Finger unit and hand rehabilitation exoskeleton

Abstract

The application discloses a finger unit and a hand rehabilitation exoskeleton, and belongs to the field of medical instruments. Each finger unit of the hand rehabilitation exoskeleton comprises a bending air pump and a finger assembly connected with the bending air pump. The finger assembly comprises a plurality of bellows and a plurality of air chamber joints. Two adjacent bellows are communicated through an air chamber joint. The air chamber joint at the end of the finger assembly is communicated with the bending air pump. The bending air pump inflates the plurality of bellows through the air chamber joint, so that the plurality of bellows are expanded. When gas enters the bellows, the upper and lower ends of the bellows will generate a strain difference, and then generate bending, so as to assist the bending movement of the human finger. Through the above design, the flexible bellows and the rigid air chamber joint are matched to construct the finger unit, so that safe and effective rehabilitation training can be realized on the hand of a patient.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and in particular to finger units and hand rehabilitation exoskeletons including finger units. Background Technology

[0002] The World Health Organization estimates that millions of people suffer strokes each year. Strokes can cause hand dysfunction, which plays a vital role in daily life. Hand dysfunction can severely impact a patient's daily routine. Hand rehabilitation exercises can alleviate finger stiffness and increase finger joint flexibility. 、 It promotes blood circulation and restores finger muscle activity, which can effectively promote the recovery of hand function in patients.

[0003] Most existing hand rehabilitation exoskeleton devices are driven by motors. After a long period of development, motor drive has gradually matured, but there are still many problems and shortcomings. The most important one is that because the motor speed is relatively high, it often cannot be directly connected to the driven component. Instead, it needs to go through a complex and bulky reducer and other transmission devices to convert motion parameters. This greatly increases the complexity and weight of the structure, which goes against the original intention of lightweight and portable exoskeleton devices.

[0004] Furthermore, traditional rigid exoskeletons are composed of links, gears, and shafts, resulting in a large overall mass and relatively high Young's modulus of rigid materials. This inevitably leads to significant rigid impacts, compromising the safety of human-computer interaction. Additionally, the highly mechanized movement of rigid exoskeletons is unsuitable for revealing the biomimetic principles of the human hand, thus limiting the further development of exoskeleton devices. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, one of the objectives of this invention is to provide a hand rehabilitation exoskeleton with high human-computer interaction safety and low weight.

[0006] In order to overcome the shortcomings of the prior art, the second objective of this invention is to provide a finger unit with high human-computer interaction safety and low weight.

[0007] One of the objectives of this invention is achieved through the following technical solution:

[0008] A hand rehabilitation exoskeleton includes a frame and multiple finger units mounted on the frame. Each finger unit includes a bending air pump and a finger assembly connected to the bending air pump. The finger assembly includes multiple corrugated tubes and multiple air chamber connectors. Adjacent corrugated tubes are connected through an air chamber connector. The air chamber connector located at the end of the finger assembly is connected to the bending air pump. The bending air pump inflates the multiple corrugated tubes through the air chamber connectors, causing the corrugated tubes to expand. When gas enters the corrugated tubes, a strain difference is generated at the upper and lower ends of the corrugated tubes, thereby causing bending to assist the bending movement of the human finger.

[0009] Furthermore, each finger unit includes three bellows and three air chamber connectors. The three bellows are a bottom bellows, a middle bellows, and a fingertip bellows. The three air chamber connectors are a bottom air chamber connector, a middle air chamber connector, and a fingertip air chamber connector. The middle bellows and the fingertip bellows are connected through the fingertip air chamber connector. The bottom bellows and the middle bellows are connected through the middle air chamber connector. The bottom bellows and the bending air pump are connected through the bottom air chamber connector.

[0010] Furthermore, the finger unit also includes a connecting member, which is installed inside the bottom corrugated pipe and connected at both ends to the bottom air chamber connector and the middle air chamber connector, respectively. The bending air pump simultaneously inflates the bottom corrugated pipe through the bottom air chamber connector and the middle corrugated pipe through the connecting member.

[0011] Furthermore, the bottom air chamber connector is provided with two air holes, one of which is connected to the connecting member and the other is connected to the bottom corrugated pipe. Each finger unit has two bending air pumps, and the two bending air pumps are respectively connected to the two air holes.

[0012] Furthermore, the number of finger units is 5, and the 5 finger units are respectively used to cooperate with the 5 fingers of the human hand. The bottom air chamber connectors of the two finger units corresponding to the thumb and index finger are rotatably installed on the bracket, and the bottom air chamber connectors of the remaining three finger units are fixedly installed on the bracket. The hand rehabilitation exoskeleton also includes two motion driving structures. The two motion driving structures drive the two finger units corresponding to the thumb and index finger to rotate relative to the bracket.

[0013] Furthermore, the bottom air chamber connector of the two finger units corresponding to the thumb and index finger includes a rotating shaft and a sliding groove. The rotating shaft is rotatably connected to the bracket. The action drive structure includes an action air pump, a piston, and a drive shaft. The action air pump is connected to the piston, and the drive shaft is drively connected to the piston. The drive shaft is located in the sliding groove and can slide along the sliding groove to drive the finger unit to rotate relative to the bracket.

[0014] Furthermore, the axis of rotation of the finger unit corresponding to the thumb is perpendicular to the axis of rotation of the finger unit corresponding to the index finger.

[0015] Furthermore, the diameter of the bellows is larger than the diameter of the air chamber connector.

[0016] The second objective of this invention is achieved by the following technical solution:

[0017] A finger unit includes a bending air pump and a finger assembly connected to the bending air pump. The finger assembly includes multiple corrugated tubes and multiple air chamber connectors. Adjacent corrugated tubes are connected through an air chamber connector. The air chamber connector located at the end of the finger assembly is connected to the bending air pump. The bending air pump inflates the multiple corrugated tubes through the air chamber connectors, causing the multiple corrugated tubes to expand. When gas enters the corrugated tubes, a strain difference is generated at the upper and lower ends of the corrugated tubes, thereby causing bending to assist the bending movement of the human finger.

[0018] Furthermore, there are three bellows and three air chamber connectors. The three bellows are a bottom bellows, a middle bellows, and a fingertip bellows. The three air chamber connectors are a bottom air chamber connector, a middle air chamber connector, and a fingertip air chamber connector. The middle bellows and the fingertip bellows are connected through the fingertip air chamber connector. The bottom bellows and the middle bellows are connected through the middle air chamber connector. The bottom bellows and the curved air pump are connected through the bottom air chamber connector.

[0019] Compared to existing technologies, each finger unit of the hand rehabilitation exoskeleton of this invention includes a bending air pump and a finger assembly connected to the bending air pump. The finger assembly includes multiple corrugated tubes and multiple air chamber connectors. Adjacent corrugated tubes are connected through an air chamber connector. The air chamber connector located at the end of the finger assembly is connected to the bending air pump. The bending air pump inflates the multiple corrugated tubes through the air chamber connectors, causing the multiple corrugated tubes to expand. When gas enters the corrugated tubes, a strain difference is generated at the upper and lower ends of the corrugated tubes, thereby generating bending to assist the bending movement of the human finger. Through the above design, the flexible corrugated tubes and rigid air chamber connectors are combined to form a finger unit, so as to achieve safe and effective rehabilitation training for the patient's hand. Attached Figure Description

[0020] Figure 1 This is a three-dimensional view of the hand rehabilitation exoskeleton of the present invention;

[0021] Figure 2 for Figure 1 A three-dimensional view of the finger components of a hand rehabilitation exoskeleton;

[0022] Figure 3 for Figure 2 An exploded view of the finger components;

[0023] Figure 4 for Figure 2 A three-dimensional sectional view of the finger component;

[0024] Figure 5 for Figure 1 A three-dimensional diagram of the local structure of a hand rehabilitation exoskeleton;

[0025] Figure 6 for Figure 5 A three-dimensional view of another part of the hand rehabilitation exoskeleton;

[0026] Figure 7 for Figure 5 A three-dimensional view of the air chamber connector at the bottom of a hand rehabilitation exoskeleton;

[0027] Figure 8 for Figure 5 A three-dimensional view of the air chamber connector at the other bottom of the hand rehabilitation exoskeleton.

[0028] In the diagram: 10, bracket; 20, finger unit; 21, bending air pump; 22, finger assembly; 220, bottom air chamber connector; 2201, main body; 2202, extension; 2203, pivot; 2204, protruding edge; 2205, slide groove; 221, bottom bellows; 222, middle air chamber connector; 223, middle bellows; 224, fingertip air chamber connector; 225, fingertip bellows; 226, connecting piece; 30, motion drive structure; 31, piston; 32, drive shaft; 33, steering component; 34, motion air pump. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or it can be fixed through another intermediate component. When a component is said to be "connected to" another component, it can be directly connected to the other component or it may be fixed through another intermediate component. When a component is said to be "set on" another component, it can be set directly on the other component or it may be set through another intermediate component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0032] like Figure 1 As shown, the hand rehabilitation exoskeleton of the present invention includes a support 10, multiple finger units 20, and a motion driving structure 30. Specifically, the hand rehabilitation exoskeleton is used for human hand rehabilitation. There are five finger units 20, which are respectively matched with the thumb, index finger, middle finger, ring finger, and little finger of the human hand. The function of the motion driving structure 30 is to drive the finger units 20 corresponding to the thumb and index finger, providing additional displacement to assist the thumb and index finger in pinching the object.

[0033] Each finger unit 20 includes a bending air pump 21 and a finger assembly 22 connected to the bending air pump 21. The bending air pump 21 bends the finger assembly 22 by inflating it.

[0034] Please continue reading. Figures 2 to 4 The finger assembly 22 includes multiple bellows and multiple air chamber connectors. Adjacent bellows are connected by an air chamber connector. The air chamber connector at the end of the finger assembly 22 is connected to a bending air pump 21. The bending air pump 21 inflates the bellows through the air chamber connectors, causing them to expand. When air enters the bellows, a strain difference is generated between the upper and lower ends of the bellows, resulting in bending and assisting in the bending movement of the human finger. The diameter of the bellows is larger than the diameter of the air chamber connectors. When the hand rehabilitation exoskeleton is used, the bellows are in contact with the human hand, and a gap is formed between the air chamber connectors and the human hand to achieve safe and effective rehabilitation training for the patient's hand.

[0035] Specifically, each finger unit 20 includes three bellows and three air chamber connectors. The three bellows are a bottom bellows 221, a middle bellows 223, and a fingertip bellows 225. The three air chamber connectors are a bottom air chamber connector 220, a middle air chamber connector 222, and a fingertip air chamber connector 224. The middle bellows 223 and the fingertip bellows 225 are connected by the fingertip air chamber connector 224. The bottom bellows 221 and the middle bellows 223 are connected by the middle air chamber connector 222. The bottom bellows 221 and the bending air pump 21 are connected by the bottom air chamber connector 220. Each finger unit 20 also includes a connecting member 226, which is installed inside the bottom bellows 221 and connected at both ends to the bottom air chamber connector 220 and the middle air chamber connector 222, respectively. The bending air pump 21 simultaneously inflates the bottom bellows 221 through the bottom air chamber connector 220 and the middle bellows 223 through the connecting member 226. Because the connecting member 226 is a rigid component, the length of its two connected ends does not change. Therefore, under the action of gas, the deformation of the bottom bellows 221 on one side of the connecting member 226 is limited, thus increasing the bending angle. Correspondingly, the bottom air chamber connector 220 is provided with two inflation holes, one of which is connected to the connecting member 226 and the other is connected to the bottom bellows 221. Each finger unit 20 has two bending air pumps 21, which are connected to the two inflation holes, respectively.

[0036] There are two motion drive structures 30, and the two motion drive structures 30 respectively drive the two finger units 20 corresponding to the thumb and index finger to rotate relative to the support 10.

[0037] Please continue reading. Figure 7 as well as Figure 8 The bottom air chamber connector 220 of the two finger units 20 corresponding to the thumb and index finger includes a main body 2201, an extension 2202, a pivot 2203, and a protruding edge 2204. The extension 2202 extends from the main body 2201, and the pivot 2203 and protruding edge 2204 extend from the extension 2202. There are two pivots 2203, located on the same straight line. There are also two protruding edges 2204, which are parallel to each other. A groove 2205 is formed between each protruding edge 2204 and the extension 2202. The pivot 2203 is rotatably connected to the support 10. The pivots 2203 of the finger unit 20 corresponding to the thumb and the finger unit 20 corresponding to the index finger are perpendicular, allowing the finger units 20 corresponding to the thumb and the index finger to pinch together.

[0038] Please continue reading. Figure 5 as well as Figure 6The motion drive structure 30 includes a steering component 33, a motion air pump 34, a piston 31, and a drive shaft 32. The motion air pump 34 is connected to the piston 31 through the steering component 33, and the drive shaft 32 is connected to the piston 31 in a transmission connection. The drive shaft 32 is located in the slide groove 2205 and can slide along the slide groove 2205 to drive the finger unit 20 to rotate relative to the bracket 10.

[0039] The bottom air chamber connectors 220 of the two finger units 20 corresponding to the thumb and index finger are rotatably mounted on the bracket 10, and the bottom air chamber connectors 220 of the remaining three finger units 20 are fixedly mounted on the bracket 10. The hand rehabilitation exoskeleton also includes two motion drive structures 30. The two motion drive structures 30 drive the two finger units 20 corresponding to the thumb and index finger to rotate relative to the bracket 10.

[0040] When in use, turn on the bending air pump 21. Compressed gas enters the finger through the two air holes of the bottom air chamber connector 220 via the gas pipe. One air hole is directly connected and allows the gas to enter the bottom bellows 221. The other air hole is connected to the single-hole air chamber connector (middle air chamber connector 222) via two connecting parts 226, allowing the gas to enter the middle bellows 223. The gas in the middle bellows 223 further enters the fingertip bellows 225 through the double-hole air chamber connector (finger tip air chamber connector 224). When gas enters the bellows, a strain difference will be generated at the upper and lower ends of the bellows, thereby generating bending to assist the bending movement of the human finger. For the thumb and index finger, when the actuating air pump 34 of the actuating drive structure 30 introduces gas into the piston 31 to drive the piston rod, the piston rod applies a downward force to the bottom air chamber connector 220 via the drive shaft 32. Since this force is at a certain distance from the rotating joint in the horizontal direction, the rotating shaft 2203 of the bottom air chamber connector 220 rotates around the bracket 10. At the same time, the rotating shaft 2203 slides along the sliding joint to drive the finger unit 20 upward. When the gas stops filling, the piston rod retracts, and the rotating shaft 2203 pulls the bottom air chamber connector 220 upward via the slide groove 2205, causing it to rotate back to its initial state. For the thumb, under the combined action of the three air pumps, it bends downward and rotates in the up-down direction. For the index finger, under the action of the three air pumps, it bends downward and rotates to the left, so that it contacts the thumb at a certain point in space, realizing the pinching motion.

[0041] By combining flexible corrugated pipes and rigid air chamber joints, this invention forms a complete hand rehabilitation exoskeleton device with good human-computer interaction, flexibility, and adaptability. This design enables the robot to better meet the needs of rehabilitation training, while also providing possibilities for future innovation and development. Furthermore, the motion-driven structure 30 can provide patients with a high degree of freedom of movement during rehabilitation training, achieving comprehensive rehabilitation of the patient's hand.

[0042] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention. These are all equivalent modifications and improvements made to the above embodiments based on the essential technology of the present invention, and all of these fall within the protection scope of the present invention.

Claims

1. A hand rehabilitation exoskeleton, comprising a frame and multiple finger units, wherein the multiple finger units are mounted on the frame, characterized in that: Each finger unit includes a bending air pump and a finger assembly connected to the bending air pump. The finger assembly includes multiple bellows and multiple air chamber connectors. Adjacent bellows are connected through an air chamber connector. The air chamber connector located at the end of the finger assembly is connected to the bending air pump. The bending air pump inflates the multiple bellows through the air chamber connectors, causing the bellows to expand. When gas enters the bellows, a strain difference is generated at the upper and lower ends of the bellows, resulting in bending, thus assisting the bending of the human finger. The bending motion, each finger unit includes three bellows and three air chamber connectors. The three bellows are a bottom bellows, a middle bellows, and a fingertip bellows. The three air chamber connectors are a bottom air chamber connector, a middle air chamber connector, and a fingertip air chamber connector. The middle bellows and the fingertip bellows are connected via the fingertip air chamber connector. The bottom bellows and the middle bellows are connected via the middle air chamber connector. The bottom bellows and the bending air pump are connected via the bottom air chamber connector. The exoskeleton comprises five finger units, each designed to work with one of the five fingers of the hand. The bottom air chamber connectors of the two finger units corresponding to the thumb and index finger include rotating shafts. These shafts are perpendicular to each other. The bottom air chamber connectors of the two finger units corresponding to the thumb and index finger are rotatably mounted on the support. The bottom air chamber connectors of the remaining three finger units are fixedly mounted on the support. The hand rehabilitation exoskeleton also includes two motion-driven structures. These two structures drive the two finger units corresponding to the thumb and index finger to rotate relative to the support. The bottom air chamber connectors of the two finger units corresponding to the thumb and index finger are provided with sliding grooves. The rotating shafts are rotatably connected to the support. Each motion-driven structure includes a motion pump, a piston, and a drive shaft. The motion pump is connected to the piston, and the drive shaft is drively connected to the piston. The drive shaft is located in the sliding groove and can slide along the groove to drive the finger units to rotate relative to the support.

2. The hand rehabilitation exoskeleton according to claim 1, characterized in that: The finger unit also includes a connecting member, which is installed inside the bottom corrugated pipe and connected at both ends to the bottom air chamber connector and the middle air chamber connector, respectively. The bending air pump simultaneously inflates the bottom corrugated pipe through the bottom air chamber connector and the middle corrugated pipe through the connecting member.

3. The hand rehabilitation exoskeleton according to claim 2, characterized in that: The bottom air chamber connector is provided with two air holes. One air hole is connected to the connecting member, and the other air hole is connected to the bottom corrugated pipe. Each finger unit has two bending air pumps, and the two bending air pumps are respectively connected to the two air holes.

4. The hand rehabilitation exoskeleton according to claim 1, characterized in that: The diameter of the bellows is larger than the diameter of the air chamber connector.

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