Limb rehabilitation assisting device and limb rehabilitation training mechanism

Abstract

The utility model belongs to the technical field of rehabilitation assistive devices, and particularly relates to a limb rehabilitation assisting device and a limb rehabilitation training mechanism, and the limb rehabilitation assisting device comprises a driver, an angle measuring part and a force measuring part. The driver can be bent under the action of external driving force, auxiliary training can be carried out on limbs, and the bending angle of the driver can be controlled by adjusting the driving force; the angle measuring part is used for accurately measuring bending data of each limb joint by arranging a strain gauge or an attitude sensor on a base; and the force measuring part measures the force data of each limb region by measuring the pressure of the air bag group corresponding to each limb region. The whole device is simple in structure, comprehensive and accurate in measurement of movement data of all limbs, good in comfort and capable of adapting to various rehabilitation strategies, the rehabilitation effect is improved, and precise rehabilitation is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of rehabilitation assistive devices, in particular to a limb rehabilitation assistive device and a limb rehabilitation training mechanism. Background Art

[0002] With the aging population in my country and around the world, the decline in essential physiological functions among the elderly leads to a gradual decline in limb mobility, seriously impacting their ability to care for themselves. Therefore, timely and effective rehabilitation training for patients with limb dysfunction is currently one of the most effective rehabilitation methods for restoring limb function. A robotic arm is an automated device that can mimic certain movements and functions of the human hand, grasping objects or manipulating tools according to a fixed program. However, current robotic arms have relatively limited sensory capabilities and are unable to accurately record data and the mid-air posture of each finger during actuation.

[0003] Limb rehabilitation devices are already widely used on the market, but most simply drive limb flexion and are unable to measure limb flexion data. They also lack sensor technology to accurately record rehabilitation results, making it difficult for medical staff to analyze and evaluate training effectiveness and adjust rehabilitation strategies in a timely manner to achieve precise rehabilitation. Furthermore, most rehabilitation devices use a repetitive bending and stretching process, which lacks targeted training and can only perform simple passive rehabilitation exercises, preventing patient participation. This significantly reduces patient motivation for rehabilitation training and prevents optimal treatment outcomes.

[0004] In summary, it is necessary to provide a device that can accurately measure the bending angle and output force of each limb joint and assist in achieving efficient limb rehabilitation training. It has a simple structure, is comfortable to use, and can be used for a robotic arm. When driving it to bend, it can measure the air posture or bending angle data of each finger, and when driving it to grasp an object, it can measure the gripping force data of the robotic arm on the object. Utility Model Content

[0005] In view of the above shortcomings of the existing technology, the purpose of the present invention is to provide a limb rehabilitation auxiliary device and a limb rehabilitation training mechanism, which can accurately measure and record limb bending angle and force data, timely understand the patient's rehabilitation training situation, and provide targeted training. By using mirror rehabilitation training, the patient's initiative and enthusiasm for rehabilitation treatment can be improved, and the rehabilitation efficiency can be improved.

[0006] To achieve the above-mentioned and other related purposes, the present invention provides a limb rehabilitation assistive device, comprising:

[0007] A plurality of drivers, each of the drivers comprising a plurality of mounting portions and a plurality of drive units, wherein one drive unit is disposed between each two adjacent mounting portions, or the mounting portion and the drive unit are integrated into one;

[0008] The angle measuring part is connected to the mounting part and includes a base and an angle measuring unit. The base is fixedly connected to the mounting part, and the angle measuring unit is arranged on the base or the mounting part.

[0009] According to an embodiment of the present invention, a force measuring portion is further included, connected to a side of the angle measuring portion away from the driver.

[0010] According to one embodiment of the present invention, the driving unit is a bellows or a soft actuator, and a plurality of the bellows or soft actuators are connected by a pipe.

[0011] According to one embodiment of the present invention, the base comprises:

[0012] A plurality of fixing seats, each of which is fixedly connected to the bottom of the mounting portion;

[0013] A plurality of bending seats are provided, wherein one bending seat is provided between two adjacent fixing seats, and the bending seat is provided corresponding to the driving unit.

[0014] According to one embodiment of the present invention, the bending seat is in a pleated shape and is composed of a plurality of flexible hinges and vertical plates.

[0015] According to an embodiment of the present invention, a groove is provided on a surface of the base close to the driver, and the angle measuring unit is provided in the groove.

[0016] According to one embodiment of the present invention, the angle measurement unit is a strain gauge or a flexible angle measurement unit, which is arranged on the base, and each joint of the limb corresponds to at least one strain gauge or flexible angle measurement unit.

[0017] According to an embodiment of the present invention, the angle measurement unit is a posture sensor, which is provided on part of the fixing seat or the mounting portion, and each joint has at least one posture sensor on both sides.

[0018] According to one embodiment of the present invention, the force measuring unit includes:

[0019] a base connected to the bottom surface of the base, or the base and the base are integrated into one;

[0020] A plurality of force measurement units are arranged inside the base and located in the limb area.

[0021] According to one embodiment of the present invention, the force measuring unit includes:

[0022] An air passage is provided inside the base, the air passage extends along the length direction of the base, and an air port of the air passage is located at one end of the base;

[0023] An airbag is connected through the air passage.

[0024] The utility model also provides a limb rehabilitation training mechanism, comprising:

[0025] fixings;

[0026] At least one limb rehabilitation assisting device as described in the above embodiment is fixed to the corresponding limb position through the fixing member.

[0027] The utility model provides a limb rehabilitation auxiliary device and a limb rehabilitation training mechanism. The limb rehabilitation auxiliary device integrates a driver, an angle measurement part and a force measurement part into one, can comprehensively and accurately measure limb rehabilitation data, and can also realize auxiliary training of limb bending movements through the driver. It has a simple structure and is flexible to use. It can accurately measure and record the bending angle and force data during limb activities, timely understand the training situation, adjust the training plan, and conduct targeted training; it can also combine multiple rehabilitation strategies to achieve precise rehabilitation; through mirror training, it can improve the patient's initiative and enthusiasm in training and achieve better treatment effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0029] Figure 1 A three-dimensional structural diagram of a limb rehabilitation assistive device provided by one embodiment of the present invention, in which the driving unit is a bellows;

[0030] Figure 2 A three-dimensional structural diagram of a limb rehabilitation assistive device provided by one embodiment of the present invention, in which the driving unit is a soft actuator;

[0031] Figure 3 This is an axial cross-sectional structural diagram of a limb rehabilitation assistive device provided by one embodiment of the present invention, in which the driving unit is a bellows;

[0032] Figure 4 This is an exploded view of a three-dimensional structure in which a base and a base of a limb rehabilitation assistive device provided by one embodiment of the present invention are fixedly connected;

[0033] Figure 5 This is an axial cross-sectional structural diagram of a soft actuator in a limb rehabilitation assistive device provided by one embodiment of the present utility model;

[0034] Figure 6 An exploded view of a three-dimensional structure in which a base and a base are integrated into one body in a limb rehabilitation assistive device provided by one embodiment of the present invention;

[0035] Figure 7 An exploded view of a three-dimensional structure in which a base and a base are integrated into one body in a limb rehabilitation assistive device provided by another embodiment of the present invention;

[0036] Figure 8 A radial cross-sectional view of a crest structure of a soft actuator in a limb rehabilitation assistive device provided by another embodiment of the present invention;

[0037] Figure 9 A three-dimensional diagram of a finger rehabilitation assisting device provided by one embodiment of the present utility model;

[0038] Figure 10 An exploded view of a finger rehabilitation assisting device provided by one embodiment of the present utility model;

[0039] Figure 11 A three-dimensional diagram of a finger rehabilitation assisting device provided by another embodiment of the present invention;

[0040] Figure 12 An exploded view of a finger rehabilitation assisting device provided by another embodiment of the present invention;

[0041] Figure 13 An exploded view of an angle measuring portion of a finger rehabilitation assistive device provided by one embodiment of the present invention, in which the angle measuring unit is a strain gauge;

[0042] Figure 14 This is an exploded view of an angle measurement portion of a finger rehabilitation assistive device provided by another embodiment of the present invention, in which the angle measurement unit is a strain gauge;

[0043] Figure 15 An exploded view of an angle measurement unit of a finger rehabilitation assisting device provided by an embodiment of the present invention is an angle measurement portion of a posture sensor;

[0044] Figure 16 Another embodiment of the present invention provides an exploded view of an angle measurement unit of a finger rehabilitation assisting device, which is an angle measurement portion of a posture sensor;

[0045] Figure 17 A cross-sectional view of a force measuring portion of a finger rehabilitation assisting device provided by one embodiment of the present invention;

[0046] Figure 18 A cross-sectional view of a force measuring portion of a finger rehabilitation assisting device provided in another embodiment of the present invention;

[0047] Figure 19 This is a three-dimensional diagram of a finger rehabilitation training mechanism provided by the utility model. DETAILED DESCRIPTION

[0048] The following describes the embodiments of the present invention through specific examples. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the details in this specification may be modified or altered based on different perspectives and applications without departing from the spirit of the present invention.

[0049] It should be noted that the illustrations provided in this embodiment are only used to schematically illustrate the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0050] There are many types of limb rehabilitation devices on the market, but most of them cannot accurately and comprehensively measure the angle and force data of each joint during limb movement. They are also uncomfortable and cannot achieve targeted training and improve patients' enthusiasm for training through various rehabilitation strategies, thereby improving treatment efficiency. Therefore, it is particularly important to develop a limb flexion and force measurement device and limb rehabilitation training institution that can achieve accurate and comprehensive limb movement data measurement and can combine multiple rehabilitation strategies for targeted training.

[0051] See also Figures 1 to 8The present invention provides a limb rehabilitation assisting device, which includes: a plurality of drivers 100, an angle measuring unit 200 and a force measuring unit 300. The driver 100 is bent and straightened to assist in achieving limb joint movement; the angle measuring unit 200 is connected to the driver 100 and is used to measure the bending angle of the joint during limb movement; the force measuring unit 300 is connected to the side of the angle measuring unit 200 away from the driver 100 and is used to measure the force during limb movement. The present invention can be used to perform limb rehabilitation training, assist in exercise, and accurately measure the bending angle and force of the limb during exercise. It can also adapt to a variety of rehabilitation strategies and improve the treatment efficiency of limb rehabilitation. The limbs may be, but are not limited to, fingers, wrists, elbows, ankles, waists, and other limbs that can support bending. It should be noted that for different limb training, the number of drivers 100 may be set differently according to the joint movement characteristics. For example, when used as a finger rehabilitation auxiliary device, one driver 100 may be set to drive the overall movement of the finger; or multiple drivers 100 may correspond to each joint position of the finger, so that each joint can be controlled individually, which is more flexible and efficient. The structures of the angle measurement unit 200 and the force measurement unit 300 are set accordingly.

[0052] See also Figures 1 to 8 According to an embodiment of the present invention, each driver 100 includes a plurality of mounting portions 110 and a plurality of drive units 120, as well as a pipe 130. A drive unit 120 is arranged between each two adjacent mounting portions 110, or the mounting portion 110 and the drive unit 120 are integrated into one.

[0053] See also Figures 1 to 8 According to an embodiment of the present invention, the drive unit 120 is a bellows or a soft actuator, and multiple bellows or soft actuators are connected by a pipe 130. Specifically, a bellows is provided between each two adjacent mounting portions 110, and the bellows are connected by a pipe 130. An external air source inflates and inhales the bellows through the pipe 130 to achieve the expansion and contraction of the bellows. Since the mounting portion 110 of the driver 100 is connected to the angle measuring portion 200, when the bellows expands and contracts, it will bend due to the limitation of the bottom plane, thereby assisting the limbs in flexion and extension. By adjusting the inflation flow rate and frequency, the bending angle and speed of the driver 100 can be controlled.

[0054] See also Figures 1 to 8 According to an embodiment of the present invention, an opening is provided at the bottom of the mounting portion 110 along the axial direction, and the mounting portion 110 can be directly opened from the bottom and engaged with the pipe 130, so that the mounting portion 110 and the corrugated pipe are assembled, which facilitates the installation and disassembly of the corrugated pipe.

[0055] See also Figures 1 to 8 According to an embodiment provided by the present invention, the driving unit 120 can be, for example, a bellows, the surface of the bellows is a corrugated surface, and its axial cross-section can be a sine wave, a triangular wave, etc. The bellows is inflated and inhaled through the pipe 130. When the bellows is extended or contracted, due to the limitation of the angle measuring part 200, the top and bottom surfaces are deformed to different sizes, thereby generating bending, which can assist the limbs in flexion and extension movements. By adjusting the inflation flow and frequency, the bending angle and speed of the driver 100 can be controlled.

[0056] See also Figures 1 to 8 In another embodiment, the drive unit 120 is a soft actuator, the mounting portion 110 and the drive unit 120 are integrated into one body, and the driver 100 is an integrated soft actuator having a wavy non-rotating structure, with a pipe 130 connected to at least one end. The connection between the bottom surface of the driver 100 and the angle measurement portion 200 is the mounting portion 110, and the bending of the driver 100 is achieved through the portion between the mounting portions 110. The interior of the soft actuator is a cavity, the top surface of which includes a wave crest structure 121 and a wave trough structure 122 connected in sequence, and the bottom surface can be a flat surface or a micro-wave non-rotating structure; a groove is provided between the wave crest structure 121 and the wave trough structure 122, the depth of which decreases as the distance from the bottom surface decreases, and the cross-sectional structure of the wave crest structure 121 and the wave trough structure 122 in the radial direction is a plurality of mutually tangent arcs and a bottom edge line. When the pipe 130 inflates and inhales the driver 100, the entire structure 130 is deformed and bent by changing the adjacent angles of the peak structure 121. Its structure can better adapt to the movement of limb joints, distribute stress evenly, and improve the comfort of limb assistance.

[0057] See also Figures 1 to 8 According to one embodiment of the present invention, the angle measuring unit 200 is connected to the mounting portion 110 and includes a base 210 and an angle measuring unit 220. The base 210 is fixedly connected to the mounting portion 110 of the actuator 100; the angle measuring unit 220 is disposed on the base 210 or the mounting portion 110. The angle measuring units 220 distributed on the base 210 or the mounting portion 110 are used to measure the bending angle of the bellows, thereby obtaining corresponding bending angle data of the limb joint.

[0058] See also Figures 1 to 8According to one embodiment of the present invention, the base 210 includes a plurality of fixed seats 211 and a plurality of bending seats 212. The fixed seats 211 are fixedly connected to the bottom of the mounting portion 110, and the angle measuring portion 200 is fixedly connected to the driver 100 via the fixed seats 211; there is a bending seat 212 between every two adjacent fixed seats 211, and the plurality of bending seats 212 are arranged corresponding to the driving unit 120; the angle measuring unit 220 is arranged corresponding to each limb area or limb joint, and can measure the bending angle of the joints between the limbs. A groove is provided on the side of the base 210 close to the driver 100, and the angle measuring unit 220 is arranged in the groove.

[0059] Please note that Figures 1 to 8 The bending base 212 is pleated and composed of several flexible hinges and vertical plates. The flexible hinge connection allows the base 210 to bend or stretch appropriately with the actuator 100 at various joints of the limb. The soft actuator and force measurement unit 300 should have a low hardness, for example, silicone material can be used to ensure that the actuator 100 and force measurement unit 300 have a certain degree of elongation and bending ability. When the actuator 100 bends, the angle measurement unit 200 and force measurement unit 300 can also bend accordingly.

[0060] See also Figures 1 to 8 According to one embodiment of the present invention, the fixing base 211 is fixedly connected to the bottom of the mounting portion 110. Specifically, the fixing base 211 and the bottom of the mounting portion 110 can be connected by a square hole and a square block, which facilitates connection and removal and is flexible and convenient to use. In this case, the side of the base 210 near the driver 100 can be provided with a groove, and the angle measurement unit 220 is disposed in the groove of the base 210, which can reduce the impact of the angle measurement unit 220 on the bending performance of the corrugated tube.

[0061] See also Figures 1 to 8 According to an embodiment provided by the present invention, the angle measurement unit 220 is a strain gauge or a flexible angle measurement unit, which is arranged on the base 210, and each joint of the limb corresponds to at least one strain gauge or flexible angle measurement unit. The bending angle of the corresponding joint is measured by the strain gauge or flexible angle measurement unit to obtain the bending data between the limbs.

[0062] See also Figures 1 to 8In one embodiment, the fixing base 211 is fixedly connected to the bottom of the mounting portion 110. Each angle measurement unit 220 may include a pair of strain gauges. The two strain gauges in each pair are closely spaced, forming a half-bridge circuit. This provides a simple structure and high measurement accuracy. When the strain gauge bends, its resistance changes, and the voltage value changes accordingly. Based on this voltage change, the bending angle corresponding to each pair of strain gauges can be accurately measured. This provides a simple structure and accurate measurement. It will be understood that the strain gauge measures the bending angle of the bending base 212 and the corresponding drive unit, summing the multiple measurement data to obtain the bending angle data of the corresponding joint. To ensure measurement accuracy, each strain gauge covers at least one bending base 212 in its length direction and extends to the fixing base 211 on both sides to accurately measure the bending angle of the bending base 212. Of course, in other embodiments, a pair of strain gauges may be respectively arranged on the top and bottom surfaces of the base 210 to form a half-bridge circuit for measurement, or the angle measurement unit 220 may be a strain gauge arranged on the base 210 and connected with a resistor to form a single-arm bridge to measure the bending angle of the bending seat 212, and then the measured bending data may be added together to obtain the required limb bending data.

[0063] Please note that Figures 1 to 8 When the strain gauge is placed on the base 210, as the base 210 bends or stretches appropriately at the joints of the limb, the strain gauge should be partially fixed to the base 210. For example, the middle area or the area on one end of the strain gauge should be fixed to the base 210, so that the strain gauges in other areas can move freely. When the base 210 bends, the strain gauge can bend with the base 210 without restricting the elongation of the base 210. This arrangement allows the strain gauge to fit more closely to the base 210, thereby making the measurement more accurate. The hardness of the material of the base 210 should be similar to that of the strain gauge. For example, TPU material can be used to ensure that the strain gauge can bend with the base 210.

[0064] See also Figures 1 to 8 According to another embodiment provided by the present invention, the angle measurement unit 220 is a posture sensor, which is provided on a portion of the fixing seat 211 or the mounting portion 110, and at least one posture sensor corresponds to each side of each joint. By measuring the posture state of the corresponding fixing seat 211 in three-dimensional space by two adjacent posture sensors, the relative bending angle between the two fixing seats 211 can be measured, thereby measuring the bending angle of the corresponding limb joint. In a specific embodiment, the posture sensors can be respectively provided on the fixing seats 211 at both ends, corresponding to two limb regions respectively. The posture state of the fixing seats 211 at both ends in three-dimensional space can be measured by the two posture sensors, thereby obtaining the relative bending angle between the two limbs when the limbs move.

[0065] It is understandable that, according to the different length structures of the limbs, the length of the corresponding driver 100 and the distribution of the angle measurement unit 220 can be set differently.

[0066] See also Figures 1 to 8 According to one embodiment of the present invention, the force measurement unit 300 includes a base 330 and several force measurement units. The force measurement units are disposed within the base and located in the limb area. The force measurement units include an air passage 310 and an airbag 320. The base 330 is connected to the bottom surface of the base 210, or the base 330 and the base 210 are integrated into one body, connecting the force measurement unit 300 and the angle measurement unit 200 as a whole.

[0067] See also Figures 1 to 8 According to an embodiment of the present invention, the force measurement unit includes an air channel and an airbag. The air channel 310 is arranged inside the base 330 and extends along the length direction of the base 330. Its air port is located at one end of the base 330. The airbag 320 is arranged on the air channel 310, connected through the air channel 310, and corresponds to each limb area. The airbag can be a spherical airbag, a cylindrical airbag, or an airbag of other shapes. It can be understood that the air channel 310 here can be one or more. Among the multiple air channels 310, each air channel 310 is connected to a group of airbags 320. The airbags 320 on different air channels 310 can correspond to different limb areas. According to different limb lengths, etc., the number of corresponding airbags 320 in each limb area can be set differently.

[0068] See also Figures 1 to 8 According to one embodiment of the present invention, the base 330 is fixedly connected to the base 210. The base 330 and the fixing base 211 can be connected by, for example, a square block and a square hole. Specifically, for example, a square connecting block is provided on the base 330, and a connecting hole is provided at a corresponding position on the base 210. The connecting block and the connecting hole are connected by an interference fit, ensuring a stable connection while also facilitating installation and removal. It is understood that the connecting hole and the connecting block can also have other shapes that can achieve a fixed connection, and their corresponding positions can also be arranged differently.

[0069] See also Figures 1 to 8In another embodiment, the base 330 and the base 210 are integrated into one. At this time, the fixing seat 211 of the base 210 is the part that fixes the base 330 and the driver 100, and the bending seat 212 corresponds to the part on the driver 100 for achieving bending; at this time, the angle measuring unit 220 is installed on the base 330, that is, the base 210, for measuring the bending angle. For example, a groove can be set on the side of the base 330 close to the driver 100, and the angle measuring unit 220 is set in the groove to measure the bending angle, ensuring the accuracy of the measurement and avoiding the uneven wall thickness caused by setting a groove on the corrugated tube, which is easy to break when the corrugated tube is bent.

[0070] See also Figures 1 to 8 In this embodiment, the corresponding angle measurement unit 220 can be a pair of strain gauges, disposed within a groove on the side of the base 330 proximal to the actuator 100 and corresponding to the joint region being measured. The pair of strain gauges forms a half-bridge circuit, which features a simple structure and high measurement accuracy. When the strain gauges flex with the bending seat 212, their resistance changes, allowing the bending angle of the bending seat 212 to be measured. The corresponding bending data are then summed to determine the bending angle of the entire limb.

[0071] See also Figures 1 to 8 When angle measurement unit 220 is a posture sensor, it is positioned on the side of base 330 proximal to driver 100, within a recess of mounting base 211, and corresponding to each limb region to be measured, with one posture sensor positioned for each region. By measuring the posture of each mounting base 211 in three-dimensional space, two adjacent posture sensors can measure the relative bending angle between the two mounting bases 211, thereby measuring the bending angle of the corresponding limb joint.

[0072] Please note that Figures 1 to 8 The base 330 of the force measuring part 300 should have a relatively low hardness. For example, a silicone material can be used to enable the force measuring part 300 to have a certain elongation and bending ability, and to bend or stretch appropriately along with the driver 100 to achieve auxiliary training and data measurement, and to serve as a gasket so as not to cause pain when in contact with the limbs.

[0073] See also Figures 1 to 8According to one embodiment of the present invention, the force measurement unit 300 is integrally connected to the angle measurement unit 200 and the driver 100 via blocks and square holes. Specifically, blocks can be provided on the side of the force measurement unit 300 that is closest to the angle measurement unit 200. The blocks can be symmetrically distributed on both sides along the axis to enhance the stability of the connection. Connection holes are provided on the base 210 of the angle measurement unit 200 and the mounting portion 110 of the driver 100 at positions corresponding to the blocks. The two measurement units and the driver 100 are connected via the blocks and square holes. This creates a simple structure, facilitates installation and removal, and provides a stable connection. In other embodiments, blocks and square holes can be provided between the force measurement unit 300 and the angle measurement unit 200, and between the angle measurement unit 200 and the driver 100, respectively, to achieve connection and fixation. When the driver 100 bends under the action of driving, the angle measuring part 200 and the force measuring part 300 also bend accordingly. At this time, the airbag 320 will press the limb, and its interior will be squeezed and produce pressure changes. By measuring the internal pressure of the airbag 320, the force data of the limb in the corresponding area can be obtained; since each group of airbags 320 corresponds to a limb area and is connected by an air channel 310, the pressure of each group of airbags 320 is measured through the air channel 310 using a pressure sensor, so that the output force of the entire limb area corresponding to each group of airbags 320 can be obtained.

[0074] Specifically, a pressure sensor connected externally to the air channel 310 can be used to measure the air pressure in each group of airbags 320 and output a voltage value. Changes in the air pressure of the airbags 320 will produce changes in the output electrical signal. The relationship between force and voltage value is obtained according to experimental calibration, and the magnitude of the corresponding force can be measured through the pressure sensor connected externally to the air channel 310; the airbags 320 on each air channel 310 are regarded as a whole, and each air channel 310 is connected to a pressure sensor respectively. The pressure value of each group of airbags 320 is measured by the corresponding pressure sensor, and the force condition of the limb in the corresponding area can be measured.

[0075] See also Figures 1 to 8 In one embodiment, the airbags 320 on each air channel 310 are distributed in the same straight line and are located on the central axis of the base 330. When the limb is bent, since the airbags 320 are located on the center line of the limb, the pressure on the airbags 320 is more uniform and the force measurement is more accurate.

[0076] See also Figures 1 to 8, an external air source inflates or inhales the bellows in the driver 100 through the pipeline 130, and the bellows bends, thereby bending the entire limb rehabilitation assistive device, which can assist the limb in bending activities and realize auxiliary training; when the bellows bends, the bending seat 212 of the angle measuring part 200 bends accordingly, and the bending angle of the bending seat 212 or the position of the fixed seat 211 in three-dimensional space is measured by the angle measuring unit 220 provided on the base 210, and the bending data between the two limbs can be obtained; when the limb rehabilitation assistive device bends, the base 330 of the force measuring part will squeeze the limb due to the bending, and the airbag 320 inside the base 330 squeezes the limb to generate a pressure change, and the pressure sensor is used to measure the pressure of the spherical airbag 320 corresponding to each limb area through the air path channel, so that the force data of the corresponding limb area can be obtained.

[0077] It can be understood that when only active training is performed and limb movement data is measured, the driver 100 is not required to assist in training. At this time, the finger driver 100 may not be set in the device, and data measurement can be performed by setting the angle measurement part 200 and the force measurement part 300 at the corresponding limb position.

[0078] See also Figures 1 to 8 The utility model integrates the driver 100, the angle measuring part 200 and the force measuring part 300 into a whole with a simple structure. The bending state of the bellows conforms to the limb movement state and will not affect the comfort during limb movement and the accuracy of data measurement. In addition, the angle measurement unit 220 of the angle measuring part 200 and the airbag inside the force measuring part 300 can ensure the accuracy of the measurement data without affecting the comfort of limb movement; the driver 100 and the angle measuring part 200, and the angle measuring part 200 and the force measuring part 300 are connected through square holes and blocks, with a simple structure, easy to use and easy to disassemble, and the required components can be installed as needed, which is more flexible and convenient to use.

[0079] It should be noted that the driving unit 120 in the driver 100 can be a bellows or other mechanism that can realize bending movement under driving action, such as a connecting rod. When the driver 100 bends, the entire device will bend, thereby assisting the limbs in bending movement training. The angle measurement part 200 and the output force measurement part 300 are used to measure the bending angle of the limb joints and the force data of each area of ​​the limb respectively.

[0080] Based on the above-mentioned limb rehabilitation auxiliary device, the present invention also provides a limb rehabilitation training mechanism, which includes at least one limb rehabilitation auxiliary device and a fixing part, and the limb rehabilitation auxiliary device is fixed to the corresponding limb position through the fixing part. The limb rehabilitation auxiliary device can accurately measure the bending data of the limb joints and the force data of each limb area during limb rehabilitation training and assist the limb in training activities. It can timely understand the training situation and formulate targeted training strategies through analysis of the training data; it can adapt to a variety of rehabilitation strategies to improve the rehabilitation training effect. When conducting rehabilitation training, the limb rehabilitation auxiliary device can be used to measure the bending data of the limb joints and the force data of each limb area to obtain accurate motion data, which is convenient for timely feedback of motion information, observation of training situation, and timely adjustment of rehabilitation strategies; it can also be used to control the air pressure of the air source system through preset data to make the driver 100 achieve a certain degree of bending to achieve a certain bending angle or output force, thereby completing targeted rehabilitation training.

[0081] In addition, it can also be used for mirror training, where a limb rehabilitation assistive device is set at the corresponding position of the patient's healthy limb and the affected limb, and the healthy limb is used to collect data. When the healthy limb actively moves, the limb rehabilitation assistive device measures the bending angle of the limb joint and the limb force and outputs the data to the computer. The computer controls the output air pressure to make the driver 100 reach the same bending angle or output force, driving the affected limb to achieve the same movement as the healthy limb; or the patient actively uses the affected limb to move, and the affected limb movement data is measured in real time by the limb rehabilitation assistive device during the training process until the affected limb reaches the same bending angle as the healthy limb. Through mirror training, the patient's initiative and enthusiasm for rehabilitation training can be improved, and the treatment efficiency can be improved. In addition, the movement data of the affected limb can be compared and calibrated with the movement data measured by the healthy limb to ensure the accuracy of the rehabilitation training and achieve precise rehabilitation.

[0082] In a specific embodiment of the present invention, please refer to Figures 9 to 19The structure of the limb rehabilitation assisting device of the present invention is specifically set according to the structure of the finger joints. The present invention can be used as a finger rehabilitation assisting device to assist in finger rehabilitation training and motion data measurement. At this time, the driver 100 is a finger driver. The driver 100 is used to assist in the flexion movement of the finger. Each finger rehabilitation assisting device includes at least one driver 100, whose structure is adapted to the finger structure to drive the flexion movement of the finger. When the finger rehabilitation assisting device includes multiple drivers 100, the drivers 100 are respectively set corresponding to each joint and perform motion control on each joint separately; the angle measuring part 200 is fixedly connected to the driver 100 and is used to measure the bending angle of the driver 100, so that the bending angle data of each finger joint can be obtained; the force measuring part 300 is fixed to the side of the angle measuring part 200 away from the driver 100, and is used to measure the output force of each finger bone area. The finger rehabilitation assisting device of the present invention can realize the bending angle measurement and output force measurement of hand auxiliary training and hand movement, realize comprehensive and accurate training data measurement, and can adapt to a variety of rehabilitation strategies.

[0083] See also Figures 9 to 16 In this embodiment, the force measurement unit 300 can be connected to the angle measurement unit 200 and the driver 100 via blocks and square holes. Specifically, a block can be provided on the surface of the force measurement unit 300 near the angle measurement unit 200, and connection holes can be provided at corresponding positions on the base 210 of the angle measurement unit 200 and the mounting portion 110 of the driver 100. In other embodiments, a set of blocks and square holes can be provided on the force measurement unit 300 and the angle measurement unit 200, respectively, while another set of blocks and square holes can be provided on the angle measurement unit 200 and the driver 100 for separate connection.

[0084] See also Figures 9 to 12In this embodiment, the driver 100 includes a plurality of mounting portions 110 and a plurality of drive units 120. A drive unit 120 is provided between each two adjacent mounting portions 110, or the mounting portion 110 and the drive unit 120 are integrated into one. The drive unit 120 may be a bellows, and the plurality of bellows are connected by a pipe 130. An external air source inflates and inhales the bellows through the pipe 130 to achieve expansion and contraction of the bellows. Since the mounting portion 110 of the driver 100 is connected to the base 210 of the angle measuring portion 200, when the bellows expands and contracts, it will bend due to the restriction of the base 210. The bending seat 212 is pleated and consists of a plurality of flexible hinges and vertical plates. It can be appropriately bent and stretched, thereby assisting the finger joints in flexion and extension. The bending angle of the driver 100 can be controlled by adjusting the inflation pressure. In other embodiments, the driving unit 120 may also be a soft actuator. When the driving unit 120 and the mounting portion 110 are integrated into one, the driver 100 is an integrated soft actuator having a curved portion and a mounting portion 110 located between the curved portions. The mounting portion 110 is connected to the base 210 of the angle measuring portion 200.

[0085] It is understood that the length and number of sections of the bellows can be configured differently depending on the length of the finger, and accordingly, the structures of the mounting portion 110, the angle measuring portion 200, and the force measuring portion 300 can also be different. Furthermore, the drive unit is not limited to a bellows structure and can also be other drive components capable of achieving telescopic bending, such as a flexible wire or a linkage mechanism.

[0086] See also Figures 9 to 16 In this embodiment, the angle measuring part 200 includes a base 210 and an angle measuring unit 220. The base 210 is fixedly connected to the mounting part 110 of the driver 100. The angle measuring unit 220 is arranged on the base 210 or the mounting part 110. The bending angle of each bellows is measured by the angle measuring units 220 distributed on the base 210 or the mounting part 110. The bending angle of each finger joint can be obtained accordingly, thereby obtaining the data of the finger movement.

[0087] See also Figures 9 to 16In this embodiment, the base 210 includes multiple fixed seats 211 and multiple bending seats 212. The fixed seats 211 are fixedly connected to the bottom of the mounting portion 110, with a bending seat 212 located between each two adjacent fixed seats 211. The angle measurement unit 200 is fixedly connected to the mounting portion 110 of the driver 100 via the fixed seats 211. Specifically, a square hole square block connection can be used for ease of use and disassembly. The multiple bending seats 212 are arranged in correspondence with the bellows and, together with the driver 100, assist in bending the fingers or bend them along with the movement of the finger joints. The angle of movement of each finger joint is obtained by measuring the bending angle of the bending seat 212. The angle measurement unit 220 is arranged corresponding to the finger joint area to measure the bending angle of each interphalangeal joint. In this embodiment, a set of angle measurement units 220 is corresponding to each finger joint area. The angle measurement units 220 are arranged on the base 210. The angle measurement units 220 corresponding to each finger joint area measure the bending angle of the corresponding finger joint, thereby obtaining finger movement data.

[0088] See also Figures 9 to 16 In this embodiment, a groove is provided on the side of the base 210 proximal to the actuator 100, and the angle measurement unit 220 is disposed within the groove of the base 210. This can reduce the impact of the angle measurement unit 220 on the bending performance of the bellows and prevent the bellows from squeezing the angle measurement unit 220 when bending, thereby causing inaccurate measurements. In other embodiments, the base 210 and the force measurement unit 300 are integrated. In this case, the groove can be provided on the side of the force measurement unit 300 proximal to the actuator 100, and the angle measurement unit 220 is disposed within the groove and connected to the bending seat 212 or positioned corresponding to the bending seat 212.

[0089] See also Figures 13 and 14 According to an embodiment provided by the present invention, the angle measurement unit 220 is a strain gauge, which is arranged on the base 210 and located in the groove, and each joint of the limb corresponds to at least one such strain gauge. Specifically, each joint corresponds to a group of angle measurement units 220, and each group of angle measurement units 220 includes a pair of strain gauges, and the two strain gauges are very closely spaced to form a half-bridge circuit. The strain gauges are used to measure the bending angle of the bending seat 212 at the corresponding position, and then the bending data of the corresponding bending seat 212 are added to obtain the data of the corresponding joint bending movement. It can be understood that by adding the bending data measured by multiple groups of strain gauges, the bending data of the relative movement between the phalanges and the bending angle data of the entire finger can also be measured.

[0090] See also Figures 15 and 16According to an embodiment provided by the present invention, the angle measurement unit 220 is a posture sensor, which is arranged on part of the fixing seat 211 or the mounting portion 110, and each joint corresponds to at least one of the posture sensors on both sides. Specifically, each joint corresponds to a group of angle measurement units 220, and each group of angle measurement units 220 includes at least two posture sensors, which are respectively located in the phalangeal areas on both sides of the joint. The posture state of the corresponding fixing seat 211 in three-dimensional space is measured by two adjacent posture sensors. When the base 210 bends, the relative bending angle between the two fixing seats 211 can be measured, thereby measuring the bending angle of the corresponding interphalangeal joint. Similarly, through the combined measurement of different posture sensors, not only the bending angle of each joint of the finger can be measured, but also the bending angle of the entire finger can be measured.

[0091] See also Figure 9 、 Figure 10 、 Figure 13 and Figure 15 According to an embodiment of the present invention, the driver 100 includes seven bellows and eight mounting parts 110, and seven bending seats 212 are provided corresponding to the angle measuring part 200. Three groups of angle measuring units 220 are provided on the base 210 along the direction from the finger base to the fingertip, namely the first angle measuring unit 221, the second angle measuring unit 222 and the third angle measuring unit 223, which are respectively used to measure the bending data of the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint, which correspond to the three phalanges and can realize the measurement of the bending data of each interphalangeal joint of the middle finger, index finger, ring finger and little finger. Specifically, the first angle measurement unit 221 is located in the metacarpal and proximal phalanx regions, the second angle measurement unit 222 is located in the proximal phalanx and middle phalanx regions, and the third angle measurement unit 223 is located in the middle phalanx and distal phalanx regions. There are three corresponding bending seats 212 in the proximal phalanx region, and two corresponding bending seats 212 in the middle phalanx and distal phalanx regions, respectively. There is a fixed seat 211 between two adjacent bending seats 212, and the angle measurement unit 220 is set on the fixed seat 211 or on the fixed seat 211 and the bending seat 212. It should be noted that the number of bending seats 212 in each phalanx region can be set differently according to the hand shape and finger length, and the corresponding driver 100 structure and angle measurement unit 220 can also be set differently.

[0092] See also Figure 9 、 Figure 10 and Figure 13In one embodiment, the angle measurement unit 220 is a strain gauge, and each group of angle measurement units 220 is a group of strain gauges. The first angle measurement unit 221 is located in the metacarpal bone and proximal phalanx region, and the strain gauge group corresponds to three bending seats 212 for measuring metacarpophalangeal joint bending data; the second angle measurement unit 222 is located in the proximal phalanx and middle phalanx region, and the strain gauge group corresponds to two bending seats 212 for measuring proximal interphalangeal joint bending data; the third angle measurement unit 223 is located in the middle phalanx and distal phalanx region, and the strain gauge group corresponds to two bending seats 212 for measuring distal interphalangeal joint bending data. Each interphalangeal joint corresponds to multiple bending seats 212, and each group of strain gauges can share the bending angle during measurement. By adding them together, the required angle measurement can be obtained, resulting in a larger measurement range and a simpler structure. It is understandable that the number of bending seats 212 corresponding to each group of strain gauges can be set differently, and the corresponding structures such as bellows can also be set differently.

[0093] See also Figure 9 、 Figure 10 and Figure 15 In another embodiment, the angle measurement unit 220 is a posture sensor. Each group of angle measurement units 220 includes two posture sensors. The posture sensors are respectively arranged in the corresponding phalangeal area, and the data of each finger joint is measured in pairs. Specifically, the four posture sensors are respectively arranged in the metacarpal bone, proximal phalanx, middle phalanx and distal phalanx areas. The first angle measurement unit 221 is located in the metacarpal bone and proximal phalanx area, which includes posture sensors on the metacarpal bone and proximal phalanx area, and is used to measure the metacarpophalangeal joint bending data; the second angle measurement unit 222 is located in the proximal phalanx and middle phalanx area, which includes posture sensors on the proximal phalanx and middle phalanx area, and is used to measure the proximal finger joint bending data; the third angle measurement unit 223 is located in the middle phalanx and distal phalanx area, which includes posture sensors in the middle phalanx and distal phalanx area, and is used to measure the distal finger joint bending data. Obviously, the posture sensors for the metacarpals and distal phalanges can be respectively installed on the fixing bases 211 at both ends. Based on the general structure of the phalanges, the posture sensors for the proximal and middle phalanges can be installed separately from the posture sensors for the distal phalanges, with one fixing base 211 between them. It is understood that the distribution of posture sensors can also be configured differently depending on the hand shape and finger length.

[0094] See also Figure 11 、 Figure 12 、 Figure 14 and Figure 16According to another embodiment provided by the present invention, the driver 100 includes five sections of bellows and six mounting portions 110, and five bending seats 212 are provided corresponding to the angle measuring portion 200. Two groups of angle measuring units 220 are provided on the base 210 along the direction from the base of the finger to the fingertip, respectively, namely the first angle measuring unit 221 and the second angle measuring unit 222, which are respectively used to measure the bending data of the metacarpophalangeal joint and the interphalangeal joint, which correspond to two phalanges and can realize the measurement of the interphalangeal joint bending data of the thumb. Specifically, the first angle measuring unit 221 is located in the metacarpal bone and proximal phalanx area, and the second angle measuring unit 222 is located in the proximal phalanx and distal phalanx area. There are three bending seats 212 corresponding to the proximal phalanx area, and two bending seats 212 corresponding to the distal phalanx area. There is a fixed seat 211 between two adjacent bending seats 212, and the angle measuring unit 220 is provided on the fixed seat 211 or on the fixed seat 211 and the bending seat 212. It should be noted that the number of bending seats 212 in each phalangeal region can be set differently according to different hand shapes and finger lengths, and the corresponding driver structure and angle measurement unit 220 can also be set differently.

[0095] See also Figure 11 、 Figure 12 and Figure 14 In one specific embodiment, the angle measurement unit 220 is a strain gauge, and each group of angle measurement units 220 is a group of strain gauges. The first angle measurement unit 221 is located in the metacarpal bone and proximal phalanx region, and the strain gauge group corresponds to three bending seats 212 for measuring the bending data of the metacarpophalangeal joint; the second angle measurement unit 222 is located in the proximal phalanx and distal phalanx region, and the strain gauge group corresponds to two bending seats 212 for measuring the bending data of the interphalangeal joint. Each interphalangeal joint corresponds to multiple bending seats 212, and each group of strain gauges can obtain the required angle measurement by measuring the bending angles of multiple bending seats 212 and adding them together. The measurement range is large and the structure is simple. It is understandable that the number of bending seats 212 corresponding to each group of strain gauges can be set differently, and the corresponding structures such as bellows can also be set differently.

[0096] See also Figure 11 、 Figure 12 and Figure 16In another embodiment, the angle measurement unit 220 is a posture sensor. Each set of angle measurement units 220 may include two posture sensors, one located in each phalangeal region, and the two sensors are combined to measure data from each finger joint. Specifically, the first angle measurement unit 221 is located in the metacarpal and proximal phalangeal regions and includes posture sensors in the metacarpal and proximal phalangeal regions for measuring metacarpophalangeal joint flexion data. The second angle measurement unit 222 is located in the proximal and distal phalangeal regions and includes posture sensors in the proximal and distal phalangeal regions for measuring interphalangeal joint flexion data. The number of posture sensors can be four, with two posture sensors located on the fixing bases 211 at each end, corresponding to the metacarpal and distal phalangeal regions. Two posture sensors are respectively located between the posture sensors in the metacarpal region, with one fixing base 211 as an interval, to ensure that there is at least one posture sensor in the proximal phalangeal region. During measurement, a posture sensor is selected on each side of the joint to measure the joint. It is understood that the number and distribution of posture sensors can be configured differently depending on the hand shape and finger length.

[0097] See also Figures 9 to 18 According to an embodiment of the present invention, the force measuring unit 300 includes an air passage 310, an airbag 320, and a base 330. The base 330 is connected to the bottom surface of the base 210, or the base 330 and the base 210 are integrated into one body, connecting the force measuring unit 300 and the angle measuring unit 200 as a whole. Specifically, it can be a connection between a square hole and a square block, which is convenient for use and disassembly; multiple air passages 310 are arranged inside the base 330, extending along the length direction of the base 330, and the air outlet is located at one end of the base 330; multiple groups of airbags 320 are arranged on the air passage 310, each group of airbags 320 is connected by an air passage 310, and each group of airbags 320 corresponds to a phalanx area. The airbags 320 can be spherical airbags or cylindrical airbags, etc. It can be understood that in order to achieve the measurement of the output force of each phalanx area of ​​the finger, in this embodiment, the air path channels 310 are set to at least two, and correspondingly, the airbags 320 are set to at least two groups, each group of the airbags 320 is connected through one of the air path channels 310, and each group of the airbags 320 corresponds to a phalanx area.

[0098] See also Figures 9 to 18When the driver 100 bends under the action of driving, the angle measuring part 200 and the force measuring part 300 also bend accordingly. At this time, the airbag 320 presses the back of the finger, and the interior thereof is squeezed and produces a pressure change. By measuring the internal pressure of the airbag 320, the output force data of the corresponding area can be obtained; since each group of airbags 320 corresponds to a phalangeal area and is connected by an air channel 310, the pressure of each group of airbags 320 is measured through the air channel 310 using a pressure sensor, so that the output force of the entire phalangeal area corresponding to each group of airbags 320 can be obtained.

[0099] Specifically, a pressure sensor connected externally to the air channel 310 can be used to measure the air pressure in each group of airbags 320 and output a voltage value. Changes in the air pressure in the airbags 320 will produce changes in the output electrical signal. The relationship between the output force and the voltage value is obtained through experimental calibration, and the corresponding output force can be measured through the pressure sensor connected externally to the air channel 310; the airbags 320 on each air channel 310 are regarded as a whole, and each air channel 310 is connected to a pressure sensor respectively. The pressure value of each group of airbags 320 is measured by the corresponding pressure sensor, and the output force value of the corresponding finger bone area can be measured.

[0100] It should be noted that each phalanx region corresponds to a group of airbags 320 , and the number of airbags 320 connected to each air channel 310 can be set differently according to different hand shapes and finger lengths.

[0101] See also Figure 17 and Figure 18 In a specific embodiment, the airbags 320 on each air channel 310 are distributed in the same straight line and are located on the central axis of the base 330. When the finger is bent, since the airbags 320 are located on the center line of the finger, the pressure on the airbags 320 is more uniform and the output force measurement is more accurate.

[0102] See also Figure 9 、 Figure 10 and Figure 17In one embodiment, the actuator 100 includes seven bellows sections and eight mounting portions 110. The corresponding output force sensor 300 includes three air channels 310 and eight airbags 320, with the first airbag 321 to the eighth airbag 328 distributed sequentially from the base of the finger to the tip. Pressure sensors are connected to the first air channel 311, the second air channel 312, and the third air channel 313, respectively. These pressure sensors can measure the pressures of the airbags 320 in the first air channel 311, the second air channel 312, and the third air channel 313, respectively. The first airbag 321, the second airbag 322 and the third airbag 323 are connected by the second air channel 312 and are located in the proximal phalanx area, which can measure the output force of the proximal phalanx area; the fourth airbag 324, the fifth airbag 325 and the sixth airbag 326 are connected by the third air channel 313 and are located in the middle phalanx area, which can measure the output force of the middle phalanx area; the seventh airbag 327 and the eighth airbag 328 are connected by the first air channel 311 and are located in the distal phalanx area, which can measure the output force of the distal phalanx area. This structure corresponds to three phalanx areas and can measure the output force of each phalanx area of ​​the index finger, middle finger, ring finger and little finger. It should be noted that according to different hand shapes or different finger lengths, the number of airbags 320 corresponding to each phalanx area can be set differently.

[0103] See also Figure 11 、 Figure 12 and Figure 18 In another embodiment, the actuator 100 includes five bellows sections and six mounting portions 110. The corresponding output force sensor 300 includes two air channels 310 and six airbags 320. The first to sixth airbags 321, 326 are sequentially distributed from the base of the finger to the tip. The first and second air channels 311, 312 are each connected to a pressure sensor, which can measure the pressure of the airbags 320 in the first and second air channels 311, 312. The first, second, and third airbags 321, 322, and 323 are connected by the first air channel 311 and located in the proximal phalanx region, enabling measurement of the output force in that region. The fourth, fifth, and sixth airbags 324, 325, and 326 are connected by the second air channel 312 and located in the distal phalanx region, enabling measurement of the output force in that region. This structure corresponds to two phalangeal regions and can measure the output force of each phalangeal region of the thumb. It should be noted that the number of airbags 320 corresponding to each phalangeal region can be set differently according to different hand shapes or different finger lengths.

[0104] See also Figures 9 to 18, an external air source inflates or inhales the bellows in the driver 100 through the pipe 130. When the bellows expands and contracts, since the driver 100 is connected to the angle measurement part 200 and the force measurement part 300, the bellows will bend due to the bottom restriction, so that the entire finger rehabilitation auxiliary device will bend, which can assist the finger in bending activities and achieve auxiliary training; when the bellows bends, the bending seat 212 of the angle measurement part 200 bends accordingly, and the angle measurement unit 220 provided on the base 210 measures the bending angle of the base 210. The bending angle data measured by the bending seat 212 in each phalanx area are added together to obtain the bending data of the joint between the two phalanges; when the finger rehabilitation auxiliary device bends, the base 330 of the force measurement part will squeeze the finger due to bending, and the airbag 320 inside the base 330 squeezes the back of the finger to generate pressure changes. The pressure of the airbag 320 corresponding to each phalanx area is measured by the pressure sensor through multiple air channels to obtain the output force data of the corresponding phalanx area.

[0105] See also Figures 9 to 18 According to another embodiment of the present invention, the finger rehabilitation assistive device may further include multiple drivers 100, which are correspondingly arranged at each joint of the finger, capable of individually controlling each joint to achieve more flexible finger-driven movement. Specifically, for example, three drivers 100 may be provided for the index finger, middle finger, ring finger, and little finger, and two drivers 100 may be provided for the thumb. These may also be adjusted according to the desired training. It is understood that the angle measurement unit 200 connected to the driver 100 includes at least one set of angle measurement units 220 for measuring the bending data of the joint. The remaining settings are the same as those in the above embodiment.

[0106] The entire finger rehabilitation assist device integrates the driver 100, the angle measurement unit 200 and the force measurement unit 300 into a whole. It has a simple structure, and the bending state of the bellows conforms to the finger movement state, which will not affect the comfort during finger movement and the accuracy of data measurement. In addition, the angle measurement unit 220 of the angle measurement unit 200 and the airbag inside the force measurement unit 300 can ensure the accuracy of the measurement data without affecting the comfort of finger movement.

[0107] It should be noted that the driving unit in the driver 100 can be a bellows or other mechanism that can realize bending movement under driving action, such as a connecting rod. When the driver 100 bends, the entire finger rehabilitation assist device will bend, thereby assisting the fingers in bending movement training. The angle measurement part 200 and the force measurement part 300 are used to measure the bending angle of each finger joint and the output force data of each phalanx area respectively.

[0108] It is understandable that when only active training is performed and hand movement data is measured, there is no need for driver-assisted training. At this time, the driver 100 may not be set in the finger rehabilitation assistive device, and data measurement can be performed by setting the angle measurement part 200 and the force measurement part 300 at the corresponding finger position.

[0109] Likewise, see Figure 19 Based on the above-mentioned finger rehabilitation assistive device, the present invention also provides a finger rehabilitation training mechanism, which includes at least one finger rehabilitation assistive device 1000 and a fixing part, and the finger rehabilitation assistive device is fixed to the corresponding finger or finger joint position through the fixing part. The finger rehabilitation assistive device can accurately measure the bending data of each finger joint and the output force data of each phalangeal area during finger rehabilitation training and assist the fingers in training activities. It can timely understand the training situation and formulate targeted training strategies through analysis of training data; each finger rehabilitation assistive device can be connected to an independent air source to control the movement of each finger separately for targeted training, or it can be connected to the same air source to achieve synchronous control of the movement of the entire hand; targeted training and precise rehabilitation can be achieved by measuring the hand movement data and controlling the output air pressure of each air source system.

[0110] See also Figure 19 In one embodiment, the fixing member of the finger rehabilitation training mechanism can be a glove 1. The glove 1 is made of an elastic material and has a Velcro structure on it, which can be worn more securely on the human hand. Finger rehabilitation assistive devices are fixed to the glove 1 at the positions corresponding to the five fingers as needed. When there is one actuator 100 in the finger rehabilitation assistive device for each finger, the structure of the actuator 100 in the finger rehabilitation assistive device corresponding to different fingers varies depending on the structure of the finger joints. Since the structure and length of long fingers such as the index finger, middle finger, and ring finger are similar, finger rehabilitation assistive devices of the same structure and length can be used, and the angle measurement unit 220 corresponds to the three phalangeal regions. The angle measurement unit 220 in the finger rehabilitation assistive device corresponding to the little finger also corresponds to the three phalangeal regions. However, since the little finger is shorter, the length of the bellows in the finger rehabilitation assistive device, the corresponding angle measurement unit 220, and the distribution of the airbags 320 are different from those of long fingers, requiring a separate design. The thumb has a different structure from other fingers, and the angle measurement unit 220 in the finger rehabilitation assistive device corresponding to it corresponds to the two phalangeal regions.

[0111] It is understandable that since the little finger and the thumb are of similar length, and the bending angle of the distal joint of the little finger changes very little during training after wearing the glove, in order to facilitate the design and use of a finger rehabilitation assistive device that can adopt the same structure on the little finger and the thumb, the middle phalanx and distal phalanx of the little finger are measured as a whole.

[0112] It should be noted that the fixing member here can also be other structures such as a fixing plate, etc., which can fix the finger rehabilitation auxiliary device on the corresponding finger.

[0113] See also Figure 19 When the finger rehabilitation assistive device bends under external driving action, it drives the glove 1 to bend, thereby driving the fingers to bend. During the bending movement, the angle measuring unit 200 and the force measuring unit 300 in each finger rehabilitation assistive device can respectively measure the bending angle of each finger joint and the output force of each phalanx area of ​​each finger.

[0114] The finger rehabilitation assistive device provided by the present invention can accurately measure the bending angle of each finger joint and the output force of each phalangeal area during finger bending movement, timely and comprehensively understand the specific movement information of the finger, and can adapt to various rehabilitation strategies to improve the effect of rehabilitation training. When conducting rehabilitation training, the finger rehabilitation assistive device can measure the bending data of each finger joint and the output force of each phalangeal area to obtain accurate movement data, facilitate timely feedback of movement information, observe the training situation, and adjust the rehabilitation strategy in a timely manner; it can also control the air pressure of the air source system through preset data to make the driver 100 achieve a certain degree of bending to achieve a certain bending angle or output force, thereby completing targeted rehabilitation training.

[0115] In addition, it can also be used for mirror training. A finger rehabilitation auxiliary device is set at the corresponding finger positions of the patient's healthy hand and the affected hand. The healthy hand is used to collect data. When the healthy hand actively moves, the finger rehabilitation auxiliary device measures the bending angle and output force of each finger joint and outputs data. The output data of the healthy hand can be transmitted to the computer. The computer controls the output air pressure to drive the driver 100 to achieve the same bending angle or output force, driving the affected hand to achieve the same movement as the healthy hand; or the patient actively uses the affected hand to move. During the training process, the affected hand movement data is measured in real time by the finger rehabilitation auxiliary device until the affected hand reaches the same bending angle or output force as the healthy hand. Through mirror training, the patient's initiative and enthusiasm for rehabilitation training can be improved, and the treatment efficiency can be improved. In addition, the movement data of the affected hand can be compared and calibrated with the movement data measured by the healthy hand to ensure the accuracy of the rehabilitation training and achieve precise rehabilitation.

[0116] In summary, the limb rehabilitation assisting device provided by the present invention integrates the driver 100, the angle measuring unit 200 and the force measuring unit 300 into one, has a simple structure, and is easy to disassemble, and the required components can be selected according to specific needs; the angle measuring unit 200 can measure the bending angle of the base 210 through the setting of a strain gauge or a posture sensor, thereby realizing accurate measurement of the bending angle data of each limb joint during limb movement, and the force measuring unit 300 accurately measures the force of each limb area through the airbags corresponding to each limb area, and its structure can be flexibly adjusted according to different limb lengths; the driver 100 can bend under the action of external drive, driving limb movement to assist in rehabilitation training, and the bending angle of the driver 100 can be adjusted by adjusting the external driving force; adjusting its structure can also be used for hand training and accurate measurement of the bending of each finger joint and the force data of the phalanges. The entire limb rehabilitation assistive device can assist in limb rehabilitation training and accurately measure the specific movement conditions of the limb, such as bending angle and force, during the rehabilitation training process. Targeted training can be implemented based on the measurement and recording of movement data, combining various rehabilitation strategies such as active training, passive training, and mirror training to achieve better rehabilitation results. Data calibration ensures accurate rehabilitation. Furthermore, the utility model can also be used in a robotic arm. When the arm is driven to bend, it can measure the mid-air posture or bending angle data of each finger, and when it is driven to grasp an object, it can measure the grip force of the robotic arm on the object. This device has excellent measurement results and a wide range of applications.

[0117] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

[0118] Except for the technical features described in the specification, the remaining technical features are known technologies to those skilled in the art. In order to highlight the innovative features of the present utility model, the remaining technical features will not be described here in detail.

Claims

1. A limb rehabilitation assistive device, characterized in that: include: A plurality of drivers, each of the drivers comprising a plurality of mounting portions and a plurality of drive units, wherein one drive unit is disposed between each two adjacent mounting portions, or the mounting portion and the drive unit are integrated into one; The angle measuring part is connected to the mounting part and includes a base and an angle measuring unit. The base is fixedly connected to the mounting part, and the angle measuring unit is arranged on the base or the mounting part.

2. The limb rehabilitation assistive device according to claim 1, characterized in that: The device further comprises a force measuring portion connected to a side of the angle measuring portion away from the driver.

3. The limb rehabilitation assistive device according to claim 1, characterized in that: The driving unit is a bellows or a soft actuator, and a plurality of the bellows or the soft actuators are connected through a pipeline.

4. The limb rehabilitation assistive device according to claim 1, characterized in that: The base comprises: A plurality of fixing seats, each of which is fixedly connected to the bottom of the mounting portion; A plurality of bending seats are provided, wherein one bending seat is provided between two adjacent fixing seats, and the bending seat is provided corresponding to the driving unit.

5. The limb rehabilitation assistive device according to claim 4, characterized in that: The bending seat is in a pleated shape and is composed of a plurality of flexible hinges and vertical plates.

6. The limb rehabilitation assistive device according to claim 4, characterized in that: A groove is provided on a surface of the base close to the driver, and the angle measuring unit is arranged in the groove.

7. The limb rehabilitation assistive device according to claim 6, characterized in that: The angle measurement unit is a strain gauge or a flexible angle measurement unit, which is arranged on the base, and each joint of the limb corresponds to at least one strain gauge or flexible angle measurement unit.

8. The limb rehabilitation assistive device according to claim 4, characterized in that: The angle measurement unit is a posture sensor, which is arranged on part of the fixing seat or the mounting portion, and each joint has at least one posture sensor on both sides.

9. The limb rehabilitation assistive device according to claim 2, characterized in that: The force measuring unit includes: a base connected to the bottom surface of the base, or the base and the base are integrated into one; A plurality of force measurement units are arranged inside the base and located in the limb area.

10. The limb rehabilitation assistive device according to claim 9, characterized in that: The force measuring unit comprises: An air passage is provided inside the base, the air passage extends along the length direction of the base, and an air port of the air passage is located at one end of the base; An airbag is connected through the air passage.

11. A limb rehabilitation training institution, characterized in that: The limb rehabilitation training institution includes: fixings; At least one limb rehabilitation assisting device according to any one of claims 1 to 10, wherein the limb rehabilitation assisting device is fixed to a corresponding limb position via the fixing member.

Images