Auxiliary rehabilitation glove based on soft robot

Abstract

The utility model relates to the technical field of rehabilitation, in particular to an auxiliary rehabilitation glove based on a soft robot, which comprises a plurality of groups of bottom plates, one side of each bottom plate is communicated with an air pipe, and a plurality of groups of air pipes are connected through connectors to form a passage; the air bag blocks are arranged in the length direction of the bottom plate, the air bag blocks communicate with the bottom plate, air enters the air bag blocks from air pipes through air pumps, grooves are formed between the bottoms of the adjacent air bags, the first elastic pieces are arranged in the air bag blocks, and the number of the first elastic pieces is matched with that of the air bag blocks; the air bag block and the bottom plate are fixed outside the glove, the air bag block is inflated through the air pump, the air bag block is filled with air, and in combination with the fact that the length of the air bag block is larger than the width of the air bag block and the first elastic piece and the inclined face are arranged in the air bag block, when a user conducts rehabilitation training, joint bending activities such as grabbing can be achieved; the patient can be flexibly trained, and meanwhile the comfort level can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of soft robots, in particular to an auxiliary rehabilitation glove based on a soft robot. Background Art

[0002] With the increasing incidence of cardiovascular and cerebrovascular diseases, the number of hemiplegic patients has increased year by year, and the rehabilitation of patients' motor function has attracted increasing attention. Research on hand joint rehabilitation technology has emerged as a new research field in response to this demand. Research has found that using rehabilitation equipment to perform continuous passive training such as grasping, holding, and stretching on the fingers of hemiplegic patients can accelerate the recovery of patients' fingers.

[0003] At present, most robot-assisted rehabilitation gloves on the market use metal support plates and plastic support plates, which are not only expensive, but also have poor durability and comfort, which are not conducive to long-term use. In addition, existing rehabilitation gloves mostly use gloves with five finger sleeves and are connected to multiple sets of trachea for inflation. This will cause the trachea to become scattered during the inflation process, making it easy to touch the trachea during rehabilitation training, thereby causing the tracheal connection to loosen. For this reason, we propose an auxiliary rehabilitation glove based on a soft robot. Utility Model Content

[0004] The purpose of the present utility model is to provide an auxiliary rehabilitation glove based on a soft robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an auxiliary rehabilitation glove based on a soft robot, comprising: a base plate, the base plate is provided with multiple groups, one side of the base plate is connected to an trachea, and the multiple groups of trachea are connected by a connector to form a passage; multiple groups of airbag blocks are provided along the length direction of the base plate, and the airbag blocks are connected to the base plate, the airbag blocks are fed with air from the trachea through an air pump, and a groove is provided between the bottoms of adjacent airbags; a first elastic member is provided in the airbag block, and the number of the first elastic members matches the number of the airbag blocks; a clamping mechanism is provided on one side of the base plate to limit the placement trajectory of the trachea to prevent the trachea from being placed randomly during use.

[0006] Preferably, an inclined surface is provided between two adjacent groups of the airbag blocks, so that the inclined portion is filled with air when the airbag blocks are inflated, thereby causing deformation.

[0007] Preferably, the length of the airbag block is times its width, so as to increase the degree of bending and the strength of use.

[0008] Preferably, the clamping mechanism includes: fixing plates, which are symmetrically arranged on the back of the glove; a clamping plate, which is arranged on the side opposite to the fixing plate, and a limiting groove is provided on the clamping plate; and a second elastic member, which is arranged between the fixing plate and the clamping plate.

[0009] Preferably, a guide block is provided on the top of the clamping plate, and guide sliding surfaces are provided on the top and bottom of the guide block, so as to facilitate the placement of the air pipe in the limiting groove for position limitation.

[0010] Preferably, the limiting groove is configured to be arc-shaped, and there is a gap between the limiting groove and the trachea, which can limit the trachea while avoiding clamping damage to the trachea.

[0011] Preferably, the distance between the two groups of guide blocks is smaller than the distance between the two groups of limiting grooves.

[0012] The utility model has at least the following beneficial effects:

[0013] When the utility model is used, the airbag block and the bottom plate are fixed to the outside of the glove, and an air pump is used to inflate the airbag block so that the airbag block is filled with gas. In combination with the fact that the length of the airbag block is greater than the width and the first elastic member and the inclined surface provided in the airbag block, the user can perform joint bending activities such as grasping during rehabilitation training, thereby achieving flexibility training for the patient and improving comfort.

[0014] When the utility model is in use, the trachea on the bottom plate is clamped and limited by the clamping plate, so that the trachea can be fixed in position during inflation and rehabilitation training, avoiding touching the trachea during inflation and training, which may cause the trachea connection position to loosen and affect use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 This is a schematic diagram of a partial cross-sectional structure of the airbag block of the utility model;

[0017] Figure 3 This is a schematic diagram of a cross-sectional structure of the airbag block of the utility model from another angle;

[0018] Figure 4 This is a schematic diagram of the structure of the bent airbag block of the utility model;

[0019] Figure 5 This is a schematic structural diagram of the clamping assembly of the utility model;

[0020] Figure 6 This is a structural schematic diagram of the clamping assembly of the utility model from the front view.

[0021] In the figure: 10-base plate; 101-trachea; 102-airbag block; 103-groove; 104-first elastic member; 105-inclined surface; 20-clamping mechanism; 201-fixing plate; 202-clamping plate; 203-limiting groove; 204-second elastic member; 205-guide block; 206-sliding guide surface; 207-gap. DETAILED DESCRIPTION

[0022] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] See also Figure 1-6 , the utility model provides a technical solution:

[0024] An auxiliary rehabilitation glove based on a soft robot includes a base plate 10 fixed to the outside of the glove. The glove is not shown in the figure. The base plate 10 is fitted according to the position of the fingers on the glove. The base plate 10 is provided with multiple groups. One side of the base plate 10 is connected to an air tube 101. The multiple groups of air tubes 101 are connected by a connector to form a passage. The length direction of the base plate 10 is provided with multiple groups of air bag blocks 102, and the air bag blocks 102 are connected to the base plate 10. The air bag blocks 102 are fed from the air tube 101 through an air pump. A groove 103 is provided between the bottoms of adjacent air bags. The groove 103 can make the air bag blocks 102 convenient for inflation and bending. The air bag blocks 102 are fixedly connected The first elastic member 104 is preferably a spring, and the number of the first elastic members 104 matches the number of the airbag blocks 102. The first elastic member 104 can help the airbag block 102 to return to its initial position after use. An inclined surface 105 is provided between two adjacent groups of the airbag blocks 102. The inclined surface 105 can increase the area of ​​the connection position between a single airbag block 102 and the bottom plate 10, which can not only help the airbag block 102 to deform when bent, but also increase the strength of the airbag block 102, making it easier for long-term use. The length of the airbag block 102 is twice its width, which can also facilitate the deformation of the airbag block 102;

[0025] The clamping mechanism 20 includes a fixing plate 201 symmetrically fixed on the back of the glove, a clamping plate 202 is provided on the opposite side of the fixing plate 201, and a limiting groove 203 is provided on the clamping plate 202, the limiting groove 203 is set to an arc shape, and there is a gap 207 between the limiting groove 203 and the trachea 101, a second elastic member 204 is fixedly connected between the fixing plate 201 and the clamping plate 202, and the second elastic member 204 is preferably a spring, a guide block 205 is provided on the top of the clamping plate 202, and a guide sliding surface 206 is provided on the top and bottom of the guide block 205, and the distance between the two groups of the guide blocks 205 is less than the distance between the two groups of the limiting grooves 2 03, put the air pipe 101 from the top of the guide block 205, that is, contact with the guide sliding surface 206, enter and squeeze the second elastic member 204 along the direction of the guide sliding surface 206, so that the clamping plate 202 is opened to both sides until the air pipe 101 is put into the position of the limiting groove 203, thereby completing the fixation of the air pipe 101, and the distance between the guide blocks 205 is smaller than the distance between the two groups of the limiting grooves 203 and the limiting groove 203 is set to be arc-shaped and there is a gap 207 between the limiting groove 203 and the air pipe 101, all of which are to limit the air pipe 101 from being scattered while not squeezing the air pipe 101, thereby facilitating the inflation of the air pipe 101.

[0026] Specific implementation process: First, put on the gloves on your hands, put the trachea 101 in from the top of the guide block 205, that is, contact with the guide sliding surface 206, enter and squeeze the second elastic member 204 along the direction of the guide sliding surface 206, so that the second elastic member 204 is compressed, and the clamping plate 202 is opened to both sides until the trachea 101 is put into the position of the limit groove 203, thereby completing the fixation of the trachea 101. At this time, turn on the air pump to ventilate the trachea 101 in turn and fill it into the airbag block 102, and then carry out rehabilitation training, and the airbag block 1 The first elastic member 104 of 02 can help the airbag block 102 to return to its original position after use. An inclined surface 105 is provided between two adjacent groups of the airbag blocks 102. The inclined surface 105 can increase the area of ​​the connection position between a single airbag block 102 and the bottom plate 10, which not only helps the airbag block 102 to deform when bent, but also increases the strength of the airbag block 102, facilitating its long-term use. The length of the airbag block 102 is twice its width, which can also facilitate the deformation of the airbag block 102.

[0027] When the air pipe 101 needs to be removed from the limiting groove 203, the air pipe 101 is moved upward again along the direction of the guide sliding surface 206 at the bottom of the guide block 205, and the second elastic member 204 is squeezed again during the movement until the air pipe 101 is taken out and the operation is completed.

[0028] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include" or "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0029] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An auxiliary rehabilitation glove based on a soft robot, characterized in that: include: A bottom plate (10), the bottom plate (10) being arranged on the outside of the glove, the bottom plate (10) being provided with a plurality of groups, one side of the bottom plate (10) being connected to an air tube (101), the plurality of groups of air tubes (101) being connected via a connector to form a passage; A plurality of airbag blocks (102) are provided along the length direction of the bottom plate (10), and the airbag blocks (102) are in communication with the bottom plate (10). The airbag blocks (102) are supplied with air from the air pipe (101) via an air pump, and grooves (103) are provided between the bottoms of adjacent airbags. A first elastic member (104) is disposed in the airbag block (102), and the number of the first elastic members (104) matches the number of the airbag blocks (102); The clamping mechanism (20) is provided on one side of the bottom plate (10) and limits the placement trajectory of the air tube (101) to prevent the air tube (101) from being randomly placed during use.

2. The soft robot-based assisted rehabilitation glove according to claim 1, characterized in that: An inclined surface (105) is provided between two adjacent groups of airbag blocks (102).

3. The soft robot-based assisted rehabilitation glove according to claim 2, characterized in that: The length of the airbag block (102) is twice its width.

4. The soft robot-based assisted rehabilitation glove according to claim 1, characterized in that: The clamping mechanism (20) comprises: The fixing plates (201) are symmetrically arranged on the back of the gloves; A clamping plate (202) is provided on a side opposite to the fixing plate (201), and a limiting groove (203) is provided on the clamping plate (202); The second elastic member (204) is provided between the fixing plate (201) and the clamping plate (202).

5. The soft robot-based assisted rehabilitation glove according to claim 4, characterized in that: A guide block (205) is provided on the top of the clamping plate (202), and guide sliding surfaces (206) are provided on the top and bottom of the guide block (205).

6. The soft robot-based assisted rehabilitation glove according to claim 4, characterized in that: The limiting groove (203) is configured to be arc-shaped, and a gap (207) exists between the limiting groove (203) and the air pipe (101).

7. The soft robot-based assisted rehabilitation glove according to claim 5, characterized in that: The distance between the two groups of guide blocks (205) is smaller than the distance between the two groups of limiting grooves (203).

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