A flexible rehabilitation exoskeleton hand driven by bidirectional antagonistic airbags

Abstract

This invention relates to a flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag actuation, comprising: an in-palm actuation device (1), a dorsal palm actuation device (2), a flexible glove (3), and a connecting assembly. The in-palm actuation device (1) and the dorsal palm actuation device (2) are fixed to the in-palm and dorsal palm of the flexible glove (3) by the connecting assembly. The extension actuator and flexion actuator are pneumatic actuators conforming to the structure and length of the finger joints; the flexible glove (3) is used to connect the actuation device to the human hand and fix the actuation device. This invention proposes for the first time a method for hand muscle strength training based on an exoskeleton, and realizes bidirectional active actuation training of hand flexion and extension, improving the diversity and personalization of rehabilitation training. It can effectively help stroke patients recover and reconstruct hand function in multiple dimensions, providing strong technical support and rehabilitation guarantee for their return to normal life and work.

Description

Technical Field

[0001] This invention relates to exoskeleton robots, and more particularly to a flexible rehabilitation exoskeleton hand driven by bidirectional antagonistic airbags. Background Technology

[0002] In recent years, the application of flexible robotics technology in exoskeleton robots has been widely developed. Rehabilitation exoskeleton hands are devices used to assist patients with hand motor dysfunction in rehabilitation training. Pneumatic rehabilitation exoskeleton hands use pneumatic muscle actuators (PMAs) as the power source. These actuators generate force through compressed air to drive the exoskeleton's movement. Pneumatic muscle actuators have advantages such as light weight, ease of control, and relatively low cost, making them very popular in the field of rehabilitation exoskeletons. However, in practical applications, pneumatic rehabilitation exoskeleton hands still have problems such as insufficient driving force, inadequate structural fit with the human body, and movement trajectories that do not conform to natural movements.

[0003] Therefore, those skilled in the art are dedicated to providing flexible rehabilitation exoskeleton hands based on bidirectional antagonistic airbags to assist wearers in finger flexion and extension movements. Summary of the Invention

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

[0005] Technical solution: The flexible rehabilitation exoskeleton hand driven by bidirectional antagonistic airbags according to the present invention includes: an in-palm driving device, a dorsal palm driving device, a flexible glove and a connecting component, wherein the in-palm driving device and the dorsal palm driving device are fixed to the in-palm and dorsal palm of the flexible glove by the connecting component.

[0006] The palmar drive device consists of five extension actuators that drive the thumb, index finger, middle finger, ring finger and little finger to extend, including: thumb extension actuator, index finger extension actuator, middle finger extension actuator, ring finger extension actuator and little finger extension actuator.

[0007] The palmar dorsal drive device consists of five flexion actuators that drive the thumb, index finger, middle finger, ring finger, and little finger to perform flexion movements, including: thumb flexion actuator, index finger flexion actuator, middle finger flexion actuator, ring finger flexion actuator, and little finger flexion actuator.

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

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

[0010] Furthermore, the flexible glove is a fleece glove; the connecting component is a burr adhesive; the hook side of the burr adhesive is connected to the back of the palm and back drive device, and can be directly connected to the fleece glove; thereby fixing the palm and back drive device in the corresponding position.

[0011] Furthermore, the palmar drive device and the palmar dorsal drive device are fixed to corresponding positions on the flexible glove via connecting components; the thumb extension actuator is placed inside the thumb palm; the index finger extension actuator is placed inside the index finger palm; the middle finger extension actuator is placed inside the middle finger palm; the ring finger extension actuator is placed inside the ring finger palm; the little finger extension actuator is placed inside the little finger palm; the thumb flexion actuator is placed on the palmar dorsal side of the thumb; the index finger flexion actuator is placed on the palmar dorsal side of the index finger; the middle finger flexion actuator is placed on the palmar dorsal side of the middle finger; the ring finger flexion actuator is placed on the palmar dorsal side of the ring finger; and the little finger flexion actuator is placed on the palmar dorsal side of the little finger.

[0012] Furthermore, the palmar drive device and the dorsal drive device are pneumatic actuators conforming to the structure and length of the finger joints. The palmar drive device consists of five extension actuators that drive the fingers to extend, and each extension actuator is a single sheet-like air bladder. The dorsal drive device consists of five flexion actuators that drive the fingers to flex, and each flexion actuator is a trapezoidal energy storage air bladder. The index finger flexion actuator, middle finger flexion actuator, ring finger flexion actuator, and little finger flexion actuator include metacarpal unit air bladders, proximal phalanx unit air bladders, middle phalanx unit air bladders, and distal phalanx unit air bladders. The thumb flexion actuator includes metacarpal unit air bladders, proximal phalanx unit air bladders, and distal phalanx unit air bladders. The upper and lower bottom edges of two adjacent air bladders are connected, and the sides of the air bladders overlap at the joints and are connected by thermocompression. Inflation causes the junction of two adjacent air bladders to form a certain bending angle, assisting the metacarpophalangeal joint, proximal interphalangeal joint, and distal interphalangeal joint in flexion movements.

[0013] Furthermore, the extension actuator consists of five individual sheet-like air bladders, each placed within the palm of one of the five fingers. The width of each sheet-like air bladder is equal to the width of the finger, and its length is equal to the length of the finger. Each sheet-like air bladder is a deformable cylindrical structure. When the internal air pressure of the sheet-like air bladder reaches its maximum value, the sheet-like air bladder is cylindrical. After the sheet-like air bladder of the extension actuator is inflated, it reaches its maximum extension angle. Based on measurements showing that the maximum extension angle of the metacarpophalangeal joint, proximal interphalangeal joint, distal interphalangeal joint, thumb metacarpophalangeal joint, and thumb interphalangeal joint is 180°, the maximum extension angle of the extension actuator is designed to be 180°.

[0014] Furthermore, the sheet-like airbag is formed by hot-pressing two identical rectangular TPU materials to create a sealed sheet-like air chamber. The width of the rectangular TPU material is equal to the width of a finger, and the length is equal to the length of a finger. The extension actuator is provided with a first air source inlet for connecting an air pipe to the air source.

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

[0016] Furthermore, the trapezoidal energy storage airbag is made of TPU material cut into a six-sided unfolded shape, and the edges of each facet are hot-pressed to form a sealed three-dimensional trapezoidal air chamber. 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 an air pipe to the air source.

[0017] Furthermore, the flexion actuator consists of several trapezoidal energy storage bladders of equal size. Inflation creates a bending angle at the junction of two adjacent bladders, assisting the metacarpophalangeal joint, proximal interphalangeal joint, and distal interphalangeal joint in flexion movements. Based on measurements showing maximum flexion angles of 90°, 110°, and 90° for the metacarpophalangeal, proximal interphalangeal, and distal interphalangeal joints, and a maximum flexion angle of 90° for both the thumb metacarpophalangeal and thumb interphalangeal joints, the maximum bending angles generated at the metacarpophalangeal, proximal interphalangeal, and distal interphalangeal joints of the index, middle, ring, and little fingers are designed to be 100°, 120°, and 100°, respectively. The maximum bending angle generated at the thumb metacarpophalangeal and thumb interphalangeal joints of the thumb flexion actuator is 100°. The parameters for the bending angle of the flexion actuator are calculated as follows:

[0018] Let θ be the angle between the extended short side of the first airbag and the short side of the second airbag in the inflated state of the airbag. Then, let θ be the bending angle of the single joint generated by the buckling actuator. Let α1 be the base angle of the short side of the first airbag and α2 be the base angle of the short side of the second airbag. Then:

[0019] θ = α1 + α2 - 180°;

[0020] Calculations show that the two short-side base angles of the metacarpal unit air bladder are 140° and 140°, the two short-side base angles of the proximal phalanx unit air bladder are 140° and 150°, the two short-side base angles of the middle phalanx unit air bladder are 150° and 140°, and the two short-side base angles of the distal phalanx unit air bladder are 140° and 140°. In the thumb flexion actuator, the two short-side base angles of the metacarpal unit air bladder, proximal phalanx unit air bladder, and distal phalanx unit air bladder are equal, at 140° and 140° respectively.

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

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

[0023] 1. The flexible rehabilitation exoskeleton hand provided by this invention provides bidirectional drive through the palmar drive device and the palmar dorsal drive device, which mimic a pair of antagonistic muscles that control the flexion and extension movements of the fingers. This can better simulate the natural movement of the human hand. The palmar and palmar dorsal drive devices are connected to two different air source channels, which simulate the antagonistic muscle control mechanism that assists the flexion and extension movements of the fingers. When one drive device is ventilated, the other drive device is deflating at a corresponding speed. The two drive devices move in coordination, avoiding secondary injury to the patient.

[0024] 2. The flexible rehabilitation exoskeleton hand provided by this invention uses a biomimetic design for the sheet-like airbag and trapezoidal energy storage airbag in the pneumatic actuator. It simulates the hand muscle-assisted metacarpophalangeal joint (MCP), proximal interphalangeal joint (PIP), and distal interphalangeal joint (DIP) movements, which are matched with human fingers. This allows the fingers to reach the limit of flexion and extension, so as to achieve the goal of muscle strength rehabilitation training for 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° assisted by a sheet-like airbag and a maximum flexion angle of 100° assisted by a trapezoidal energy storage airbag, which can enable the fingers to reach the limit of flexion and extension, so as to achieve the goal of muscle strength rehabilitation training of the active and passive muscle groups of finger extension. Attached Figure Description

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

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

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

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

[0030] Figure 5 yes Figure 3 A 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 A schematic diagram of a single trapezoidal energy storage airbag;

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

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

[0035] Figure 10 yes Figure 5 A schematic diagram of the contraction of two adjacent trapezoidal energy storage airbags;

[0036] Figure 11 yes Figure 5 A schematic diagram of the expansion of two adjacent trapezoidal energy storage gasbags;

[0037] Figure 12 yes Figure 2 A schematic diagram of the contraction of a sheet-like air bladder;

[0038] Figure 13 yes Figure 2 A schematic diagram of the inflating of a sheet-like air bladder. Detailed Implementation

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

[0040] This embodiment features a flexible rehabilitation exoskeleton hand driven by bidirectional antagonistic airbags, such as... Figure 1 As shown, it includes: an in-palm drive unit 1, a back-palm drive unit 2, a flexible glove 3, and a connecting assembly;

[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 bladders.

[0042] like Figure 3 As shown, the palmar dorsal drive device 2 includes: a thumb flexion actuator 200, an index finger flexion actuator 201, a middle finger flexion actuator 202, a ring finger flexion actuator 203, and a little finger flexion actuator 204; the palmar dorsal drive device 2 is composed of several trapezoidal energy storage airbags 210.

[0043] The flexible glove 3 is used to connect the drive device to the human upper limb and fix the position of the palm drive device 1 and the back of the hand drive device 2.

[0044] The connecting assembly is used to connect the flexible glove 3 to the palm 1 and the palm back drive device 3.

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

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

[0047] like Figure 4 , 5As shown in Figure 6, in this embodiment, the palmar drive device 1 and the palmar dorsal drive device 2 are pneumatic actuators conforming to the structure and length of the finger joints. The palmar drive device 1 consists of five extension actuators that drive the fingers to extend, and each extension actuator consists of a single sheet-like airbag 110. The palmar dorsal drive device 2 consists of five flexion actuators that drive the fingers to flex, and each flexion actuator consists of several trapezoidal energy storage airbags 210. The index finger flexion actuator 201, middle finger flexion actuator 202, ring finger flexion actuator 203, and little finger flexion actuator 204 are also included. 4 includes 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 includes a metacarpal unit airbag 215, a proximal phalanx unit airbag 216, and a distal phalanx unit airbag 217. The upper and lower bottom edges of two adjacent airbags are connected. The sides of the airbags overlap at the joint and are connected by heat compression. By inflating, a certain bending angle is formed at the junction of two adjacent airbags, which assists the metacarpophalangeal joint, the proximal interphalangeal joint, and the distal interphalangeal joint in flexion movement.

[0048] like Figure 4 As shown, in this embodiment, the extension actuator consists of a single sheet-like airbag 110, which is placed in the palm of each of the five fingers. The width of the sheet-like airbag 110 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. When the internal air pressure of the sheet-like airbag (110) reaches its maximum value, the sheet-like airbag 110 is cylindrical. After the sheet-like airbag 110 of the extension actuator is inflated, it reaches its maximum extension angle. Based on the measurement that the maximum extension angle of the metacarpophalangeal joint, proximal interphalangeal joint, distal interphalangeal joint, thumb metacarpophalangeal joint, and thumb interphalangeal joint is 180°, the maximum extension angle of the extension actuator is designed to be 180°.

[0049] In this embodiment, the palm drive device 1 is an extension actuator that drives the fingers to extend. The sheet-like airbag 110 forms a sealed sheet-like air chamber by hot-pressing two identical rectangular TPU materials around its perimeter. 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 actuator is provided with a first air source vent 1100 for connecting an air pipe 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 internal air pressure of the trapezoidal energy storage airbag 210 reaches its maximum value, the trapezoidal energy storage airbag 210 is a three-dimensional trapezoid. The bottom surface of the trapezoidal energy storage airbag 210 contacts the back of the hand of the finger. The short side dimension of the bottom surface is equal to the width of the finger, and the long side dimension is equal to the length of the finger joint. The height of the trapezoidal side of the trapezoidal energy storage airbag 210 is 2cm.

[0051] In this embodiment, the trapezoidal energy storage airbag 210 is made of TPU material cut into a six-sided unfolded shape. The edges of each facet are hot-pressed to form a sealed three-dimensional trapezoidal air chamber. A circular vent 2101 is provided at the center of the side of the trapezoidal energy storage airbag 210, forming 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 the air source.

[0052] like Figure 8 , 9 As shown, in this embodiment, the flexion actuator consists of several trapezoidal energy storage bladders 210 of equal size. Inflation creates a certain bending angle at the junction of two adjacent bladders, assisting the metacarpophalangeal joint, proximal interphalangeal joint, and distal interphalangeal joint in flexion movements. Based on measurements showing maximum flexion angles of 90°, 110°, and 90° for the metacarpophalangeal joint, and 90° for the proximal interphalangeal joint, and 90° for the distal interphalangeal joint, and maximum flexion angles of 90° for the thumb metacarpophalangeal joint and distal interphalangeal joint, the maximum bending angles generated at these joints are designed to be 100°, 120°, and 100° for the index finger flexion actuator 201, middle finger flexion actuator 202, ring finger flexion actuator 203, and little finger flexion actuator 204, respectively. The maximum bending angle generated at the thumb metacarpophalangeal joint and distal interphalangeal joint by the thumb flexion actuator 100 is 100°. The parameters for the bending angles of the flexion actuators are calculated as follows:

[0053] Let θ be the angle between the extended short side of the first airbag and the short side of the second airbag in the inflated state of the airbag. Then, let θ be the bending angle of the single joint generated by the buckling actuator. Let α1 be the base angle of the short side of the first airbag and α2 be the base angle of the short side of the second airbag. Then:

[0054] θ = α1 + α2 - 180°;

[0055] Calculations show that the two short-side base angles of the metacarpal unit air bladder 211 are 140° and 140°, the two short-side base angles of the proximal phalanx unit air bladder 212 are 140° and 150°, the two short-side base angles of the middle phalanx unit air bladder 213 are 150° and 140°, and the two short-side base angles of the distal phalanx unit air bladder 214 are 140° and 140°. In the thumb flexion actuator 200, the two short-side base angles of the metacarpal unit air bladder 215, the proximal phalanx unit air bladder 216, and the distal phalanx unit air bladder 217 are equal, at 140° and 140° respectively.

[0056] like Figure 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 an air source, causing the airbag to deform and generate pressure, simulating the movement of the antagonistic muscles that control the flexion and extension of the fingers, assisting the movement of the metacarpophalangeal joint, proximal interphalangeal joint and distal interphalangeal joint.

[0057] The working principle is as follows:

[0058] The flexible rehabilitation exoskeleton hand of this invention employs a bidirectional drive structure design. When the palmar air bladder inflates, the resulting air pressure acts on the finger joints, extending the fingers. Through gentle and stable extension force, it gradually restores the normal physiological function and range of motion of the hand extensor muscles. The palmar dorsal drive device innovatively uses a trapezoidal energy-storing air bladder structure, which, after inflation, forms a specific bending angle, effectively helping patients achieve full finger flexion. This synergistic operation of the bidirectional drive structure provides patients with full-angle finger flexion and extension movements, covering the entire range of motion from finger extension to full flexion. This greatly satisfies the stringent requirements of hand rehabilitation training for joint mobility. Furthermore, during the execution of movements, the fragility of the patient's hand muscles and joints is fully considered, using a gentle drive method to avoid causing 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 provided to enable those skilled in the art to understand and use the invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any 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 invention should be within the protection scope of the present invention.

Claims

1. A flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag actuation, characterized in that, include: Palm drive device (1), palm back drive device (2), flexible glove (3) and connecting assembly, wherein the palm drive device (1) and palm back drive device (2) are fixed to the palm and palm back of the flexible glove (3) by the connecting assembly; The palm drive device (1) consists of five extension actuators that drive the thumb, index finger, middle finger, ring finger and little finger to extend, including: thumb extension actuator (100), index finger extension actuator (101), middle finger extension actuator (102), ring finger extension actuator (103) and little finger extension actuator (104). The palmar drive device (2) consists of five flexion actuators that drive the thumb, index finger, middle finger, ring finger and little finger to flex. The actuators include: thumb flexion actuator (200), index finger flexion actuator (201), middle finger flexion actuator (202), ring finger flexion actuator (203) and little finger flexion actuator (204). The extension actuator and flexion actuator are pneumatic actuators that conform to the structure and length of the finger joints; The flexible glove (3) is used to connect the drive device to the human hand and to fix the drive device. The flexion actuator is a trapezoidal energy storage airbag (210). The index finger flexion actuator (201), middle finger flexion actuator (202), ring finger flexion actuator (203), and little finger flexion actuator (204) include 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) includes a metacarpal unit airbag (215), a proximal phalanx unit airbag (216), and a distal phalanx unit airbag (217). The upper and lower bottom edges of two adjacent airbags are connected. The sides of the airbags overlap at the joint and are connected by thermocompression. Inflation causes a certain bending angle to be formed at the junction of two adjacent airbags, assisting the metacarpophalangeal joint, proximal interphalangeal joint, and distal interphalangeal joint in flexion movement. Trapezoidal energy storage airbags (210) of equal size are inflated to create a certain bending angle at the junction of two adjacent airbags, assisting the metacarpophalangeal joint, proximal interphalangeal joint, and distal interphalangeal joint in flexion movements. Based on measurements showing maximum flexion angles of 90°, 110°, and 90° at the metacarpophalangeal joint, and 90° at the proximal interphalangeal joint, and 90° at the distal interphalangeal joint, respectively, and maximum flexion angles of 90° at the thumb metacarpophalangeal joint and distal interphalangeal joint, the index finger flexion actuator (201), middle finger flexion actuator (202), ring finger flexion actuator (203), and little finger flexion actuator (204) are designed to produce maximum bending angles of 100°, 120°, and 100° at the metacarpophalangeal joint, proximal interphalangeal joint, and distal interphalangeal joint, respectively. The thumb flexion actuator (200) produces a maximum bending angle of 100° at both the thumb metacarpophalangeal joint and the thumb interphalangeal joint. The parameters for the bending angle of the buckling actuator are calculated as follows: Assume that, in the inflated state, the angle between the extension of the shorter side of the first trapezoidal energy storage bladder and the shorter side of the second trapezoidal energy storage bladder is . θ The bending angle of a single joint produced by the flexion actuator is... θ Let the base angle of the shorter side of the previous airbag be... α 1. The base angle of the shorter side of the second airbag is... α 2, then: θ=α 1+ α 2-180°； Calculations show that the two short-side base angles of the metacarpal unit air bladder (211) are 140° and 140°, the two short-side base angles of the proximal phalanx unit air bladder (212) are 140° and 150°, the two short-side base angles of the middle phalanx unit air bladder (213) are 150° and 140°, and the two short-side base angles of the distal phalanx unit air bladder (214) are 140° and 140°. In the thumb flexion actuator (200), the two short-side base angles of the metacarpal unit air bladder (215), the proximal phalanx unit air bladder (216), and the distal phalanx unit air bladder (217) are equal, at 140° and 140° respectively.

2. The flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag drive according to claim 1, characterized in that, The extension actuator is a single sheet-like airbag (110). The thumb extension actuator (100) is placed inside the palm of the thumb; the index finger extension actuator (101) is placed inside the palm of the index finger; the middle finger extension actuator (102) is placed inside the palm of the middle finger; the ring finger extension actuator (103) is placed inside the palm of the ring finger; the little finger extension actuator (104) is placed inside the palm of the little finger; the thumb flexion actuator (200) is placed on the back of the thumb; the index finger flexion actuator (201) is placed on the back of the index finger; the middle finger flexion actuator (202) is located on the back of the middle finger; the ring finger flexion actuator (203) is placed on the back of the ring finger; and the little finger flexion actuator (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, characterized in that, The width of the sheet-like airbag (110) when it is depressurized is equal to the width of the finger, and its length is equal to the length of the finger. The sheet-like airbag (110) is a deformable cylindrical structure. When the internal air pressure of the sheet-like airbag (110) reaches its maximum value, the sheet-like airbag (110) is cylindrical. The sheet-like airbag (110) of the extension actuator reaches its maximum extension angle after being inflated. According to the measurement, the maximum extension angle of the metacarpophalangeal joint, proximal interphalangeal joint, distal interphalangeal joint, thumb metacarpophalangeal joint and thumb interphalangeal joint is 180°. The maximum extension angle of the extension actuator is designed to be 180°.

4. The flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag actuation according to claim 3, characterized in that, The sheet-like airbag (110) is provided with a first air source inlet (1100) for connecting the air tube to the air source.

5. The flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag actuation according to claim 4, 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 bottom surface of the trapezoidal energy storage airbag (210) is in contact with the back of the hand of the finger. The short side dimension of the bottom surface is equal to the width of the finger, and the long side dimension is equal to the length of the finger joint. The height of the trapezoidal side of the trapezoidal energy storage airbag (210) is 2cm.

6. The flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag actuation according to claim 5, characterized in that, The trapezoidal energy storage airbag (210) is cut from TPU material into a six-sided unfolded shape. The edges of each face are connected by hot pressing 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 the air pipe to the air source.

7. The flexible rehabilitation exoskeleton hand based on bidirectional antagonistic airbag actuation according to claim 1, characterized in that, The flexible glove (3) is a fleece glove; the connecting component is a burr adhesive.

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