Pneumatic size-adjustable flexible rehabilitation glove

Abstract

The utility model relates to the technical field of medical rehabilitation instruments, and provides a pneumatic size-adjustable flexible rehabilitation glove which comprises a rehabilitation glove body, a thumb driver, an index finger driver, a middle finger driver, a ring finger driver and a little finger driver, each of the thumb driver, the index finger driver, the middle finger driver, the ring finger driver and the little finger driver comprises a metacarpal joint driving structure, a near finger and far finger joint driving structure and a sliding adaptive block; the metacarpal joint driving structure is arranged on the rehabilitation glove body; the metacarpal joint driving structure is connected with the near finger and far finger joint driving structure through the sliding adapting block. The near finger and far finger joint driving structure and the metacarpal joint driving structure are of a cavity structure. The length between the metacarpal joint driving structure and the near finger and far finger joint driving structure can be adjusted, so that the position of each section of driving structure corresponds to each finger joint, and the efficiency of hand rehabilitation exercise is improved.

Description

Technical Field

[0001] This utility model relates to the field of medical rehabilitation equipment technology, and in particular to a pneumatically adjustable flexible rehabilitation glove. Background Technology

[0002] The hand is one of the most important structures in the human body, enabling various activities in daily life. However, many accidents and diseases can weaken or cause loss of hand motor function. Truly mature hand rehabilitation training equipment remains very scarce on the market.

[0003] Traditional rehabilitation training equipment with rigid structures can easily cause secondary injuries to patients' hands. Compared to traditional rigid medical rehabilitation gloves, soft rehabilitation gloves made of soft materials have the advantages of high freedom of movement, high safety performance, and good biocompatibility. In addition, soft materials are usually lighter, making soft rehabilitation gloves easy to carry.

[0004] Therefore, with the rapid development of soft robots, soft rehabilitation gloves made of flexible materials with rehabilitation functions have emerged. Currently, most soft rehabilitation gloves use full-finger actuators with a completely semi-circular cavity cross-section. These actuators are fully enclosed, resulting in poor flexion and extension sensitivity, and both comfort and effectiveness need improvement. Furthermore, because the actuators cannot be adjusted to different hand sizes, they struggle to adapt well to hand joint movements, further hindering the achievement of optimal rehabilitation results. Utility Model Content

[0005] This invention primarily addresses the technical problem that current soft rehabilitation gloves struggle to better adapt to the movements of human hand joints and achieve optimal exercise results. It proposes a pneumatically adjustable flexible rehabilitation glove that can adjust the length between the metacarpophalangeal joint drive structure and the proximal and distal phalangeal joint drive structure, ensuring that the position of each drive structure corresponds to each finger joint, guaranteeing the wearer's comfort, ensuring the degree of flexion of each joint, and improving the efficiency of hand rehabilitation exercises.

[0006] This utility model provides a pneumatically adjustable size flexible rehabilitation glove, including: a rehabilitation glove body and a thumb actuator, an index finger actuator, a middle finger actuator, a ring finger actuator and a little finger actuator arranged sequentially on the rehabilitation glove body;

[0007] The thumb actuator, index finger actuator, middle finger actuator, ring finger actuator, and little finger actuator each include: a metacarpophalangeal joint driving structure, a proximal and distal interphalangeal joint driving structure, and a sliding adaptation block.

[0008] The palm joint drive structure is mounted on the body of the rehabilitation glove.

[0009] The sliding adaptation block connects the metacarpophalangeal joint drive structure and the proximal and distal phalangeal joint drive structure.

[0010] The proximal and distal finger joint drive structures and the metacarpophalangeal joint drive structure adopt a hollow structure.

[0011] The outer wall of the proximal and distal interphalangeal joint drive structure has multiple first air chambers arranged side by side in the axial direction.

[0012] The outer wall of the palm joint drive structure has multiple second air chambers arranged side by side in the axial direction;

[0013] Both the first air chamber and the second air chamber are connected to the air pump.

[0014] Preferably, the palmar joint drive structure and the proximal and distal phalangeal joint drive structure are made of flexible materials.

[0015] Preferably, the proximal and distal interphalangeal joint drive structure is provided with a fingertip fixing buckle and a middle finger fixing buckle;

[0016] The fingertip retainer and the middle finger retainer are made of flexible material.

[0017] Preferably, the outer wall of the proximal and distal interphalangeal joint drive structure includes a first limiting layer and a first air cavity layer located on the first limiting layer;

[0018] Multiple first air chambers are distributed in the first air chamber layer.

[0019] Preferably, the palm joint drive structure includes a second limiting layer and a second air cavity layer located on the second limiting layer;

[0020] Multiple second air chambers are distributed in the second air chamber layer.

[0021] Preferably, a first flexible sensor is disposed in the first limiting layer;

[0022] A second flexible sensor is disposed in the second limiting layer.

[0023] Preferably, the first flexible sensor and the second flexible sensor each include: an electrode layer, a piezoresistive layer, and an encapsulation layer;

[0024] The piezoresistive layer and the electrode layer are fixed together by conductive silver paste.

[0025] Preferably, the piezoresistive layer has a porous structure; the electrode layer is made of ultra-thin copper sheet; and the encapsulation layer is made of PU film.

[0026] Preferably, the back of the rehabilitation glove body is provided with multiple Velcro hooks;

[0027] The proximal and distal interphalangeal joint drive structures and the metacarpophalangeal joint drive structures are respectively covered with Velcro hooks.

[0028] The hook and loop sides of the Velcro are connected to the hook and loop sides of the corresponding Velcro.

[0029] Preferably, the sliding adaptation block includes a slider, a buckle, a pin, and a base;

[0030] The base is mounted on the body of the rehabilitation glove. The base is fixedly connected to the palm joint drive structure, and the slider is fixedly connected to the proximal and distal finger joint drive structure.

[0031] The pin secures the base to the buckle;

[0032] The base is provided with a sliding groove, and the slider has a protrusion that cooperates with the sliding groove for moving along the sliding groove;

[0033] The buckle is connected to the slider, and the buckle can rotate around the pin;

[0034] The upper part of the slider has multiple circular holes, and the pin can be inserted into the circular holes;

[0035] The slider has a groove at its end.

[0036] This invention provides a pneumatically adjustable flexible rehabilitation glove. By varying the air pressure as gas enters and exits the air chamber, the movement of each driving structure is achieved, thereby inducing flexion and extension movements of the patient's fingers. Furthermore, before wearing, the length between the metacarpophalangeal joint driving structure and the proximal and distal interphalangeal joint driving structure can be adjusted using sliding adaptation blocks. This ensures that the position of each driving structure corresponds to the respective finger joint, guaranteeing wearer comfort and ensuring the degree of flexion of each joint, thus improving the efficiency of hand rehabilitation exercises. In addition, each metacarpophalangeal joint driving structure and the proximal and distal interphalangeal joint driving structure is controlled by an independent air path, enabling precise training of each finger. This invention allows for adjustment of the finger actuator position via sliding adaptation blocks to accurately drive the flexion of each joint, and can be adjusted according to different patient hand sizes to accommodate different hand joint movements. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the structure of the pneumatically adjustable flexible rehabilitation glove provided by this utility model. Figure 1 ;

[0038] Figure 2 This is a schematic diagram of the structure of the pneumatically adjustable flexible rehabilitation glove provided by this utility model. Figure 2 ;

[0039] Figure 3 This is a schematic diagram of the structure of the finger driver provided by this utility model;

[0040] Figure 4This is a schematic diagram of the proximal and distal interphalangeal joint driving structure and the metacarpophalangeal joint driving structure provided by this utility model;

[0041] Figure 5 This is a schematic diagram of the inner sidewall of the proximal and distal interphalangeal joint driving structure provided by this utility model;

[0042] Figure 6 This is a schematic diagram of the inner sidewall of the palm joint drive structure provided by this utility model;

[0043] Figure 7 This is a schematic diagram of the structure of the first flexible sensor and the second flexible sensor provided by this utility model;

[0044] Figure 8 This is a schematic diagram of the structure of the sliding adaptation block provided by this utility model.

[0045] Reference numerals: 1-Rehabilitation glove body, 2-Thumb actuator, 3-Index finger actuator, 4-Middle finger actuator, 5-Ring finger actuator, 6-Little finger actuator, 31-Fingertip fixing buckle, 32-Proximal and distal finger joint driving structure, 33-First flexible sensor, 34-Sliding adaptation block, 35-Palm joint driving structure, 36-Middle finger fixing buckle, 37-Second flexible sensor, 321-First air cavity layer, 322-First independent air cavity, 323-First limiting layer, 331-Electrode layer, 332-Piezoresistive layer, 333-Encapsulation layer, 341-Slider, 342-Snap-on, 343-Pin, 344-Base, 351-Second air cavity layer, 352-Second independent air cavity, 353-Second limiting layer. Detailed Implementation

[0046] To make the technical problems solved by this utility model, the technical solutions adopted, and the technical effects achieved clearer, this utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for explaining this utility model and not for limiting it. Furthermore, it should be noted that, for ease of description, only the parts related to this utility model are shown in the accompanying drawings, not all of them.

[0047] like Figure 1-2 As shown in the figure, the present invention provides a pneumatically adjustable flexible rehabilitation glove, comprising: a rehabilitation glove body 1 and a thumb actuator 2, an index finger actuator 3, a middle finger actuator 4, a ring finger actuator 5 and a little finger actuator 6 sequentially disposed on the rehabilitation glove body 1.

[0048] The rehabilitation glove body 1 is a half-finger glove, with most of the fingers exposed when the patient wears it. The thumb actuator 2, index finger actuator 3, middle finger actuator 4, ring finger actuator 5, and little finger actuator 6 can be collectively referred to as finger actuators. Each finger actuator is positioned on top of the rehabilitation glove body 1, corresponding to the position of the patient's fingers. Each finger actuator is fixed to the exposed finger portion.

[0049] like Figure 3 As shown, the thumb actuator 2, index finger actuator 3, middle finger actuator 4, ring finger actuator 5, and little finger actuator 6 each include: a metacarpophalangeal joint driving structure 35, a proximal and distal interphalangeal joint driving structure 32, and a sliding adaptation block 34.

[0050] The metacarpophalangeal joint drive structure 35 is mounted on the rehabilitation glove body 1. The sliding adaptation block 34 connects the metacarpophalangeal joint drive structure 35 and the proximal and distal phalangeal joint drive structure 32, and the distance between the metacarpophalangeal joint drive structure 35 and the proximal and distal phalangeal joint drive structure 32 can be changed by the sliding adaptation block 34 to accommodate different hand sizes.

[0051] The proximal and distal interphalangeal joint drive structure 32 and the metacarpophalangeal joint drive structure 35 adopt a closed cavity structure; such as Figure 4 As shown, the proximal and distal interphalangeal joint drive structure 32 and the metacarpophalangeal joint drive structure 35 have superimposed rectangular and elliptical cross-sectional shapes. In this embodiment, each finger actuator adopts a cavity structure with rectangular and elliptical cross-sectional shapes, which accelerates the inflation speed and improves the pneumatic flexion and extension sensitivity of the actuator compared to an actuator with a cavity structure with a complete semi-circular cross-sectional shape.

[0052] The outer wall of the proximal and distal interphalangeal joint driving structure 32 has a plurality of first air chambers 322 arranged side by side in the axial direction; the first air chambers 322 are connected to an air pump. Specifically, as shown... Figure 5 As shown, the outer wall of the proximal and distal interphalangeal joint driving structure 32 includes a first limiting layer 323 and a first air cavity layer 321 located on the first limiting layer 323; a plurality of first air cavities 322 are distributed in the first air cavity layer 321. The position and number of the first air cavities 322 in the plurality of first air cavity layers 321 can be changed according to the movement joint of the corresponding finger. In this embodiment, there are four first air cavities 322, and adjacent first air cavities 322 can be connected to each other according to the actual situation to change the bending effect of each driving structure.

[0053] The proximal and distal interphalangeal joint drive structure 32 is equipped with a fingertip fixing buckle 31 and a middle finger fixing buckle 36 for securing the wearer's fingers. The fingertip fixing buckle 31 and the middle finger fixing buckle 36 are made of flexible material. The upper part of the fingertip fixing buckle 31 and the middle finger fixing buckle 36 is adapted to the proximal and distal interphalangeal joint drive structure 32, while the lower part is elliptical in shape and varies in size, and is used to secure the fingers.

[0054] The outer wall of the palm joint drive structure 35 has multiple second air chambers 352 arranged side by side in the axial direction; the second air chambers 352 are connected to an air pump. Specifically, as shown... Figure 6 As shown, the metacarpophalangeal joint drive structure 35 includes a second limiting layer 353 and a second air cavity layer 351 located on the second limiting layer 353; a plurality of second air cavities 352 are distributed in the second air cavity layer 351. The position and number of the second air cavities 352 in the plurality of second air cavity layers 351 can be changed according to the movement joint of the corresponding finger.

[0055] The metacarpophalangeal joint drive structure 35 and the proximal and distal phalangeal joint drive structure 32 are made of flexible materials. A first flexible sensor 33 is provided in the first limiting layer 323; a second flexible sensor 37 is provided in the second limiting layer 353, which is located below the first air cavity layer 321 and the second air cavity layer 351, and bends synchronously with the corresponding drive structure.

[0056] like Figure 7 As shown, the first flexible sensor 33 and the second flexible sensor 37 each include an electrode layer 331, a piezoresistive layer 332, and an encapsulation layer 333; the piezoresistive layer 332 is fixed to the electrode layer 331 by conductive silver paste. The piezoresistive layer 332 has a porous structure, composed of flexible silicone substrate and conductive carbon nanotubes, and is a microstructure that is sensitive to bending effects; the electrode layer 331 is made of ultra-thin copper sheet, and the encapsulation layer 333 is made of PU film. The pins of the electrode layer 331 are led out from the first limiting layer 323 and the second limiting layer 353, and the electrode layer 331 can send the collected signals to an external control unit. When each driving structure bends, the flexible sensor can sense the change in bending angle through the piezoresistive layer 332 and feed it back to the external control unit, thereby inflating or deflating each driving structure. The first flexible sensor 33 provides real-time feedback on the bending angle information of the proximal and distal finger joint drive structure 32, and the second flexible sensor 37 provides real-time feedback on the bending angle information of the metacarpophalangeal joint drive structure 35. The information fed back by the flexible sensors can be used by an external control unit to control an air pump to inflate or deflate the finger actuators. This invention, through flexible sensors, can provide real-time feedback on the bending angle information of each joint, possessing proprioceptive sensing capabilities, improving the adaptability of the rehabilitation glove, and achieving excellent rehabilitation training results.

[0057] The back of the rehabilitation glove body 1 is provided with multiple hook sides of Velcro (at the corresponding positions of each finger actuator); the proximal and distal interphalangeal joint drive structure 32 and the metacarpophalangeal joint drive structure 35 are respectively attached with the loop side of Velcro; the loop side of the Velcro is engaged and disengaged with the corresponding hook side of the Velcro. When using the glove, the wearer puts their hand into the rehabilitation glove body 1, so that each finger is located under the respective finger actuator, and the middle of each finger is fixed by passing through the middle finger fixing buckle 36, and the fingertip is fixed by passing through the fingertip fixing buckle 31.

[0058] like Figure 8 As shown, the sliding adaptation block 34 includes a slider 341, a buckle 342, a pin 343, and a base 344. The base 344 is disposed on the rehabilitation glove body 1 and is fixedly connected to the palm joint drive structure 35. The slider 341 is fixedly connected to the proximal and distal finger joint drive structure 32. The pin 343 fixes the base 344 and the buckle 342. The base 344 is provided with a sliding groove, and the slider 341 has a protrusion that cooperates with the sliding groove for moving along the sliding groove. The buckle 342 is connected to the slider 341 and can rotate around the pin 343. The upper part of the slider 341 has multiple round holes, and the pin 343 can be inserted into the round holes. The end of the slider 341 has a groove to prevent the pin 343 from interfering with the slider 341. The slider 341 can slide along the base 344. The pin 343 fixes the base 344 to the buckle 342. When the slider 341 slides a suitable distance, the buckle 342 is released and the sliding adaptation block 34 is fixed.

[0059] This invention provides a pneumatically adjustable flexible rehabilitation glove. The movement of each drive structure is achieved through changes in air pressure as gas enters and exits the air chamber, thereby inducing flexion and extension movements of the patient's fingers. Before wearing, the length between the metacarpophalangeal joint drive structure 35 and the proximal and distal interphalangeal joint drive structure 32 is adjusted by sliding the adaptation block 34, ensuring that the position of each drive structure corresponds to each finger joint, guaranteeing wearer comfort, ensuring the degree of flexion of each joint, and improving the efficiency of hand rehabilitation exercises. Furthermore, each metacarpophalangeal joint drive structure 35 and proximal and distal interphalangeal joint drive structure 32 is controlled by an independent air path, enabling precise finger exercises. Therefore, the flexible rehabilitation glove of this embodiment can achieve precise finger flexion and deformation to induce finger movement, and can also guide the fingers to perform dispersion and closure movements, thus enabling precise hand rehabilitation exercises for patients with hand disorders. It is suitable for daily hand activities and rehabilitation training for special populations with hand movement impairments.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it; although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications to the technical solutions described in the foregoing embodiments, or equivalent substitutions for some or all of the technical features, do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A pneumatically adjustable flexible rehabilitation glove, characterized in that, include: The rehabilitation glove body (1) and the thumb driver (2), index finger driver (3), middle finger driver (4), ring finger driver (5) and little finger driver (6) sequentially arranged on the rehabilitation glove body (1); The thumb actuator (2), index finger actuator (3), middle finger actuator (4), ring finger actuator (5) and little finger actuator (6) respectively include: a metacarpophalangeal joint driving structure (35), a proximal and distal interphalangeal joint driving structure (32) and a sliding adaptation block (34); The palm joint drive structure (35) is disposed on the body of the rehabilitation glove (1); The sliding adaptation block (34) connects the metacarpophalangeal joint drive structure (35) and the proximal and distal phalangeal joint drive structure (32); The proximal and distal interphalangeal joint drive structure (32) and the metacarpophalangeal joint drive structure (35) adopt a hollow structure; The outer wall of the proximal and distal interphalangeal joint drive structure (32) has a plurality of first air chambers (322) arranged in parallel along the axial direction; The outer wall of the palm joint drive structure (35) has a plurality of second air chambers (352) arranged in parallel in the axial direction; Both the first air chamber (322) and the second air chamber (352) are connected to the air pump.

2. The pneumatically adjustable flexible rehabilitation glove according to claim 1, characterized in that, The metacarpophalangeal joint drive structure (35) and the proximal and distal phalangeal joint drive structure (32) are made of flexible materials.

3. The pneumatically adjustable flexible rehabilitation glove according to claim 1, characterized in that, The proximal and distal interphalangeal joint drive structure (32) is provided with a fingertip fixing buckle (31) and a middle finger fixing buckle (36); The fingertip retainer (31) and the middle finger retainer (36) are made of flexible materials.

4. The pneumatically adjustable flexible rehabilitation glove according to claim 1, characterized in that, The outer wall of the proximal and distal interphalangeal joint drive structure (32) includes a first limiting layer (323) and a first air cavity layer (321) located on the first limiting layer (323); Multiple first air chambers (322) are distributed in the first air chamber layer (321).

5. The pneumatically adjustable flexible rehabilitation glove according to claim 4, characterized in that, The metacarpophalangeal joint drive structure (35) includes a second limiting layer (353) and a second air cavity layer (351) located on the second limiting layer (353); Multiple second air chambers (352) are distributed in the second air chamber layer (351).

6. The pneumatically adjustable flexible rehabilitation glove according to claim 5, characterized in that, A first flexible sensor (33) is disposed in the first limiting layer (323); A second flexible sensor (37) is disposed in the second limiting layer (353).

7. The pneumatically adjustable size flexible rehabilitation glove according to claim 6, characterized in that, The first flexible sensor (33) and the second flexible sensor (37) respectively include: an electrode layer (331), a piezoresistive layer (332) and an encapsulation layer (333); The piezoresistive layer (332) and the electrode layer (331) are fixed together by conductive silver paste.

8. The pneumatically adjustable flexible rehabilitation glove according to claim 7, characterized in that, The piezoresistive layer (332) has a porous structure; the electrode layer (331) is made of ultra-thin copper sheet; and the encapsulation layer (333) is made of PU film.

9. The pneumatically adjustable flexible rehabilitation glove according to claim 1, characterized in that, The back of the rehabilitation glove body (1) is provided with multiple Velcro hooks; The proximal and distal interphalangeal joint drive structure (32) and the metacarpophalangeal joint drive structure (35) are respectively attached with Velcro-like textured surfaces; The hook and loop sides of the Velcro are connected to the hook and loop sides of the corresponding Velcro.

10. The pneumatically adjustable flexible rehabilitation glove according to claim 1, characterized in that, The sliding adaptation block (34) includes a slider (341), a buckle (342), a pin (343), and a base (344); The base (344) is disposed on the body (1) of the rehabilitation glove. The base (344) is fixedly connected to the palm joint drive structure (35). The slider (341) is fixedly connected to the proximal and distal finger joint drive structure (32). The pin (343) secures the base (344) to the buckle (342); The base (344) is provided with a sliding groove, and the slider (341) has a protrusion that cooperates with the sliding groove for moving along the sliding groove; The buckle (342) is connected to the slider (341), and the buckle (342) can rotate around the pin (343); The upper part of the slider (341) has multiple round holes, and the pin (343) can be inserted into the round holes; The slider (341) has a groove at its end.

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