of the invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments, and improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the scope of protection of the present invention.

Claims

1. A flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag drive, characterized in that: include: An in-palm drive device (1), a back-palm drive device (2), a flexible glove (3) and a connecting component, wherein the in-palm drive device (1) and the back-palm drive device (2) are fixed to the in-palm and back-palm of the flexible glove (3) via the connecting component; The palm drive device (1) is composed of five extension drivers for driving the thumb, index finger, middle finger, ring finger and little finger to extend, including: a thumb extension driver (100), an index finger extension driver (101), a middle finger extension driver (102), a ring finger extension driver (103) and a little finger extension driver (104); The palm back driving device (2) is composed of five flexion drivers for driving the thumb, index finger, middle finger, ring finger and little finger to perform flexion movements, including: a thumb flexion driver (200), an index finger flexion driver (201), a middle finger flexion driver (202), a ring finger flexion driver (203) and a little finger flexion driver (204); The extension driver and flexion driver are pneumatic drivers that conform to the structure and length of the finger joints; The flexible glove (3) is used to connect the driving device to a human hand and to fix the driving device.

2. The flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag drive according to claim 1 is characterized in that: The extension driver is a single sheet-like air bag (110), the thumb extension driver (100) is placed in the palm of the thumb; the index finger extension driver (101) is placed in the palm of the index finger; the middle finger extension driver (102) is placed in the palm of the middle finger; the ring finger extension driver (103) is placed in the palm of the ring finger; the little finger extension driver (104) is placed in the palm of the little finger; the thumb flexion driver (200) is placed on the back of the thumb; the index finger flexion driver (201) is placed on the back of the index finger; the middle finger flexion driver (202) is located on the back of the middle finger; the ring finger flexion driver (203) is placed on the back of the ring finger; and the little finger flexion driver (204) is placed on the back of the little finger.

3. The flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag drive according to claim 2 is characterized in that: The width of the sheet-like airbag (110) when there is no air pressure is equal to the width of the finger, and the length is equal to the length of the finger; the sheet-like airbag (110) is a deformable cylindrical structure, and when the air pressure inside the sheet-like airbag (110) reaches a maximum value, the sheet-like airbag (110) is in a cylindrical shape; the sheet-like airbag (110) of the extension driver reaches a maximum extension angle after being inflated; according to measurements, the maximum extension angles of the metacarpophalangeal joint, the proximal interphalangeal joint, the distal interphalangeal joint, the thumb metacarpophalangeal joint and the thumb interphalangeal joint are all 180°, and the maximum extension angle of the extension driver is designed to be 180°.

4. The flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag drive according to claim 3 is characterized in that: The sheet-like airbag (110) is provided with a first air source vent (1100) for connecting to an air pipe to connect to an air source.

5. The flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag drive according to claim 1 is characterized in that: The flexion actuator is a trapezoidal energy storage airbag (210); the index finger flexion actuator (201), the middle finger flexion actuator (202), the ring finger flexion actuator (203) and the little finger flexion actuator (204) comprise a metacarpal unit airbag (211), a proximal phalanx unit airbag (212), a middle phalanx unit airbag (213) and a distal phalanx unit airbag (214); the thumb flexion actuator (200) comprises a metacarpal unit airbag (215), a proximal phalanx unit airbag (216) and a distal phalanx unit airbag (217); the upper bottom edges and the lower bottom edges of two adjacent airbags are connected; the side surfaces of the two sides of the airbags overlap at the joint and are connected by heat pressing; the joints of the two adjacent airbags are inflated to form a certain bending angle, thereby assisting the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint to perform flexion movements.

6. The flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag drive according to claim 5 is characterized in that: The trapezoidal energy storage airbag (210) is a deformable three-dimensional trapezoidal structure. When the trapezoidal energy storage airbag (210) is inflated, it can form a three-dimensional isosceles trapezoid. The lower bottom surface of the trapezoidal energy storage airbag (210) contacts the back of the palm of the finger. The short side size of the lower bottom surface is equal to the width of the finger, and the long side size is equal to the length of the finger joint. The height of the side trapezoid of the trapezoidal energy storage airbag (210) is 2 cm.

7. The flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag drive according to claim 6 is characterized in that: The trapezoidal energy storage airbag (210) is cut into an unfolded pattern of six faces using TPU material, and the edges of the faces connected are hot pressed to form a sealed three-dimensional trapezoidal air chamber. A circular vent hole (2101) is provided at the center of the side of the trapezoidal energy storage airbag (210) to form a connected air chamber. The tail of the buckling actuator is provided with a second air source vent (2100) for connecting an air pipe to an air source.

8. The flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag drive according to claim 7 is characterized in that: The equal-sized trapezoidal energy storage airbags (210) are inflated to form a certain bending angle at the joint of two adjacent airbags, thereby assisting the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint to perform flexion movement; according to the measurement, the maximum flexion angles of the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint are 90°, 110° and 90° respectively, and the maximum flexion angles of the thumb metacarpophalangeal joint and the thumb interphalangeal joint are both 90°. The maximum flexion angles generated by the index finger flexion driver (201), the middle finger flexion driver (202), the ring finger flexion driver (203) and the little finger flexion driver (204) at the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint are designed to be 100°, 120° and 100° respectively, and the maximum flexion angles generated by the thumb flexion driver (100) at the thumb metacarpophalangeal joint and the thumb interphalangeal joint are both 100°.

9. The flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag drive according to claim 8, characterized in that: The parameters of the bending angle of the buckling actuator are calculated as follows: Assume that when the airbag is inflated, the angle between the extension line of the short side of the front airbag and the short side of the rear airbag in the two adjacent trapezoidal energy storage airbags is θ, then the single joint bending angle generated by the buckling actuator is θ, and the bottom angle of the short side of the front airbag is α1, and the bottom angle of the short side of the rear airbag is α2, then: θ=α1+α2-180°; Through calculation, it can be obtained that the two short side bottom angles of the metacarpal unit airbag (211) are 140° and 140° respectively, the two short side bottom angles of the proximal phalanx unit airbag (212) are 140° and 150° respectively, the two short side bottom angles of the middle phalanx unit airbag (213) are 150° and 140° respectively, and the two short side bottom angles of the distal phalanx unit airbag (214) are 140° and 140° respectively; the two short side bottom angles of the metacarpal unit airbag (215), the proximal phalanx unit airbag (216) and the distal phalanx unit airbag (217) in the thumb flexion driver (200) are equal, which are 140° and 140° respectively.

10. The flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag drive according to claim 1, characterized in that: The flexible gloves (3) are velvet gloves; and the connecting components are burr viscose.

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