A flexible driven hand function rehabilitation device combining hyperthermia and water exercise therapy

Abstract

The application discloses a flexible driving hand function rehabilitation device combining heat therapy and water exercise therapy, which comprises an exoskeleton rehabilitation glove, a temperature detection module and a water tank, the exoskeleton rehabilitation glove comprises a glove body and flexible driving modules arranged at corresponding positions of five fingers respectively, the flexible driving module is a laminated flexible sheet structure, and comprises a first connecting layer, a transmission layer, a second connecting layer and a driving layer in sequence from the side close to the finger to the side away from the finger, the temperature detection module is arranged in the water tank, and the water tank is used for containing hot water and cooperating with the temperature detection module to monitor the water temperature in real time, so that heat therapy and water exercise training are realized synchronously. The flexible driving module is adopted to drive, the structure is simple, light, soft, the functions of heat therapy, driving and training are fused, and a safe, effective and easy-to-implement rehabilitation scheme is provided for a stroke hand function disorder patient.

Description

Technical Field

[0001] This invention relates to the field of medical rehabilitation equipment technology, and in particular to a flexible driven hand function rehabilitation device that combines thermotherapy and water exercise therapy, which is especially suitable for rehabilitation training of patients with hand dysfunction after stroke. Background Technology

[0002] Stroke is one of the leading causes of disability in adults, and hand dysfunction is a common sequela, manifesting as increased muscle tone, muscle weakness, and impaired motor control. This severely affects patients' daily hand functions, such as grasping and extending, reducing their ability to live independently and placing a heavy caregiving burden on families and society. According to data from the "China Stroke Prevention and Control Report," the incidence of stroke in my country continues to rise, with approximately 70%-80% of survivors experiencing varying degrees of functional impairment, among which hand function recovery is particularly difficult.

[0003] Currently, rehabilitation methods for hand function after stroke mainly include traditional manual therapy, robot-assisted training, thermotherapy, and aquatic exercise therapy. Traditional rehabilitation relies on one-on-one operation by therapists, which is inefficient and difficult to sustain. Although robot-assisted devices can provide repetitive training, most are complex in structure, heavy, and expensive, and many use rigid exoskeletons, which are uncomfortable to wear and not conducive to long-term use by patients. Thermotherapy is often used as an adjunct and is not closely integrated with exercise training.

[0004] Furthermore, existing exoskeleton gloves mostly use electric motors, pneumatic or hydraulic drives, which have problems such as high noise, high energy consumption, bulky structure, and inconvenience in carrying. They are especially unsuitable for aquatic environments and pose electrical safety hazards. Therefore, there is an urgent need for a hand function rehabilitation device that can organically integrate thermotherapy and aquatic exercise therapy, is lightweight, safe to use, and suitable for patients at different stages of rehabilitation. This would improve rehabilitation efficiency, lower the barrier to entry, and promote the home-based and community-based rehabilitation training. Summary of the Invention

[0005] This invention addresses the technical problems existing in the prior art by providing a flexible driven hand function rehabilitation device that combines thermotherapy and aquatic exercise therapy. It adopts a flexible drive module, has a simple structure, is lightweight and flexible, and realizes the functional integration of thermotherapy, drive and training, providing a safe, effective and easy-to-implement rehabilitation program for stroke patients with hand dysfunction.

[0006] The technical solution adopted by the present invention to solve its technical problem is: a flexible driven hand function rehabilitation device combining thermotherapy and water exercise therapy, including an exoskeleton rehabilitation glove, a temperature detection module and a water tank. The exoskeleton rehabilitation glove includes a glove body and flexible driven modules respectively set at the corresponding positions of the five fingers. The flexible driven module is a layered composite flexible sheet structure, which includes a first connecting layer, a transmission layer, a second connecting layer and a driving layer in sequence from the side closer to the fingers to the side farther away from the fingers.

[0007] The first connecting layer and the second connecting layer are made of flexible waterproof material. The first connecting layer is used to detachably connect to the corresponding position of the finger, and the second connecting layer is used to connect the transmission layer and the driving layer. The driving layer is a shape memory alloy spring, which shrinks and deforms when heated and returns to its initial shape after cooling. The transmission layer is a metal sheet with elastic bending properties, and its two ends are respectively connected to the two ends of the driving layer through the second connecting layer. It is used to convert the contraction force of the driving layer into the extension movement of the finger, and to provide elastic restoring force when the driving layer cools and returns to its initial shape, thus assisting the finger flexion.

[0008] The temperature detection module is located inside the water tank; the water tank is used to hold hot water and works with the temperature detection module to monitor the water temperature in real time, so as to simultaneously realize heat therapy and water exercise training.

[0009] In a preferred embodiment, the first connecting layer and the second connecting layer are silicone sheets; the transfer layer is a manganese steel sheet.

[0010] In a preferred embodiment, one end of the first connecting layer is connected to the back of the hand of the glove body at a corresponding position. The first connecting layer has a retractable redundant section with a length of 15–25 mm in the area between the corresponding metacarpophalangeal joint and the connection position with the back of the hand, so as to allow the flexible drive module to undergo adaptive deformation when the fingers flex and extend.

[0011] In a preferred embodiment, the system further includes a hand function training module, which is disposed within the water tank and is used to provide patients with hand function training aided by the buoyancy of the water. The hand function training module includes multiple waterproof training props of different shapes, sizes, and buoyancy.

[0012] In a preferred embodiment, the first connecting layer is detachably connected to the corresponding finger position of the glove body via a snap fastener.

[0013] In a preferred embodiment, the material parameters of each layer of the flexible drive module are adjustable.

[0014] In a preferred embodiment, the glove body is made of a waterproof and heat-insulating material.

[0015] In a preferred embodiment, the water tank is an insulated container for holding temperature-controlled warm water, and the temperature detection module is a thermometer, which is fixed to the side wall of the water tank or placed in the water for real-time monitoring and display of the water temperature.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. This invention combines an exoskeleton rehabilitation glove with a hot water environment in a water tank, enabling simultaneous thermotherapy and aquatic exercise training. The hot water not only serves as a thermotherapy medium, effectively relieving excessive muscle tension and spasms in the hands of stroke patients, but also acts as a heat source, causing the shape memory alloy springs in the exoskeleton rehabilitation glove to contract, passively extending the fingers through a transmission layer. When the hand is removed from the heat source or the hot water cools, the shape memory alloy springs return to their original shape, assisting in natural finger flexion in conjunction with the elastic recovery force of the transmission layer, forming an alternating training cycle of "hot water immersion - driven extension" and "cooling / removal - elastic recovery / active flexion." This design employs a flexible drive module, utilizing hot water to achieve both aquatic exercise drive and thermotherapy functions, significantly improving rehabilitation efficiency. It eliminates the need for traditional motor or pneumatic drives, rigid linkages, and features a compact, lightweight, well-fitting, comfortable, and low-cost structure, eliminating water and electrical safety hazards, making it particularly suitable for use in water. Simultaneously, the buoyancy of the water reduces the exercise load, allowing patients with weak muscles to complete active training, achieving a safe, coordinated, and low-burden rehabilitation mode.

[0018] 2. The driving layer of this invention is a shape memory alloy spring, the first connecting layer and the second connecting layer are silicone sheets, and the transmission layer is a manganese steel sheet. It adopts common smart materials and flexible composite materials, has a simple structure, and is easy to produce and apply in homes.

[0019] 3. The first connecting layer of the present invention has a retractable redundant section in the area between the corresponding metacarpophalangeal joint and the connection position with the back of the hand, so as to allow the flexible drive module to undergo adaptive deformation when the fingers flex and extend, so that its bending axis can follow the natural change of the rotation center of the human finger joint, thereby realizing flexible adaptation of human-machine coupling.

[0020] 4. The present invention also includes a hand function operation training module, which can guide patients to grasp and move the hand function operation training module in water, using the buoyancy of water to reduce movement resistance, and perform active flexion and grasping training, thereby assisting training and further realizing the progressive rehabilitation transition from "passive extension" to "active control", significantly improving rehabilitation efficiency.

[0021] 5. This invention enables quick assembly and disassembly and flexible replacement of the flexible drive module through a snap fastener. In particular, the material parameters of each layer of the flexible drive module are adjustable, so as to change different material parameters according to the individual needs of patients with different hand shapes, different degrees of spasticity and different stages of rehabilitation, and customize flexible drive modules with different driving forces, bending stiffness and size to achieve personalized adaptation.

[0022] 6. The present invention uses a waterproof and heat-insulating glove body, which can effectively prevent the high temperature water in the water tank from directly contacting the skin, control the actual skin contact temperature within a safe range, avoid the risk of burns, and at the same time its waterproof performance ensures that the glove does not absorb water or deform after long-term use in water, maintaining structural stability and comfort.

[0023] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments; however, the flexible driven hand function rehabilitation device of the present invention, which combines thermotherapy and water exercise therapy, is not limited to the embodiments. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0025] Figure 2 This is a top view of the flexible drive module of the present invention;

[0026] Figure 3 This is a side view of the flexible drive module of the present invention;

[0027] Figure 4 This is a bottom view of the flexible drive module of the present invention;

[0028] Figure 5 This is a schematic diagram of the hand function operation training module in the water tank of the present invention. Detailed Implementation

[0029] Please see Figures 1-5 As shown, the present invention provides a flexible driven hand function rehabilitation device combining thermotherapy and water exercise therapy, including an exoskeleton rehabilitation glove, a temperature detection module and a water tank 4. The exoskeleton rehabilitation glove includes a glove body 1 and flexible driven modules 2 respectively disposed at the corresponding positions of the five fingers (i.e., the back of the fingers). The flexible driven module 2 is a layered composite flexible sheet structure, which includes a first connecting layer, a transmission layer, a second connecting layer and a driving layer in sequence from the side closer to the fingers to the side farther away from the fingers.

[0030] The first and second connecting layers are made of flexible waterproof material. The first connecting layer is detachably connected to the corresponding position of the finger, and the second connecting layer connects the transmission layer and the driving layer. The driving layer is a shape memory alloy spring 2-1, which contracts when heated and returns to its initial shape after cooling. The transmission layer is a metal sheet with elastic bending properties, with its two ends connected to the two ends of the driving layer through the second connecting layer. It is used to convert the contraction force of the driving layer into the extension movement of the finger and to provide elastic restoring force when the driving layer cools and returns to its initial shape, thus assisting in finger flexion.

[0031] like Figures 2-4 As shown, preferably, the first connecting layer and the second connecting layer are silicone sheets, but not limited to this. For ease of distinction, the silicone sheets of the first connecting layer and the second connecting layer are named first silicone sheet 2-2 and second silicone sheet 2-4. The transmission layer is a manganese steel sheet 2-3, but not limited to this. Specifically, the flexible drive module 2 consists of, from the side closer to the finger to the side farther away from the finger, the first silicone sheet 2-2, the manganese steel sheet 2-3, the second silicone sheet 2-4, and the shape memory alloy spring 2-1. The first silicone sheet 2-2 is detachably connected to the back of the fingers of the glove body 1 via a snap fastener 2-5. The first silicone sheet 2-2 and the second silicone sheet 2-4 are sewn together to connect the shape memory alloy spring 2-1 and the manganese steel sheet 2-3 into one piece. Specifically, the two ends of the shape memory alloy spring 2-1 and the two ends of the manganese steel sheet 2-3 are respectively connected to the second silicone sheet 2-4 to connect the two ends of the shape memory alloy spring 2-1 and the two ends of the manganese steel sheet 2-3 together. If the shape memory alloy spring 2-1 and the manganese steel sheet 2-3 are long, a connection point can be added in the middle.

[0032] The shape memory alloy spring 2-1 combines shape memory effect with spring mechanical properties. Its driving force is gentle, its output elasticity is controllable, and its maximum driving force range is suitable for human hand rehabilitation training, avoiding excessive load or secondary damage to the hands of patients in the spastic phase. Using this shape memory alloy spring 2-1 as the driving element eliminates the need for traditional motor or pneumatic drives, eliminates the need for rigid linkages, and features a compact structure, light weight, good fit, comfortable wear, low cost, and completely avoids the safety hazards associated with using electricity in aquatic environments.

[0033] The material parameters of each layer of the flexible drive module 2 are adjustable. The material parameters include wire diameter, number of spring turns, size, hardness, etc. Specifically, by changing the wire diameter and number of turns of the shape memory alloy spring 2-1, the thickness and width of the manganese steel sheet 2-3, and the size and hardness of the first silicone sheet 2-2 and the second silicone sheet 2-4, flexible drive modules 2 with different driving forces, bending stiffness and sizes can be customized to meet the personalized needs of patients with different hand shapes, different degrees of spasticity and different stages of rehabilitation.

[0034] The glove body 1 is made of waterproof and heat-insulating material, such as nitrile rubber-coated fabric, but not limited to this. Its shape conforms to the human hand, serving as basic wear and insulating against hot water. The water tank is an insulated container used to hold hot water at a controllable temperature. The temperature detection module is a thermometer 3, which is fixed to the side wall of the water tank or placed in the water to monitor and display the water temperature in real time.

[0035] One end of the first silicone sheet 2-2 is connected to the corresponding position on the back of the hand of the glove body 1 via a snap fastener 2-5, and the other end is connected to the back of the fingertip via a snap fastener 2-5. If the first silicone sheet 2-2 is long, a snap fastener 2-5 can be added in the middle. The first silicone sheet 2-2 has a retractable redundant section 2-2-1 with a length of 15-25mm in the area between the corresponding metacarpophalangeal joint and its connection position with the back of the hand. Preferably, a retractable redundant section 2-2-1 of about 20mm is reserved between the first silicone sheet 2-2 and its connection position with the back of the hand to allow the flexible drive module 2 to undergo adaptive deformation when the fingers flex and extend, so that its bending axis can follow the natural change of the rotation center of the human finger joint, realizing flexible adaptation of human-machine coupling.

[0036] like Figure 5 As shown, the present invention also includes a hand function training module 5, which is disposed in the water tank and is used to provide patients with hand function training with the assistance of water buoyancy. The hand function training module 5 includes multiple waterproof training props of different shapes, sizes and buoyancy, such as buoyancy rings, small floats, and underwater grip strengtheners, which are placed at the bottom of the water tank 4 or suspended in the water.

[0037] The present invention provides a flexible driven hand function rehabilitation device combining thermotherapy and aquatic exercise therapy, the usage method and working process of which are as follows:

[0038] 1. Preparation and Wearing: Fill water tank 4 with hot water and adjust and maintain the water temperature within the set range (55-60℃) using thermometer 3. Select the appropriate flexible drive module 2 according to the patient's hand size, degree of spasticity, and rehabilitation stage, and install it on the glove body 1 via snap fasteners 2-5. The patient then puts on the fully assembled exoskeleton rehabilitation glove.

[0039] 2. Thermotherapy-Driven Extension Training: The patient immerses their hand, wearing the exoskeleton rehabilitation glove, in the hot water in tank 4. The hot water transfers heat through the glove body 1, providing thermotherapy to the hand muscles and relieving muscle tension. Simultaneously, the hot water heats the shape memory alloy spring 2-1, causing it to contract. The contraction force of the shape memory alloy spring 2-1 is transmitted through the manganese steel sheet 2-3, driving the entire flexible drive module 2 to bend towards the back of the hand (i.e., the contraction force of the shape memory alloy spring 2-1 pulls the ends of the manganese steel sheet 2-3, causing it to bend in the opposite direction). This assists the patient's fingers in extending outward from a flexed position, completing the extension exercise. During this process, the patient can try to actively cooperate with the extension movements.

[0040] 3. Cooling Recovery and Flexion Training: After the fingers are extended to the target angle, the hand can be removed from the warm water or kept still in the water (relying on environmental heat dissipation). The temperature of the shape memory alloy spring 2-1 gradually decreases, and its driving force weakens. At this time, the fingers naturally flex, mainly relying on the elastic recovery force of the manganese steel sheet 2-3 and the patient's active flexor muscle contraction. During this stage, the patient can be guided to grasp and move the hand function operation training module 5 in the water, using the buoyancy of the water to reduce movement resistance and perform active flexion and grasping training.

[0041] 4. Cyclic Training: Repeat steps 2 and 3 to form an alternating training cycle of "hot water immersion - driven stretching" and "cooling / removal - elastic recovery / active flexion". By controlling the immersion time, water temperature, and training tasks, the training intensity and rhythm can be flexibly adjusted.

[0042] This invention discloses a flexible, actuated hand rehabilitation device combining thermotherapy and aquatic exercise therapy. Its core principle lies in utilizing water temperature as a single physical factor to simultaneously provide thermotherapy, actuation, and a training environment. The specific working principle is as follows:

[0043] Driving Principle: A shape memory alloy spring 2-1 is used as the intelligent driving element. It possesses a unique shape memory effect, easily deforming at low temperatures (martensitic phase) and recovering its memory shape at high temperatures (austenitic phase). In this device, the shape memory alloy spring 2-1 is pre-deformed into an "elongated" state (initial shape), and its memory shape is a "shortened" state. Upon immersion in hot water, it undergoes an austenitic phase transformation, generating a contraction force. This force is converted into a torque driving the finger extension via the manganese steel sheet 2-3. After removing from the heat source, the shape memory alloy spring 2-1 cools to the martensitic phase and is stretched with the assistance of the elastic restoring force of the manganese steel sheet 2-3, preparing for the next actuation. This process requires no electricity, and the driving force is gentle and safe.

[0044] Treatment principle: Continuous application of hot water to the patient's hands helps dilate blood vessels, promote blood circulation, and reduce muscle spindle excitability, thereby effectively relieving muscle spasms and high muscle tone in the hands, creating favorable physiological conditions for exercise training. Simultaneously, the buoyancy of water significantly reduces the arm's weight and resistance during movement, allowing patients with weaker muscles to perform joint range of motion and task-oriented training that is difficult to perform on land, improving the feasibility of training and patient participation.

[0045] Personalized Adaptation Principle: By modifying the wire diameter and number of turns of the shape memory alloy spring 2-1, the thickness and width of the manganese steel sheet 2-3, and the dimensions and hardness of the first silicone sheet 2-2 and the second silicone sheet 2-4, flexible drive modules 2 with different driving forces, bending stiffness, and dimensions can be customized to meet the personalized needs of patients with different hand shapes, different degrees of spasticity, and different stages of rehabilitation. The use of a snap-fit ​​connection 2-5 makes this replacement convenient and easy.

[0046] The present invention discloses a flexible driven hand function rehabilitation device that combines thermotherapy and aquatic exercise therapy. It is driven by a flexible drive module 2, has a simple structure, is lightweight and flexible, and realizes the functional integration of thermotherapy, drive and training, providing a safe, effective and easy-to-implement rehabilitation program for stroke patients with hand dysfunction.

[0047] The present invention provides a flexible driven hand function rehabilitation device that combines thermotherapy and water exercise therapy. The parts not covered herein are the same as or can be implemented using existing technologies.

[0048] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the content of the present invention, should fall within the protection scope of the present invention.

Claims

1. A flexible, driven hand rehabilitation device combining thermotherapy and aquatic exercise therapy, comprising an exoskeleton rehabilitation glove, a temperature detection module, and a water tank, characterized in that: The exoskeleton rehabilitation glove includes a glove body and flexible drive modules respectively disposed at the corresponding positions of the five fingers. The flexible drive module is a layered composite flexible sheet structure, which includes a first connecting layer, a transmission layer, a second connecting layer and a drive layer in sequence from the side closer to the fingers to the side farther away from the fingers. The first connecting layer and the second connecting layer are made of flexible waterproof material. The first connecting layer is used to detachably connect to the corresponding position of the finger, and the second connecting layer is used to connect the transmission layer and the driving layer. The driving layer is a shape memory alloy spring, which contracts when heated and returns to its initial shape after cooling. The transmission layer is a metal sheet with elastic bending properties, with its two ends connected to the two ends of the driving layer through a second connecting layer. It is used to convert the contraction force of the driving layer into the extension movement of the finger and to provide elastic restoring force when the driving layer cools and returns to its initial shape, thus assisting in finger flexion. The temperature detection module is located inside the water tank; the water tank is used to hold hot water and works with the temperature detection module to monitor the water temperature in real time, so as to simultaneously realize heat therapy and water exercise training.

2. The flexible driven hand function rehabilitation device combining thermotherapy and aquatic exercise therapy according to claim 1, characterized in that: The first and second connecting layers are silicone sheets; the transfer layer is a manganese steel sheet.

3. The flexible driven hand function rehabilitation device combining thermotherapy and aquatic exercise therapy according to claim 1, characterized in that: One end of the first connecting layer is connected to the corresponding position on the back of the hand of the glove body. The first connecting layer has a stretchable redundant section with a length of 15–25 mm in the area between the corresponding metacarpophalangeal joint and the position where it is connected to the back of the hand, so as to allow the flexible drive module to undergo adaptive deformation when the fingers flex and extend.

4. The flexible driven hand function rehabilitation device combining thermotherapy and aquatic exercise therapy according to claim 1, characterized in that: It also includes a hand function training module, which is set inside the water tank and is used to allow patients to perform hand function training with the assistance of water buoyancy; the hand function training module includes multiple waterproof training props of different shapes, sizes and buoyancy.

5. The flexible driven hand function rehabilitation device combining thermotherapy and aquatic exercise therapy according to claim 1, characterized in that: The first connecting layer is detachably connected to the corresponding finger position of the glove body via a snap fastener.

6. The flexible driven hand function rehabilitation device combining thermotherapy and aquatic exercise therapy according to claim 1, characterized in that: The material parameters of each layer of the flexible drive module are adjustable.

7. The flexible driven hand function rehabilitation device combining thermotherapy and aquatic exercise therapy according to claim 1, characterized in that: The glove body is made of waterproof and heat-insulating material.

8. The flexible driven hand function rehabilitation device combining thermotherapy and aquatic exercise therapy according to claim 1, characterized in that: The water tank is an insulated container used to hold warm water with a controllable temperature. The temperature detection module is a thermometer, which is fixed to the side wall of the water tank or placed in the water to monitor and display the water temperature in real time.

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