A flexible rehabilitation robot for assisting wrist rotation

Abstract

The application provides a flexible rehabilitation robot for assisting wrist rotation, and relates to the field of assisting hand function rehabilitation, and comprises a flexible driving module, the flexible driving module comprises a soft execution device, a first fixed end for fixedly connecting the soft execution device arranged on the radial side of the wrist, and a second fixed end arranged on the ulnar side of the forearm; wherein the soft execution device specifically comprises two groups of back and abdominal side pneumatic telescopic pipe groups, the back pneumatic telescopic pipe group is connected to the second fixed end from the first fixed end around the back of the hand, and the abdominal side pneumatic telescopic pipe group is connected to the second fixed end from the first fixed end around the abdomen of the hand; a gas power source module, the gas power source module comprises two groups of pump valve combinations, which are connected with the two groups of pneumatic telescopic pipe groups respectively, and drive the two groups of pneumatic telescopic pipe groups. The flexible rehabilitation robot provided by the application has the advantages of simple structure, convenient operation, good comfort, good portability and the like, and is suitable for being widely applied to clinical medical rehabilitation, home medical rehabilitation and other related fields.

Description

Technical Field

[0001] This invention relates to the field of hand medical rehabilitation, specifically to a flexible rehabilitation robot that assists in wrist rotation. Background Technology

[0002] Stroke is one of the leading causes of death and disability worldwide. With the advent of an aging society and the acceleration of urbanization, the incidence and mortality rates of stroke are rising year by year. Statistics show that approximately 13 million people worldwide suffer a stroke each year, and about 60% of these patients experience varying degrees of hand dysfunction. This impairment significantly reduces patients' ability to perform daily activities and severely impacts their quality of life.

[0003] The hand is a vital organ for movement, with numerous joints offering great flexibility and playing a crucial role in our daily lives. The upper limbs account for 60% of overall bodily function, and the fingers account for 90% of upper limb function. The hand's motor function area occupies one-third of the cerebral cortex's motor function area. Approximately 60% of stroke patients experience residual hand dysfunction. According to literature, only 12% of stroke patients have normal hand function three months after the stroke, while 38% exhibit significant hand dysfunction. Six months after a stroke, approximately 30% to 66% of patients do not achieve complete recovery of hand function. Achieving independence in daily living is the greatest wish of stroke patients, but hand dysfunction severely impacts their quality of life. Therefore, pneumatic rehabilitation gloves are needed for hand rehabilitation training.

[0004] However, existing pneumatic rehabilitation devices primarily focus on finger grasping or flexion movements during hand function recovery, neglecting wrist rotation. This results in significant deficiencies in wrist rotation rehabilitation training, limiting the comprehensiveness and flexibility of rehabilitation programs. Furthermore, most wearable devices that do involve wrist rotation utilize rigid structures, leading to complex designs that restrict natural user movement and lower comfort levels. For example, US12102585B2 discloses a wearable robot for assuring upper limb movement by using a rigid wearable component covering almost the entire arm and artificial muscle actuators to assist forearm rotation, which limits comfort and convenience. Therefore, overcoming the shortcomings of pneumatic gloves in wrist rotation and improving patient comfort during training has become a pressing technical challenge in the field of pneumatic rehabilitation. Summary of the Invention

[0005] In order to at least address one of the problems existing in the prior art, the present invention provides a flexible rehabilitation robot that assists in wrist rotation, which can perform flexible wrist rotation training.

[0006] The present invention provides a flexible rehabilitation robot for assisting wrist rotation, comprising a flexible drive module and a gas power source module;

[0007] The flexible drive module includes a soft actuator, which specifically comprises two sets of pneumatic telescopic tubes, one on the dorsal side and one on the ventral side. The flexible drive module also includes a first fixed end located on the radial side of the user's wrist for fixed connection to the soft actuator, and a second fixed end located on the ulnar side of the user's forearm.

[0008] The soft actuator specifically includes two sets of pneumatic telescopic tubes, one on the back side and one on the abdomen side. The pneumatic telescopic tube set on the back side connects to the second fixed end from the first fixed end, around the back of the hand, and the pneumatic telescopic tube set on the abdomen side connects to the second fixed end from the first fixed end, around the abdomen of the hand.

[0009] The gas power source module includes two sets of pump valve assemblies, which are respectively connected to the two sets of pneumatic telescopic tube assemblies to drive the two sets of pneumatic telescopic tube assemblies.

[0010] Furthermore, the pneumatic telescopic tube assembly is arranged in a micro-arc shape, which can provide rotational force during the motion execution process.

[0011] Furthermore, the pneumatic telescopic tube assembly specifically includes at least one pneumatic telescopic tube, which is composed of multiple adjustable airbag units to adapt to individual differences in the needs of different arm lengths.

[0012] Furthermore, the set of pneumatic telescopic tubes includes two pneumatic telescopic tubes.

[0013] Furthermore, the flexible drive module also includes a wearable device, specifically including a glove and a forearm sleeve.

[0014] Furthermore, the first fixing end is disposed on the radial side of the wrist where the glove is worn, and the second fixing end is disposed on the ulnar side of the forearm sheath.

[0015] Furthermore, the first fixed end specifically includes two pairs of quick-release buckles disposed opposite to each other on the radial side of the glove wrist, which respectively fix the two sets of pneumatic telescopic tube assemblies.

[0016] Furthermore, two pneumatic telescopic tubes in any one of the pneumatic telescopic tube groups are connected to a gas delivery pipe via a three-way pneumatic connector, and the gas delivery pipe is connected to the pump and valve combination of the gas power source module.

[0017] Furthermore, the pump-valve combination simultaneously controls two pneumatic telescopic tubes in any one of the pneumatic telescopic tube groups.

[0018] The specific implementation plan for wrist pronation and supination rehabilitation training is as follows:

[0019] The gas power source module activates the air pump and air valve according to control commands, realizing the extension or retraction of the pneumatic telescopic tube, thereby controlling the pronation or supination of the wrist. When the pneumatic telescopic tube on the back of the arm deflates and retracts, while the pneumatic telescopic tube on the front of the arm deflates and extends, the arrangement of the software execution module generates a superimposed wrist pronation assist force. Similarly, when the pneumatic telescopic tube on the back of the arm deflates and extends, while the pneumatic telescopic tube on the front of the arm deflates and retracts, the arrangement of the software execution module generates a superimposed wrist supination assist force.

[0020] Furthermore, the gas power source module can adjust the gas pressure by adjusting the power of the air pump, thereby controlling the extension or contraction of the pneumatic telescopic tube and thus controlling the angle of wrist rotation.

[0021] Compared with the prior art, the present invention has the following advantages and technical effects:

[0022] This invention employs pneumatic actuation to assist wrist pronation and supination, avoiding mechanical friction and the noise and vibration that may arise from electric systems, providing users with a more comfortable and safer rehabilitation training experience. It utilizes only two sets of pneumatic telescopic tubes to assist wrist rotation, employing lightweight, flexible pneumatic materials to reduce restrictions on the user's hand, avoid structural complexity, and lower the overall weight of the rehabilitation equipment. The number and shape of the airbag units in the pneumatic telescopic tubes can be adjusted according to different user needs, providing more personalized, reasonable, and comfortable wrist rotation training. This invention can also be combined with other pneumatically driven degrees of freedom, such as pneumatic gloves, to achieve multi-degree-of-freedom rehabilitation training of hand functions. The lightweight, flexible, and wearable characteristics of this invention make it suitable for home-based rehabilitation training and fill the current gap in application scenarios for wrist rotation rehabilitation training. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the overall structure of the flexible rehabilitation robot provided in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the specific structure of the software execution device provided in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the gas power source module provided in an embodiment of the present invention;

[0027] Figure 4 A schematic diagram illustrating the state of a wearable soft rehabilitation device during wrist pronation.

[0028] Figure 5 A schematic diagram illustrating the state of a wearable soft rehabilitation device during wrist supination.

[0029] In the figure: Flexible drive module 1; Wearable gloves 11; Quick-release buckle 111; Soft actuator 12; Back pneumatic telescopic tube assembly 121; Abdominal pneumatic telescopic tube assembly 122; Forearm sleeve 13; Three-way pneumatic connector 14;

[0030] Gas power source module 2; pump and valve assembly 21; air pump 211; air filling valve 212; air extraction valve 213; air restoration valve 214. Detailed Implementation

[0031] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] This invention provides a flexible rehabilitation robot that assists in wrist rotation, aiming to compensate for the shortcomings of pneumatic gloves in wrist rotation function and improve the user's wearing comfort during training.

[0033] Please refer to Figure 1-2 The present invention provides a flexible rehabilitation robot for assisting wrist rotation, comprising a flexible drive module 1 and a gas power source module 2.

[0034] The flexible drive module includes a soft actuator, which specifically comprises two sets of pneumatic telescopic tubes, one on the dorsal side and one on the ventral side. The flexible drive module also includes a first fixed end located on the radial side of the user's wrist for fixed connection to the soft actuator, and a second fixed end located on the ulnar side of the user's forearm. Specifically, the soft actuator includes two sets of pneumatic telescopic tubes, one on the dorsal side and one on the ventral side. The dorsal pneumatic telescopic tubes extend from the first fixed end around the back of the hand and connect to the second fixed end, while the ventral pneumatic telescopic tubes extend from the first fixed end around the abdomen of the hand and connect to the second fixed end. The gas power source module includes two sets of pump-valve assemblies, each connected to one of the two sets of pneumatic telescopic tubes, to drive the two sets of pneumatic telescopic tubes.

[0035] It is understood that in this embodiment of the invention, a first fixed end is provided on the radial side of the user's wrist as a pneumatic drive fulcrum. A dorsal pneumatic telescopic tube assembly is arranged along the dorsal side of the wrist from the first fixed end, and a ventral pneumatic telescopic tube assembly is arranged on the ventral side of the wrist. The position of the radial side of the user's wrist changes as the fixed ends of the two sets of pneumatic telescopic tubes are adjusted. When the two sets of pneumatic telescopic tubes extend and retract, they apply an oblique pushing or pulling force to the radial side of the user's wrist, thereby generating a lateral component force to assist the user's wrist in clockwise or counterclockwise rotation. Specifically, two independent pump valve combinations drive the two sets of pneumatic telescopic tubes respectively. When the ventral pneumatic telescopic tube assembly is deflated and retracted, while the dorsal pneumatic telescopic tube assembly is inflated and extended, the fixed end on the radial side of the user's wrist receives a downward oblique pushing force, thereby assisting the user's wrist in counterclockwise rotation. This invention uses pneumatic drive to assist wrist pronation and supination, providing users with a more comfortable and safer rehabilitation training experience; it uses only two sets of pneumatic telescopic tubes to assist the user's wrist rotation, reducing the restrictions that rehabilitation equipment places on the user's hand.

[0036] In one embodiment of the present invention, the pneumatic telescopic tube assembly specifically comprises a pneumatic telescopic tube composed of multiple adjustable airbag units. The length of the pneumatic telescopic tube can be adjusted by setting the number of airbag units to adapt to the needs of different users and provide personalized solutions. Furthermore, the pneumatic telescopic tube can be made of non-metallic materials such as silicone, thermoplastic elastomer (TPE), and polyurethane (PU).

[0037] In one embodiment of the present invention, each of the pneumatic telescopic tube groups on the dorsal and ventral sides includes two pneumatic telescopic tubes to provide sufficient driving force. For users who require greater force for arm rotation, the number of pneumatic telescopic tubes 1211 can be increased to form a group to increase rotational assistance force.

[0038] This invention further illustrates the specific implementation of the technical solution of the present invention using a set of pneumatic telescopic tubes comprising two gas telescopic tubes as an example. The soft actuator provided in this embodiment of the invention is mounted on a wearable device to further improve user comfort. The first and second fixed ends of the soft actuator are respectively mounted on the wearable glove and the forearm sleeve. The first fixed end is located on the radial side of the wrist of the wearable glove, and the second fixed end is located on the ulnar side of the forearm sleeve. Specifically, the first fixed end consists of two pairs of quick-release buckles oppositely mounted on the radial side of the wrist of the glove, which respectively fix the four pneumatic telescopic tubes of the two sets of pneumatic telescopic tubes. As one embodiment of the invention, the quick-release buckles can be glued to the radial side of the wrist of the wearable glove. The wearable glove 11 can be any of the common full-face glove, half-finger glove, or glove that uses Velcro to bind the palm, etc. Ensuring the fixed connection between the wearable glove and the human hand is a basic condition for achieving assisted wrist rotation. The wearable glove can also be a pneumatic glove to assist in training the user to open and grasp, achieving multi-degree-of-freedom rehabilitation training of hand function. The second fixed end is configured similarly to the first fixed end. A quick-release buckle is arranged at the elbow of the forearm sheath to secure the tail end of the gas telescopic tube. The position of the second fixed end point, in conjunction with the first fixed end, influences the direction of the oblique force provided during the extension and retraction of the air tube, and is reasonably configured to provide sufficient oblique rotational assistance force. The two gas telescopic tubes of the gas telescopic tube group are respectively connected to the two delivery channels of a three-way air pressure connector, and are connected to the gas delivery pipe connected to the pump and valve combination of the gas power source module through the three-way air pressure connector.

[0039] Please refer to Figure 3The gas power source module 2 provided in this embodiment of the invention includes two sets of pump-valve assemblies 21, which are respectively connected to the rear-side pneumatic telescopic tube assembly 121 and the ventral-side pneumatic telescopic tube assembly 122 via gas delivery pipes to provide driving force. Each set of pump-valve assemblies 21 consists of an air pump 211, an inflation valve 212, an exhaust valve 213, and a normal pressure restoration valve 214. The inflation valve 212 is connected to the inflation port of the air pump 211 via a gas delivery pipe, and the exhaust valve 213 is connected to the exhaust port of the air pump 211 via a gas delivery pipe. The three valves are integrated using two three-way air pressure connectors 123 and connected to the rear-side pneumatic telescopic tube assembly 121 or the ventral-side pneumatic telescopic tube assembly 122 via a gas delivery pipe. It is understood that in this embodiment, the number of air pumps 211 is two. In other embodiments, the number of air pumps can be adjusted according to usage requirements and the performance of the selected air pump. The gas power source module 2, by adjusting the power of the air pump 211, can regulate the gas pressure, thereby controlling the extension or contraction of the pneumatic telescopic tube 1211 and thus controlling the wrist rotation angle. This achieves a smooth transition and fine adjustment of the wrist between pronation and supination. The airflow adjustment during this process not only ensures the accuracy of the rotation angle but also allows for adjustments of different amplitudes according to training needs, adapting to individual rehabilitation requirements.

[0040] The gas power source module 2 also includes a pressure recovery valve 214, used to restore the initial state of wrist rotation during training. The opening and closing control of the pressure recovery valve 214 helps the pneumatic telescopic tube return to its initial state, thereby ensuring that the software execution module 12 can return to the reference state after each operation, preparing for the next round of training.

[0041] Through the aforementioned gas power source module 2, wrist rotation training can not only train wrist pronation and supination movements, but also achieve personalized training programs by adjusting and controlling the airflow and pressure of the pneumatic telescopic tube 1211, meeting the rehabilitation needs of different patients. The use of a pump-valve combination to drive the pneumatic telescopic tube is already a mature technology in the prior art and is readily apparent to those skilled in the art. This embodiment of the invention only provides one specific implementation method, and its technical principles and other implementation methods will not be further elaborated upon here. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0042] The following section further elaborates on the specific implementation scheme of using the flexible rehabilitation robot provided by the present invention to achieve pronation and supination rehabilitation training of the patient's wrist.

[0043] like Figure 4As shown, the specific implementation scheme for wrist pronation rehabilitation training is as follows: the gas power source module 2 starts the air pump 211 and the suction valve 213, and the air pump 211 and the inflation valve 212 according to the control command, so that the pneumatic telescopic tube 1211 on the back of the arm can be contracted and the pneumatic telescopic tube 1211 on the ventral side of the arm can be extended; due to the arrangement of the software execution module 12, a superimposed wrist pronation auxiliary force is generated, thereby driving the wrist to perform pronation movements; the gas power source module 2 can also adjust the inflation and suction air pressure by adjusting the power of the air pump 211, thereby controlling the angle of wrist pronation movements.

[0044] like Figure 5 As shown, the specific implementation scheme for wrist supination rehabilitation training is as follows:

[0045] According to the control command, the gas power source module 2 starts the air pump 211 and the inflation valve 212, as well as the air pump 211 and the de-inflation valve 213, so that the pneumatic telescopic tube 1211 on the back of the arm can be extended and the pneumatic telescopic tube 1211 on the abdomen of the arm can be retracted. Due to the arrangement of the software execution module 12, a superimposed wrist supination auxiliary force is generated, thereby driving the wrist to perform supination. The gas power source module 2 can also adjust the inflation and de-inflation air pressure by adjusting the power of the air pump 211, thereby controlling the angle of the wrist supination.

[0046] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flexible rehabilitation robot that assists in wrist rotation, characterized in that, include: Flexible drive module and gas power source module; The flexible drive module includes a soft actuator, which specifically comprises two sets of pneumatic telescopic tubes, one on the dorsal side and one on the ventral side. The flexible drive module also includes a first fixed end located on the radial side of the user's wrist for fixed connection to the soft actuator, and a second fixed end located on the ulnar side of the user's forearm. The soft actuator specifically includes two sets of pneumatic telescopic tubes, one on the back side and one on the abdomen side. The pneumatic telescopic tube set on the back side connects to the second fixed end from the first fixed end, around the back of the hand, and the pneumatic telescopic tube set on the abdomen side connects to the second fixed end from the first fixed end, around the abdomen of the hand. The gas power source module includes two sets of pump valve assemblies, which are respectively connected to the two sets of pneumatic telescopic tube assemblies to drive the two sets of pneumatic telescopic tube assemblies.

2. The flexible rehabilitation robot as described in claim 1, characterized in that, The pneumatic telescopic tube assembly is arranged in a micro-arc shape.

3. The flexible rehabilitation robot as described in claim 1, characterized in that, The pneumatic telescopic tube assembly specifically includes at least one pneumatic telescopic tube, which is composed of multiple adjustable airbag units.

4. The flexible rehabilitation robot as described in any one of claims 1-3, characterized in that, The set of pneumatic telescopic tubes includes two pneumatic telescopic tubes.

5. The flexible rehabilitation robot as described in claim 4, characterized in that, The flexible drive module also includes a wearable device, specifically a glove and a forearm sleeve.

6. The flexible rehabilitation robot as described in claim 5, characterized in that, The first fixing end is located on the radial side of the wrist where the glove is worn, and the second fixing end is located on the ulnar side of the forearm sheath.

7. The flexible rehabilitation robot as described in claim 6, characterized in that, The first fixed end specifically includes two pairs of quick-release buckles disposed opposite to each other on the radial side of the glove wrist, which respectively fix the two sets of pneumatic telescopic tubes.

8. The flexible rehabilitation robot as described in claim 7, characterized in that, Two pneumatic telescopic tubes in any one set of pneumatic telescopic tubes are connected to a gas delivery pipe via a three-way pneumatic connector, and the gas delivery pipe is connected to the pump and valve combination of the gas power source module.

9. The flexible rehabilitation robot as described in claim 8, characterized in that, The pump-valve combination simultaneously controls two pneumatic telescopic tubes in any one of the pneumatic telescopic tube groups.

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