Pneumatic rehabilitation equipment for hand function

Abstract

The invention provides pneumatic rehabilitation equipment for hand functions, and belongs to the technical field of rehabilitation physiotherapy. According to the structure, a circuit board and a battery are arranged in a hand back assembly, a wireless module is arranged outside the hand back assembly and electrically connected with the circuit board, a palm sleeve is arranged on the lower portion of the hand back assembly, a finger sleeve is arranged in front of the hand back assembly, and a finger driving unit is connected between the finger sleeve and the hand back assembly. The finger driving unit is provided with a finger root pneumatic actuator for driving the finger root part to move and a fingertip pneumatic actuator for driving the fingertip part to move, and the battery supplies power to the finger driving unit, the circuit board and the wireless module. The independently-controlled finger control assembly is constructed, the front cantilever and the rear cantilever are adopted to control joint movement, more accurate action mode control can be achieved on the basis of the structure, and a foundation is laid for simulating actual hand actions. The device is stable and accurate in action, high in simulation degree and suitable for being used as auxiliary equipment in the front and middle stages of hand function rehabilitation physical therapy.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation physiotherapy, and specifically to a pneumatic hand function rehabilitation device. Background Art

[0002] Rehabilitation physiotherapy is a rehabilitation means that helps patients restore physical functions and improve their quality of life through systematic exercises and treatment methods. It mainly targets physical function disorders caused by diseases, injuries, surgeries, chronic diseases, or aging, aiming to help patients regain the ability to live independently, relieve pain, prevent complications, and restore physical and mental health as much as possible.

[0003] Hand function rehabilitation physiotherapy is a systematic rehabilitation training for hand function disorders caused by hand injuries, post-operative conditions, or neurological diseases (such as stroke, nerve injury). It aims to reconstruct hand movement, sensation, and coordination functions through scientifically designed movements and therapies to help patients restore their daily living and working abilities. The core objectives include the following aspects. 1. Restore functional activities: Improve basic hand movements such as grasping, pinching, and stretching to enhance daily operation ability. 2. Enhance muscle strength and flexibility: Prevent muscle atrophy and joint stiffness through resistance training, joint range of motion training, etc. 3. Promote sensory recovery: For patients with nerve injuries, reconstruct the perception function through tactile and temperature sensation stimulation. 4. Inhibit abnormal movement patterns: For example, spastic flexion after stroke requires specific training to activate normal muscle groups. In the prior art, hand function rehabilitation activities mainly include exercise therapy, occupational therapy, sensory training, and neurofacilitation techniques, among which exercise therapy is the core means. In the early stage, passive activities are used to maintain joint range of motion, and later it transitions to active grasping, finger flexion and extension, etc. In view of the characteristics and implementation process of exercise therapy, auxiliary rehabilitation devices have been developed in the prior art. Such devices assist in driving the hand joints and can play an auxiliary guiding role for the hand bones during the rehabilitation stage. However, currently, the accuracy of conventional devices is relatively low, the movement patterns do not fully conform to human movement characteristics, and there is still room for improvement in terms of response speed and movement efficiency. Summary of the Invention

[0004] The present invention aims to address the technical deficiencies of the prior art by providing a pneumatic hand function rehabilitation device to solve the technical problems of relatively low movement accuracy and movement patterns not fully conforming to human movement characteristics of conventional rehabilitation devices.

[0005] To achieve the above technical objectives, the present invention adopts the following technical solutions: A hand function pneumatic rehabilitation device comprises a back-of-hand component, a finger drive unit, a finger sleeve, a palm sleeve, a finger base pneumatic actuator, a fingertip pneumatic actuator, a circuit board, a battery, and a wireless module, wherein a circuit board and a battery are arranged in the back-of-hand component, a wireless module is arranged outside the back-of-hand component, the wireless module is electrically connected to the circuit board, a palm sleeve is arranged at the lower part of the back-of-hand component, a finger sleeve is arranged in front of the back-of-hand component, a finger drive unit is connected between the finger sleeve and the back-of-hand component, a finger base pneumatic actuator for driving the movement of the finger base and a fingertip pneumatic actuator for driving the movement of the fingertip are respectively arranged on the finger drive unit, and the battery supplies power to the finger drive unit, the circuit board, and the wireless module respectively.

[0006] Preferably, the back-of-hand assembly comprises a mounting platform, a through hole, and a mounting hole, wherein the circuit board and the battery are built into the mounting platform, and a transverse through hole and a longitudinal mounting hole are provided at the front of the mounting platform.

[0007] Preferably, the mounting platform includes a substrate, a shell, a support plate, and a groove, wherein the shell is fixedly connected to the substrate, a groove is formed between the shell and the substrate, the circuit board and the battery are built into the groove, a support plate is fixedly connected to the front side of the substrate, and through holes and mounting holes are both arranged on the support plate.

[0008] Preferably, the finger drive unit includes a finger root driver, a rear cantilever, and a front cantilever. Four finger root drivers are provided on the front side of the support plate. The rear cantilever is connected to the finger root driver. The finger root pneumatic actuator is arranged in the finger root driver. The front cantilever is hinged at the front end of the rear cantilever. The fingertip pneumatic actuator is arranged at the hinge axis of the hinge.

[0009] Preferably, the finger drive unit further comprises a support, the support is arranged at the front end of the front cantilever, and the finger sleeve is arranged on the support.

[0010] Preferably, a slot body is provided on both the rear cantilever and the front cantilever.

[0011] Preferably, a cantilever is rotatably connected to the side of the base plate, and a thumb drive is provided on the cantilever.

[0012] Preferably, the finger base driver and the thumb base driver each include the following structures: a protective shell, a hole, an inner chamber, an angle sensor, and a gear set, wherein an inner chamber is provided in the protective shell, a hole is provided in the inner chamber, an angle sensor is installed at the hole, a finger base pneumatic actuator is installed in the inner chamber, and the finger base pneumatic actuator and the angle sensor are driven by a gear set.

[0013] Preferably, a cross arm is fixedly connected to the rear of the protective shell, a long hole is provided on the cross arm, a rotating shaft is provided at the end of the long hole, and the rotating shaft is connected to the support plate or the cantilever.

[0014] Preferably, the finger-base driver and the thumb-base driver each further include an end cover, wherein the end cover is aligned with the protective shell through a positioning hole and is fastened by bolts.

[0015] In the above technical scheme, the back-of-hand assembly serves as the body of the present invention and fits on the back of the hand; the mounting platform is used to support and bear the load; the base plate is the bottom structure of the mounting platform and forms a groove together with the shell, thereby serving as an installation space for electrical components; the support plate is located at the front of the mounting platform and is used to install the finger drive unit; the through hole and the mounting hole are used to install and position the finger base driver. Each finger base driver corresponds to four fingers except the thumb, and the thumb base driver is installed on the cantilever, corresponding to the thumb. In the structure of the finger base driver and the thumb base driver, the protective shell is an external protective structure, and the hole position and the inner chamber serve as the installation space. The finger base pneumatic actuator drives the rear cantilever to rotate. At the same time, since the finger base pneumatic actuator is transmitted to the angle sensor through a gear set, the angle value can be detected at the same time; the positioning hole can realize the alignment connection between the end cover and the protective shell. The cross arm, the long hole and the rotating shaft are used to realize the connection between the driver and its bearing structure (the support plate or the cantilever). The fingertip pneumatic actuator is used to drive the front cantilever and the rear cantilever to rotate relative to each other, thereby controlling the movement of the fingertips; the support located at the front of the front cantilever is used to set the finger sleeves, which are respectively placed on the fingers and palms to play a positioning role. The trough can be used to set the vibration sensor. The circuit board is a control board, which is used to receive control instructions and send them to the driver, and receive data from the sensor at the same time; the battery is preferably a lithium battery for power supply; the wireless module is used to perform remote transmission and reception.

[0016] The present invention provides a pneumatic hand function rehabilitation device. The technical solution constructs an independently controlled finger control component and uses two front and rear cantilever sections to control joint movement. Based on this structure, more accurate motion mode control can be achieved, laying a foundation for simulating actual hand movements. The present invention has stable and accurate movements and high realism, and is suitable as an auxiliary device for the early and mid-term hand function rehabilitation therapy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is the external structure diagram of the present invention; Figure 2 It is the internal structure diagram of the present invention; Figure 3 In the present invention, it refers to the internal structure diagram of one side of the drive unit; Figure 4 In the present invention, it refers to the internal structure diagram of the other side of the drive unit; Figure 5 It is a partial structural diagram of the rear part of the present invention; In the figure: 1. Dorsal hand component; 10. Mounting table; 101. Substrate; 102. Housing; 103. Support plate; 104. Groove; 12. Through hole; 13. Mounting hole; 14. Cantilever; 2. Finger driving unit; 20. Finger root driver; 21. Rear cantilever; 22. Front cantilever; 24. Support; 28. Groove body; 29. Thumb root driver; 201. Protective shell; 202. Hole position; 203. Positioning hole; 204. Inner chamber; 205. Corner sensor; 206. Gear set; 207. Cross arm; 208. Long hole; 209. Rotating shaft; 3. Finger sleeve; 4. Palm sleeve; 5. Finger root pneumatic actuator; 6. Finger tip pneumatic actuator; 7. Circuit board; 8. Battery; 9. Wireless module. Detailed implementation manners

[0018] Next, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application. In addition, those of ordinary skill in the art can know that with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0019] In the description of the present application, it should be understood that unless otherwise defined, all technical and scientific terms used in the present application have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs. In addition, any terms used are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0020] In addition, for better illustration of the present application, numerous specific details are given in the following detailed implementation manners. Those skilled in the art should understand that the present application can also be implemented without some specific details. In some instances, methods, means, elements, and circuits well-known to those skilled in the art are not described in detail so as to highlight the gist of the present application.

[0021] A hand function pneumatic rehabilitation device, such as Figures 1 to 5As shown in the figure, it includes a dorsal hand component 1, a finger driving unit 2, finger sleeves 3, a palm sleeve 4, a finger root pneumatic actuator 5, a fingertip pneumatic actuator 6, a circuit board 7, a battery 8, and a wireless module 9. Among them, the circuit board 7 and the battery 8 are provided in the dorsal hand component 1, the wireless module 9 is provided outside the dorsal hand component 1, the wireless module 9 is electrically connected to the circuit board 7, the palm sleeve 4 is provided at the lower part of the dorsal hand component 1, the finger sleeves 3 are provided in front of the dorsal hand component 1, a finger driving unit 2 is connected between the finger sleeves 3 and the dorsal hand component 1, a finger root pneumatic actuator 5 for driving the movement of the finger root part and a fingertip pneumatic actuator 6 for driving the movement of the fingertip part are respectively provided on the finger driving unit 2, and the battery 8 supplies power to the finger driving unit 2, the circuit board 7, and the wireless module 9 respectively.

[0022] Among them, the dorsal hand component 1 includes a mounting table 10, a through hole 12, and a mounting hole 13. Among them, the circuit board 7 and the battery 8 are built into the mounting table 10, and a horizontal through hole 12 and a vertical mounting hole 13 are provided at the front part of the mounting table 10.

[0023] The mounting table 10 includes a base plate 101, a housing 102, a support plate 103, and a groove 104. Among them, the housing 102 is fixedly connected to the base plate 101, a groove 104 is formed between the housing 102 and the base plate 101, the circuit board 7 and the battery 8 are built into the groove 104, a support plate 103 is fixedly connected to the front side of the base plate 101, and both the through hole 12 and the mounting hole 13 are provided on the support plate 103.

[0024] The finger driving unit 2 includes a finger root driver 20, a rear cantilever 21, and a front cantilever 22. Four finger root drivers 20 are provided on the front side of the support plate 103, a rear cantilever 21 is connected to the finger root driver 20, the finger root pneumatic actuator 5 is arranged in the finger root driver 20, a front cantilever 22 is hinged at the front end of the rear cantilever 21, and the fingertip pneumatic actuator 6 is arranged at the hinge axis of the hinge.

[0025] The finger driving unit 2 further includes a support 24, the support 24 is arranged at the front end of the front cantilever 22, and the finger sleeve 3 is arranged on the support 24.

[0026] Groove bodies 28 are provided on both the rear cantilever 21 and the front cantilever 22.

[0027] A cantilever 14 is rotatably connected to the side part of the base plate 101, and a thumb root driver 29 is provided on the cantilever 14.

[0028] The finger root driver 20 and the thumb root driver 29 each include the following structure: a protective shell 201, a hole position 202, an inner chamber 204, a corner sensor 205, and a gear set 206. Among them, an inner chamber 204 is provided in the protective shell 201, a hole position 202 is provided in the inner chamber 204, a corner sensor 205 is installed at the hole position 202, a finger root pneumatic actuator 5 is installed in the inner chamber 204, and the finger root pneumatic actuator 5 and the corner sensor 205 are driven by the gear set 206.

[0029] A cross arm 207 is fixedly connected to the rear part of the protective shell 201. A long hole 208 is provided on the cross arm 207, and a rotating shaft 209 is provided at the end of the long hole 208. The rotating shaft 209 is connected to the support plate 103 or the cantilever 14.

[0030] The finger root driver 20 and the thumb root driver 29 each further include an end cover, and the end cover is aligned with the protective shell 201 through a positioning hole 203 and fastened by bolts.

[0031] In the above technical solution, the dorsal hand assembly 1 serves as the body of the present invention and fits on the dorsal hand position; the mounting table 10 is used to play a role in supporting and carrying; the substrate 101 is the bottom structure of the mounting table 10 and jointly forms a groove 104 with the housing 102, thereby serving as an installation space for electrical components; the support plate 103 is located in front of the mounting table 10 and is used to install the finger drive unit 2; the through holes 12 and the mounting holes 13 are used for installing and positioning the finger root driver 20. Each finger root driver 20 corresponds to the four fingers except the thumb, and the thumb root driver 29 is installed on the cantilever 14 and corresponds to the thumb. In the structure of the finger root driver 20 and the thumb root driver 29, the protective shell 201 is an external protection structure, the hole position 202 and the inner chamber 204 serve as installation spaces, the finger root pneumatic actuator 5 drives the rear cantilever 21 to rotate. At the same time, since the finger root pneumatic actuator 5 is driven by the gear set 206 with the corner sensor 205, the angle value can be detected simultaneously; the positioning hole 203 can realize the alignment connection between the end cover and the protective shell 201. The cross arm 207, the long hole 208 and the rotating shaft 209 are used to realize the connection between the driver and its bearing structure (the connection with the support plate 103 or the cantilever 14). The fingertip pneumatic actuator 6 is used to drive the front cantilever 22 and the rear cantilever 21 to rotate relatively, so as to control the movement of the fingertip part; the support 24 located in front of the front cantilever 22 is used to set the finger sleeve 3, and the finger sleeve 3 and the palm sleeve 4 are respectively sleeved on the finger and the palm to play a positioning role. The groove body 28 can be used to set the vibration sensor. The circuit board 7 is a control board, which is used to receive control instructions and send them to the driver, and at the same time receive data from the sensor; the battery 8 is preferably a lithium battery for power supply; the wireless module 9 is used to perform remote transmission and reception.

[0032] In summary, after reading this detailed disclosure, those skilled in the art will understand that the foregoing detailed disclosure may be presented only by way of example and may not be restrictive. Although not explicitly stated herein, those skilled in the art can understand that this application is intended to encompass various reasonable changes, improvements, and modifications to the embodiments. These changes, improvements, and modifications are intended to be proposed by this application and are within the spirit and scope of the exemplary embodiments of this application.

[0033] It should be understood that in the foregoing description of the embodiments of this application, for the purpose of helping to understand a feature and for the purpose of simplifying this application, this application combines various features in a single embodiment, drawing, or its description. However, this does not mean that the combination of these features is necessary, and it is entirely possible for those skilled in the art to extract some of these features as separate embodiments when reading this application.

[0034] It should be understood that the embodiments disclosed herein are illustrative of the principles of this application. Other modified embodiments are also within the scope of this application. The embodiments disclosed herein are merely examples and not limitations, and the embodiments of this application are not limited to the embodiments precisely described above.

Claims

1. A pneumatic hand function rehabilitation device, characterized in that The invention comprises a back-of-hand component (1), a finger drive unit (2), a finger sleeve (3), a palm sleeve (4), a finger base pneumatic actuator (5), a finger tip pneumatic actuator (6), a circuit board (7), a battery (8), and a wireless module (9), wherein the circuit board (7) and the battery (8) are arranged in the back-of-hand component (1), the wireless module (9) is arranged outside the back-of-hand component (1), and the wireless module (9) is electrically connected to the circuit board (7); a palm sleeve (4) is arranged at the bottom of the back-of-hand component (1), a finger sleeve (3) is arranged at the front of the back-of-hand component (1), a finger drive unit (2) is connected between the finger sleeve (3) and the back-of-hand component (1), a finger base pneumatic actuator (5) for driving the movement of the finger base and a finger tip pneumatic actuator (6) for driving the movement of the finger tip are respectively arranged on the finger drive unit (2), and the battery (8) supplies power to the finger drive unit (2), the circuit board (7), and the wireless module (9).

2. The hand function pneumatic rehabilitation device according to claim 1, characterized in that: The back-of-hand assembly (1) comprises a mounting platform (10), a through hole (12), and a mounting hole (13), wherein a circuit board (7) and a battery (8) are built into the mounting platform (10), and a transverse through hole (12) and a longitudinal mounting hole (13) are provided at the front of the mounting platform (10).

3. The hand function pneumatic rehabilitation device according to claim 2, characterized in that: The mounting platform (10) comprises a substrate (101), a shell (102), a support plate (103), and a groove (104), wherein the shell (102) is fixedly connected to the substrate (101), a groove (104) is formed between the shell (102) and the substrate (101), a circuit board (7) and a battery (8) are built into the groove (104), the support plate (103) is fixedly connected to the front side of the substrate (101), and the through hole (12) and the mounting hole (13) are both arranged on the support plate (103).

4. The hand function pneumatic rehabilitation device according to claim 3, characterized in that: The finger drive unit (2) comprises a finger base driver (20), a rear cantilever (21), and a front cantilever (22); four finger base drivers (20) are arranged on the front side of a support plate (103); the rear cantilever (21) is connected to the finger base driver (20); a finger base pneumatic actuator (5) is arranged in the finger base driver (20); the front cantilever (22) is hingedly connected to the front end of the rear cantilever (21); and a finger tip pneumatic actuator (6) is arranged at the hinge axis of the hinge.

5. The hand function pneumatic rehabilitation device according to claim 4, characterized in that: The finger drive unit (2) further comprises a support (24), wherein the support (24) is arranged at the front end of the front cantilever (22), and the finger sleeve (3) is arranged on the support (24).

6. The hand function pneumatic rehabilitation device according to claim 5, characterized in that: A slot body (28) is provided on both the rear cantilever (21) and the front cantilever (22).

7. The hand function pneumatic rehabilitation device according to claim 6, characterized in that: A cantilever (14) is rotatably connected to the side of the base plate (101), and a thumb drive (29) is provided on the cantilever (14).

8. The hand function pneumatic rehabilitation device according to claim 7, characterized in that: The finger base driver (20) and the thumb base driver (29) each comprise the following structures: a protective shell (201), a hole (202), an inner chamber (204), a rotation angle sensor (205), and a gear set (206), wherein an inner chamber (204) is provided in the protective shell (201), a hole (202) is provided in the inner chamber (204), a rotation angle sensor (205) is installed at the hole (202), a finger base pneumatic actuator (5) is installed in the inner chamber (204), and the finger base pneumatic actuator (5) and the rotation angle sensor (205) are driven via the gear set (206).

9. The hand function pneumatic rehabilitation device according to claim 8, characterized in that: A cross arm (207) is fixedly connected to the rear of the protective shell (201), a long hole (208) is provided on the cross arm (207), a rotating shaft (209) is provided at the end of the long hole (208), and the rotating shaft (209) is connected to the support plate (103) or the cantilever (14).

10. The hand function pneumatic rehabilitation device according to claim 9, characterized in that: The finger base driver (20) and the thumb base driver (29) each further include an end cover, wherein the end cover is aligned with the protective shell (201) through a positioning hole (203) and is fastened by a bolt.

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