Flexible rehabilitation glove based on bidirectional driving fingers

Abstract

The invention provides a flexible rehabilitation glove based on bi-directional driving fingers, which comprises a finger assembly, a palm assembly, a transmission assembly, a driving assembly and a flexible transmission mechanism, the finger assembly comprises a plurality of flexible support units arranged in parallel, and the flexible support units can drive a patient to perform bi-directional bending motion; the installation space in the palm assembly provides a reasonable layout basis for the transmission assembly, each flexible supporting unit is correspondingly connected with the independent transmission assembly, the driving assembly is combined with push-pull movement conducted through a flexible transmission mechanism, independent and accurate driving of all fingers is achieved, the problem that a traditional rigid exoskeleton is heavy is solved, and the flexibility of the exoskeleton is improved. According to the flexible exoskeleton, the defect that an existing flexible exoskeleton is insufficient in gripping force is overcome, the adaptability of the glove to daily gripping actions is enhanced while the lightweight design is achieved, a patient can obtain training experience closer to a real life scene in rehabilitation training, and rehabilitation efficiency and the recovery degree of hand functions can be improved.

Description

Technical Field

[0001] This application generally relates to the technical field of rehabilitation gloves, and specifically relates to a flexible rehabilitation glove based on bidirectional driving fingers. Background Art

[0002] Hand dysfunction is a common sequela for patients with stroke, spinal cord injury, and degenerative diseases (such as Parkinson's and arthritis), and a large number of people are affected globally; such patients often have difficulty performing basic daily activities such as holding a water cup, buttoning a button, and writing due to the loss or limitation of hand motor ability, which seriously reduces their quality of life.

[0003] In the prior art, traditional rehabilitation methods rely on high-intensity repetitive training. For example, a robotic arm is used to assist patients in repeatedly grasping building blocks; however, the rigid exoskeleton design is bulky, and its weight poses a burden on many patients and cannot adapt to the subtle movements of the fingers; although the existing flexible exoskeletons reduce the weight, the grasping force is small and far from meeting the daily required grasping force. Summary of the Invention

[0004] In view of the above defects or deficiencies in the prior art, it is desirable to provide a flexible rehabilitation glove based on bidirectional driving fingers that can solve the above technical problems.

[0005] This application provides a flexible rehabilitation glove based on bidirectional driving fingers, including: Finger components, the finger components include a plurality of flexible support units arranged in parallel, and each of the flexible support units is used to support the patient's finger and drive the patient's finger to perform bidirectional bending movement; Palm components, the palm components are arranged on the side of the finger components close to the human body, and the palm components are used to support the patient's palm; there is an installation space inside the palm components; Transmission components, the transmission components are arranged in the installation space, and each flexible support unit is correspondingly connected to a transmission component; Drive components, the drive components are connected to the transmission components through corresponding flexible transmission mechanisms, and the drive components are used to drive the flexible transmission mechanisms to perform pushing and pulling movements, drive the transmission components to move, and then drive the flexible support units to perform bidirectional bending movements.

[0006] According to the technical solution provided by this application, the flexible support unit includes: a plurality of support blocks arranged along the axial direction of the finger, and adjacent support blocks are respectively arranged on both sides of the finger joint of the finger; each of the support blocks is provided with a first installation hole and a second installation hole arranged along the thickness direction of the finger; The first leaf spring, the first leaf spring is arranged through all the first mounting holes, one end of the first leaf spring is fixedly connected to the support block at the fingertip end, and the other end of the first leaf spring is connected to the transmission component; the remaining part forms an axial sliding fit with the support block in the middle; The second leaf spring, the second leaf spring is arranged through all the second mounting holes, fixedly connected to each support block, and the second leaf spring is fixedly connected to the palm assembly; Wherein, the transmission component drives the first leaf spring to move axially along it, causing a length difference between the first leaf spring and the second leaf spring, and realizing the two-way bending movement of the finger.

[0007] According to the technical solution provided by the present application, the transmission component includes: A fixed pulley, the fixed pulley is arranged in the installation space and is arranged close to the flexible support unit; The first linear guide rail slider, the first linear guide rail slider is arranged in the installation space, and the first linear guide rail slider can slide axially along the finger; Wherein, the flexible transmission mechanism has a first traction end and a second traction end, the first traction end is connected to one end of the first linear guide rail slider away from the flexible support unit, and the second traction end is connected to one end of the first linear guide rail slider close to the flexible support unit after bypassing the fixed pulley.

[0008] According to the technical solution provided by the present application, the flexible transmission mechanism includes: The first flexible traction cable, one end of the first flexible traction cable is connected to the drive component, and the other end is the first traction end; The second flexible traction cable, one end of the second flexible traction cable is connected to the drive component, and the other end is the second traction end.

[0009] According to the technical solution provided by the present application, the palm assembly includes: a first support plate and a second support plate, and the first support plate and the second support plate are connected by a first connection component; There are five flexible support units, and the five flexible support units are respectively a thumb flexible support unit, an index finger flexible support unit, a middle finger flexible support unit, a ring finger flexible support unit and a little finger flexible support unit; wherein, the thumb flexible support unit is connected to the second support plate, and the index finger flexible support unit, the middle finger flexible support unit, the ring finger flexible support unit and the little finger flexible support unit are all connected to the first support plate.

[0010] According to the technical solution provided by the present application, the first connection component includes: A slide rail, the slide rail is arranged on the top of the first support plate, and the slide rail is in an inclined state; The first slider, which is slidably connected to the slide rail; The third leaf spring, one end of which is connected to the first slider and the other end of which is connected to the second support plate; Wherein, when the slider slides along the slide rail, the second support plate is driven by the third leaf spring to make an adaptive pose adjustment relative to the first support plate.

[0011] According to the technical solution provided by the present application, the driving components are respectively a first driving unit, a second driving unit and a third driving unit. The first driving unit is used to control the bidirectional bending movement of the thumb flexible support unit, the second driving unit is used to control the bidirectional bending movement of the index finger flexible support unit, and the third driving unit is used to synchronously control the bidirectional bending movements of the middle finger flexible support unit, the ring finger flexible support unit and the little finger flexible support unit.

[0012] According to the technical solution provided by the present application, the first driving unit, the second driving unit and the third driving unit all include: A driving motor, the output shaft of which is connected with a transmission gear, and the driving motor is used to drive the transmission gear to rotate bidirectionally; A first rack, which is arranged on the top of the transmission gear and meshes with the transmission gear. One end of the first rack is a first connection end, and the first connection end is connected with the first flexible traction cable; A second rack, which is arranged on the bottom of the transmission gear and meshes with the transmission gear. One end of the second rack is a second connection end, which corresponds to the first connection end, and the second connection end is connected with the second flexible traction cable.

[0013] According to the technical solution provided by the present application, the driving components are arranged in the control box.

[0014] According to the technical solution provided by the present application, the first flexible traction cable is composed of a first steel wire rope and a first protective tube covering the outside thereof; the second flexible traction cable is composed of a second steel wire rope and a second protective tube covering the outside thereof.

[0015] The beneficial effects of the present application are as follows: The present application provides a flexible rehabilitation glove based on bidirectional driving fingers, comprising: a finger assembly, a palm assembly, a transmission assembly, a driving assembly, and a flexible transmission mechanism. The finger assembly includes a plurality of flexible support units arranged in parallel, and the flexible support units can drive the patient to perform bidirectional bending movements. The installation space inside the palm assembly provides a reasonable layout basis for the transmission assembly. Each flexible support unit is correspondingly connected to an independent transmission assembly. Combining the pushing and pulling movements of the driving assembly through the flexible transmission mechanism, independent and precise driving of each finger is achieved, avoiding both the bulkiness of traditional rigid exoskeletons and the deficiency of grasping force of existing flexible exoskeletons. While achieving lightweight design, the adaptability of the glove to daily grasping actions is enhanced, enabling the patient to obtain a training experience closer to real-life scenarios during rehabilitation training, which helps improve the rehabilitation efficiency and the recovery degree of hand function, and provides a more efficient, comfortable, and practical rehabilitation solution for patients with hand dysfunction. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives, and advantages of the present application will become more apparent: Figure 1 is a schematic diagram of the connection between the finger assembly and the palm assembly of a flexible rehabilitation glove based on bidirectional driving fingers provided by the present application; Figure 2 is an internal schematic diagram of the finger assembly and the palm assembly of a flexible rehabilitation glove based on bidirectional driving fingers provided by the present application; Figure 3 is Figure 2 a side view of Figure 4 is a schematic diagram of the driving assembly provided by the present application.

[0017] In the figure: 1, thumb flexible support unit; 2, index finger flexible support unit; 3, middle finger flexible support unit; 4, ring finger flexible support unit; 5, little finger flexible support unit; 6, support block; 7, first leaf spring; 8, second leaf spring; 9, fixed pulley; 10, first linear guide rail slider; 11, first support plate; 12, second support plate; 13, slide rail; 14, first slider; 15, third leaf spring; 16, driving motor; 17, gear; 18, first rack; 19, second rack; 20, first mounting hole; 21, second mounting hole; 22, control box. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] The present application will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the relevant invention and are not intended to limit the invention. Additionally, it should be noted that for the sake of description, only the parts related to the invention are shown in the drawings.

[0019] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The following will describe this application in detail with reference to the drawings and in conjunction with the embodiments.

[0020] Embodiment 1 Please refer to Figures 1 - 4 , a flexible rehabilitation glove based on a two-way driven finger provided by this application includes: Finger components, which include a plurality of flexible support units arranged in parallel. Each flexible support unit is used to support the patient's finger and drive the patient's finger to perform a two-way bending motion; Palm components, which are arranged on the side of the finger components close to the human body. The palm components are used to support the patient's palm; there is an installation space inside the palm components; Transmission components, which are arranged in the installation space. Each flexible support unit is correspondingly connected to a transmission component; Drive components, which are connected to the transmission components through corresponding flexible transmission mechanisms. The drive components are used to drive the flexible transmission mechanisms to perform push-pull motions, drive the transmission components to move, and then drive the flexible support units to perform two-way bending motions.

[0021] Specifically, when this application is worn, the flexible rehabilitation glove is placed above the patient's hand. Each flexible support unit is fixed to the corresponding finger, and the palm component is fixed to the patient's back of the hand; each flexible support unit can not only stably support the patient's finger, but also drive the finger to perform a two-way bending motion by virtue of its unique flexible structure, perfectly adapting to the natural flexion and extension needs of the finger, and helping the patient gradually recover the fine operation ability of the hand; and in this embodiment, the weight of the rehabilitation glove is about 200g, which is relatively light and convenient to carry; In some implementation manners, the drive component is arranged in the control box 22. The control box 22 adopts a lightweight design. In daily use scenarios, it can be conveniently stored in carriers such as backpacks, which not only does not increase the patient's carrying burden, but also ensures that the drive component is stably connected to the glove body through the flexible transmission mechanism to achieve power transmission, so as to minimize the interference with the patient's daily activities while meeting the rehabilitation training requirements, and improve the wearing comfort and the practicality of the device; Working principle: In this application, the finger assembly includes multiple flexible support units arranged in parallel, and the flexible support units can drive the patient to perform bidirectional bending movements; the installation space inside the palm assembly provides a reasonable layout basis for the transmission assembly. Each flexible support unit is connected to an independent transmission assembly, and the push-pull movement of the drive assembly through the flexible transmission mechanism is combined to achieve independent and precise driving of each finger, which not only avoids the bulky problem of traditional rigid exoskeletons, but also overcomes the defect of insufficient gripping force of existing flexible exoskeletons. While maintaining a lightweight design, it enhances the adaptability of the gloves to daily gripping movements, allowing patients to obtain a training experience closer to real-life scenarios during rehabilitation training, which helps to improve rehabilitation efficiency and the degree of recovery of hand function, and provides patients with hand dysfunction with a more efficient, comfortable and practical rehabilitation solution.

[0022] In some embodiments, the flexible support unit includes: a plurality of support blocks 6 arranged along the axial direction of the finger, with adjacent support blocks 6 being respectively arranged on both sides of the phalanx of the finger; each support block 6 is provided with a first mounting hole 20 and a second mounting hole 21 arranged along the thickness direction of the finger; The first leaf spring 7 is provided through all the first mounting holes 20. One end of the first leaf spring 7 is fixedly connected to the support block 6 located at the fingertip, and the other end of the first leaf spring 7 is connected to the transmission assembly; the remaining portion forms an axial sliding fit with the middle support block 6; The second leaf spring 8 is provided through all the second mounting holes 21 and is fixedly connected to each support block 6. The second leaf spring 8 is also fixedly connected to the palm assembly; The transmission assembly drives the first leaf spring 7 to move along its axial direction, thereby generating a length difference between the first leaf spring 7 and the second leaf spring 8, thereby achieving bidirectional bending movement of the finger. Specifically, such as Figure 2 and Figure 3 As shown, the flexible support unit includes a plurality of support blocks 6 arranged along the axial direction of the finger, and adjacent support blocks 6 are respectively arranged on both sides of the finger joints; that is, in this embodiment, since the index finger, middle finger, ring finger and little finger each have two joints, the index finger flexible support unit 2, the middle finger flexible support unit 3, the ring finger flexible support unit 4 and the little finger flexible support unit 5 are each provided with three support blocks 6; and the thumb has one joint, so the thumb flexible support unit 1 is provided with two support blocks 6; it can be seen that the flexible support unit of the present application closely fits the physiological structure of the hand and provides stable support for the fingers; Specifically, in this embodiment, each support block 6 is provided with a first mounting hole 20 and a second mounting hole 21 arranged along the finger thickness direction, and the first mounting hole 20 is located above the second mounting hole 21; the first leaf spring 7 passes through all the first mounting holes 20, one end of the first leaf spring 7 is fixedly connected to the support block 6 at the fingertip end, and the other end is connected to the transmission component; the rest forms an axial sliding fit with the middle support block 6; while the second leaf spring 8 passes through all the second mounting holes 21 and is fixedly connected to each support block 6, and the second leaf spring 8 is fixedly connected to the palm assembly; when the transmission component drives the first leaf spring 7 to move axially along the finger, a length difference is generated between the first leaf spring 7 and the second leaf spring 8, which is transmitted to the finger through the support block 6 to achieve a two-way bending motion; this structure utilizes the elastic deformation and relative motion of the leaf spring to not only ensure the flexibility of finger movement but also provide sufficient support force, accurately simulating the natural flexion and extension of the finger and adapting to the hand shapes and movement requirements of different patients. Through the coordinated action of the double leaf springs, the first leaf spring 7 is responsible for power transmission and sliding drive, and the second leaf spring 8 provides elastic support and structural stability. The two cooperate to make the flexible support unit lightweight and highly adaptable when driving the finger to move in two directions, effectively improving the simulation accuracy of hand movements during rehabilitation training, helping patients recover fine motor skills, better cope with daily hand operations, providing efficient and fitting support and drive for hand rehabilitation, optimizing the adaptability and movement smoothness between the glove and the hand while meeting the rehabilitation function, and significantly enhancing the actual effect and user experience of rehabilitation training.

[0023] In some embodiments, the transmission component includes: A fixed pulley 9, which is arranged in the installation space and is close to the flexible support unit; A first linear guide rail slider 10, which is arranged in the installation space and can slide axially along the finger; Wherein, the flexible transmission mechanism has a first traction end and a second traction end, the first traction end is connected to the end of the first linear guide rail slider 10 far from the flexible support unit, and the second traction end is connected to the end of the first linear guide rail slider 10 close to the flexible support unit after bypassing the fixed pulley 9.

[0024] Specifically, as Figure 2 shown, each flexible support unit is connected to a transmission component, and each transmission component is connected to a corresponding flexible transmission mechanism; the transmission component includes: a fixed pulley 9 and a first linear guide rail slider 10, the fixed pulley 9 is arranged in the installation space of the palm assembly and is close to the flexible support unit, providing a turning support for the second traction end of the flexible transmission mechanism; Specifically, the first linear guide slider 10 can slide along the axial direction of the finger, and the end of the first linear guide slider 10 away from the flexible support unit is connected to the first traction end, and the end of the first linear guide slider 10 close to the flexible support unit is connected to the second traction end; when the driving component drives the flexible transmission mechanism, the first traction end and the second traction end exert forces in opposite directions on the first linear rail slider, and with the guidance of the fixed pulley 9, the first linear guide slider 10 slides axially; when the first traction end drives the first linear guide slider 10 to move away from the flexible support unit, the first leaf spring 7 is stretched, and the finger stretches under the combined action of the elastic restoring force of the leaf spring and the transmission tension; when the second traction end drives the first linear guide slider 10 to move close to the flexible support unit, the first leaf spring 7 As the length difference with the second leaf spring 8 changes, the finger bends under the drive of the leaf spring deformation; this transmission method converts the power of the driving component into a two-way flexion and extension movement of the finger through the pulley reversing and the linear motion of the first linear guide slider 10, with a clear transmission path and sensitive motion response, which not only ensures the smoothness of the finger movement, but also can accurately control the flexion and extension amplitude, and adapt to the rehabilitation training needs of different patients; the setting of the fixed pulley 9 optimizes the layout of the flexible transmission mechanism, avoids entanglement of the traction end, and improves the transmission stability; the first linear guide slider 10 ensures the linearity of power transmission, reduces motion loss, and makes the fingers evenly stressed during flexion and extension, simulating the natural movement state of the hand, providing reliable power support for rehabilitation training, helping patients gradually restore hand function, and enhance the autonomy of daily activities.

[0025] In some embodiments, the flexible transmission mechanism includes: a first flexible traction rope, one end of which is connected to the driving assembly and the other end of which is a first traction end; A second flexible traction rope, one end of the second flexible traction rope is connected to the driving assembly, and the other end is a second traction end.

[0026] Specifically, the flexible transmission mechanism is composed of a first flexible traction cable and a second flexible traction cable, both of which are connected to the driving component at one end, and the other ends serve as the first traction end and the second traction end respectively; when the driving component drives the first flexible traction cable to pull the first linear guide slider 10 away from the flexible support unit, the first linear guide slider 10 drives the first leaf spring 7 in the flexible support unit to stretch, and the fingers stretch under the elastic recovery of the leaf spring and the transmission tension; when the second flexible traction cable is driven to pull the first linear guide slider 10 close to the flexible support unit, the length difference between the first leaf spring 7 and the second leaf spring 8 changes, and the fingers bend under the deformation drive of the leaf spring.

[0027] In certain embodiments, the first flexible traction rope is composed of a first steel wire rope and a first protective tube covering the first steel wire rope; the second flexible traction rope is composed of a second steel wire rope and a second protective tube covering the second steel wire rope.

[0028] Specifically, the first flexible towing cable is composed of a first steel wire rope and a first protective tube covering the outside thereof, and the second flexible towing cable is composed of a second steel wire rope and a second protective tube covering the outside thereof; due to its high strength and flexibility, the steel wire rope can stably transmit tensile force or thrust within the protective tube, ensuring efficient power transmission to the first linear guide slider 10, driving a length difference to occur between the first leaf spring 7 and the second leaf spring 8 within the flexible support unit, and further driving the fingers to flex and extend bidirectionally; in this embodiment, both the first protective tube and the second protective tube are PEEK tubes, and the first protective tube and the second protective tube play a protective role, preventing the steel wire rope from being worn and entangled, while adapting to the complex movement trajectory of the hand, enabling the flexible layout of the towing cable within the installation space of the palm assembly without interfering with the activities of the patient's hand; this design combines the mechanical advantages of the steel wire rope and the protective characteristics of the protective tube, not only ensuring the stability of power transmission, but also adapting to the natural deformation of the hand through a flexible structure, improving the smoothness and comfort of rehabilitation training; when the driving component operates, the steel wire rope slides within the protective tube, changes direction through guiding components such as the fixed pulley 9, precisely pushes and pulls the first linear guide slider 10, causing the leaf spring to drive the fingers to bend or extend, simulating the natural movement of the hand, assisting the patient to recover fine operation ability, effectively solving problems such as the heaviness of traditional rigid transmission and insufficient grasping force of flexible transmission, providing a reliable and lightweight power transmission solution for the rehabilitation glove, enhancing the practicality and rehabilitation effect of the device, adapting to hand movement training such as daily grasping and stretching, and improving the patient's self-care ability and rehabilitation experience.

[0029] In some embodiments, the palm assembly includes: a first support plate 11 and a second support plate 12, which are connected by a first connection component between the first support plate 11 and the second support plate 12; There are five flexible support units provided, and the five flexible support units are respectively a thumb flexible support unit 1, an index finger flexible support unit 2, a middle finger flexible support unit 3, a ring finger flexible support unit 4, and a little finger flexible support unit 5; among them, the thumb flexible support unit 1 is connected to the second support plate 12, and the index finger flexible support unit 2, the middle finger flexible support unit 3, the ring finger flexible support unit 4, and the little finger flexible support unit 5 are all connected to the first support plate 11.

[0030] Specifically, in this application, the palm assembly includes a first support plate 11 and a second support plate 12, which are connected by a first connection component between the first support plate 11 and the second support plate 12 to form a support frame that fits the palm, ensuring both structural stability and the ability to fine-tune the angle according to the hand shape, enhancing the wearing comfort and force transmission efficiency; Specifically, since the movement of the thumb is relatively complex and has more degrees of freedom, in this application, five flexible support units are provided, namely the thumb flexible support unit 1, the index finger flexible support unit 2, the middle finger flexible support unit 3, the ring finger flexible support unit 4, and the little finger flexible support unit 5. Among them, the thumb flexible support unit 1 is connected to the second support plate 12, and the index finger flexible support unit 2, the middle finger flexible support unit 3, the ring finger flexible support unit 4, and the little finger flexible support unit 5 are all connected to the first support plate 11. To meet the special movement requirements of the thumb, through an independently designed transmission and drive mechanism, the accuracy of thumb rehabilitation training is enhanced.

[0031] In some embodiments, the first connection assembly includes: A slide rail 13, which is arranged on the top of the first support plate 11 and is in an inclined state; A first slider 14, which is slidably connected to the slide rail 13; A third leaf spring 15, one end of which is connected to the first slider 14 and the other end of which is connected to the second support plate 12; Wherein, when the slider slides along the slide rail 13, the second support plate 12 is driven by the third leaf spring 15 to make an adaptive pose adjustment relative to the first support plate 11.

[0032] Specifically, as Figure 1 shown, the first connection assembly includes a slide rail 13, a first slider 14, and a third leaf spring 15. By virtue of the elastic deformation characteristics of the third leaf spring 15, when the first slider 14 slides along the slide rail 13, the third leaf spring 15 drives the second support plate 12 to make an adaptive adjustment of the angle and position relative to the first support plate 11 through stretching or compression. This design utilizes the inclined guidance of the slide rail 13 and the elastic buffering of the third leaf spring 15 to enable the palm assembly to automatically adapt according to the state of the thumb of the patient's hand, ensuring both the structural stability of the support frame and absorbing the stress during wearing through elastic deformation to avoid the discomfort caused by rigid contact. When the patient's hand moves naturally, the sliding of the first slider 14 on the slide rail and the elastic recovery of the third leaf spring 15 adjust the pose of the second support plate 12 in real time, improving the convenience of thumb movement.

[0033] In some embodiments, the drive assemblies are respectively a first drive unit, a second drive unit, and a third drive unit. The first drive unit is used to control the bidirectional bending movement of the thumb flexible support unit 1, the second drive unit is used to control the bidirectional bending movement of the index finger flexible support unit 2, and the third drive unit is used to synchronously control the bidirectional bending movement of the middle finger flexible support unit 3, the ring finger flexible support unit 4, and the little finger flexible support unit 5.

[0034] Specifically, the driving components are respectively a first driving unit, a second driving unit, and a third driving unit; Among them: The first driving unit independently controls the thumb flexible support unit 1, adapts to the unique movement requirements of the thumb, realizes high-precision two-way bending drive, and strengthens the accuracy of thumb rehabilitation training; The second driving unit separately controls the index finger flexible support element, adapts to its unique movement requirements in actions such as grasping and writing, and ensures personalized adjustment of the index finger movement through independent power transmission, optimizing the rehabilitation effect of a single finger; The third driving unit synchronously drives the middle finger flexible support unit 3, the ring finger flexible support unit 4, and the little finger flexible support unit 5, adopts a cooperative control strategy, enables the three fingers to maintain action consistency during bending or stretching, simulates the natural cooperative grasping of the hand, and improves the rehabilitation training efficiency of multi-finger linkage; that is, in this embodiment, the third driving unit is connected with three flexible transmission mechanisms, and these three flexible transmission mechanisms are respectively connected with the transmission components corresponding to the middle finger flexible support unit 3, the ring finger flexible support unit 4, and the little finger flexible support unit 5; This design through differential driving (independent control of the thumb and index finger, synchronous control of the remaining three fingers) not only meets the rehabilitation needs of single-finger fine movement but also ensures the naturalness of multi-finger coordinated actions, comprehensively covering the hand function rehabilitation scenario; the division of labor and cooperation of the driving units not only enhances the adaptability to the special movement patterns of the thumb and index finger but also optimizes the cooperative training effect of the middle finger, ring finger, and little finger through synchronous control, enabling the glove to more realistically simulate daily hand movements, assisting patients in quickly recovering hand function and improving self-care ability; this architecture takes into account personalized precise control and multi-finger cooperative drive in power distribution, reflects the scientific nature and practicality of the driving system design, provides efficient and suitable power support for hand rehabilitation training, and further enhances the technical advantages and clinical application value of the rehabilitation glove.

[0035] In some embodiments, the first driving unit, the second driving unit, and the third driving unit all include: A driving motor 16, the output shaft of the driving motor 16 is connected with a transmission gear 17, and the driving motor 16 is used to drive the transmission gear 17 to rotate bidirectionally; A first rack 18, the first rack 18 is arranged on the top of the transmission gear 17 and meshes with the transmission gear 17, one end of the first rack 18 is a first connection end, and the first connection end is connected with the first flexible traction cable; A second rack 19, the second rack 19 is arranged on the bottom of the transmission gear 17 and meshes with the transmission gear 17, one end of the second rack 19 is a second connection end, the second connection end corresponds to the first connection end, and the second connection end is connected with the second flexible traction cable.

[0036] Specifically, as Figure 4As shown, the structures of the first driving unit, the second driving unit, and the third driving unit are the same, and the first driving unit, the second driving unit, and the third driving unit are all integrated in the control box 22; Specifically, each driving unit includes a driving motor 16, whose output shaft is connected to a transmission gear 17, and the motor can drive the gear 17 to rotate forward and backward; the top of the transmission gear 17 meshes with a first rack 18, and the bottom meshes with a second rack 19, forming a vertically symmetric rack layout to ensure the symmetry and stability of power transmission. The first connection end of the first rack 18 is connected to a first steel wire rope, and the second connection end of the second rack 19 is connected to a second steel wire rope, and the two connection ends correspond to each other in space; In this embodiment, when the driving motor 16 operates, the rotation of the transmission gear 17 drives the first rack 18 and the second rack 19 to move linearly in opposite directions (for example, when the gear 17 rotates forward, the first rack 18 moves to one side, and the second rack 19 moves to the other side; when the gear 17 rotates backward, the movement directions of the two racks are interchanged). The linear motion is converted into a pushing and pulling action on the first linear guide slider 10 through the first flexible traction cable and the second flexible traction cable; this design utilizes the mechanical transmission characteristics of the gear 17 and the rack to efficiently convert the rotational motion of the motor into the linear displacement of the flexible traction cable, realizing the bidirectional bending drive of the flexible support unit. For example, when the gear 17 rotates forward, it pulls the second flexible traction cable to bend the finger, and when it rotates backward, it pulls the first flexible traction cable to extend the finger; the meshing of the gear 17 and the rack ensures the high-precision power transmission, reduces the transmission clearance, and improves the accuracy of motion control.

[0037] The above description is only a preferred embodiment of the present application and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the technical solutions formed by mutually replacing the above features with the (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A flexible rehabilitation glove based on a bidirectional driving finger, characterized in that Comprising: A finger assembly, the finger assembly including a plurality of flexible support units arranged side by side, each of the flexible support units being configured to support a patient's finger and drive the patient's finger to perform a two-way bending motion; A palm assembly, the palm assembly being disposed on a side of the finger assembly close to the human body, the palm assembly being configured to support the patient's palm; an installation space is provided inside the palm assembly; A transmission assembly, the transmission assembly being disposed in the installation space, and each flexible support unit is correspondingly connected to a transmission assembly; A driving assembly, the driving assembly being connected to the transmission assembly through a corresponding flexible transmission mechanism, the driving assembly being configured to drive the flexible transmission mechanism to perform a pushing and pulling motion, drive the transmission assembly to move, and thereby drive the flexible support unit to perform a two-way bending motion.

2. The flexible rehabilitation glove based on a bidirectional driving finger according to claim 1, characterized in that: The flexible support unit includes: a plurality of support blocks (6) arranged along the axial direction of the finger, and adjacent support blocks (6) are respectively disposed on both sides of the finger joint of the finger; each of the support blocks (6) is provided with a first mounting hole (20) and a second mounting hole (21) arranged along the thickness direction of the finger; A first leaf spring (7), the first leaf spring (7) being disposed through all the first mounting holes (20), one end of the first leaf spring (7) being fixedly connected to the support block (6) located at the fingertip end, the other end of the first leaf spring (7) being connected to the transmission assembly; the remaining part forms an axial sliding fit with the middle support block (6); A second leaf spring (8), the second leaf spring (8) being disposed through all the second mounting holes (21), fixedly connected to each support block (6), and the second leaf spring (8) being fixedly connected to the palm assembly; Wherein, the transmission assembly drives the first leaf spring (7) to move along its axial direction, causing a length difference between the first leaf spring (7) and the second leaf spring (8), thereby realizing the two-way bending motion of the finger.

3. The flexible rehabilitation glove based on a bidirectional driving finger according to claim 2, characterized in that, The transmission assembly includes: A fixed pulley (9), the fixed pulley (9) being disposed in the installation space and close to the flexible support unit; A first linear guide rail slider (10), the first linear guide rail slider (10) being disposed in the installation space, and the first linear guide rail slider (10) being slidable along the axial direction of the finger; Wherein, the flexible transmission mechanism has a first traction end and a second traction end, the first traction end is connected to an end of the first linear guide rail slider (10) away from the flexible support unit, and the second traction end is connected to an end of the first linear guide rail slider (10) close to the flexible support unit after bypassing the fixed pulley (9).

4. The flexible rehabilitation glove based on a bidirectional driving finger according to claim 3, wherein The flexible transmission mechanism includes: A first flexible traction cable, one end of the first flexible traction cable being connected to the driving assembly, and the other end being the first traction end; A second flexible traction cable, one end of the second flexible traction cable being connected to the driving assembly, and the other end being the second traction end.

5. The flexible rehabilitation glove based on a two-way driven finger according to claim 4, wherein The palm assembly includes: a first support plate (11) and a second support plate (12), and the first support plate (11) and the second support plate (12) are connected through a first connection assembly; There are five flexible support units, namely a thumb flexible support unit (1), an index finger flexible support unit (2), a middle finger flexible support unit (3), a ring finger flexible support unit (4) and a little finger flexible support unit (5); among them, the thumb flexible support unit (1) is connected to the second support plate (12), and the index finger flexible support unit (2), the middle finger flexible support unit (3), the ring finger flexible support unit (4) and the little finger flexible support unit (5) are all connected to the first support plate (11).

6. The flexible rehabilitation glove based on a bidirectional driving finger according to claim 5, wherein, The first connection assembly includes: A slide rail (13), which is arranged on the top of the first support plate (11) and is in an inclined state; A first slider (14), which is slidably connected to the slide rail (13); A third leaf spring (15), one end of which is connected to the first slider (14), and the other end of which is connected to the second support plate (12); Wherein, when the slider slides along the slide rail (13), the second support plate (12) is driven by the third leaf spring (15) to make an adaptive pose adjustment relative to the first support plate (11).

7. A flexible rehabilitation glove based on a bidirectional driving finger according to claim 5, characterized in that The driving components are respectively a first driving unit, a second driving unit and a third driving unit. The first driving unit is used to control the bidirectional bending movement of the thumb flexible support unit (1), the second driving unit is used to control the bidirectional bending movement of the index finger flexible support unit (2), and the third driving unit is used to synchronously control the bidirectional bending movement of the middle finger flexible support unit (3), the ring finger flexible support unit (4) and the little finger flexible support unit (5).

8. A flexible rehabilitation glove based on a bidirectional driving finger according to claim 7, characterized in that, The first driving unit, the second driving unit and the third driving unit all include: A driving motor (16), the output shaft of which is connected with a transmission gear (17), and the driving motor (16) is used to drive the transmission gear (17) to rotate bidirectionally; A first rack (18), which is arranged on the top of the transmission gear (17) and meshes with the transmission gear (17). One end of the first rack (18) is a first connection end, and the first connection end is connected with the first flexible traction cable; A second rack (19), which is arranged on the bottom of the transmission gear (17) and meshes with the transmission gear (17). One end of the second rack (19) is a second connection end, which corresponds to the first connection end, and the second connection end is connected with the second flexible traction cable.

9. The flexible rehabilitation glove based on a bidirectional driving finger according to claim 1, wherein The driving assembly is arranged in the control box (22).

10. A flexible rehabilitation glove based on a bidirectional driving finger according to claim 4, characterized in that, The first flexible traction cable is composed of a first steel wire rope and a first protective tube covering it; the second flexible traction cable is composed of a second steel wire rope and a second protective tube covering it.

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