Rehabilitation glove and design method thereof

Abstract

The invention provides a rehabilitation glove and a design method thereof. The rehabilitation glove comprises a finger module, a palm module and a power module. The finger modules are arranged in parallel and comprise a first plate spring and a second plate spring of which the far ends are fixed, the palm module is used for supporting the palm of a user and is fixed to the near end of the first plate spring, and the power module is used for driving the second plate spring to move, so that the two plate springs interact to drive the fingers of the user to bend and stretch; a first included angle is formed between the first plate spring and the second plate spring and used for enabling the ratio of the bending angle of a near interphalangeal joint to the bending angle of a far interphalangeal joint of the finger to be not smaller than 2 when the power module drives the finger of a user to bend and stretch through the finger module, and therefore eagle claw-shaped deformity caused by excessive bending of the far-end joint is avoided. The motion trail of the fingers is more fit with the physiological characteristic of natural flexion and extension of the human hand, extra compression on soft tissues and joints of the fingers is remarkably reduced, and the wearing comfort and the safety of rehabilitation training are improved.

Description

Technical Field

[0001] This application relates to the field of rehabilitation glove technology, and more particularly to a rehabilitation glove and its design method. Background Technology

[0002] Globally, approximately 1.7 billion people suffer from hand dysfunction due to stroke, spinal cord injury, or degenerative diseases such as Parkinson's disease and arthritis, making simple daily activities—like holding a cup, buttoning a shirt, and writing—extremely difficult. Traditional rehabilitation methods rely on high-intensity repetitive training, such as using robotic arms to assist patients in repeatedly grasping building blocks. However, the bulky design of rigid exoskeletons is a burden for many patients, and these devices cannot accommodate the fine motor skills of the fingers.

[0003] Therefore, improvements have been made to the aforementioned technical solutions. Pneumatic flexible rehabilitation gloves are dexterous, provide stable force output, and meet daily needs; however, their forced reliance on an external air source necessitates the use of separate air pumps, valves, and tubing in existing equipment, requiring a significant amount of space. The noise level of the air pump during operation reaches 55-65 decibels, potentially disturbing others in a home environment. Therefore, they are limited to rehabilitation in fixed locations such as hospitals and cannot meet the daily rehabilitation needs of patients. Tendon-driven rehabilitation gloves rely on skeletal positioning. When the path of the exoskeleton traction tendon does not match the user's actual skeletal structure, the direction of the auxiliary force may deviate from the expected direction. Furthermore, due to significant differences in the size and shape of human finger bones, tendon-driven methods relying on skeletal positioning face adaptation challenges. While existing Bowden thread double-layer parallel plate spring rehabilitation gloves have solved the above problems, they exhibit disproportionate finger joint flexion angles under stress (such as pinching movements), leading to excessive flexion of the distal interphalangeal joints, forming a "claw-like" deformity, increasing finger pressure, and affecting rehabilitation comfort and effectiveness. Summary of the Invention

[0004] The purpose of this application is to address the above-mentioned problems by providing a rehabilitation glove and its design method.

[0005] In a first aspect, this application provides a rehabilitation glove, comprising: A finger module, wherein multiple finger modules are arranged side by side, each finger module includes a first leaf spring and a second leaf spring, wherein the distal ends of the first leaf spring and the distal ends of the second leaf spring are fixed. A palm module is disposed on one side of the finger module and is used to support the user's palm. The palm module is fixed to the proximal end of the first leaf spring. The power module has multiple output terminals, each of which is connected to the proximal end of each of the second leaf springs. The power module is used to drive the second leaf springs to move along their own axial direction so that the first leaf spring and the second leaf spring interact to drive the user's fingers to perform flexion and extension movements. The first leaf spring and the second leaf spring have a first included angle, which is used to ensure that the ratio of the bending angle of the proximal interphalangeal joint to the bending angle of the distal interphalangeal joint is not less than 2 when the power module drives the user's finger to perform flexion and extension movements through the finger module.

[0006] According to the technical solutions provided in certain embodiments of this application, the power module includes: First driving element, a plurality of first driving elements are disposed on the side of the palm module away from the finger module; A first lead screw, and a plurality of first lead screws are rotatably connected to the palm module, with the proximal end of each first lead screw correspondingly connected to the drive end of each first drive component; The first slider is slidably disposed on the palm module, and the first slider is threadedly engaged with the first lead screw and connected to the proximal end of the second leaf spring.

[0007] According to the technical solutions provided in certain embodiments of this application, a flexible shaft is provided between the proximal end of the first lead screw and the driving end of the first driving member, and the flexible shaft is used to realize a flexible connection and transmit torque.

[0008] According to the technical solutions provided in certain embodiments of this application, the finger module further includes a plurality of support blocks, which are sequentially sleeved on the first leaf spring and the second leaf spring along the axial direction of the user's finger, and the support blocks are arranged corresponding to the knuckles of the user's finger; the first leaf spring is fixedly connected to the plurality of support blocks, the second leaf spring is fixedly connected to the support block located at its distal end, and is slidably connected to the remaining support blocks.

[0009] According to the technical solutions provided in certain embodiments of this application, the palm module includes a first support frame and a second support frame, wherein the first support frame and the second support frame are connected in a transmission manner; The number of finger modules is set to five, namely a thumb module, an index finger module, a middle finger module, a ring finger module, and a little finger module. The thumb module is connected to the second support frame, and the index finger module, the middle finger module, the ring finger module, and the little finger module are respectively connected to the first support frame.

[0010] According to the technical solutions provided in certain embodiments of this application, the power module further includes: The second driving member is disposed on the first support frame; The second lead screw is rotatably connected to the first support frame, and one end of the first lead screw is fixed to the driving end of the second driving member; The second slider is slidably disposed on the first support frame. The second slider is threadedly engaged with the second lead screw and is connected to the second support frame via a connecting assembly.

[0011] According to the technical solutions provided in certain embodiments of this application, the connecting assembly includes a third leaf spring, one end of which is connected to the second slider, and the other end of which is ball-jointed to the third slider. The third slider is slidably connected to the second support plate along the axial direction of the user's thumb.

[0012] According to the technical solutions provided in certain embodiments of this application, the number of the first sliders is set to four, one of which is connected to both the ring finger module and the little finger module, and the remaining first sliders are connected to the thumb module, the index finger module and the middle finger module respectively.

[0013] Secondly, this application provides a design method for a rehabilitation glove as described above, the design method comprising: S1. Obtain design performance indicators, quantitative design parameters, and variable design parameters; S2. Establish a mechanical model of the finger module. The mechanical model is used to describe the mapping relationship between the driving force of the power module and the external force on the user's finger and the bending angle of each joint of the finger under the quantitative design parameters and the variable design parameters. S3. Assign values ​​to the variable design parameters, substitute the assigned variable design parameters and the quantitative design parameters into the mechanical model, and calculate the corresponding bending angle ratio between the proximal interphalangeal joint and the distal interphalangeal joint. S4. Compare the calculated bending angle ratio with the design performance index. If the bending angle ratio meets the design performance index, the currently assigned variable design parameter is taken as a valid design parameter. If it does not meet the design performance index, adjust the assigned value of the variable design parameter and repeat S3 and S4 until it meets the design performance index.

[0014] According to the technical solutions provided in certain embodiments of this application, the variable design parameters include a first included angle and a finger bone position parameter, and the assignment of values ​​to the adjustment variable design parameters includes: The finger bone position parameter is fixed to a preset value. Within the range of (0, 0.1) radians of the first included angle, the ratio of bending angles under different total bending angles is calculated, and the first included angle value that makes the bending angle ratio meet the design performance index is selected. With the first included angle value as a fixed value, the finger bone position parameters are adjusted within the range of (0,1) to calculate the bending angle ratio under different total bending angles, and the finger bone position parameter value that makes the bending angle ratio meet the design performance index is selected.

[0015] Compared with the prior art, the beneficial effects of this application are as follows: This application provides a rehabilitation glove and its design method. The rehabilitation glove includes finger modules, multiple finger modules arranged side by side, each finger module including a first leaf spring and a second leaf spring, with the distal ends of the first leaf spring and the second leaf spring fixed together; a palm module is provided on one side of the finger modules, the palm module is used to support the user's palm and is fixed to the proximal end of the first leaf spring; it also includes a power module, the power module having multiple output ends, each output end correspondingly connected to the proximal end of each second leaf spring, the power module being used to drive the second leaf spring to move along its own axis, so that the first leaf spring and the second leaf spring interact to drive the user's fingers to perform flexion and extension movements; the first leaf spring and the second leaf spring... The springs have a first included angle between them. This first included angle is used to ensure that the ratio of the bending angle of the proximal interphalangeal joint to the bending angle of the distal interphalangeal joint is not less than 2 when the power module drives the user's fingers to perform flexion and extension movements through the finger module. By setting the first leaf spring and the second leaf spring and introducing the first included angle between them, the ratio of the bending angle of the proximal interphalangeal joint to the distal interphalangeal joint can be effectively controlled when the power module drives the fingers to bend and the fingers are subjected to external forces. This avoids excessive bending of the distal interphalangeal joint due to uneven force, makes the finger movement trajectory more in line with the physiological characteristics of natural flexion and extension of the human hand, significantly reduces the additional pressure on the soft tissues and joints of the fingers, and improves wearing comfort and the safety of rehabilitation training.

[0016] It should be understood that the descriptions of technical features, technical solutions, beneficial effects, or similar language in this application do not imply that all features and advantages can be achieved in any single embodiment. Rather, it is understood that the description of a feature or beneficial effect means that a specific technical feature, technical solution, or beneficial effect is included in at least one embodiment. Therefore, the descriptions of technical features, technical solutions, or beneficial effects in this specification do not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions, and beneficial effects described in this embodiment can be combined in any suitable manner. Those skilled in the art will understand that embodiments can be implemented without one or more specific technical features, technical solutions, or beneficial effects of a particular embodiment. In other embodiments, additional technical features and beneficial effects may be identified in specific embodiments that do not embody all embodiments. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1This is a schematic diagram of the structure of a rehabilitation glove provided in Embodiment 1 of this application; Figure 2 This is a schematic diagram of the structure of the finger module of a rehabilitation glove provided in Embodiment 1 of this application; Figure 3 This is a partial structural schematic diagram of the power module of a rehabilitation glove provided in Embodiment 1 of this application; Figure 4 This is a schematic diagram of the hand module and power module of a rehabilitation glove provided in Embodiment 1 of this application; Figure 5 This is a flowchart illustrating a design method for a rehabilitation glove provided in Embodiment 1 of this application.

[0019] The text labels in the image represent: 1. Finger module; 2. Palm module; 3. Power module; 11. First leaf spring; 12. Second leaf spring; 13. Support block; 21. First support frame; 22. Second support frame; 31. First drive component; 32. First lead screw; 33. First slider; 34. Flexible shaft; 35. Second drive component; 36. Second lead screw; 37. Second slider; 38. Third leaf spring; 101. Thumb module; 102. Index finger module; 103. Middle finger module; 104. Ring finger module; 105. Little finger module; 211. First guide rail; 212. Second guide rail; 221. Slide groove. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. The descriptions in this section are merely illustrative and explanatory, and should not be construed as limiting the scope of protection of this application. Specifically, the described embodiments are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort should fall within the scope of protection of this invention.

[0021] It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0022] It should be noted that the proximal interphalangeal joint is located in the middle of the finger, connecting the proximal and middle phalanges; the distal interphalangeal joint is located at the tip of the finger, connecting the middle and distal phalanges. When a person makes a fist, the proximal interphalangeal joint bends at an angle greater than 90°, and the distal interphalangeal joint bends at approximately 70°. At this point, the ratio of the bend angles of the proximal to distal interphalangeal joints is approximately 1.3. When the hand is in a naturally bent state, without external force, the bend angle of the proximal interphalangeal joint is 45°-60°, and the bend angle of the distal interphalangeal joint is approximately 2°. Between 0° and 30°, the ratio of the bending angle between the proximal and distal interphalangeal joints is approximately 2. When the user wears rehabilitation gloves, the hand mainly performs two actions: grasping and pinching. When the hand performs a grasping action, the bending of the finger joints is mainly affected by the shape of the object. When the hand performs a pinching action, the ratio of the bending angle between the proximal and distal interphalangeal joints should be no less than 2 to avoid excessive bending of the distal interphalangeal joint, which would make the fingers appear "claw-like". This allows the movement trajectory of the user's fingers driven by the rehabilitation gloves to better conform to the physiological characteristics of the natural flexion and extension of the human hand.

[0023] Example 1 As mentioned in the background section, in order to solve the problems existing in the prior art, this embodiment provides a rehabilitation glove, including: Finger module 1, multiple finger modules 1 are arranged side by side, finger module 1 includes a first leaf spring 11 and a second leaf spring 12, the distal end of the first leaf spring 11 and the distal end of the second leaf spring 12 are fixed; Palm module 2 is located on one side of finger module 1 and is used to support the user's palm. Palm module 2 is fixed to the proximal end of the first leaf spring 11. The power module 3 has multiple output terminals, each of which is connected to the proximal end of each second leaf spring 12. The power module 3 is used to drive the second leaf spring 12 to move along its own axis so that the first leaf spring 11 and the second leaf spring 12 interact to drive the user's fingers to perform flexion and extension movements. The first leaf spring 11 and the second leaf spring 12 have a first included angle. The first included angle is used to ensure that the ratio of the bending angle of the proximal interphalangeal joint to the bending angle of the distal interphalangeal joint is not less than 2 when the power module 3 drives the user's finger to perform flexion and extension movements through the finger module 1.

[0024] like Figure 1-4As shown, the proximal end is the end closest to the arm, and the distal end is the end closest to the fingertip; five finger modules 1 are provided, and the length of each of the five finger modules 1 corresponds to the five fingers. Each finger module 1 includes a first leaf spring 11 and a second leaf spring 12. When the user wears the rehabilitation glove, the first leaf spring 11 fits against the user's fingers, and the second leaf spring 12 is located on the side of the first leaf spring 11 away from the fingers, with the distal end of the second leaf spring 12 fixed relative to the distal end of the first leaf spring 11; the palm module 2 is located on the side of the finger modules 1 closest to the body and is fixed to the proximal end of each first leaf spring 11. When the user wears the rehabilitation glove, the palm module 2 fits and is fixed against the back of the user's hand to provide support; power. Module 3 is located on the side of palm module 2 away from finger module 1. Each drive end of power module 3 extends from palm module 2 toward finger module 1 and is fixed to the proximal end of each second leaf spring 12. When the user wears the glove, it is placed above the user's hand. Each finger module 1 is fixed to its corresponding finger, palm module 2 is fixed to the user's palm, and power module 3 is fixed to the user's wrist. Power module 3 can apply a force along its axis to the second leaf spring 12. Since the distal end of the second leaf spring 12 is fixed to the distal end of the first leaf spring 11, through their interaction, the second leaf spring 12 can drive the first leaf spring 11 to perform flexion and extension movements, thereby driving the user's fingers to perform flexion and extension movements.

[0025] By setting a first leaf spring 11 and a second leaf spring 12, and introducing a first included angle between them, the bending angle ratio between the proximal interphalangeal joint and the distal interphalangeal joint can be effectively controlled when the power module 3 drives the finger to bend and the finger is subjected to external force. This avoids excessive bending of the distal interphalangeal joint due to uneven force, making the finger movement trajectory more in line with the physiological characteristics of natural flexion and extension of the human hand. It significantly reduces the additional pressure on the soft tissue and joints of the fingers, and improves wearing comfort and the safety of rehabilitation training.

[0026] In a preferred embodiment, the finger module 1 further includes a plurality of support blocks 13, which are sequentially sleeved on the first leaf spring 11 and the second leaf spring 12 along the axial direction of the user's finger. The support blocks 13 are configured to correspond to the knuckles of the user's fingers. The first leaf spring 11 is fixedly connected to the plurality of support blocks 13, and the second leaf spring 12 is fixedly connected to the support block 13 located at its distal end and is slidably connected to the remaining support blocks 13.

[0027] like Figure 2As shown, the support block 13 is approximately a cuboid structure. The thumb module 101 is provided with two support blocks 13, and the other four finger modules 1 are each provided with three support blocks 13. The support blocks 13 of each finger module 1 are arranged along the extension direction of its first leaf spring 11. The position of the support block 13 corresponds to the position of the user's finger joint. There is a gap between two adjacent support blocks 13 to correspond to the interphalangeal joint of the user's finger. Each support block 13 is provided with a first mounting hole and a second mounting hole. The first leaf spring 11 passes through the mounting hole and is fixed to each support block 13. The second leaf spring 12 also passes through the mounting hole and is fixed to the support block 13 located at its distal end. By setting the support blocks 13, a stable support can be provided for the user's fingers. At the same time, the support blocks 13 are spaced apart to guide the leaf spring to bend at the interphalangeal joint, so that the flexion and extension movements of the finger module 1 are more in line with the physiological structure of the user's hand.

[0028] In a preferred embodiment, the palm module 2 includes a first support frame 21 and a second support frame 22, and the first support frame 21 and the second support frame 22 are connected in a transmission manner. The thumb module 101 is connected to the second support frame 22, and the index finger module 102, middle finger module 103, ring finger module 104 and little finger module 105 are respectively connected to the first support frame 21.

[0029] like Figure 1 and Figure 4 As shown, the palm module 2 includes a first support frame 21 and a second support frame 22 that are separately arranged. The second support frame 22 is correspondingly arranged with the thumb module 101 and is fixed to the proximal end of the first leaf spring 11 of the thumb module 101. The first support frame 21 is correspondingly arranged with the finger modules 1 of the other four fingers and is fixed to the proximal end of the first leaf spring 11 of the finger modules 1 of the other four fingers respectively. The first support frame 21 and the second support frame 22 are connected by transmission, which allows the second support frame 22 and the thumb module 101 to perform multi-degree-of-freedom movements relative to the first support frame 21, thereby simulating the special movement requirements of the human thumb, so that the overall movement of the rehabilitation glove is closer to the real movement of the user's hand.

[0030] In a preferred embodiment, the power module 3 includes: First driving element 31, multiple first driving elements 31 are disposed on the side of palm module 2 away from finger module 1; The first lead screw 32 and multiple first lead screws 32 are rotatably connected to the palm module 2, and the proximal end of each first lead screw 32 is correspondingly connected to the driving end of each first driving component 31. The first slider 33 is slidably disposed on the palm module 2. The first slider 33 is threadedly engaged with the first lead screw 32 and connected to the proximal end of the second leaf spring 12.

[0031] like Figure 3 and Figure 4 As shown, multiple first driving components 31 are fixed on a mounting frame. The mounting frame is used to fix the first driving components 31 to the user's wrist and to support them. The first driving components 31 can be drive motors, which are fixed to the user's wrist via the mounting frame. This effectively reduces the weight of the rehabilitation glove on the hand, thus achieving a lightweight design. Four first driving components 31 are provided, each with a first lead screw 32 fixed to its driving end. The first support frame 21 and the second support frame 22 each have a first space and a second space. Three first lead screws 32 are rotatably connected to the first space, and the other first lead screw 32 is rotatably connected to the second space. First guide rails 211 are provided in the first and second spaces corresponding to each first lead screw 32. The extension direction of each first guide rail 211 is the same as the extension direction of its corresponding first lead screw 32. First sliders 33 are slidably fitted on the first guide rails 211, and each first slider 33 is threadedly engaged with its corresponding first lead screw 32. One of the first sliders 33 in the first space simultaneously engages with the ring finger module 10. The second leaf spring 12 of the little finger module 105 is fixed at its proximal end. The other two first sliders 33 in the first space are fixed at their proximal ends to the second leaf springs 12 of the index finger module 102 and the middle finger module 103, respectively. The first slider 33 in the second space is fixed at its proximal end to the second leaf spring 12 of the thumb module 101. When the first driving member 31 outputs torque, it drives the corresponding first lead screw 32 to rotate. The first lead screw 32 drives the corresponding first slider 33 to slide along the first guide rail 211 through the thread action, thereby driving the second leaf spring 12 to perform flexion and extension movements. By using the first lead screw 32 in conjunction with the first slider 33, the rotational motion of the first driving member 31 can be converted into the linear motion of the first slider 33, and a large transmission ratio can be provided. Even if a small torque and small size first driving member 31 is selected, sufficient driving force can be output to push the leaf spring to bend, thereby significantly reducing the overall volume and weight of the power module 3. In addition, the threaded engagement between the first lead screw 32 and the first slider 33 has self-locking and high transmission stiffness, which can realize precise displacement control of the first slider 33, thereby accurately controlling the bending angle of the finger.

[0032] Furthermore, a flexible shaft 34 is provided between the proximal end of the first lead screw 32 and the driving end of the first drive member 31. The flexible shaft 34 is used to achieve a flexible connection and transmit torque.

[0033] For details, please refer to Figure 3The flexible shaft 34 can be made of nylon or polyurethane. The flexible shaft 34 is used to connect the drive end of the first drive member 31 and the proximal end of the first lead screw 32, and is used to transmit the torque output by the first drive member 31 to the first lead screw 32. At the same time, due to the bendability of the flexible shaft 34, the restriction that the first drive member 31 and the first lead screw 32 must be collinear is removed. Thus, the first drive member 31 can be concentrated in a position away from the rehabilitation glove body, such as the user's wrist, further reducing the burden on the user's hand. At the same time, the power transmission between the first drive member 31 and the first lead screw 32 is not affected when the user's wrist moves.

[0034] In a preferred embodiment, the power module 3 further includes: The second driving component 35 is disposed on the first support frame 21; The second lead screw 36 is rotatably connected to the first support frame 21, and one end of the second lead screw 36 is fixed to the driving end of the second driving member 35. The second slider 37 is slidably disposed on the first support frame 21. The second slider 37 is threadedly engaged with the second lead screw 36 and is connected to the second support frame 22 through a connecting assembly.

[0035] like Figure 4 As shown, the second driving component 35 can also be a drive motor. The second driving component 35 is fixed to the top of the first support frame 21. The driving end of the second driving component 35 is fixed with a second lead screw 36. The second lead screw 36 is rotatably connected to the top of the first support frame 21. A second guide rail 212 is provided on the first support frame 21 corresponding to the second lead screw 36. The extension direction of the second guide rail 212 is the same as the extension direction of the second lead screw 36. A second slider 37 is slidably fitted on the second guide rail 212. The second slider 37 is connected to the second support frame 22 through a connecting assembly.

[0036] Furthermore, the connecting assembly includes a third leaf spring 38, one end of which is connected to the second slider 37, and the other end is ball-jointed to the third slider, which is slidably connected to the second support frame 22 along the axis of the user's thumb.

[0037] For details, please refer to Figure 4The first support frame 21 is provided with a connecting structure, and a third mounting hole is provided on the connecting structure. The extension direction of the third mounting hole has a certain curvature. One end of the third leaf spring 38 passes through the third mounting hole and is fixed to the second slider 37. The other end is ball-jointed to the third slider. The top of the second support frame 22 is provided with a groove 221. The third slider is slidably connected to the second support frame 22 through the groove 221. Since the base of the thumb is a ball joint, it has many degrees of freedom of movement and a complex movement trajectory. Through the elastic deformation of the third leaf spring 38 and the multi-degree-of-freedom rotation of the ball joint, the second support frame 22 can adaptively adjust its position according to the user's thumb posture, avoiding movement interference and stress concentration caused by rigid connection, and significantly improving the comfort and smoothness of movement of the thumb in rehabilitation training. Compared with complex multi-link mechanisms or rigid universal joints, the combination structure of the third leaf spring 38, ball joint connection and third slider is simple, lightweight and low cost, which meets the design requirements of lightweight and flexible rehabilitation gloves.

[0038] Working principle: During use, the rehabilitation glove is placed above the user's hand. The five finger modules 1 are fixed to their corresponding fingers, the palm module 2 is fixed to the back of the user's hand, and the power module 3 is fixed to the user's wrist. After the power module 3 is activated, the rotational torque output by the first drive component 31 is flexibly transmitted to the first lead screw 32 via the flexible shaft 34. The rotational motion of the first lead screw 32 is converted into the linear sliding of the first slider 33 along the finger axis through the threaded engagement. The first slider 33 drives the second leaf spring 12, which is fixed to it, to move along its own axis. Since the distal end of the second leaf spring 12 is fixed to the distal end of the first leaf spring 11, when the second leaf spring 12... When the proximal end of the finger moves to its distal end, the second leaf spring 12 shortens relative to the first leaf spring 11, and the two interact to produce bending. Guided by the support block 13 corresponding to the finger joint, it causes the user's finger to flex towards the palm. When the second leaf spring 12 moves to the distal end, the second leaf spring 12 lengthens relative to the first leaf spring 11, and the leaf spring gradually returns to straight, causing the finger to extend towards the back of the hand. During this process, the first included angle between the first leaf spring 11 and the second leaf spring 12 can adjust the bending angle ratio between the proximal interphalangeal joint and the distal interphalangeal joint, so that the ratio is not less than 2, thereby ensuring that the finger movement trajectory conforms to the physiological characteristics of the natural flexion and extension of the human hand.

[0039] Example 2 Please refer to Figure 5 This is a flowchart illustrating a design method for a rehabilitation glove provided in Embodiment 2 of this application. The design method includes: S1. Obtain design performance indicators, quantitative design parameters, and variable design parameters; The design performance indicators are as follows: when the user's fingers are flexing and extending and under external force, the ratio of the flexion angle of the proximal interphalangeal joint to the flexion angle of the distal interphalangeal joint is not less than 2; the quantitative design parameters include: the lengths of the first and second leaf springs corresponding to each phalanx of the user's fingers, the elastic modulus and moment of inertia of the first and second leaf springs, the initial distance between the first and second leaf springs, and the coefficient of friction between the second leaf spring and the support block; the variable design parameters include: the first included angle and the finger bone position parameters.

[0040] S2. Establish a mechanical model of the finger module. The mechanical model is used to describe the mapping relationship between the driving force of the power module and the external force on the user's finger and the bending angle of each joint of the finger under quantitative design parameters and variable design parameters. In this embodiment, the mechanical model is established based on the following fundamental formulas of mechanics of materials:

[0041] Where M is the bending moment, E is the elastic modulus of the leaf spring, I is the moment of inertia of the leaf spring section, θ is the bending angle, and x is the position coordinate along the user's finger axis. Because the second leaf spring is tilted, its cross-sectional area is increased. The total stiffness of the first and second leaf springs working together is:

[0042] Where α is the first included angle; Meanwhile, since there is a first included angle between the first leaf spring and the second leaf spring, the distance between the two leaf springs changes with position, satisfying the following relationship:

[0043] Where d0 is the initial distance between the first leaf spring and the second leaf spring at the proximal end (x=0); Integrating the bending moment, we obtain the integral relationship between the bending angle and the bending moment:

[0044] This formula indicates that the bending angle at position x multiplied by the total stiffness equals the cumulative effect of the bending moment from the near end to that position.

[0045] In actual movement, there is sliding friction between the second leaf spring and the support block. The friction force acts on each support block, and the direction of the friction force is opposite to the direction of movement, which reduces the effective driving force. Based on the above analysis and considering the independence of the force on each joint, the following set of equations is derived to form a complete mechanical model. In the following description, the phalanges of the user's fingers are respectively referred to as the proximal phalange, middle phalange and distal phalange from the side closer to the palm to the side farther from the palm. The corresponding support blocks are respectively referred to as the first support block, the second support block and the third support block from the side closer to the palm to the side farther from the palm.

[0046] (1) Expressions for the bending angle components of each joint Metacarpophalangeal joints:

[0047]

[0048] Where, θ 1x To drive the metacarpophalangeal joint flexion angle caused by the component of the thrust along the finger direction, F τ The driving thrust applied to the power module, N1 is the normal pressure at the first support block, and l1 is the length of the first and second leaf springs corresponding to the proximal interphalanges; θ is the positional parameter of the metacarpophalangeal joint. 1y The bending angle of the metacarpophalangeal joint caused by the combined vertical component of the driving thrust and the external force is defined as follows: F is the external force acting on the finger, and S1 is the position parameter of the external force F relative to the point of application of the metacarpophalangeal joint. Proximal interphalangeal joint:

[0049]

[0050] Where, θ 2x To determine the proximal interphalangeal joint flexion angle caused by the component of the driving thrust along the finger direction, N2 is the normal pressure at the second support block, and l2 is the length of the first and second leaf springs corresponding to the middle phalanx. θ is the positional parameter of the proximal interphalangeal joint. 2y S2 is the position parameter of the external force F relative to the point of application of the interphalangeal joint, which is caused by the combined vertical component of the driving thrust and the external force. Distal interphalangeal joint:

[0051]

[0052] Where, θ 3xTo determine the flexion angle of the distal interphalangeal joint caused by the component of the driving thrust along the finger direction, N3 is the normal pressure at the third support block, l3 is the length of the first and second leaf springs corresponding to the distal phalanx, S3 is the position parameter of the distal interphalangeal joint, and θ is the angle of motion. 3y S3 is the bending angle of the distal interphalangeal joint caused by the combined effect of the vertical component of the driving thrust and the external force. S3 is the position parameter of the point of action of the external force F relative to the distal interphalangeal joint.

[0053] (2) Position parameter expression

[0054]

[0055]

[0056]

[0057]

[0058]

[0059] in, This refers to the distance between the support blocks between the metacarpophalangeal joint and the proximal interphalangeal joint. The distance between the support blocks is the distance between the proximal and distal interphalangeal joints.

[0060] (3) Expression of normal pressure First, define the normal pressure components caused by the bending angle of each joint individually:

[0061] Where θ1 is the bending angle of the metacarpophalangeal joint. N is the distance from the base of the finger to the first support block. 10 The normal pressure component of the joint is calculated from the bending angle of the metacarpophalangeal joint.

[0062] Where θ2 is the bending angle near the interphalangeal joint. N is the distance between the first support block and the second support block. 20 The normal pressure component is calculated from the flexion angle of the proximal interphalangeal joint.

[0063] Where θ3 is the bending angle of the distal interphalangeal joint. N represents the distance between the second and third support blocks. 30 The normal pressure component is calculated from the flexion angle of the distal interphalangeal joint. The actual normal pressure at each support block is the sum of the above components:

[0064]

[0065]

[0066] (4) Angle composition expression

[0067]

[0068]

[0069] The above formulas constitute a complete mechanical model. By solving the formulas simultaneously, the bending angles θ1, θ2, and θ3 of each joint under given parameters can be obtained.

[0070] S3. Assign values ​​to the variable design parameters, substitute the assigned variable design parameters and quantitative design parameters into the mechanical model, and calculate the corresponding bending angle ratio between the proximal interphalangeal joint and the distal interphalangeal joint. Initial values ​​are assigned to the first included angle and the finger bone position parameters. The assigned variable design parameters and quantitative design parameters are then substituted into the mechanical model established by S2 to solve for the corresponding proximal interphalangeal joint bending angle and distal interphalangeal joint bending angle, and then the bending angle ratio is calculated.

[0071] In this embodiment, the finger bone position parameter is determined by the leaf spring length l2 corresponding to the middle finger joint, and is defined as:

[0072] The value of l2 ranges from (3,17), and the value of pos ranges from (0,1). This parameter reflects the relative position of the leaf spring length corresponding to the middle finger joint in the entire finger.

[0073] It should be noted that in the mechanical model, the factors affecting the bending angle ratio include the first included angle, the length of the middle phalanx, and the length of the distal phalanx. However, according to the statistics of human finger anatomy, there is a positive correlation between the length of the middle phalanx and the length of the distal phalanx. Therefore, it is only necessary to determine the length of the middle phalanx to determine the length of the distal phalanx within a reasonable range, without having to optimize them as independent variables. By defining the phalanx position parameters to normalize the length of the middle phalanx, optimizing the phalanx position parameters can simultaneously determine the reasonable values ​​of the length of the middle phalanx and the length of the distal phalanx, ensuring that the length of each joint of the finger conforms to the characteristics of human anatomy.

[0074] S4. Compare the calculated bending angle ratio with the design performance index. If the bending angle ratio meets the design performance index, then the currently assigned variable design parameter is taken as the valid design parameter. If it does not meet the design performance index, then adjust the assigned value of the variable design parameter and repeat S3 and S4 until it meets the design performance index. The calculated bending angle ratio is compared with the design performance indicators: If θ2 / θ3≥ 2, it means that the currently assigned variable design parameters can enable the rehabilitation glove to maintain a reasonable joint bending ratio under stress, which meets the design requirements. In this case, the currently assigned first included angle and the unknown parameter are taken as effective design parameters. If θ2 / θ3 < 2, it means that the current parameters cannot prevent excessive bending of the distal interphalangeal joint. The variable design parameters need to be adjusted, and the above calculation and comparison steps should be repeated until the design performance index is met.

[0075] The following two-step optimization strategy is used to adjust the values ​​of the design parameters for the variables: First, fix the finger bone position parameter to a preset value (e.g., take the median pos = 0.5). When the first included angle is within the range of (0, 0.1) radians, traverse the first included angle with a certain step size and calculate the bending angle ratio under different total bending angles (e.g., 0.5 rad, 1.0 rad, 1.5 rad, 2.0 rad). Select the first included angle value that makes θ2 / θ3 ≥ 2 under each bending angle as the design value of the first included angle. Then, with the selected first included angle as a fixed value, the finger bone position parameter values ​​are adjusted within the range of (0,1). The bending angle ratio under different total bending angles is calculated. The finger bone position parameter value that makes θ2 / θ3 ≥ 2 and as close to 2 as possible under each bending angle is selected as the design value of the finger bone position parameter. Through the above optimization process, a set of optimal variable design parameters (α, pos) can be obtained, which enables the rehabilitation glove to maintain θ2 / θ3≥ 2 under stress, thereby ensuring that the finger movement trajectory conforms to the physiological characteristics of natural flexion and extension of the human hand, avoiding "claw-like" deformity and additional pressure on the knuckles.

[0076] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. The above descriptions are only preferred embodiments of this application. It should be noted that due to the limitations of written expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of this invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of this application.

Claims

1. A rehabilitation glove characterized in that, include: Finger module (1), multiple finger modules (1) are arranged side by side, the finger module (1) includes a first leaf spring (11) and a second leaf spring (12), the distal end of the first leaf spring (11) and the distal end of the second leaf spring (12) are fixed; Palm module (2), the palm module (2) is located on one side of the finger module (1) and is used to support the user's palm. The palm module (2) is fixed to the proximal end of the first leaf spring (11). The power module (3) has multiple output terminals, each of which is connected to the proximal end of each of the second leaf springs (12). The power module (3) is used to drive the second leaf springs (12) to move along their own axis so that the first leaf spring (11) and the second leaf springs (12) interact with each other and drive the user's fingers to perform flexion and extension movements. The first leaf spring (11) and the second leaf spring (12) have a first included angle, which is used to ensure that the ratio of the bending angle of the proximal interphalangeal joint to the bending angle of the distal interphalangeal joint is not less than 2 when the power module (3) drives the user's finger to perform flexion and extension movements through the finger module (1).

2. A rehabilitation glove according to claim 1, characterized in that The power module (3) includes: First drive element (31), a plurality of first drive elements (31) are disposed on the side of the palm module (2) away from the finger module (1); First lead screw (32), multiple first lead screws (32) are rotatably connected to the palm module (2), and the proximal end of each first lead screw (32) is correspondingly connected to the driving end of each first driving member (31); The first slider (33) is slidably disposed on the palm module (2). The first slider (33) is threadedly engaged with the first lead screw (32) and connected to the proximal end of the second leaf spring (12).

3. A rehabilitation glove according to claim 2, characterised in that, A flexible shaft (34) is provided between the proximal end of the first lead screw (32) and the driving end of the first drive member (31), the flexible shaft (34) being used to achieve a flexible connection and transmit torque.

4. A rehabilitation glove according to claim 1, characterized in that The finger module (1) further includes multiple support blocks (13), which are sequentially sleeved on the first leaf spring (11) and the second leaf spring (12) along the axial direction of the user's finger. The support blocks (13) are arranged corresponding to the knuckles of the user's fingers. The first leaf spring (11) is fixedly connected to the multiple support blocks (13), and the second leaf spring (12) is fixedly connected to the support block (13) located at its distal end and is slidably connected to the remaining support blocks (13).

5. A rehabilitation glove according to claim 2, characterized in that The palm module (2) includes a first support frame (21) and a second support frame (22), wherein the first support frame (21) and the second support frame (22) are connected in a transmission manner; The number of finger modules (1) is set to five, namely the thumb module (101), the index finger module (102), the middle finger module (103), the ring finger module (104), and the little finger module (105). The thumb module (101) is connected to the second support frame (22), and the index finger module (102), the middle finger module (103), the ring finger module (104), and the little finger module (105) are respectively connected to the first support frame (21).

6. A rehabilitation glove according to claim 5, characterized in that The power module (3) also includes: The second driving member (35) is disposed on the first support frame (21); The second lead screw (36) is rotatably connected to the first support frame (21), and one end of the second lead screw (36) is fixed to the driving end of the second driving member (35); The second slider (37) is slidably disposed on the first support frame (21). The second slider (37) is threadedly engaged with the second lead screw (36) and is connected to the second support frame (22) via a connecting assembly.

7. A rehabilitation glove according to claim 6, characterised in that The connecting assembly includes a third leaf spring (38), one end of which is connected to the second slider (37), and the other end is ball-jointed to the third slider, which is slidably connected to the second support frame (22) along the axis of the user's thumb.

8. A rehabilitation glove according to claim 5, characterized in that The number of the first sliders (33) is set to four, one of which is connected to both the ring finger module (104) and the little finger module (105), and the other first sliders (33) are connected to the thumb module (101), the index finger module (102) and the middle finger module (103).

9. A method of designing a rehabilitation glove as claimed in any one of claims 1-8, characterized in that, The design method includes: S1. Obtain design performance indicators, quantitative design parameters, and variable design parameters; S2. Establish a mechanical model of the finger module (1). The mechanical model is used to describe the mapping relationship between the driving force of the power module (3) and the external force on the user's finger and the bending angle of each joint of the finger under the quantitative design parameters and the variable design parameters. S3. Assign values ​​to the variable design parameters, substitute the assigned variable design parameters and the quantitative design parameters into the mechanical model, and calculate the corresponding bending angle ratio between the proximal interphalangeal joint and the distal interphalangeal joint. S4. Compare the calculated bending angle ratio with the design performance index. If the bending angle ratio meets the design performance index, the currently assigned variable design parameter is taken as a valid design parameter. If it does not meet the design performance index, adjust the assigned value of the variable design parameter and repeat S3 and S4 until it meets the design performance index.

10. A method of designing a rehabilitation glove according to claim 9, wherein, The variable design parameters include the first included angle and the finger bone position parameter, and the assignment of values ​​to the adjustment variable design parameters includes: The finger bone position parameter is fixed to a preset value. Within the range of (0, 0.1) radians of the first included angle, the ratio of bending angles under different total bending angles is calculated, and the first included angle value that makes the bending angle ratio meet the design performance index is selected. With the first included angle value as a fixed value, the finger bone position parameters are adjusted within the range of (0,1) to calculate the bending angle ratio under different total bending angles, and the finger bone position parameter value that makes the bending angle ratio meet the design performance index is selected.

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